AKT2G-SM-Lx Object Description

1011:0

Restore default parameters

Restore default parameters

UINT8

RO

8000:0

ENC Settings Ch.1

Maximum subindex

UINT8

RO

8000:08

Disable Removal of the ENABLE signal. Disables power stage. filter

Deactivates the input filters.

BOOLEAN

RW

8000:0A

Enable 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. micro increments

The lower 8 bits of the counter value are extrapolated.

BOOLEAN

RW

8010:0

STM Motor An actuator focused to a movement, converting electrical energy in a force or torque. Settings Ch.1

UINT8

RO

8010:01

Maximal current

Maximum permanent motor coil current Unit: 1 mA

UINT16

RW

8010:02

Reduced current

Reduced coil current Unit: 1 mA

UINT16

RW

8010:03

Nominal voltage

Nominal voltage (supply voltage) of the motor Unit: 10 mV

UINT16

RW

8010:04

Motor coil resistance

Internal resistance of the motor Unit: 10 mOhm

UINT16

RW

8010:05

Motor EMF

Countervoltage of the motor Unit: 1 mV / (rad/s)

UINT16

RW

8010:06

Motor fullsteps

Number of full motor steps

UINT16

RW

8010:07

Encoder increments (4-fold)

Number of encoder increments per revolution with quadruple evaluation

UINT16

RW

8010:09

Start velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP

Minimum starting velocity of the motor

Unit: 10000 corresponds to 100%

UINT16

RW

8010:0A

Motor coil 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.

Inductance of the motor Unit: 0.01 mH

UINT16

RW

8010:10

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. on delay time

Delay between activation of driver In computing and electronics, a driver is a software component allowing higher-level computer programs to interact with a computer hardware device. A driver typically communicates with the device through the computer bus or communications subsystem to which the hardware is connected. stage and „ready = 1“

UINT16

RW

8011:0

STM Controller Settings Ch.1

Maximum subindex

UINT8

RO

8011:01

Kp Proportional gain of a control loop. AKA: P-gain. factor (curr.)

Kp control factor of the current controller Regulates the difference between the current setpoint and the actual value to 0. Output : power output voltage.

UINT16

RW

8012:0

STM Features Ch.1

Maximum subindex

UINT8

RO

8012:01

Operation mode

permitted values:

BIT4

RW

0: Automatic

1: Velocity direct The orientation components of a vector in space.

3: Position controller Regulates the difference between the position setpoint and the actual position to 0. Output: speed setpoint.

4: Ext. Velocity mode

5: Ext. 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. mode

6: Velocity sensorless

8012:05

Speed Speed is the absolute value of the velocity without direction. range

permitted values:

BIT3

RW

0: 1000 Fullsteps/sec

1: 2000 Fullsteps/sec

2: 4000 Fullsteps/sec

3: 8000 Fullsteps/sec

4: 16000 Fullsteps/sec

5: 32000 Fullsteps/sec

8012:08

Feedback type

permitted values:

BIT1

RW

0: Encoder

1: Internal counter

8012:09

Invert motor polarity

Invert the direction of rotation of the motor

BOOLEAN

RW

8012:0A

Error on step lost

Error on loss of step

BOOLEAN

RW

8012:11

Select info data 1

permitted values:

UINT8

RW

0: Status word

7: Motor velocity

11: Motor load

13: Motor dc current

101: Internal temperature

103: Control voltage

104: Motor supply voltage

150: Drive - Status word

151: Drive – State

152: Drive - Position lag (low word)

8012:19

Select info data 2

permitted values:

UINT8

RW

0: Status word

7: Motor velocity

11: Motor load

13: Motor dc current

101: Internal temperature

103: Control voltage

104: Motor supply voltage

150: Drive - Status word

151: Drive - State

152: Drive - Position lag (low word)

153: Drive - Position lag (high word)

8012:30

Invert digital input 1

Invert digital input

BOOLEAN

RW

8012:31

Invert digital input 2

Invert digital input

BOOLEAN

RW

8012:32

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. for input 1

permitted values:

BIT4

RW

0: Normal input

1: Hardware enable

2: 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. cam

8012:36

Function for input 2

permitted values:

BIT4

RW

0: Normal input

1: Hardware enable

2: PLC cam

8012:3A

Function for output 1

permitted values:

BIT4

RW

0: Normal output

1: Break (linked with driver enable)

8014:0

STM Controller Settings 3 Ch.1

Maximum subindex

UINT8

RO

8014:01

Feed forward (pos.)

