Commissioning AKT2G-ENC-190-000

Normal Operation Mode

Process data and modes - Normal Operation Mode

In AKT2G-ENC-190-000 “normal operation mode” the following modes are available:

Mode	Distributed Clock	Main PDO	Comment	Optional PDO 1	Comment	Features CoE	Comment
1	Operational	0x1A00 + 0x1600	16 bit Value/LatchThe 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 Byte-Alignment	0x1A02	Frequency: 32 bit Period: 16 bit Window: 16 bit CoE object 0x8001:02	0x8000:01 + 0x8001:02	Register reload + Reload Value
2	Operational	"	"	"	"	0x8000:02	Index Reset
3	Operational	"	"	"	"	0x8000:03, :04, :05	FWD Cnt + pos/ neg Gate
4	Operational	0x1A01 + 0x1601	16 bit Value/Latch Word Alignment	0x1A02	Frequency: 32 bit Period: 16 bit Window: 16 bit CoE object 0x8001:02	0x8000:01 + 0x8001:02	Register reload + Reload Value
5	Operational	"	"	"	"	0x8000:02	Index Reset
6	Operational	"	"	"	"	0x8000:03, :04, :05	FWD Cnt + pos/ neg Gate

• 
  

• Frequency

  • The timeframe for the frequency calculation is set to 10 ms (see Fig. “Process data” tab); in addition a variably configurable measuring window is available (parameterization via object 0x8001:01, output frequency value in object 0x6000:06).
  • Only the increment edges in the specified time window are counted.
  • If no edge change occurs for approx. 1.6 s, any frequency specification is cancelled.
  • This calculation is carried out in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.
  • No frequency measurement is possible if the counter is blocked by the gate. In this case the period can be measured regardless.
  • If an encoder signal is only present at input A/A and the frequency/period is to be measured, the terminal must be set to “Enable FWD count” in CoE 0x8000:03.
  • A C or external reset restarts the frequency measurement. The last frequency value remains unchanged until a new frequency value is determined.

Figure 9-35: Frequency measurement principle in normal operation mode

Period calculation

• This calculation is carried out in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.
• In each cycle the interval between 2 positive edges of input A is counted with a resolution of 100 ns.
• If no edge change occurs for approx. 1.6 s, any period specification is canceled.
• • 
    

  • Frequency and period measurement

    From the explanatory notes above it is apparent that the frequency measurement can measure the current axis status (velocity) significantly more accurately than the period measurement. Frequency measurement is therefore preferable, if possible.

Register Reload

• If Register Reload is enabled in CoE object 0x8000:01, the counter value is set to zero in the event of overflow over the value in CoE object 0x8001:02 and to the value in CoE object 0x8001:02 in the event of underflow below 0.

Index Reset

• If Index Reset is enabled in CoE object 0x8000:02, input C resets the counter to 0.
  • 
    

  • "Register Reload" and "Index Reset"

    "Register Reload” and “Index Reset” cannot be operated simultaneously.

FWD Cnt

• If FwdCnt is activated in CoE object 0x8000:03, the AKT2G-ENC-190-000 operates as counter on channel A. Channel B indicates the counting direction: B=TRUE forward, B=FALSE backward. The counter can be locked via the gate input (24 V).
  • CoE object 0x8000:04 (TRUE): Locking of the counter at the gate input with positive edge (0 V -> + 24 V).
  • CoE object 0x8000:05 (TRUE): Locking of the counter at the gate input with negative edge (+ 24 V -> + 0 V).

