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.
    • This automatically populates the stepper motor parameter fields.
  • The stepper motor parameters can be replicated to a file and transferred between devices.
  • 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 to change all of the stepper motor parameters to their default values.

Load from File...

Click to select an XML file to populate all of the stepper parameters, not just those specific to the motor.

Save to File...

Click to create an XML file containing all of the current stepper parameters.

This file can be stored or transferred between devices.

Mode Section

Element

Description

Mode

Select the CoE object used for the actual position.

  • Open Loop with No Encoder Feedback: Select this option when there is no position feedback device 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 and Pipe Network axis motion function blocks (e.g., MC_ReadActPos, MLAxisReadActPos) return actual position.
      • This 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.
      • This 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:

  • When a custom configuration is required by your application, contact Kollmorgen Customer Support at support@kollmorgen.com.

Drive Section

Element

Description

Input Voltage (VDC)

Specify the input supply voltage.

The range is:

  • SM-L15 = 24VDC (-15%/+20%)
  • SM-L50 = 8 - 50VDC

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 Section

Element

Description

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% 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 Section

Element

Description

Counts per Revolution

Specify the number of encoder counts per revolution.

Reverse Direction

Select True or False from the drop-down menu to reverse the encoder direction.

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 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 network (e.g., offline device).
  • The PLC application is running on the KAS Simulator.

Copy to Clipboard

Click to copy the message data.

If the application is not running, follow this procedure.

  1. Connect to your controller.
  2. Compile and download the application.
  3. Enable Online Configuration Mode.
    - OR -
    Start the application.