Pilot control of the position controller

UINT32

RW

8014:02

Kp factor (pos.)

Kp control factor of the position controller

UINT16

RW

8014:03

Kp factor (velo.)

Kp control factor of the velocity controller Unit: 0.1 mA / (rad/s)

UINT32

RW

8014:04

Tn Integral component of a control loop. AKA: I-integration time. (velo.)

Time constant Tn of the velocity controller Unit: 0.01 ms

UINT16

RW

8014:05

Sensorless param 1

First parameter (sensorless control)

UINT16

RW

8014:06

Sensorless param 2

Second parameter (sensorless control)

UINT16

RW

8014:07

Cross over velocity 1

First velocity transition (sensorless control) Unit: 0.1 rad/s

UINT16

RW

8014:08

Cross over velocity 2

Second velocity transition (sensorless control) Unit: 0.1 rad/s

UINT16

RW

8020:0

POS Settings Ch.1

Maximum subindex

UINT8

RO

8020:01

Velocity min.

Minimum set velocity (range: 0-10000)

INT16

RW

8020:02

Velocity max.

Maximum set velocity (range: 0-10000)

INT16

RW

8020:03

Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics) pos.

Acceleration in positive direction of rotation Unit: 1 ms

UINT16

RW

8020:04

Acceleration neg.

Acceleration in negative direction of rotation Unit: 1 ms

UINT16

RW

8020:05

Deceleration pos.

Deceleration in positive direction of rotation Unit: 1 ms

UINT16

RW

8020:06

Deceleration neg.

Deceleration in negative direction of rotation Unit: 1 ms

UINT16

RW

8020:07

Emergency deceleration

Emergency deceleration (both directions of rotation) Unit: 1 ms

UINT16

RW

8020:08

Calibration position

Calibration position

UINT32

RW

8020:09

Calibration velocity (towards plc cam)

Calibration velocity towards the cam (range: 0-10000)

INT16

RW

8020:0A

Calibration Velocity (off plc cam)

Calibration velocity away from the cam (range: 0-10000)

INT16

RW

8020:0B

Target window

Target window

UINT16

RW

8020:0C

In-Target timeout

Target position timeout Unit: 1 ms

UINT16

RW

8020:0D

Dead time compensation

Dead time compensation Unit: 1 µs

INT16

RW

8020:0E

Modulo factor

Modulo factor/position

UINT32

RW

8020:0F

Modulo tolerance window

Tolerance window for modulo positioning

UINT32

RW

8021:0

POS Features Ch.1

Maximum subindex

UINT8

RO

8021:01

Start type

permitted values:

UINT16

RW

0: Idle

1: Absolute

2: Relative

3: Endless plus

4: Endless minus

6: Additive

24832: Calibration (Hardware sync)

24576: Calibration (Plc cam)

28416: Calibration (Clear manual)

28160: Calibration (Set manual)

28161: Calibration (Set manual auto)

1029: Modulo current

773: Modulo minus

517: Modulo plus

261: Modulo short

8021:11

Time information

permitted values:

BIT2

RW

0: Elapsed time

current drive time since start of the travel command

8021:13

Invert calibration cam search direction

Inversion of the direction of rotation towards the cam

BOOLEAN

RW

8021:14

Invert sync impulse search direction

Inversion of the direction of rotation away from the cam

BOOLEAN

RW

8021:15

Emergency stop on position lag error

Triggers an emergency stop if the maximum following error is exceeded

BOOLEAN

RW

FB00:0

STM Command

Maximum subindex

UINT8

RO

FB00:01

Request

Requesting a command

0x8000: Software reset

OCTET-

STRING[2]

RW

FB00:02

Status

Status of the command

UINT8

RO

0: No error, without return value

1: No error, with return value

2: With error, without return value

3: With error, with return value

... reserved

255: Command execution active

6000:0

ENC Inputs Ch.1

Maximum subindex

UINT8

RO

6000:01

Latch The control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT® bus cycle. The status word is used to return the drive's latch status. C valid

The counter value was latched with the C track Characterized by an axis group that follows with its movement the movement of another axis group..

BOOLEAN

RO

6000:02

Latch extern valid

The counter value was stored via the external latch.

BOOLEAN

RO

6000:03

Set counter done

The counter was set.

BOOLEAN

RO

6000:04

Counter underflow

Counter underflow.