Object Description and Parameterization - Normal Operation Mode

Restore object

Index 1011 Restore default parameters

Index (hex)	Name	Meaning	Data type	Flags	Default
1011:0	Restore default parameters	Restore the default settings	UINT8	RO	0x01 (1dec)
1011:01	SubIndex 001	If this object is set to “0x64616F6C” in the set value dialog, all backup objects are reset to their delivery state. Note: Some FW versions also accept the following input: "0x6C6F6164".	UINT32	RW	0x00000000 (0dec)

Configuration data

Index 8000 Non-Volatile Settings 0

Index (hex)	Name	Meaning	Data type	Flags	Default
8000:0	Non-Volatile Settings 0	Maximum subindex	UINT8	RO	0x05 (5dec)
8000:01	Enable register reload	The counter counts up to the “Counter reload value”, or the “Counter reload value” (0x8001:02) is loaded in the event of an underflow Example 360° encoder with set bit: Moves in positive direction via Counter reload value: Reset counter value to 0. Moves in negative direction less than 0: Reset counter value to Counter reload value	BOOLEAN	RW	0x00 (0dec)
8000:02	Enable index reset	Activates input “C” for resetting the counter. Example 360° encoder with set bit: Moves in positive direction (signal at input “C”): Reset counter value to 0 Moves in negative direction (signal at input “C”): underflow with FFFF, FFFE etc.)	BOOLEAN	RW	0x00 (0dec)
8000:03	Enable FWD count	FALSE The terminal operates in quadrature decoder mode TRUE The terminal operates as counter, count direction to input B	BOOLEAN	RW	0x00 (0dec)
8000:04	Enable pos. gate	Gate input responds to positive edge and locks the counter	BOOLEAN	RW	0x01 (1dec)
8000:05	Enable neg. gate	Gate input responds to negative edge and locks the counter	BOOLEAN	RW	0x00 (0dec)

Index 8001 Non-Volatile Settings 1

Index (hex)	Name	Meaning	Data type	Flags	Default
8001:0	Non-Volatile Settings 1	Maximum subindex	UINT8	RO	0x02 (2dec)
8001:01	Frequency window	The value specifies the size of the time window for the “Window” variable. resolution: 16µs; e.g. default value: 16 µs x 100dec = 1.6 ms	UINT16	RW	0x0064 (100dec)
8001:02	Counter reload value	If “Enable register reload” = TRUE, the counter counts up to this value and is loaded with this value in the event of an underflow	UINT16	RW	0xFFFF (65535dec)

Input data

Index 6000 Inputs

Index (hex)	Name	Meaning	Data type	Flags	Default
6000:0	Inputs	Length of this object	UINT8	RO	0x06 (6dec)
6000:01	Status	Status byte	UINT8	RO	0x00 (0dec)
6000:02	Value	meter reading	UINT16	RO	0x0000 (0dec)
6000:03	Latch	Latch value	UINT16	RO	0x0000 (0dec)
6000:04	Frequency	Frequency value (resolution: 0.01 Hz / digit) [fixed 10 ms measuring window]	UINT32	RO	0x00000000 (0dec)
6000:05	Period	Period (resolution 500 ns / digit)	UINT16	RO	0x0000 (0dec)
6000:06	Window	Measured value of the variable timeframe ( “Frequency window” (0x8001:01)	UINT16	RO	0x0000 (0dec)

Output data

Index 7000 Outputs

Index (hex)	Name	Meaning	Data type	Flags	Default
7000:0	Outputs	Length of this object	UINT8	RO	0x02 (2dec)
7000:01	Ctrl	Control byte	UINT8	RO	0x00 (0dec)
7000:02	Value	The counter value to be set via CNT_SET (CB.02).	UINT16	RO	0x0000 (0dec)

Control and status byte

Control byte

The control byte (CB) is located in the output process image, and is transmitted from the controller to the terminal.

