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Kollmorgen AKT2G I/O Manual

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AKT2G I/O devices for KAS

KollmorgenAutomationSuite AKT2GI/OManual Edition: A,December2020 ValidforKASSoftwareRevision3.05 PartNumber:959721-00 Forsafeandproperuse,follow

AKT2G I/O Manual EN - Kollmorgen

Figure 3-6: Connecting a cable on a terminal point. AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals. Kollmorgen | kdn.kollmorgen.com ...

AKT2G I/O Manual | 1 About This Manual. ... This manual provides installation and operating instructions for Kollmorgen AKT2G I/O slice devices, including Safety devices.

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Kollmorgen Automation Suite
AKT2G I/O Manual
Document Edition: A, December 2020 Valid for KAS Software Revision 3.05 Part Number: 959721-00
For safe and proper use, follow these instructions. Keep for future use.

AKT2G I/O Manual |
Trademarks and Copyrights
Copyrights
Copyright � 2020 Kollmorgen Information in this document is subject to change without notice. The software package described in this document is furnished under a license agreement. The software package may be used or copied only in accordance with the terms of the license agreement. This document is the intellectual property of Kollmorgen and contains proprietary and confidential information. The reproduction, modification, translation or disclosure to third parties of this document (in whole or in part) is strictly prohibited without the prior written permission of Kollmorgen.
Trademarks
l KAS and AKD are registered trademarks of Kollmorgen. l Kollmorgen is part of the Altra Industrial Motion Company. l EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH l Windows is a registered trademark of Microsoft Corporation l PLCopen is an independent association providing efficiency in industrial automation.
Kollmorgen Automation Suite is based on the work of:
l 7-zip (distributed under the terms of the LGPL and the BSD 3-clause licenses - see terms) l The C++ Mathematical Expression Library (distributed under the MIT License) l curl software library l JsonCpp software (distributed under the MIT License � see terms) l Mongoose software (distributed under the GNU GPL v2 - see terms) l Qt cross-platform SDK (distributed under the terms of the LGPL3; Qt source is available on KDN) l Qwt project (distributed under the terms of the Qwt License) l U-Boot, a universal boot loader is used by the AKD PDMM and PCMM (distributed under the terms of the
GNU General Public License). The U-Boot source files, copyright notice, and readme are available on the distribution disk that is included with the AKD PDMM and PCMM. l Zlib software library
All other product and brand names listed in this document may be trademarks or registered trademarks of their respective owners.
Disclaimer
The information in this document (Version A published on 12/9/2020) is believed to be accurate and reliable at the time of its release. Notwithstanding the foregoing, Kollmorgen assumes no responsibility for any damage or loss resulting from the use of this help, and expressly disclaims any liability or damages for loss of data, loss of use, and property damage of any kind, direct, incidental or consequential, in regard to or arising out of the performance or form of the materials presented herein or in any software programs that accompany this document. All timing diagrams, whether produced by Kollmorgen or included by courtesy of the PLCopen organization, are provided with accuracy on a best-effort basis with no warranty, explicit or implied, by Kollmorgen. The user releases Kollmorgen from any liability arising out of the use of these timing diagrams.

Kollmorgen | kdn.kollmorgen.com | December 2020

AKT2G I/O Manual | 1 About This Manual
1 About This Manual
This manual provides installation and operating instructions for Kollmorgen AKT2G I/O slice devices, including Safety devices.
1.1 Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the following notes and explanations are followed when installing and commissioning these components. The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.
1.2 Origin of the document
This documentation was originally written in German. All other languages are derived from the German original. Safety content derived from the following original files:
l EL1904.pdf, v2.2.0, 2020-07-17 l EL2904.pdf, v2.2.0, 2020-07-17
1.3 Currentness
Please check whether you are using the current and valid version of this document. The current version of the PDF can be downloaded from Kollmorgen's support website at https://www.kollmorgen.com/en-us/developer-network/downloads/. In case of doubt, please contact Technical Support. An alternative resource is to use the KAS online help. The online help will always have the latest information in electronic form. See http://webhelp.kollmorgen.com/kas/
1.4 Product features
Only the product features specified in the current user documentation are valid.
1.5 Disclaimer
The documentation has been prepared with care. The products described are subject to cyclical revision. For that reason the documentation is not in every case checked for consistency with performance data, standards or other characteristics. We reserve the right to revise and change the documentation at any time and without prior announcement. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.

