List of Figures
Example of a help topic viewed in a large and small browser window. Note the fly-out menu on the small window. |
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Example of auto-completion being used to find a function |
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Synchronized Feeder |
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Spring Winding |
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Synchronizer |
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Form Fill Seal |
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Carton Erector |
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Example of Automation System |
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Logical Architecture Hierarchy |
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Architectural view of KAS components. |
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Hardware to Display the Human-Machine Interface |
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High, medium and low voltage AKD PDMMs and the PCMM. |
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AKD PDMM and PCMM card |
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Graphs comparing the performance of 800 MHz single-core, 1.2 GHz single-core, and 1.2 GHz dual-core controllers. |
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I/O Modules |
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Standard I/O Couplers and Slices |
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KAS IDEMain Window |
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Project Explorer with Controller type and IP address. |
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Configure the Device |
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Libraries Toolbox |
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Dictionary Toolbox |
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Dictionary Contextual Menu |
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Configure the Variable |
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Log Messages |
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Configuration of the Local and Controller log messages |
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Filtering the Messages |
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Filtering the Messages - Example |
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Find and Replace |
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Find and Replace from an Editor |
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Example of a breakpoint (Main: GT2) set in an SFC program. |
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Compiler Output |
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Watch Window |
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Watch Window - Accessing Arrays |
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Watch Window - Selecting PLC Variable |
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Watch Window - Creating Expression |
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Watch Window - Displaying Expression |
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Forcing a variable |
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AKD Toolbar |
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AKD Status Bar |
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Status Bar Labels |
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About Window |
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Log Messages |
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Select an Application Template |
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Configure the Controller Properties |
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PipeNetwork - Open Editor |
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PipeNetwork - Add Pipeblock |
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PipeNetwork - Create a Link |
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PipeNetwork - Edit a Link |
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PipeNetwork - Delete a Link |
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PipeNetwork - Move a Link |
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Pipe Network - Pipe Block Properties |
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Pipe Network - Mapping Axis to Drive |
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Pipe Network comments: editing, and deselected. |
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Setting Axis Units |
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Setting the Units - Example |
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Display Source Code of the Pipe Network |
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Motion State Machine |
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PLCopen Axis Context Menu |
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PLCopen Axis Data Dialog |
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PLCopen Axis Parameters |
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PLCopen Axis - Bus Parameters |
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Servo/Stepper Axis - Axis Data |
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Servo Axis - Axis Limits |
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Motion State Machine |
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Overview of AxesGroup |
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Select an AKI to add. |
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Variable Mapping to KVB. |
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Open the Kollmorgen Visualization Builder Builder |
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AKD Configuration |
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AKD Setup Wizard |
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Add I/O Slice |
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Devices in the EtherCAT list and the General Properties tab of a Device's Module. |
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Set the Pins Number of the Block |
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Create a Custom Library - Select the Library Template |
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Use a Custom Library - Select the Library |
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Use a Custom Library - Display the Library |
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Use a Custom Library - Add a Variable |
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Use a Custom Library - Select the Type |
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Cam - New Profile |
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Cam - Define Profile Filename |
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Cam - Normalized Profile |
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Cam - Output Profile |
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Cam Profile Transformation - Step 1 |
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Cam Profile Transformation - Step 2 |
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Cam Profile Transformation - Step 3 |
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Cam Profile Transformation - Step 4 |
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Cam - Associate Profile to a Pipeblock |
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Set the Period of Execution |
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Edit the Cycle |
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Define the Cycle |
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Change Priorities by Defining the Cycle |
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Example of a variable not being exported and the resulting compile error. |
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Compiler Output |
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Error Location when Compiling |
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The Device Toolbar |
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Device Tooltip displays Version |
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Start Device with the KAS Runtime |
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PLC Options - Debug Compiling Mode |
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Setting Breakpoints |
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Printf Function |
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Customizing Output for Printf Function |
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Plugging a Motion Variable |
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Plugging a Motion Variable - Parameters |
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Example of Plugging a Pipe Block |
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Plugging a PLC Variable |
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Plugging a PLC Variable - Parameters |
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Traces Displayed with Soft Oscilloscope |
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Listing the Differences |
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Variable DictionarySee Also |
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Forcing a Variable |