Bit	CB.7	CB.6	CB.5	CB.4	CB.3	CB.2	CB.1	CB.0
Name	-	-	-	-	EN_LATCH_EXTN	CNT_SET	EN_LATCH_EXTP	EN_LATC

Control Byte Legend

Bit	Name	Description
CB.3	EN_LATCH_EXTN	1bin	With a valid EN_LATCH_EXTN bit the counter value is stored in latch input (index 0x6000:03) when the first external latch pulse with falling edge is encountered. Subsequent pulses have no influence on the latch value. Please note: A new counter value can only be written to the latch input when the Latch Valid bit (LAT_EXT_VAL) in the status byte has a low signal level.
CB.2	CNT_SET	rise	The counter is set with rising edgeA rising edge is the transition of a digital signal from low to high. It is also called positive edge of CNT_SET to the value specified via the process data (index 0x7000:02 ).
CB.1	EN_LATCH_EXTP	1bin	With a valid EN_LATCH_EXTP bit the counter value is stored in latch input (index 0x6000:03) when the first external latch pulse with rising edge is encountered. Subsequent pulses have no influence on the latch value. Please note: A new counter value can only be written to the latch input when the Latch Valid bit (LAT_EXT_VAL) in the status byte has a low signal level.
CB.0	EN_LATC	1bin	The null point latch (C input) is activated. The counter value is saved when the first external latch pulse after a valid EN_LATC bit encountered (this has priority over EN_LAT_EXTN / EN_LAT_EXTP). If the bit is set subsequent pulses have no influence on the latch value. Please note: A new counter value can only be written to the latch input when the Latch Valid bit (LATC_VAL) in the status byte has a low signal level (the LATC_VAL bit (SB.0) is only cleared by the terminal when the C pulse = LOW).

Status byte

The status byte (SB) is located in the input process image, and is transmitted from terminal to the controller.

Bit	SB.7	SB.6	SB.5	SB.4	SB.3	SB.2	SB.1	SB.0
Name	-	-	STATUS_INPUT	OVERFLOW	UNDERFLOW	CNTSET_ACC	LAT_EXT_VAL	LATC_VAL

Status Byte Legend

Bit	Name	Description
SB.5	STATUS_INPUT	0bin/1bin	Indicates the status of INPUT 1
SB.4	OVERFLOW	1bin	This bit is set if the 16-bit counter overflows (65535 to 0). It is reset when the counter exceeds one third of its measuring range (21845 to 21846) or immediately an underflow occurs.
SB.3	UNDERFLOW	1bin	This bit is set if the 16-bit counter underflows (0 to 65535). It is reset when the counter drops below two thirds of its measuring range (43690 to 43689) or immediately an overflow occurs.
SB.2	CNTSET_ACC	1bin	The data for setting the counter (index 0x7000:02 ) is accepted from the terminal.
SB.1	LAT_EXT_VAL	1bin	An external latch pulse has occurred. The data with index 0x6000:03 match the latched value when the bit is set. To reactivate the latch input EN_LAT_EXTN or EN_LATCH_EXTP (CB.3 or CB.1) has first to be cleared and then to be set once more.
SB.0	LATC_VAL	1bin	A zero point latch has occurred. The data with index 0x6000:03 match the latched value when the bit is set. In order to reactivate the latch input, it is necessary for EN_LATC (CB.0) first be cleared and then to be set once more.

Single-Ended Connection for TTL Encoder

In addition to encoders with differential RS422 interface, single-ended encoders with TTL interface are also supported. Please note the following:

• Operating mode selection encoder "0x8000:03 Enable FWD count = FALSE".
• The differential inputs (/A, /B, /C) must remain open and must not be connected to ground

Enhanced Operation Mode

Process data and modes - Enhanced operation mode

In AKT2G-ENC-190-000 “enhanced operation mode” the following modes are available:

Mode	DC	Main PDO	Comment	Optional PDO 1	Comment	Optional PDO 2	Comment	Features CoE	Comment
7	FreeRunIn "FreeRun" mode the local cycle is triggered through a local timer interrupt of the application controller. The cycle time can be modified by the master (optional) in order to change the timer interrupt. In "FreeRun" mode the local cycle operates independent of the communication cycle and/or the master cycle.	0x1A04 + 0x1603	Count/Latch in 32 bit	0x1A05 or 0x1A06	Frequency (32 bit) or Period (32bit)	--		0x80n0:nn	CoE combinations 0x80n0:nn
8	"	0x1A03 + 0x1602	compact: Count/Latch in 16 bit	"	"	--		"	"
9	DC/DCi	0x1A04 + 0x1603	Count/Latch in 32 bit	"	"	0x1A07 or 0x1A08	TimestampA timestamp is a sequence of characters, denoting the date and/or time at which a certain event occurred 64 bit Timestamp 32 bit (compact)	"	"
10	"	0x1A03 + 0x1602	compact: Count/Latch in 16 bit	"	"	"	"	"	"