BOOLEAN

RO

6000:05

Counter overflow

Counter overflow.

BOOLEAN

RO

6000:08

Extrapolation stall

The extrapolated part of the counter is invalid

BOOLEAN

RO

6000:09

Status of input A

Status of the A-input.

BOOLEAN

RO

6000:0A

Status of input B

Status of the B-input.

BOOLEAN

RO

6000:0B

Status of input C

Status of the C-input.

BOOLEAN

RO

6000:0D

Status of extern latch

Status of the ext. latch input.

BOOLEAN

RO

6000:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization Combines an axis or axes group (as slave) with an axis as master. The slave executes its path with synchronization to the progress of the master. This is linked to a one dimension source for synchronization. error has occurred during the previous cycle.

BOOLEAN

RO

6000:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

6000:11

Counter value

The counter value.

UINT32

RO

6000:12

Latch value

The latch value.

UINT32

RO

6010:0

STM Inputs Ch.1

Maximum subindex

UINT8

RO

6010:01

Ready to enable

Driver stage is ready for enabling

BOOLEAN

RO

6010:02

Ready

Driver stage is ready for operation

BOOLEAN

RO

6010:03

Warning

a warning has occurred (see Index A010 STM Diag data Ch.1)

BOOLEAN

RO

6010:04

Error

an error has occurred (see Index A010 STM Diag data Ch.1)

BOOLEAN

RO

6010:05

Moving positive

Driver stage is activated in positive direction

BOOLEAN

RO

6010:06

Moving negative

Driver stage is activated in negative direction

BOOLEAN

RO

6010:07

Torque The tendency of a force to rotate an object about an axis. A force is a push or a pull; a torque is a twist. reduced

Reduced torque is active

BOOLEAN

RO

6010:08

Motor stall

A loss of step has occurred

BOOLEAN

RO

6010:0C

Digital input 1

Digital input 1

BOOLEAN

RO

6010:0D

Digital input 2

Digital input 2

BOOLEAN

RO

6010:0E

Sync error

The Sync error bit is only required for DC mode. It indicates whether a synchronization error has occurred during the previous cycle.

BOOLEAN

RO

6010:10

TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.

BOOLEAN

RO

6010:11

Info data 1

Synchronous information (selection via subindex 8012:11)

UINT16

RO

6010:12

Info data 2

Synchronous information (selection via subindex 8012:19)

UINT16

RO

6010:13

Motor load

Current motor load Unit: 0.01°

INT16

RO

6010:14

Internal position

Internal 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. position

UINT32

RO

6020:0

POS Inputs Ch.1

Maximum subindex

UINT8

RO

6020:01

Busy

A current travel command is active

BOOLEAN

RO

6020:02

In-Target

Motor has arrived at target

BOOLEAN

RO

6020:03

Warning

A warning has occurred

BOOLEAN

RO

6020:04

Error

an error has occurred

BOOLEAN

RO

6020:05

Calibrated

Motor is calibrated

BOOLEAN

RO

6020:06

Accelerate

Motor is in the acceleration phase

BOOLEAN

RO

6020:07

Decelerate

Motor is in the deceleration phase

BOOLEAN

RO

6020:11

Actual position

Current target position of the travel command generator

UINT32

RO

6020:21

Actual velocity

Current set velocity of the travel command generator

INT16

RO

6020:22

Actual drive time

Travel command time information (see subindex 8021:11)

UINT32

RO

7000:0

ENC Outputs Ch.1

Maximum subindex

UINT8

RO

7000:01

Enable latch C

Activate latching via the C-track.

BOOLEAN

RO

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

7000:0

ENC Outputs Ch.1

Maximum subindex

UINT8

RO

7000:01

Enable latch C

Activate latching via the C-track.

BOOLEAN

RO

7000:02

Enable latch extern on positive edge

Activate external latch with positive edge.

BOOLEAN

RO

7000:03

Set counter

Set the counter value.

BOOLEAN

RO

7000:04

Enable latch extern on negative edge

Activate external latch with negative edge.

BOOLEAN

RO

7010:0

STM Outputs Ch.1

Maximum subindex

UINT8

RO

7010:01

Enable

activates the output stage

BOOLEAN

RO

7010:02

Reset

all errors that may have occurred are reset by setting this bit (rising edge The transition of a digital signal from low to high. AKA: positive edge.)

