AKT2G-SM-Lxx PDO Assignment

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDOClosed PDO 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. content

0x1600 (default)

0x1601

4.0

ENC Control compact

Index 0x7000:01 - Enable LatchClosed The control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT bus cycle. The status word is used to return the drive's latch status 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 torqueClosed Torque 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 - TimestampClosed A 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 - TorqueClosed Torque 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