Frequency

• The time window for the frequency calculation and the resolution can be parameterized in CoE objects 0x80n0:11, 0x80n0:13, 0x80n0:15, 0x80n0:17.
• The positive edges of track A are counted within the specified timeframe and the next edge including the time up to it are counted. The waiting time can be set in CoE object 0x80n0:17 “Frequency Wait Time” (unit: ms). The default value is 1.6 sec. This is also the maximum value.
• The time window is 10 ms (default), min. 1 µs. With the default setting it is possible to measure frequencies up to approx. 800 kHz. At higher frequencies a smaller value must be selected for the timeframe.
• The time is measured with a resolution of 100 ns.
• This calculation is carried out in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.
• No frequency measurement is possible if the counter is blocked by the gate. In this case the period can be measured regardless.
• If an encoder signal only is only present at input A/A and the frequency/period is to be measured, the terminal must be set to “Up/Down Counter” in CoE 0x8010:03.
• A C or external reset restarts the frequency measurement. The last frequency value remains unchanged until a new frequency value is determined.

Frequency measurement

• Basic unit 1 µs: all window sizes

Measurement sequence

• The measurement starts with a positive edge at track A. The current counter value and time (resolution: 100 ns) are stored.
• After the measuring window time has elapsed (index 0x80n0:11), the system waits for the following rising edge at track A or a maximum of 1.6 sec or the time from 0x80n0:17
• The frequency is calculated from the edge difference and the actual elapsed time.

Period calculation

• This calculation is carried out in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.
• In each cycle the interval between 2 positive edges of input A is counted with a resolution of 100 ns.
• If no edge change occurs for approx. 1.6 s, any period specification is cancelled.

• 
  

• Frequency and period measurement

  From the explanatory notes above it is apparent that the frequency measurement can measure the current axis status (velocity) significantly more accurately than the period measurement. Frequency measurement is therefore preferable, if possible.

Latch

Activation of latch C input (“C”) and saving (“latching”) of the counter value (index 0x70n0:01)

• The counter value is saved at the first external latch pulse (positive edge at input “C”) after the bit has been set (“TRUE”) in index 0x70n0:01 (has priority before 0x70n0:02 / 0x70n0:04). The subsequent pulses at the other inputs have no influence on the latch value in index 0x60n0:12 if the bit is set.
• Note for “Latch C valid” bit: A new counter value at the latch input can only be written once the value of the “Latch C valid” bit (index 0x60n0:01) is “FALSE”.

Activation of the external latch input (“gate/latch”) and latching of the counter value (index 0x70n0:02, 0x70n0:04)

• The counter value at the latch input (Index 0x70n0:02) will be saved upon the first external latch pulse with a rising edge if the bit (“TRUE”) is set in index 0x60n0:12. The subsequent pulses have no influence on the latch value in index 0x60n0:12.
• The counter value at the latch input (Index 0x60n0:12) will be saved upon the first external latch pulse with a falling edge if the bit (“TRUE”) is set in index 0x70n0:04. The subsequent pulses have no influence on the latch value in index 0x60n0:12.
• Note for "Latch extern valid" bit: A new counter value at the latch input can only be written once the value of the “Latch extern valid” bit (index 0x60n0:02) is “FALSE”.

Reset

• Counter reset (index 0x80n0:01, 0x80n0:02, 0x80n0:10): For a counter reset via input C set the bit in index 0x80n0:01, for a reset via the external latch input set the bit in index 0x80n0:02.
• The functions “Enable C reset” (0x80n0:01) and “Enable extern reset” (0x80n0:02) cannot be activated simultaneously.
• Note for “Extern reset polarity”, index 0x80n0:10: The edge for setting the counter to zero can be selected via index 0x80n0:10.

  Bit not set: counter is set to zero with falling edge.

  Bit set: counter is set to zero with rising edge.