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AKT2G I/O Manual | 1 About This Manual

1.6 Safety Instructions

1.6.1 Delivery state
All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Kollmorgen.

1.6.2 Operator's obligation to exercise diligence
The operator must ensure that
l the safety products are only used as intended (see chapter Product description); l the safety products are only operated in sound condition and in working order. l the safety products are operated only by suitably qualified and authorized personnel. l the personnel is instructed regularly about relevant occupational safety and environmental
protection aspects, and is familiar with the operating instructions and in particular the safety instructions contained herein. l the operating instructions are in good condition and complete, and always available for reference at the location where the safety products are used. l none of the safety and warning notes attached to the safety products are removed, and all notes remain legible.

1.6.3 Description of safety symbols
In these operating instructions the following symbols are used with an accompanying safety instruction or note. The safety instructions must be read carefully and followed without fail!

Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons.

Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and health of persons.

Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to persons.

Attention

Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment.

Tip or pointer This symbol indicates information that contributes to better understanding.

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AKT2G I/O Manual | 1 About This Manual
1.7 Interference-Free EtherCAT Terminals
Use of interference-free EtherCAT Terminals in safety applications If an EtherCAT Terminal is described as interference-free, this means that the consecutive terminal behaves passively in a safety application (e.g. in the case of the all-pole switch-off of a po- tential group). In this case the terminals do not represent an active part of the safety controller and do not affect the Safety Integrity Level (SIL) or Performance Level (PL) attained in the safety application.

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals
2 Mounting and Wiring of I/O Terminals
2.1 Instructions for ESD Protection
Desctruction of the devices by electrostatic discharge possible! The devices contain components at risk from electrostatic discharge caused by improper handling.
l Please ensure you are electrostatically discharged and avoid touching the contacts of the device directly.
l Avoid contact with highly insulating materials (synthetic fibers, plastic film, etc.). l Surroundings (working place, packaging, and personnel) should be grounded properly when
handling the devices. l Each assembly must be terminated at the right hand end with an AKT2G-EM-000-000 bus end
cap to ensure the protection class and ESD protection.
Figure 3-1: Spring contacts of the I/O components.

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals
2.2 Installation on mounting rails
Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals!
2.2.1 Assembly

Figure 3-2: Attaching on mounting rail
The bus coupler and bus terminals are attached to commercially available 35 mm mounting rails (DIN rails according to EN 60715) by applying slight pressure:
1. First attach the fieldbus coupler to the mounting rail. 2. The bus terminals are now attached on the right-hand side of the fieldbus coupler. Join the
components with tongue and groove and push the terminals against the mounting rail, until the lock clicks onto the mounting rail. If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove, the connection will not be operational! When correctly assembled, no significant gap should be visible between the housings.
Fixing of mounting rails The locking mechanism of the terminals and couplers extends to the profile of the mounting rail. At the installation, the locking mechanism of the components must not come into conflict with the fixing bolts of the mounting rail. To mount the mounting rails with a height of 7.5 mm under the terminals and couplers, you should use flat mounting connections (e.g. countersunk screws or blind rivets).
2.2.2 Disassembly

Figure 3-3: Disassembling of terminal Each terminal is secured by a lock on the mounting rail, which must be released for disassembly:

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals
1. Pull the terminal by its orange-colored lugs approximately 1 cm away from the mounting rail. In doing so for this terminal the mounting rail lock is released automatically and you can pull the terminal out of the bus terminal block easily without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved housing surfaces and pull the terminal out of the bus terminal block.
2.2.3 Connections within a bus terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by joining the components:
l The six spring contacts of the E-Bus/K-Bus deal with the transfer of the data and the supply of the Bus Terminal electronics.
l The power contacts deal with the supply for the field electronics and thus represent a supply rail within the bus terminal block. The power contacts are supplied via terminals on the Bus Coupler (up to 24 V) or for higher voltages via power feed terminals.
Power Contacts During the design of a bus terminal block, the pin assignment of the individual Bus Terminals must be taken account of, since some types (e.g. analog Bus Terminals or digital 4-channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed Terminals (AKT2G-PSF-024-000) interrupt the power contacts and thus represent the start of a new supply rail.
2.2.4 PE power contact
The power contact labeled PE can be used as a protective earth. For safety reasons this contact mates first when plugging together, and can ground short-circuit currents of up to 125 A.

Figure 3-4: Power contact on left side
Possible damage of the device Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V). For insulation testing, disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further feed points for testing, these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals.
Risk of electric shock! The PE power contact must not be used for other potentials!

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals

2.3 Installation instructions for enhanced mechanical load capacity

Risk of injury through electric shock and damage to the device!
Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals!

2.3.1 Additional checks
The terminals have undergone the following additional tests:

Verification Vibration
Shocks

Explanation 10 frequency runs in 3 axes 6 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude 60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude 1000 shocks in each direction, in 3 axes 25 g, 6 ms

2.3.2 Additional installation instructions
For terminals with enhanced mechanical load capacity, the following additional installation instructions apply:
l The enhanced mechanical load capacity is valid for all permissible installation positions l Use a mounting rail according to EN 60715 TH35-15 l Fix the terminal segment on both sides of the mounting rail with a mechanical fixture, e.g. an
earth terminal or reinforced end clamp l The maximum total extension of the terminal segment (without coupler) is:
64 terminals (12 mm mounting with) or 32 terminals (24 mm mounting with) l Avoid deformation, twisting, crushing and bending of the mounting rail during edging and
installation of the rail l The mounting points of the mounting rail must be set at 5 cm intervals l Use countersunk head screws to fasten the mounting rail l The free length between the strain relief and the wire connection should be kept as short as
possible. A distance of approx. 10 cm should be maintained to the cable duct.

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals
2.4 Connection 2.4.1 Connection system
Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals! 2.4.1.1 Overview The Bus Terminal system offers different connection options for optimum adaptation to the respective application:
l The terminals of AKT2G and AKT series with standard wiring include electronics and connection level in a single enclosure.
2.4.1.2 Standard wiring (AKT2G/AKT-xx)
Figure 3-5: Standard wiring The terminals of AKT2G and AKT series have been tried and tested for years. They feature integrated screwless spring force technology for fast and simple assembly.
2.4.2 Wiring
Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the Bus Terminals! 2.4.2.1 Terminals for standard wiring AKT2G-xx/AKT-xx

Figure 3-6: Connecting a cable on a terminal point

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals

Up to eight terminal points enable the connection of solid or finely stranded cables to the Bus Terminal. The terminal points are implemented in spring force technology. Connect the cables as follows:

1. Open a terminal point by pushing a screwdriver straight against the stop into the square opening above the terminal point. Do not turn the screwdriver or move it alternately (don't toggle).
2. The wire can now be inserted into the round terminal opening without any force. 3. The terminal point closes automatically when the pressure is released, holding the wire
securely and permanently.
See the following table for the suitable wire size width.

Terminal Housing

AKT2G-xx, AKT-xx

Wire size width (single core wires)

0.08 ... 2.5 mm2

Wire size width (fine-wire conductors)

0.08 ... 2.5 mm2

Wire size width (conductors with a wire end sleeve) 0.14 ... 1.5 mm2

Wire stripping length

8 ... 9 mm

2.4.3 Shielding

Shielding Encoder, analog sensors and actors should always be connected with shielded, twisted paired wires.