BOOLEAN

RO

7010:03

Reduce torque

Reduced torque (coil current) is active (see subindex 8010:02)

BOOLEAN

RO

7010:0C

Digital output 1

Digital output 1

BOOLEAN

RO

7010:11

Position

Set position specification Unit: Increments

UINT32

RO

7020:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

7020:01

Execute

Start travel command (rising edge), or prematurely abort travel command (falling edge)

BOOLEAN

RO

7020:02

Emergency Stop

Prematurely abort travel command with an emergency ramp The gradual acceleration and deceleration of a stepping motor. This is essential if performance beyond the start/stop range is required. The slope of the ramp is a function of screw pitch, load, drive voltage and design, and motor. (rising edge)

BOOLEAN

RO

7020:11

Target position

Specification of the target position

UINT32

RO

7020:22

Start type

0x0000 Idle: No travel command is being executed

UINT16

RO

0x0001 Absolute: Absolute target position

UINT16

RO

0x1001 Absolute (Change): Change during an active travel command

UINT16

RO

0x0002 Relative: Target position relative to the current position

UINT16

RO

0x1002 Relative (Change): Change during an active travel command

UINT16

RO

0x0003 Endless plus: Endless driving in positive direction of rotation

UINT16

RO

0x0004 Endless minus: Endless driving in negative direction of rotation

UINT16

RO

0x0105 Modulo short: Shortest distance to the next modulo position

UINT16

RO

0x0115 Modulo short extended: Shortest distance to the next modulo position (without modulo window)

UINT16

RO

0x0205 Modulo plus: Drive in positive direction of rotation to the next modulo position

UINT16

RO

0x0215 Modulo plus extended: Drive in positive direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0305 Modulo minus: Drive in negative direction of rotation to the next modulo position

UINT16

RO

0x0315 Modulo minus extended: Drive in negative direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0405 Modulo current: Drive in the last implemented direction of rotation to the next modulo position

UINT16

RO

0x0415 Modulo current extended: Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0006 Additive: New target position relative/additive to the last target position

UINT16

RO

0x1006 Additive (Change): Change during an active travel command

UINT16

RO

0x6000 Calibration, PLC cam: Calibration with cam

UINT16

RO

0x6100 Calibration, HW Hardware sync: Calibration with cam and C-track

UINT16

RO

0x6E00 Calibration, set manual: Set calibration manually

UINT16

RO

0x6E01 Calibration, set manual auto: Set automatic calibration, for "Enable = 1"

UINT16

RO

0x6F00 Calibration, clear manual: Clear calibration manually

UINT16

RO

7020:23

Acceleration

Acceleration specification

UINT16

RO

7021:0

POS Outputs Ch.1

Maximum subindex

UINT8

RO

7021:03

Enable auto start

Enable auto start

BOOLEAN

RO

7021:11

Target position

Specification of the target position

UINT32

RO

7021:22

Start type

0x0000 Idle: No travel command is being executed

UINT16

RO

0x0001 Absolute: Absolute target position

UINT16

RO

0x1001 Absolute (Change): Change during an active travel command

UINT16

RO

0x0002 Relative: Target position relative to the current position

UINT16

RO

0x1002 Relative (Change): Change during an active travel command

UINT16

RO

0x0003 Endless plus: Endless driving in positive direction of rotation

UINT16

RO

0x0004 Endless minus: Endless driving in negative direction of rotation

UINT16

RO

0x0105 Modulo short: Shortest distance to the next modulo position

UINT16

RO

0x0115 Modulo short extended: Shortest distance to the next modulo position (without modulo window)

UINT16

RO

0x0205 Modulo plus: Drive in positive direction of rotation to the next modulo position

UINT16

RO

0x0215 Modulo plus extended: Drive in positive direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0305 Modulo minus: Drive in negative direction of rotation to the next modulo position

UINT16

RO

0x0315 Modulo minus extended: Drive in negative direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0405 Modulo current: Drive in the last implemented direction of rotation to the next modulo position

UINT16

RO

0x0415 Modulo current extended: Drive in the last implemented direction of rotation to the next modulo position (without modulo window)

UINT16

RO

0x0006 Additive: New target position relative/additive to the last target position

UINT16

RO

0x1006 Additive (Change): Change during an active travel command

UINT16

RO

0x6000 Calibration, PLC cam: Calibration with cam

UINT16

RO

0x6100 Calibration, HW sync: Calibration with cam and C-track

UINT16

RO

0x6E00 Calibration, set manual: Set calibration manually

UINT16

RO

0x6E01 Calibration, set manual auto: Set automatic calibration, for "Enable = 1"