Up/down counter

• The mode (encoder or up/down counter) is set via the CoE objects (profile-specific objects, tab CoE Online, index 0x80n0:03 “Enable up/down counter”). Click on the corresponding row of the index to be parameterized, enter 1 in the SetValue dialog and confirm with OK.
• Set the gate polarity accordingly via object 0x80n0:04.
• An additional option for reversing the rotation direction is available by setting the bit in index 0x80n0:0E.

Overflow/underflow

• Overflow/underflow control is inactive in combination with an activated reset function (C/external).
• The underflow bit (0x60n0:04) is set if an underflow ...00 →...FF occurs. It is reset if 2/3 of the counter range are underrun.
• The overflow bit (0x60n0:05) is set if an overflow FF...→ 00... occurs. It is reset if 1/3 of the counter range is exceeded.

Open circuit detection

• A separate open circuit detection can be activated for each of the channels A, B and C (index 0x80n0:0B, 0x80n0:0C, 0x80n0:0D).
• Open circuit detection is activated for channels A and B by default.
• A differential voltage of typically -1.5 V >Vid > +1.5 V is detected as an open circuit.
• If an open circuit is detected, it is indicated as process data open circuit = TRUE. The bit in object 0x60n0:07 is set. An open circuit is indicated separately in indices 0xA0n0:01 (track A), 0xA0n0:02 (track B) and 0xA0n0:03 (track C).
• TxPDO state also becomes TRUE if an open circuit is detected, since invalid data have to be assumed.

• 
  

• Open circuit detection vs. single-ended lines (TTL interface)

  The open circuit detection does principally not work with single-ended lines (TTL interface).

Micro-increments

• Works with and without distributed clocks, but this is only meaningful in conjunction with one of the DC modes
• By setting the counter value only the integer component can be modified.
• The principle:

  

  Figure 9-36: Frequency measurement principle in enhanced operation mode

The highly constant query cycles (accuracy: 100 ns) of the distributed clocks systems enable the AKT2G-ENC-190 to interpolate axis positions between the counted encoder increments from a certain speed. The interpolation resolution is 8 bit, corresponding to 256 values. A standard encoder with 1,024 bars with 4way evaluation and micro-increments thus becomes a high-resolution axis encoder with 4096 * 256 = 1,048,567 bars.

Underrunning of the minimum velocity is indicated by the object 0x60n0:08 (extrapolation stall) in the process data.

