AKT2G-SM-L15 LEDs and Connections

This LED indicates the terminal's operating state:

State of 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. State Machine The complete assembly of all connected parts or devices, of which at least one is movable.: INIT = Initialization of the terminal or BOOTSTRAP = Function for firmware updates of the terminal

State of the EtherCAT State Machine: PREOP = Setting for mailbox communication and variant standard settings

State of the EtherCAT State Machine: SAFEOP = Channel checking of the Sync Manager and the Distributed Clocks Clock signal.. Outputs stay in safe operation mode.

State of the EtherCAT State Machine: OP = Normal operation mode, mailbox- and process data communication possible

Encoder ready for operation

Signal at encoder input A

Signal at encoder input B

Signal at encoder input C

Signal at 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. input

Motor An actuator focused to a movement, converting electrical energy in a force or torque. is triggered clock wise

Signal at digital input 1

Driver stage ready for operation

The power supply voltage (24 VDC) is absent or the motor control is blocked (Index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. 6010:02] is not set))

The power supply voltage (24 VDC) is present

Configuration error, e.g.:

• Motor power supply not connected
• 80°C temperature exceeded
• 100% duty cycle reached
• ...

Configuration error of output stage A, e.g.:

• 100°C temperature exceeded
• short circuit
• ...

Configuration error of output stage B, e.g.:

• 100°C temperature exceeded
• short circuit
• ...

The motor control is blocked (Index 6010:02] is not set) or SM-L15 is not ready for operation

The motor control is activated (Index 6010:02] is set) or SM-L15 is ready for operation

Motor is triggered counter clock wise

Encoder input A

Encoder input C (zero input). If object 7000:01 is set in the control word and a rising edge The transition of a digital signal from low to high. AKA: positive edge. occurs at encoder input C, the current counter value is stored as a reference mark in the latch register.

Encoder supply + 24 V, internally connected with positive 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. power contact and pin 6, 7

Motor winding A1

Motor winding B1

+24 V_DC, internally connected with positive power contact and pin 3, 7

+24 V_DC, internally connected with positive power contact and pin 3, 7

Digital input 1 (24 V_DC)

Encoder input B

Latch input. The current counter value is stored as a reference mark in the latch register, if

• object 7000:02 is set and a rising edge occurs at the latch input; or
• object 7000:04 is set and a falling edge occurs at the latch input.

Encoder supply 0 V, internally connected with negative power contact and pin 14, 15

Motor winding A2

Motor winding B2

0 V_DC, internally connected with negative power contact and pin 11, 15

0 V_DC, internally connected with negative power contact and pin 11, 14