AKT2G-IO-SM-Lxx Stepper Drive Configuration tab

This tab is used to configure the device, based on the parameters of the stepper motor An actuator focused to a movement, converting electrical energy in a force or torque. being used, and to diagnose any problems with the stepper terminal.

To make configuration simple, a Kollmorgen stepper motor can be selected from the Properties tab.
- This automatically populates the stepper motor parameter fields.
The stepper motor parameters can be replicated to a file and transferred between devices.
- Once the project is compiled, the CoE Init Commands tab is populated based on these values.
Troubleshooting the stepper terminal can begin by gathering information from the Diagnostics tab.

Properties tab

Select a Motor	The drop-down list contains the Kollmorgen stepper motor models and their specific parameters. Selecting a model automatically populates the appropriate motor-specific fields. See the Kollmorgen Stepper Optimizer to match a motor series name to the model number.
Reset New start of the microprocessor. to Default Values	Click to change all of the stepper motor parameters to their default values.
Load from File...	Click to select an XML Extensible Markup Language - A general-purpose markup language. It is classified as an extensible language because it allows its users to define their own tags. file to populate all of the stepper parameters, not just those specific to the motor.
Save to File...	Click to create an XML file containing all of the current stepper parameters. This file can be stored or transferred between devices.

Mode Section

Element	Description
Mode	Select the CoE object used for the actual position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different.. Open Loop A positioning technique, typically utilizing stepper motors, where the controller issues a sequence of commands to the motor without an absolute means of detecting if the move has been made. When the load and move velocity and acceleration are appropriately defined, open loop positioning is capable of extended operation without losing steps. with No Encoder Generates an output signal directly proportional to the movement of the motor shaft. This signal is fed into the control circuitry to control the shaft position and speed. The most common types are: Incremental/Serial encoders, Hall effect sensors, Resolvers, Tachometer Generators See: Optical encoders. Feedback: Select this option when there is no position feedback device A process where some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position. Some systems use a feedback device connected to the motor shaft or part of the driven mechanism to control the direction, acceleration and speed of the motor. for the stepper motor. In this mode: The command position increments sent to the stepper drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. are accumulated in an internal counter and returned to the controller as the actual position. The PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. and Pipe Network axis motion function blocks A function block groups an algorithm and a set of private data. It has inputs and outputs. (e.g., MC_ReadActPos, MLAxisReadActPos) return actual position. This is the stepper drive’s internal counter. The controller commands position without considering position feedback. There is no assurance that the motor will get to its destination. Open Loop with Encoder Feedback: In this mode: The command position increments sent to the stepper drive are accumulated in an internal counter. The encoder feedback is returned to the controller as the actual position. The PLCopen and Pipe Network axis motion function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. blocks (e.g., MC_ReadActPos, MLAxisReadActPos) return actual position. This is the encoder feedback counter. The controller commands position without considering position feedback. There is no assurance that the motor will get to its destination because there is no ability to self-correct. Configure via CoE Init-Commands: This mode allows for custom User modified or defined material (e.g., custom units or custom settings). drive/motor configurations. In this mode: The Drive Section and Motor Section configurations listed in this table do not apply. Stepper motor configuration parameters (e.g., Features, Controller, Motor, Encoder, etc.) must be configured manually in the CoE Init Commands tab. When a custom configuration is required by your application, contact Kollmorgen Customer Support at support@kollmorgen.com.

Element

Description

Mode

Select the CoE object used for the actual position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different..

Open Loop A positioning technique, typically utilizing stepper motors, where the controller issues a sequence of commands to the motor without an absolute means of detecting if the move has been made. When the load and move velocity and acceleration are appropriately defined, open loop positioning is capable of extended operation without losing steps. with No Encoder Generates an output signal directly proportional to the movement of the motor shaft. This signal is fed into the control circuitry to control the shaft position and speed. The most common types are: Incremental/Serial encoders, Hall effect sensors, Resolvers, Tachometer Generators See: Optical encoders. Feedback: Select this option when there is no position feedback device A process where some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position. Some systems use a feedback device connected to the motor shaft or part of the driven mechanism to control the direction, acceleration and speed of the motor. for the stepper motor.
In this mode:
- The command position increments sent to the stepper drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. are accumulated in an internal counter and returned to the controller as the actual position.
- The PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. and Pipe Network axis motion function blocks A function block groups an algorithm and a set of private data. It has inputs and outputs. (e.g., MC_ReadActPos, MLAxisReadActPos) return actual position.
  - This is the stepper drive’s internal counter.
- The controller commands position without considering position feedback.
- There is no assurance that the motor will get to its destination.
Open Loop with Encoder Feedback:
In this mode:
- The command position increments sent to the stepper drive are accumulated in an internal counter.
  - The encoder feedback is returned to the controller as the actual position.
- The PLCopen and Pipe Network axis motion function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. blocks (e.g., MC_ReadActPos, MLAxisReadActPos) return actual position.
  - This is the encoder feedback counter.
- The controller commands position without considering position feedback.
- There is no assurance that the motor will get to its destination because there is no ability to self-correct.
Configure via CoE Init-Commands: This mode allows for custom User modified or defined material (e.g., custom units or custom settings). drive/motor configurations.
In this mode:
- The Drive Section and Motor Section configurations listed in this table do not apply.
- Stepper motor configuration parameters (e.g., Features, Controller, Motor, Encoder, etc.) must be configured manually in the CoE Init Commands tab.