UINT16

RO

0x6F00 Calibration, clear manual: Clear calibration manually

UINT16

RO

7021:23

Acceleration

Acceleration specification

UINT16

RO

9010:0

STM Info data Ch.1

Maximum subindex

UINT8

RO

9010:01

Status word

Status word (see index Index A010 STM Diag data Ch.1)

UINT16

RO

9010:08

Motor velocity

Current motor velocity

INT16

RO

9010:09

Internal position

Internal position (micro increments)

UINT32

RO

9010:0B

Motor load

Current motor load Unit: 0.01°

INT16

RO

9010:0D

Motor dc current

Current motor current (DC vector) Unit: 1 mA

INT16

RO

9010:0E

Tn (curr.)

Internally calculated time constant of the current controller

Unit: 0.01 ms

UINT16

RO

9020:0

POS Info data Ch.1

Maximum subindex

UINT8

RO

9020:01

Status word

Status word

UINT16

RO

9020:03

State (drive controller)

permitted values:

UINT16

RO

0: Init

1: Idle

272: Go cam

273: On cam

16: Start

17: Acceleration

18: Constant

19: Deceleration

288: Go sync impulse

289: Leave cam

4096: Pre target

4097: In target

32: Emergency Stop

33: Normal stop

304: Calibration stop

8192: Drive end

8193: Wait for init

320: Is calibrated

321: Not calibrated

16384: Drive warning

32768: Error

65535: Undefined

256: Calibration start

A010:0

STM Diag data Ch.1

Maximum subindex

UINT8

RO

A010:01

Saturated

Driver stage operates with maximum duty cycle

BOOLEAN

RO

A010:02

Over temperature

Internal terminal temperature is greater than 80 °C

BOOLEAN

RO

A010:03

Torque overload

Duty cycle output at 100%

BOOLEAN

RO

A010:04

Under voltage

Supply voltage less than 7 V

BOOLEAN

RO

A010:05

Over voltage

Supply voltage 10 % higher than the nominal voltage (see 8010:03)

BOOLEAN

RO

A010:06

Short circuit

Short circuit of motor coil

BOOLEAN

RO

A010:08

No control power

No power supply to driver stage

BOOLEAN

RO

A010:09

Misc error

• Initialization failed or
• Internal terminal temperature is higher than 100 °C (see F80F:05)

BOOLEAN

RO

A010:0A

Configuration

CoE change has not yet been adopted into the current configuration

BOOLEAN

RO

A010:0B

Motor stall

A loss of step has occurred

BOOLEAN

RO

A010:11

Actual operation mode

permitted values:

BIT4

RO

0: Automatic

1: Velocity direct

2: Velocity controller

3: Position controller

4: Ext. Velocity mode

5: Ext. Position mode

A020:0

POS Diag data Ch.1

Maximum subindex

UINT8

RO

A020:01

Command rejected

Travel command was rejected

BOOLEAN

RO

A020:02

Command

aborted

Travel command was aborted

BOOLEAN

RO

A020:03

Target overrun

Target position was overrun in the opposite direction

BOOLEAN

RO

A020:04

Target timeout

The target window was not reached within the in-target timeout

BOOLEAN

RO

A020:05

Position lag

The maximum following error was exceeded

BOOLEAN

RO

F80F:0

STM Vendor data

Maximum subindex

UINT8

RO

F80F:04

Warning temperature

Temperature warning threshold Unit: 1 °C

INT8

RW

F900:0

STM Info data

Maximum subindex

UINT8

RO

F900:01

Software version (driver)

Software version of the output driver

STRING

RO

F900:02

Internal temperature

Internal terminal temperature Unit: 1 °C

INT8

RO

F900:04

Control voltage

Control voltage

Unit: 1 mV, 10 mV with field-oriented control

UINT16

RO

F900:05

Motor supply voltage

Motor supply voltage

Unit: 1 mV, 10 mV with field-oriented control

UINT16

RO

F010:0

Module list

Maximum subindex

UINT8

RW

F010:01

SubIndex 001

Encoder profile number

UINT32

RW

F010:02

SubIndex 002

Stepper motor profile number

UINT32

RW

F081:0

Download revision

Maximum subindex

UINT8

RO

FB40:0

Memory interface

Maximum subindex

UINT8

RO

FB40:01

Address

reserved

UINT32

RW

FB40:02

Length

reserved

UINT16

RW