AKT2G-SM-Lxx PDO Assignment
Index |
Index of excluded PDOs |
Size (byte.bit) |
Name |
|
---|---|---|---|---|
0x1600 (default) |
0x1601 |
4.0 |
ENC Control compact |
Index 0x7000:01 - Enable 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 C Index 0x7000:02 - Enable Latch extern on positive edge Index 0x7000:03 - Set counter Index 0x7000:04 - Enable Latch extern on negative edge Index 0x7000:11 - Set counter value (16-bit) |
0x1601 |
0x1600 |
6.0 |
ENC Control |
Index 0x7000:01 - Enable Latch C Index 0x7000:02 - Enable Latch extern on positive edge Index 0x7000:03 - Set counter Index 0x7000:04 - Enable Latch extern on negative edge Index 0x7000:11 - Set counter value (32-bit) |
0x1602 (default) |
- |
2.0 |
STM Control |
Index 0x7010:01 - Enable Index 0x7010:02 - Reset Index 0x7010:03 - Reduce torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist Index 0x7010:0C - Digital Output 1 |
0x1603 |
0x1604 0x1605 0x1606 |
4.0 |
STM Position |
Index 0x7010:11 - Position |
0x1604 (default) |
0x1603 0x1605 0x1606 |
2.0 |
STM Velocity |
Index 0x7010:21 - Velocity |
0x1605 |
0x1603 0x1604 0x1606 |
6.0 |
POS Control compact |
Index 0x7020:01 - Execute Index 0x7020:02 - Emergency stop Index 0x7020:11 - Target position |
0x1606 |
0x1603 0x1604 0x1605 |
14.0 |
POS Control |
Index 0x7020:01 - Execute Index 0x7020:02 - Emergency stop Index 0x7020:11 - Target position Index 0x7020:21 - Velocity Index 0x7020:22 - Start type Index 0x7020:23 - Acceleration Index 0x7020:24 - Deceleration |
0x1607 |
0x1603 0x1604 0x1605 |
14.0 |
POS Control 2 |
Index 0x7021:03 – Enable auto start Index 0x7021:11 – Target position Index 0x7021:21 – Velocity Index 0x7021:22 – Start type Index 0x7021:23 – Acceleration Index 0x7021:24 – Deceleration |
0x1A00 (default) |
0x1A01 |
6.0 |
ENC Status compact |
Index 0x6000:01 - Latch C valid Index 0x6000:02 - Latch extern valid Index 0x6000:03 - Set counter done Index 0x6000:04 - Counter underflow Index 0x6000:05 - Counter overflow Index 0x6000:08 - Extrapolation stall Index 0x6000:09 - Status of input A Index 0x6000:0A - Status of input B Index 0x6000:0B - Status of input C Index 0x6000:0D - Status of extern latch Index 0x6000:0E - Sync error Index 0x6000:10 - TxPDO Toggle Index 0x6000:11 - Counter value (16-Bit) Index 0x6000:12 - Latch value (16-Bit) |
0x1A01 |
0x1A00 |
10.0 |
ENC Status |
Index 0x6000:01 - Latch C valid Index 0x6000:02 - Latch extern valid Index 0x6000:03 - Set counter done Index 0x6000:04 - Counter underflow Index 0x6000:05 - Counter overflow Index 0x6000:08 - Extrapolation stall Index 0x6000:09 - Status of input A Index 0x6000:0A - Status of input B Index 0x6000:0B - Status of input C Index 0x6000:0D - Status of extern latch Index 0x6000:0E - Sync error Index 0x6000:10 - TxPDO Toggle Index 0x6000:11 - Counter value (32-Bit) Index 0x6000:12 - Latch value (32-Bit) |
0x1A02 |
- |
4.0 |
ENC Timest. compact |
Index 0x6000:16 - TimestampA timestamp is a sequence of characters, denoting the date and/or time at which a certain event occurred |
0x1A03 (default) |
- |
2.0 |
STM Status |
Index 0x6010:01 - Ready to enable Index 0x6010:02] - Ready Index 0x6010:03 - Warning Index 0x6010:04 - Error Index 0x6010:05 - Moving positive Index 0x6010:06 - Moving negative Index 0x6010:07 - TorqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist reduced Index 0x6010:08 - Motor stall Index 0x6010:0C - Digital input 1 Index 0x6010:0D - Digital input 2 Index 0x6010:0E - Sync error Index 0x6010:10 - TxPDO Toggle |
0x1A04 |
- |
4.0 |
STM Synchron info data |
Index 0x6010:11 - Info data 1 Index 0x6010:12 - Info data 2 |
0x1A05 |
- |
2.0 |
STM Motor load |
Index 0x6010:13 - Motor load |
0x1A06 |
0x1A07 |
2.0 |
POS Status compact |
Index 0x6020:01 - Busy Index 0x6020:02 - in-Target Index 0x6020:03 - Warning Index 0x6020:04 - Error Index 0x6020:05 - Calibrated Index 0x6020:06 - Accelerate Index 0x6020:07 - Decelerate |
0x1A07 |
0x1A06 |
12.0 |
POS Status |
Index 0x6020:01 - Busy Index 0x6020:02 - in-Target Index 0x6020:03 - Warning Index 0x6020:04 - Error Index 0x6020:05 - Calibrated Index 0x6020:06 - Accelerate Index 0x6020:07 - Decelerate Index 0x6020:11 - Actual position Index 0x6020:21 - Actual velocity Index 0x6020:22 - Actual drive time |
0x1A08 |
- |
4.0 |
STM Internal position |
Index 0x6010:14 - Internal position |
0x1A09 |
- |
4.0 |
STM External position |
Index 0x6010:15 – External position |
0x1A0A |
- |
4.0 |
POS Actual position lag |
Index 0x6020:23 – Actual position lag |