AKT2G-SM-Lxx PDO Assignment
|
Index |
Index of excluded PDOs |
Size (byte.bit) |
Name |
PDO content |
|---|---|---|---|---|
|
0x1600 (default) |
0x1601 |
4.0 |
ENC Control compact |
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 (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 torque 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 - Timestamp |
|
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 - Torque 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 |