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Animation in Editors |
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Print Project |
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Inserting a Reference |
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Defining the Reference |
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Autocompletion |
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Tooltip on Variable |
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Autocompletion |
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Tooltip on Variable |
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SFC Step Action Blocks |
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Execution Order on FBD |
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FBD Comments - Inserting Graphic |
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Add Variable in FBD Editor |
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Define Variable Name in FBD Editor |
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Define Variable Type in FBD Editor |
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Add a Variable in the FFLD Editor |
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Define a Variable Name in the FFLD Editor |
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Define a Variable Type in the FFLD Editor |
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Declare an Array for an Internal Variable |
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Add a Complex Structure |
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Rename Complex Structure |
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Add Variable to a Complex Structure |
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Create an Instance of the Structure |
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Edit the Name in the Variable Editor |
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Define Type and Scope of the Variable |
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Editing variables as text |
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Errors caused by editing variables. |
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Parameters and Private Variables |
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Create an Instance of UDFB in a Program |
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Global Defines |
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Edit the Global Definitions |
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Wizard to Create PLC Variable - Parameters |
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Wizard to Create PLC Variable - Mapped Channels |
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Wizard to Create PLC Variable - Variables in the Dictionary |
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EtherCAT Devices Summary Form |
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EtherCAT Network - Physical View |
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EtherCAT Network - Logical View. K-Bus on left, E-Bus on right |
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EtherCAT Master Settings |
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ENI File tab |
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The ESI Files tab |
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Do not overwrite these files. |
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Opening — Upon opening a KAS project, the project's ESI files are compared to the internal library. If there are conflicts, you are prompted to resolve them. |
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Adding/Deleting — Adding or deleting an ESI file from the KAS IDE affects KAS's internal library of ESI files. |
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Saving — When a KAS project is saved, a copy of the ESI file(s) is included in the project file. |
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The PDO Selection/Mapping tab including FSoE objects in yellow. |
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The PDO Editor tab |
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Examples of live checking for valid entries. |
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Example of a device with oversampling. |
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Example of a Parallel Sequence in SFC |
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Regulation with Remote Drive |
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Multi-Axis Driven by a Virtual Master |
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Hardware Organization of Motion Functions |
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Third-order motion profile |
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Mechanical System |
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Pipe Network Structure |
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Typical Pipe Structure |
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Axis Pipe Block Positions |
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Motion State Machine |
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TMP Parameters: INITIAL_POSITION and TRAVEL_SPEED |
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TMP Parameters: ACCELERATION and DECELERATION |
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TMP Parameters: MODE "No Modulo" |
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TMP Parameters: MODE Modulo and MODULO_POSITION |
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PMP Generator forward & backward motion profile |
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PMP Parameters: FIRST_TRAVEL_SPEED, LAST_TRAVEL_SPEED and ACCELERATION |
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PMP Parameters: INITIAL_POSITION, "No Modulo" and MODULO_POSITION |
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PMP Motion Profiles for a Relative Move |
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PMP Motion Profiles for a Forward-Backward Motion |
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Sampler |
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Sampler Period |
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Sampler Mode Position |
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Sampler Mode Speed |
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Sampler Pipe Block Used to Track an External Master |
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Derivator - "No Modulo" Mode |
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Derivator - Modulo Mode |
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Integrator - "No Modulo" Mode |
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Integrator - Modulo Mode |
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Synchronizer Pipe Block to Start, Stop and Re-synchronize a Slave Axis |
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Comparator Used to Control a Valve on a Filler Mechanism |
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Trigger Extrapolates Output Value Based on Fast Input Timestamp |
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Cam Parameters |
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Cam Blocks Control Operation of a Three Axis Filling Mechanism |
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Convertor - Position Mode "No Modulo" |
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Convertor - Position Mode (Modulo) |
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Convertor - Speed Mode |
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Define Value with Expressions |
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Mode Modulo |
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Mode "No Modulo" |
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Axis Parameters: INITIAL_POSITION and TRAVEL_SPEED |
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Axis Parameters: ACCELERATION and DECELERATION |
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Axis Parameters: MODE "No Modulo" |
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Axis Parameters: MODE Modulo and MODULO_POSITION |
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Small Jerk Acceleration |
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Large Jerk Acceleration |
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Trapezoidal Acceleration |
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Graphic of how PLCopen axis position data is calculated. |
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How Actual Position is calculated. |
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Motion State Machine (PLCopen) |
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Versatile Network Architecture |
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Process Data is Inserted in Telegrams |
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Flexible Topology: Line, Tree or Star |
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Synchronicity and Simultaneousness |
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Safety over EtherCAT Software Architecture |
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Fieldbus Gateway |
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Several Device Profiles and Protocols can coexist |
