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 PDOClosedPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Comment Optional PDO 1 Comment Features CoE Comment

1

Operational

0x1A00

+ 0x1600

16 bit Value/LatchClosedThe 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 8-28: 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 edgeClosedA 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

FreeRunClosedIn "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

TimestampClosedA 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 8-29: 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