Configuration Data

Index 8010 ENC Settings

Index (hex)	Name	Meaning	Data type	Flags	Default
8010:0	ENC Settings	Maximum subindex	UINT8	RO	0x17 (32dec)
8010:01	Enable C reset	The counter is reset via the C input.	BOOLEAN	RW	0x00 (0dec)
8010:02	Enable extern reset	A counter reset is triggered via the external latch input (24 V)	BOOLEAN	RW	0x00 (0dec)
8010:03	Enable up/down counter	Enablement of the up/down counter in place of the encoder with the bit set. Increments are counted at input A. Input B specifies the counting direction.	BOOLEAN	RW	0x00 (0dec)
8010:04	Gate polarity	0: Disable gate 1: Enable pos. gate (gate locks with “HIGH” level) 2: Enable neg. gate (gate locks with “LOW” level)	BIT2	RW	0x01 (1dec)
8010:08	Disable filter	0: Activates the input filter (inputs A, /A, B, /B, C, /C only) 1: Deactivates the input filter If a filter is activated a signal edge must be present for at least 2.4 µs in order to be counted as an increment.	BOOLEAN	RW	0x01 (1dec)
8010:0A	Enable micro increments	If DC mode is activated, the AKT2G-ENC-190 interpolates micro-increments between the integer encoder increments. The lower 8 bits of the counter value are used in each case for the display. A 32-bit counter thus becomes a 24+8-bit counter, a 16-bit counter becomes an 8+8-bit counter.	BOOLEAN	RW	0x00 (0dec)
8010:0B	Open circuit detection A	An open circuit on track A is indicated in index 0x6010:07 and as process data. Diagnosis is only possible if the corresponding input is wired differentially. A differential voltage < 3.5 V (typical, subject to change) is detected as a broken wire.	BOOLEAN	RW	0x01 (1dec)
8010:0C	Open circuit detection B	An open circuit on track B is indicated in index 0x6010:07 and as process data. Diagnosis is only possible if the corresponding input is wired differentially. A differential voltage < 3.5 V (typical, subject to change) is detected as a broken wire.	BOOLEAN	RW	0x01 (1dec)
8010:0D	Open circuit detection C	An open circuit on track C is indicated in index 0x6010:07 and as process data. Diagnosis is only possible if the corresponding input is wired differentially. A differential voltage < 3.5 V (typical, subject to change) is detected as a broken wire.	BOOLEAN	RW	0x00 (0dec)
8010:0E	Reversion of rotation	Activates reversion of rotation	BOOLEAN	RW	0x00 (0dec)
8010:10	Extern reset polarity	0: Fall (the counter is set to zero with a falling edge) 1: Rise (the counter is set to zero with a rising edge)	BIT1	RW	0x01 (1dec)
8010:11	Frequency window	This is the minimum time over which the frequency is determined. Default 10 ms [resolution: 1 µs] The number of pulses in the time window + the following is measured. The maximum waiting time is specified in the "Frequency Wait Time" parameter. The number of pulses is divided by the actual time window size. The determined frequency is output in index 0x6010:13 and as a process data. The frequency calculation is carried out locally without distributed clocks function.	UINT16	RW	0x2710 (10000dec)
8010:13	Frequency scaling	Scaling of the frequency measurement (must be divided by this value to obtain the unit in Hz): 100: “0.01 Hz”	UINT16	RW	0x0064 (100dec)
8010:14	Period scaling	Resolution of the period in the process data: 100: “100 ns” period value is a multiple of 100 ns 500: “500 ns” period value is a multiple of 500 ns	UINT16	RW	0x0064 (100dec)
8010:15	Frequency resolution	Resolution of the frequency measurement: 100: “0.01 Hz”	UINT16	RW	0x0064 (100dec)
8010:16	Period resolution	Internal resolution of the period measurement: 100: “100 ns” period value is a multiple of 100 ns The period is calculated internally with a resolution of 100 ns. The max. measurable period can then be approx. 1.6 seconds. 500: “500 ns” period value is a multiple of 500 ns Internally the period is calculated with 500 ns resolution. The maximum measurable period is approx. 32.7 ms. The resolution of process data continues to be the value according to index 0x8010:14 (e.g. 100 ns [default]).	UINT16	RW	0x01F4 (500dec)
8010:17	Frequency Wait Time	Waiting time [ms] for frequency measurement Once the time specified in the frequency window has elapsed, the system waits for the next positive edge from track A. This enables the update speed for the Frequency process data to be optimized, depending on the expected frequencies. At least double the period of the minimum frequency to be measured should be entered here. t >= 2* (1 / fmin)	UINT16	RW	0x0640 (1600dec)