When a custom configuration is required by your application, contact Kollmorgen Customer Support at support@kollmorgen.com.

Drive Section

Element	Description
Input Voltage (V_DC)	Specify the input supply voltage. The range is: SM-L15 = 24V_DC (-15%/+20%) SM-L50 = 8 - 50V_DC
Reverse Motor Polarity	Select True or False from the drop-down menu to reverse the motor direction The orientation components of a vector in space..
Speed Speed is the absolute value of the velocity without direction. Range	Select the maximum output full-step frequency from the drop-down list.
Kp Proportional gain of a control loop. AKA: P-gain. (current control Regulates the difference between the current setpoint and the actual value to 0. Output : power output voltage.)	Specify the proportional gain factor for current control.
Ki (current control)	Specify the integral gain factor for current control.
Fan Cartridge Present	Set this to True if a AKT2G-AC-FAN-001 fan cartridge is installed. Having a fan present allows you to set the Rated Current / Phase (Amps) to a higher value.

Motor Section

Element	Description
Full Steps per Revolution	Specify the number of full motor steps per revolution.
Rated Current / Phase (Amps)	Specify the motor’s rated current per phase in Amps. This is also known as the RMS (root mean square) current. This value is converted from RMS to Peak output current, by multiplying the value by 1.414 (square root of 2) to specify the maximum output current for the stepper drive. The 64x microstep A technique which, instead of switching phase currents in a stepping motor on and off, sinusoidally varies the current in the two windings. This effectively increases the resolution from 200 steps per revolution to 2,000 (~10) or 10,000 (~50) microsteps per revolution. resolution The resolution is the smallest possible movement that can be achieved by a system. It can be defined at the electronics, encoder and mechanics level. The distance a stage can be commanded to move in a single step. For servo systems, the basic increment produced by its optical encoder, or any other feedback device. causes a 30% current loss compared to full-step resolution. This is due to the output wave form being closer to a sine wave than a square wave. The rated current/phase value is converted to the peak output current to compensate for the current loss. Since the peak output current may exceed the motor’s rated current per phase at standstill, it is very important to configure the Reduced Current/Phase (Amps), to prevent the motor from overheating. Maximum Motor Current/Phase (RMS) Values SM-L15 = 1.06 Amps without a fan 1.12 Amps with a fan SM-L50 = 3.53 Amps without a fan 4.59 Amps with a fan Maximum Converted Peak Output Values SM-L15 = 1.5 Amps without a fan 3 Amps with a fan SM-L50 = 5 Amps without a fan 6.5 Amps with a fan
Reduced Current/Phase (Amps)	Specify the motor’s current per phase in Amps when at standstill. This is known as the RMS (root mean square) current. This value is converted from RMS to Peak output current by multiplying the value by 1.414 (square root of 2) to specify the maximum output current for the stepper drive when the motor is at standstill. The Reduced Peak Current The effective value of the peak current. AKA: Ipeak. is applied when there is no motion for > 1 sec. At a minimum, the Reduced Current/Phase can be set to 70% of the Rated Current / Phase (Amps). Setting the Reduced Current/Phase to 50% (or lower) of the Rated Current/Phase is recommended.
Phase Resistance (Ohms)	Specify the internal resistance of the motor in Ohms.
Phase Inductance The tendency of a motor coil to store energy in a magnetic field. High speed stepping motor performance is inversely proportional to motor inductance. (mH)	Specify the motor's inductance in millihenries.

Encoder Section

Element	Description
Counts Internal count pulses, 1 pulse = 1/2^20turn. per Revolution	Specify the number of encoder counts Used after quadrature decode. per revolution.
Reverse Direction	Select True or False from the drop-down menu to reverse the encoder direction.

- See Add and Configure I/O Slices for adding a stepper drive to your project.
- See AKT2G-SM-L15-000 or AKT2G-SM-L50-000 for information on the devices.
- See AKT2G-SM-Lx Object Description for stepper drive-specific object descriptions.

Diagnostics tab

This tab gathers the diagnostic messages available on the connected stepper terminal.

This information can be used for troubleshooting during commissioning or operation.
The PLC Programmable Logic Controller - A digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events. application must be running on a controller or Online Configuration mode must be enabled Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. to acquire diagnostics data.

Refresh GUI command that re-loads the data from the drive and redraws the display.

Click this button to read and view the stepper terminal's messages.

See AKT2G-SM-Lxx Diagnostic Messages for a comprehensive list of messages.

This button is disabled Removal of the ENABLE signal. Disables power stage. under these conditions.

The PLC application is neither running nor in online configuration mode.
A stepper I/O slice is not present on the EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. network (e.g., offline device).
The PLC application is running on the KAS Kollmorgen Automation Suite Simulator.

Copy to Clipboard

Click to copy the message data.

If the application is not running, follow this procedure.

Connect to your controller.
Compile and download the application.
Enable Online Configuration Mode.
- OR -
Start the application.