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Master-Implementation with one Process Image |
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Structure of EtherCAT Master Implementation |
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EtherCAT Network Architecture1Image courtesy of EtherCAT.org, http://www.ethercat.org/pdf/english/etg2200_v2i0i1_slaveimplementationguide.pdf |
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Slave Hardware: FPGA with Host CPU |
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Slave Hardware: FPGA with direct I/O |
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EtherCAT State Machine |
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CANopen Status Machine |
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AKD Configuration According to EtherCAT State |
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Priority Between Motion and PLC |
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Application Overrunning the Basic Cycle |
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Firewall alert dialog. |
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KAS Runtime Log Window |
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Axes Tab |
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Set Axis in Error Mode |
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Deselect an Axis |
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KAS Simulator Main Window |
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Options for KAS Simulator |
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The Webserver Tabs as seen on an AKD PDMM webserver. |
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Example of log files displayed from a AKD PDMM or PCMM webserver. |
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Example of a log file's content, displayed in a browser. |
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Example of a AKD PDMM or PCMM with a manually defined IP address |
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File System tab on an AKD PDMM or PCMM web server, and when using Simulator. |
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PipeNetwork Structure |
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Pipe Network - Create a Link |
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Pipe Block - Relation Type for Output-Input |
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A cam profile |
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Cam Profile Editor Main Window |
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Cam Table |
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Modifying an Element Type |
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Cam Table Contextual Menu |
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Add New Point |
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Cam Table Contextual Menu |
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Cam Profile Graph |
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Cam Profile Graph - Slope Line |
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Cam Profile Graph - Contextual Menu |
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Curve Selection Table |
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Standard Color Selection |
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Curves Graph |
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Example of using the Oscilloscope |
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Accessing the Scope |
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Oscilloscope Control Panel |
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Scope Control Panel - Channels |
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Scope Control Panel - Time-base |
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Scope Control Panel - Time Position |
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Cycle Time Calculation |
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Motion, PLC and Real Time Margin Time Calculations |
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Multiple Core Controller, PLC and Real Time Margin Time Calculations. |
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Example of the traces generated in the Oscilloscope. |
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Using the Variable Selector to choose a variable to be mapped in the Oscilloscope |
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Plugging a Probe from the Dictionary |
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Associating a PipeNetwork (left) and PLCopen (right) variable to a Channel |
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Plugging a Probe from the Pipe Network |
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Control Panel Control Library |
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Control Panel Control Properties |
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Control Panel - Selection of Controls |
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Map variables to a Control Panel control |
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Map Variables to a Control Panel Control in the Graphical Editor |
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Control Panel |
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Display of KAS Simulator |
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Examples of CS types on a machine and part. |
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n-Degree Transition |
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180-Degree Transition: New move is in the opposite direction as old move. The sudden change in the direction of motion may result in large jerks to the axes |
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0-Degree Transition: New move continues in same direction as old move — continuous behavior |
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0-Distance Transition: Motion passes the first move's endpoint . There is no transition arc. A sudden change in the direction of motion may result in large jerks to the axes. |
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n-Degree Transition |
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Tangent Transition: Line is tangent to the arc |
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Intersection Transition: The line intersects the arc a "corner distance" away from the beginning of the new move. |
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0-Distance Transition: Special behavior for 0-distance transitions. |
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Examples of Arc-to-Arc Transitions |
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Oscilloscope Representation of linear coordinated move with a MC_GrpHalt command called twice |
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Oscilloscope Representation of linear coordinated move with a MC_GrpStop |
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Online Change - Process Diagram |
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Online Change - States and Transitions |
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PLC Options - Online Change Enable |
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Online Change - Updating Controller Version |
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Online Change - Dictionary |
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One-click Recovery - Process Diagram |
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Pulse Limitations with Falling Edge |
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Pulse Limitations with Rising Edge |
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Registration |
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Example of using a Pipe Network Trigger block for position capture. |
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Configuration of the Trigger block |
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PLC Timestamp Related to Fast Input Event |
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Example of setting byte sizes in a third-party Network Configurator. |
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Example of setting byte sizes in the KAS IDE Fieldbus Editor |
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Example of configuring sub-modules. |
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Software Structure Overview |
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Main Module Description |
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Axis Module Description |
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State Machine |
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PN Template with FFLD - Main |
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PN Template with ST - Main |
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PN Template - Main |
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PN Template - MachineLogic |
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PN Template - Motion |
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PN Template - Control Panel |
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PN Template with ST - Main |
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PN Template - Motion |
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PN Template - Control Panel |
