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This PowerPoint presentation explains the differences between different types of servo motor feedback devices, including:

  • The differences between absolute and incremental devices.
  • The differences between analog and digital devices.
  • Typical applications for various devices.
  • How to choose the best feedback device for your specific application.
  • How the devices affect servo system performance.

Commutation is the means by which a servo drive controls the torque of a motor by determining the position of the motor and applying current to the appropriate motor phases.  If the rotor position of the motor is not determined correctly or the motor power phase wires are wired to the wrong terminals, the drive will apply current to the wrong phase at the wrong time (or at the wrong rotor position).  This will cause the motor to run away or lock up.

I'm using a AKD-M01206 with a direct drive motor. In my KAS-IDE project, I was using X9 as an input to monitor another encoder in the system, but now I want to use it as an output so another system can monitor the motor the AKD is driving. 

Following are the instructions for adding the Encoder 802-004, which is the 0.25" SHAFT, 500 LINE ENCODER for stepper motors. Attached is the original PDF. 

NOTE: S3 & S4 motors require cover mod. for cable

General Information

The LDA encoder is designed for installation directly on the motor shaft. It provides a factory pre-assembled feature that eliminates the need for any adjustment of disc gap, disc alignment, symmetry and phasing while installing it on the motor shaft.

Article   covers encoders with the following formats:


This article covers the differences when setting up an Endat 2.2 Encoder using the same X9 connector on the AKD:

1. Setup the AKD for FB3 - Endat 2.2 input in Workbench:


From the Z+, Z- pin of connector J14 of  the S200 drive,

I wonder how many volts should be applied to operate, so I looked up the manual but could not find it.

Please let me know the specification.

Thank you.




In October 2016, an inter-compatibility test was performed together with the company Heidenhain. In this event, the AKD was tested successfully with various types of Heidenhain Endat 2.2 encoders.

The devices tested can be found in this article.

This article outlines setting up a digitizing axis (secondary external encoder) or encoder master in a PxMM controller application that is using the PLCopen motion engine. The encoder input port is: AKD connector X9.

Acceptable formats for the master signal are:


Step 1

In the IDE Project setup a new  Axis for the secondary external encoder:

          Type : Digitizing

Procedure for checking your master encoder counts in the AKD.