Index 6010 ENC Inputs

Index (hex)	Name	Meaning	Data type	Flags	Default
6010:0	ENC Inputs	Maximum subindex	UINT8	RO	0x16 (22dec)
6010:01	Latch C valid	The counter value was locked with the “C” input. The data with index 0x6010:12 match the latched value when the bit is set. To reactivate the latch input, index 0x7010:01 must be cancelled and then reset.	BOOLEAN	RO	0x00 (0dec)
6010:02	Latch extern valid	The counter value was locked via the external latch. The data with index 0x6010:12 match the latched value when the bit is set. To reactivate the latch input, index 0x7000:02 or object index 0x7000:04 must be cancelled and then reset.	BOOLEAN	RO	0x00 (0dec)
6010:03	Set counter done	The counter was set.	BOOLEAN	RO	0x00 (0dec)
6010:04	Counter underflow	Counter underflow. Overflow/underflow control is inactive in combination with a reset function (C/external).	BOOLEAN	RO	0x00 (0dec)
6010:05	Counter overflow	Counter overflow. Overflow/underflow control is inactive in combination with a reset function (C/external).	BOOLEAN	RO	0x00 (0dec)
6010:06	Status of input status	State of the status input (alarm “input 1”)	BOOLEAN	RO	0x00 (0dec)
6010:07	Open circuit	Indicates an open circuit. Configuration via index 0x8010:0A, 0x8010:0B, 0x8010:0C	BOOLEAN	RO	0x00 (0dec)
6010:08	Extrapolation stall	The extrapolated part of the counter is invalid	BOOLEAN	RO	0x00 (0dec)
6010:09	Status of input A	Status of input A	BOOLEAN	RO	0x00 (0dec)
6010:0A	Status of input B	Status of input B	BOOLEAN	RO	0x00 (0dec)
6010:0B	Status of input C	Status of input C	BOOLEAN	RO	0x00 (0dec)
6010:0C	Status of input gate	The state of the gate input	BOOLEAN	RO	0x00 (0dec)
6010:0D	Status of extern latch	Status of the extern latch input	BOOLEAN	RO	0x00 (0dec)
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. This means a SYNC signal was triggered in the AKT2G-ENC-190, although no new process data were available (0=OK, 1=NOK).	BOOLEAN	RO	0x00 (0dec)
6010:0F	TxPDO State	Validity of the data of the associated TxPDO (0 = valid, 1 = invalid).	BOOLEAN	RO	0x00 (0dec)
6010:10	TxPDO Toggle	The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.	BOOLEAN	RO	0x00 (0dec)
6010:11	Counter value	Counter value	UINT32	RO	0x00000000 (0dec)
6010:12	Latch value	Latch value	UINT32	RO	0x00000000 (0dec)
6010:13	Frequency value	The frequency (setting of the scaling and resolution in index 0x8010:13 and 0x8010:15)	UINT32	RO	0x00000000 (0dec)
6010:14	Period value	The period (setting of the scaling and resolution in index 0x8010:14 and 0x8010:16)	UINT32	RO	0x00000000 (0dec)
6010:16	Timestamp	Timestamp of the last counter change	UINT64	RO

Index 7010 ENC Outputs

Index (hex)	Name	Meaning	Data type	Flags	Default
7010:0	ENC Outputs	Maximum subindex	UINT8	RO	0x11 (17dec)
7010:01	Enable latch C	Activate latching via input “C”.	BOOLEAN	RO	0x00 (0dec)
7010:02	Enable latch extern on positive edge	Activate external latch with positive edge.	BOOLEAN	RO	0x00 (0dec)
7010:03	Set counter	Set counter	BOOLEAN	RO	0x00 (0dec)
7010:04	Enable latch extern on negative edge	Activate external latch with negative edge.	BOOLEAN	RO	0x00 (0dec)
7010:11	Set counter value	The counter value to be set via “Set counter” (index 0x7010:03).	UINT32	RO	0x00000000 (0dec)

Information / Diagnostic Data (Channel Specific)

Index A010 ENC Diag data

Index (hex)	Name	Meaning	Data type	Flags	Default
A010:0	ENC Diag data	Maximum subindex	UINT8	RO	0x03 (3dec)
A010:01	Open circuit A	Open circuit on track A	BOOLEAN	RO	0x00 (0dec)
A010:02	Open circuit B	Open circuit on track B	BOOLEAN	RO	0x00 (0dec)
A010:03	Open circuit C	Open circuit on track C	BOOLEAN	RO	0x00 (0dec)

Single-ended connection for TTL encoder

In addition to encoders with differential RS422 interface, single-ended encoders with TTL interface are also supported. Please note the following:

• Operating mode selection encoder "0x80n0:03 Enable up/down counter = FALSE".
• The differential inputs (/A, /B, /C) must remain open and must not be connected to ground
• The option to reverse the direction of rotation is given by setting the bit in index 0x80n0:0E "reversion of rotation =TRUE".
• The open circuit detection does not work in principle conditionally with single-ended connection