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PN Template with FFLD - Main |
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PN Template - Motion |
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PN Template - Control Panel |
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PLCopen Template with FFLD - Main |
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PLCopen Template with ST - Main |
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PLCopen - Template Main |
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PLCopen Template - Step 5 of the Main |
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PLCopen Template - Motion |
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PLCopen Template - Control Panel |
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PLCopen Template - Fault Report Panel |
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PLCopen Template with ST - Main |
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PLCopen Template - Motion |
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PLCopen Template - Control Panel |
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PLCopen Template - Fault Report Panel |
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PLCopen Template with FFLD - Main |
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PLCopen Template - Motion |
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PLCopen Template - Control Panel |
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PLCopen Template - Fault Report Panel |
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SFC step action blocks |
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SFC Time Diagram - Timer vs Step Activation |
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List of Pipe Blocks |
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MLPipeAct |
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MLPipeAddBlock |
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MLPipeDeact |
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MLBlkReadModPos |
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MLBlkReadModPos |
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MLAddInit |
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MLAddReadOff1 |
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MLAddReadOff2 |
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MLAddReadRatio1 |
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MLAddReadRatio2 |
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MLAddWriteInput |
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MLAddWriteOff1 |
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MLAddWriteOff2 |
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MLAddWriteRat1 |
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MLAddWriteRat2\ |
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Initial speed is smaller than the new speed |
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Initial speed is bigger than the new speed |
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The speed update is taken into account only if the second MLAxisAbs is triggered during acceleration or constant velocity |
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ML_AxisDriveNumber |
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Axis Functions Usage |
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MLPrfReadIOffset |
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MLPrfReadIScale |
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MLPrfReadOOffset |
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MLPrfReadOScale |
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MLPrfWriteIOffset |
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MLPrfWriteIScale |
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MLPrfWriteOOffset |
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MLPrfWriteOScale |
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MLCompCheck |
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MLCompWriteRef |
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Comparator Functions Usage |
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MLCNVConnect |
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MLDerInit |
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MLDerReadInModPos |
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MLDerWriteInModPos |
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Gear Functions Usage |
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MLIntInit |
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Master Functions Usage |
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Initial speed is smaller than the new speed |
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Initial speed is bigger than the new speed |
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The speed update is taken into account only if the second MLAxisAbs is triggered during acceleration or constant velocity |
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TMP Initialization |
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Phaser Functions Usage |
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PMP Generator Forward & Backward Motion Profile |
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MLSmpConECAT function |
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MLSmpConPLCAxis function |
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MLSmpConPNAxis function |
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Synchronizer Functions Usage |
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Get Output Phasing after MLSyncStart |
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Get Output Phasing after MLSyncStop |
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MLSyncStart |
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MLSyncStop |
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Set output phasing after MLSyncStart |
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Set output phasing after MLSyncStop |
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Trigger Functions Usage |
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MLTrigIsTrigged |
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MLTrigReadPos |
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MLTrigReadTime |
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MC_ClearFaults |
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MC_CreatePLCAxis |
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MC_EStop |
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MC_InitAxis |
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MC_InitAxisFeedback |
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MC_Power |
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MC_ErrorDescription Function Block |
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MC_ResetError |
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MC_Stop |
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MC_TouchProbe |
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MC_ReadActPos |
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MC_ReadActVel |
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MC_ReadAxisErr |
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MC_ReadBoolPar |
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MC_ReadParam |
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MC_ReadStatus |
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The MC_WriteParam function block |
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MC_Halt |
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MC_MoveAbsolute |
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MC_MoveAdditive |
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MC_MoveRelative |
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MC_MoveSuperimp |
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MC_MoveVelocity |
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MC_MoveContVel |
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MC_SetOverride |
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MC_CamIn |
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MC_CamIn examples |
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MC_CamOut |
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MC_CamStartPos |
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MC_CamStartPos |
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MC_GearIn |
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MC_GearInPos |
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MC_GearOut |
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MC_Phasing |
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MC_SyncSlaves |
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MC_Reference |
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MC_SetPos |
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Motion State Machine |
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MC_AddAxisToGrp |
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MC_CreateAxesGrp |
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MC_GrpDisable |
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MC_GrpEnable |
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MC_GrpReadBoolPar |
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MC_GrpReadParam |
