AKT2G-IO-SM-Lxx Stepper Drive Configuration tab

This tab is used to configure the device, based on the parameters of the stepper motor being used, and to diagnose any problems with the stepper terminal. To make configuration simple, a Kollmorgen stepper motor can be selected from the Properties tab, which automatically populates the stepper motor parameter fields.

The stepper motor parameters can also be replicated to a file and transferred between devices. Once the project is compiled, the CoE Init Commands tab is populated based on these values.

Troubleshooting the stepper terminal can begin by gathering information from the Diagnostics tab.

Properties tab

Select a Motor	The drop-down list contains the Kollmorgen stepper motor models and their specific parameters. Selecting a model automatically populates the appropriate motor-specific fields. See the Kollmorgen Stepper Optimizer to match a motor series name to the model number.
Reset to Default Values	Click this button to change all of the stepper motor parameters to their default values.
Load from File...	Click this button to select an XML "Extensible Markup Language " XML is a general-purpose markup language. It is classified as an extensible language because it allows its users to define their own tags file to populate all of the stepper parameters, not just those specific to the motor.
Save to File...	Click this button to create an XML file containing all of the current stepper parameters. This file can be stored or transferred between devices.

Stepper Motor Parameters
Section	Element	Description
Mode	Mode	Select the CoE object used for the actual position. Open Loop A positioning technique, typically utilizing stepper motors, in which the controller issues a sequence of commands to the motor without an absolute means of detecting if the move has been made. When the load and move velocity and acceleration are appropriately defined, open loop positioning is capable of extended operation without losing steps. with No Encoder Feedback: This option should be selected when there is no position feedback device A process whereby some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position for the stepper motor. In this mode: The command position increments sent to the stepper drive are accumulated in an internal counter and returned to the controller as the actual position. The PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML and Pipe Network axis motion function blocks (e.g., MC_ReadActPos, MLAxisReadActPos) return actual position, which is the stepper drive’s internal counter. The controller commands position without considering position feedback. There is no assurance that the motor will get to its destination. Open Loop with Encoder Feedback: In this mode: The command position increments sent to the stepper drive are accumulated in an internal counter. The encoder feedback is returned to the controller as the actual position. The PLCopen and Pipe Network axis motion function blocks (e.g., MC_ReadActPos, MLAxisReadActPos) return actual position, which is the encoder feedback counter. The controller commands position without considering position feedback. There is no assurance that the motor will get to its destination because there is no ability to self-correct. Configure via CoE Init-Commands: This mode allows for custom drive/motor configurations. In this mode: The Drive and Motor configurations listed in this table do not apply. Stepper motor configuration parameters (e.g., Features, Controller, Motor, Encoder, etc.) must be configured manually in the CoE Init Commands tab. When a custom configuration is required by your application, contact Kollmorgen Customer Support at support@kollmorgen.com.
Drive	Input Voltage (VDC)	Specify the input supply voltage. The range is: SM-L15 = 24 VDC (-15%/+20%) SM-L50 = 8 - 50 VDC
	Reverse Motor Polarity	Select True or False from the drop-down menu to reverse the motor direction.
	Speed Range	Select the maximum output full-step frequency from the drop-down list.
	Kp (current control)	Specify the proportional gain factor for current control.
	Ki (current control)	Specify the integral gain factor for current control.
	Fan Cartridge Present	Set this to True if a AKT2G-AC-FAN-001 fan cartridge is installed. Having a fan present allows you to set the Rated Current / Phase (Amps) to a higher value.
Motor	Full Steps per Revolution	Specify the number of full motor steps per revolution.
	Rated Current / Phase (Amps)	Specify the motor’s rated current per phase in Amps. This is also known as the RMS (root mean square) current. This value is converted from RMS to Peak output current, by multiplying the value by 1.414 (square root of 2) to specify the maximum output current for the stepper drive. The 64x microstep resolution causes a 30 percent current loss compared to full-step resolution. This is due to the output wave form being closer to a sine wave than a square wave. The rated current/phase value is converted to the peak output current to compensate for the current loss. Since the peak output current may exceed the motor’s rated current per phase at standstill, it is very important to configure the Reduced Current/Phase (Amps), to prevent the motor from overheating. Maximum Motor Current/Phase (RMS) Values SM-L15 = 1.06 Amps without a fan 1.12 Amps with a fan SM-L50 = 3.53 Amps without a fan 4.59 Amps with a fan Maximum Converted Peak Output Values SM-L15 = 1.5 Amps without a fan 3 Amps with a fan SM-L50 = 5 Amps without a fan 6.5 Amps with a fan
	Reduced Current/Phase (Amps)	Specify the motor’s current per phase in Amps when at standstill. This is known as the RMS (root mean square) current. This value is converted from RMS to Peak output current by multiplying the value by 1.414 (square root of 2) to specify the maximum output current for the stepper drive when the motor is at standstill. The Reduced Peak Current is applied when there is no motion for > 1 sec. At a minimum, the Reduced Current/Phase can be set to 70% of the Rated Current / Phase (Amps). Setting the Reduced Current/Phase to 50% (or lower) of the Rated Current/Phase is recommended.
	Phase Resistance (Ohms)	Specify the internal resistance of the motor in Ohms.
	Phase Inductance (mH)	Specify the motor's inductance in millihenries.
Encoder	Counts per Revolution	Specify the number of encoder counts per revolution.
Encoder	Reverse Direction	Select True or False from the drop-down menu to reverse the encoder direction.

- See Add and Configure I/O Slices for adding a stepper drive to your project.
- See AKT2G-SM-L15-000 or AKT2G-SM-L50-000 for information on the devices.
- See AKT2G-SM-Lx Object Description for stepper drive-specific object descriptions.

Diagnostics tab

This tab gathers the diagnostic messages available on the connected stepper terminal.

This information can be used for troubleshooting during commissioning or operation.
The PLC "Programmable Logic Controller" A Programmable Logic Controller, PLC, or Programmable Controller is a digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events application must be running on a controller or Online Configuration mode must be enabled to acquire diagnostics data.

Refresh

Click this button to read and view the stepper terminal's messages.

See AKT2G-SM-Lxx Diagnostic Messages for a comprehensive list of messages.

This button is disabled under these conditions.

The PLC application is neither running nor in online configuration mode.
A stepper I/O slice is not present on the EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs network (e.g., offline device).
The PLC application is running on the KAS Simulator.

Copy to Clipboard

Click this button to copy the message data.