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MC_GrpReset |
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MC_GrpWriteBoolPar |
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MC_GrpWriteParam |
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MC_InitAxesGrp |
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MC_RemAxisFromGrp |
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MC_SetKinTra |
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MC_UngroupAllAxes |
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MC_GrpReadActAcc |
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MC_GrpReadActPos |
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MC_GrpReadActVel |
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MC_GrpReadCmdPos |
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MC_GrpReadCmdVel |
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MC_GrpReadError |
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MC_GrpReadStatus |
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MC_AxisSetDefaults |
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MC_GrpSetOverride |
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MC_MoveCircAbs |
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MC_MoveCircRel |
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MC_MoveDirAbs |
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MC_MoveDirRel |
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MC_MoveLinAbs |
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MC_MoveLinRel |
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MC_GrpSetPos |
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DriveParamRead |
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DriveParamStrRead |
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DriveParamWrite |
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ECATDevReadParam |
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ECATReadSdo |
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ECATReadSdo State Diagram |
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ECATWriteSdo |
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ECATWriteSdo State Diagram |
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ECATCommErrors function block |
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ECATDeviceStatus function block |
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ECATMasterStatus function block |
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ECATWCStatus function |
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FSoEParamsInit Function Block |
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GetCtrlPerf |
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The FileCopy Function Block |
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The FileCopy Function Block |
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The FileDelete Function Block |
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The FileCopy Function Block |
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The FileExists Function Block |
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The FileOpenA function block |
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The FileOpenR function block |
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The FileOpenW function block |
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The FileReadBinData Function Block |
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The FileReadLine Function Block |
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The FileRename Function Block |
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The FileCopy Function Block |
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The FileSize Function Block |
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The FileWriteLine Function Block |
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The FileWriteLine Function Block |
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The TcpAccept function block |
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The TcpBinReceive function block |
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The TcpBinSendf function block |
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The TcpClose function block |
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The TcpConnect function block |
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The TcpIsConnected function block |
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The TcpIsValid function block |
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The TcpListen function block |
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The TcpSend function block |
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CBS First Order Digital Filter |
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Pulse Width Duty Cycle |
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Scale Input |
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Scale Output |
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FB_ElapseTime |
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MFB_ElapseTime – Time Diagram |
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PipeNetwork_FFLD |
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ProfilesCode_FFLD |
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The TemperaturePID user-defined function block |
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MCFB_DriveFault |
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MLFB_ECATRestart |
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Mode to find the zero angle reference of the motor. |
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MLFB HomeFindHomeFastInput |
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MLFB HomeFindHomeFastInputModulo |
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MLFB HomeFindLimitFastInput |
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MLFB HomeFindLimitFastInputModulo |
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Kollmorgen UDFB Jog for PipeNetwork |
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MCFB_AKDFault |
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MCFB_AKDFaultLookup |
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MCFB_DriveFault |
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MCFB_ECATRestart |
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MCFB StepAbsolute |
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MCFB StepAbsSwitch |
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MCFB StepBlock |
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MCFB StepLimitSwitch |
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MCFB StepRefPulse |
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MCFB StepAbsSwitchFastInput |
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MCFB StepLimitSwitchFastInput |
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Jog for PLCopen |
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MCFB_GearedWebTension Function Block I/O |
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AKDFltRpt |
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S700FltRpt |
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Form Fill and Seal Machine Overview |
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Filling Screw Base Profile |
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Sealing Jaw Base Profile |
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Flying Shear Base Profile |
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Form Fill and Seal Machine Overview |
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Filling Screw Base Profile |
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Sealing Jaw Base Profile |
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Flying Shear Base Profile |
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Unwind Base Profile |
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Cutting Knife Base Profile |
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Unwind Base Profile |
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Cutting Knife Base Profile |
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Knife CAM profile |
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Rotary Knife Pipenetwork |
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Knife Cam profile |
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Feeder CAM Profile base shape |
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Mapping of standard components |
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Standard Components in Project tee |
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EtherCAT structure in the dictionary |
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EtherCAT function blocks in the library. |
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Standard Components in the Project View. |
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Standard Components in the EtherCAT view. |
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Start view of the EtherCAT Configurator |
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General view with the EtherCAT nodes |
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PDO Assignment |
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Task view |
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Variable view |
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Device EtherCAT view |
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KAS IDE EtherCAT ENI File view |
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EtherCAT address setting for AKD drives |
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XML image showing Output Index number for Axis1 and Axis2 |
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XML image showing Input Index number for Axis1 and Axis2 |
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Example of data index offset and size for non-standard I/O item |
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Direct EtherCAT function blocks in KAS IDE library |
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Writing to a non-standard I/O device |
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Complete XML file mapping – part 1 |
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Complete XML file mapping – part 2 |
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Full scale value, measuring span |
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Simplified representation of the mass moments of inertia |
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Control structure of a standard stepper motor drive |
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Behavior of the rotor under load |
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Stepper slice objects in the KAS IDE |
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Installation position and minimum distances |
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Typical reaction time |
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Worst-case reaction time |
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Components AKT2G-AC-FAN-001 |
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Engaging the holder for the fan cartridge |
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Push latching tab into groove |
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Pull the fan cartridge off towards the front |
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Remove the holder using a screwdriver |
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AKT2G-AC-FAN-001 LED |
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Display of the measurement and calculation of the resistance/temperature |
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3-wire connection technology |
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Examples for temperature-dependent resistance values |
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Principle of the thermocouple |
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Calculation of process data |
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External cold junction |
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Internal connection diagram 0/4...20 mA inputs |
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Internal connection diagram for 0/4..20 mA inputs of a AKT2G-AN-430 |
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Example: AKT2G-ECT-000 EtherCAT coupler with 3 ports |
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Internal and external port assignment for Bus Coupler AKT2G-ECT-000 |
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Potential diagram ECT-000 |
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GND concept ECT-000 |
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Diagnostic LEDs EK1100, EK1100-0008 |
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Quadrature decoder |
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Frequency measurement principle - frequency mode A |
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Frequency measurement principle - frequency mode B |
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Counter connection principle |
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Principle of frequency measurement |
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AKT2G-ENC-190-000 |
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Level interface |
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AKT2G-ENC-190-000 |
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Frequency measurement principle in normal operation mode |
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Frequency measurement principle in enhanced operation mode |
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AKT2G-SDI-004 – safety terminal with 4 digital fail-safe inputs |
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Characteristic curve of the inputs |
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Dimensions of the AKT2G-SDI-004. Click the image for an actual size image. |
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Block diagram of the AKT2G-SDI-004 |
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AKT2G-SDI-004 pin assignment |
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Permitted cable length |
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Cable routing |
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Typical course of test pulses of the inputs |
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Address settings on safety terminals with 65535 possible addresses |
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Maximum permissible sensor self-test duration of 350 µs |
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AKT2G-SDO-004-000 safety terminal with 4 digital fail-safe outputs |
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Dimensions of the AKT2G-SDO-004. Click the image for an actual size image. |
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Block diagram of the AKT2G-SDO-004 |
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AKT2G-SDO-004 pin assignment |
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Permitted cable length |
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Cable routing |
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Typical course of test pulses of the outputs. |
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Address settings on safety terminals with 1023 possible addresses |
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LEDs and connection of the AKT2G-SM-L15 |
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Bipolar control (serial) of a bipolar motor |
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Bipolar control (parallel) of a bipolar motor |
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Bipolar control of a unipolar motor. Only one half of each winding is controlled. |
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LEDs and connection of the AKT2G-SM-L50 |
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Bipolar control (serial) of a bipolar motor |
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Bipolar control (parallel) of a bipolar motor |
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Bipolar control with only one half of each winding is controlled |
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The encoder is supplied from the power contacts via terminal points 3 (+24 V) and 7 (0 V). |
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Spring contacts of the I/O components. |
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Attaching on mounting rail |
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Disassembling of terminal |
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Power contact on left side |
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Standard wiring |
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Connecting a cable on a terminal point |
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Recommended distances for standard installation position |
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Other installation positions |
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Correct positioning |
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Incorrect positioning |
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SE and DIFF module as 2-channel version |
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2-wire connection |
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Connection of externally supplied sensors |
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2-, 3- and 4-wire connection at single-ended and differential inputs |
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Common-mode voltage (Vcm) |
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Recommended operating voltage range |
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Signal processing analog input |
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Diagram signal delay (step response) |
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Diagram signal delay (linear) |
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SFC Step - Timeout Alarm |
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The file cclog.txt is not writeable. |
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The file main.c is not writeable. |
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ETHERCAT Coupler Diagnostic LEDs |
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Connecting all the Hardware components |
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