Observe the special conditions for the intended use of Kollmorgen fieldbus components with extended temperature range (ET) in potentially explosive areas (directive 2014/34/EU)!
l The certified components are to be installed in a suitable housing that guarantees a protection class of at least IP54 in accordance with EN 60079-15! The environmental conditions during use are thereby to be taken into account!
l For dust (only the fieldbus components of certificate no. KEMA 10ATEX0075 X Issue 9): The equipment shall be installed in a suitable enclosure providing a degree of protection of IP54 according to EN 60079-0 for group IIIA or IIIB and IP6X for group IIC, taking into account the environmental conditions under which the equipment is used.
l If the temperatures during rated operation are higher than 70�C at the feed-in points of cables, lines or pipes, or higher than 80�C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!
l Observe the permissible ambient temperature range of -25 to 60�C for the use of Kollmorgen fieldbus components with extended temperature range (ET) in potentially explosive areas!
l Measures must be taken to protect against the rated operating voltage being exceeded by more than 40% due to short-term interference voltages!
l The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
l The connections of the certified components may only be connected or disconnected if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
l The fuses of the AKT2G-PSF-024-000 power feed terminals may only be exchanged if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!
l Address selectors and ID switches may only be adjusted if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals
2.5 Installation positions
Constraints regarding installation position and operating temperature range Please refer to the technical data for a terminal to ascertain whether any restrictions regarding the installation position and/or the operating temperature range have been specified. When installing high power dissipation terminals ensure that an adequate spacing is maintained between other components above and below the terminal in order to guarantee adequate ventilation!
2.5.1 Optimum installation position (standard)
The optimum installation position requires the mounting rail to be installed horizontally and the connection surfaces of the AKT2G terminals to face forward (see Figure 3-7: Recommended distances for standard installation position). The terminals are ventilated from below, which enables optimum cooling of the electronics through convection. "From below" is relative to the acceleration of gravity.

Figure 3-7: Recommended distances for standard installation position
Compliance with the distances shown in Fig. Recommended distances for standard installation position is recommended.
2.5.2 Other installation positions
All other installation positions are characterized by different spatial arrangement of the mounting rail - see Figure 3-8: Other installation positions. The minimum distances to ambient specified above also apply to these installation positions.

Figure 3-8: Other installation positions

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals
2.6 Positioning of passive Terminals
Hint for positioning of passive terminals in the bus terminal block EtherCAT Terminals (AKT2G-xx), which do not take an active part in data transfer within the bus terminal block are so called passive terminals. The passive terminals have no current consumption out of the E-Bus. To ensure an optimal data transfer, you must not directly string together more than two passive terminals!
2.6.1 Examples for positioning of passive terminals (highlighted)
Figure 3-9: Correct positioning
Figure 3-10: Incorrect positioning

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AKT2G I/O Manual | 2 Mounting and Wiring of I/O Terminals
2.7 UL Notice
Application Kollmorgen EtherCAT modules are intended for use with Kollmorgen's UL Listed EtherCAT System only. Examination For cULus examination, the Kollmorgen I/O System has only been investigated for risk of fire and electrical shock (in accordance with UL508 and CSA C22.2 No. 142). For devices with Ethernet connectors Not for connection to telecommunication circuits.
2.7.1 Basic principles
UL certification according to UL508. Devices with this kind of certification are marked by this sign:
2.8 Continuative documentation about explosion protection
Explosion protection for terminal systems Pay also attention to the continuative documentation

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AKT2G I/O Manual | 3 Safety I/O Information
3 Safety I/O Information
3.1 Safety Operation
3.1.1 Environmental Conditions
Please ensure that the safety components are only transported, stored and operated under the specified conditions (see technical data)!
Risk of injury! The safety components must not be used under the following operating conditions.
l under the influence of ionizing radiation (that exceeds the level of the natural environmental radiation)
l in corrosive environments l in an environment that leads to unacceptable soiling of the safety component
Electromagnetic compatibility The safety components comply with the current standards on electromagnetic compatibility with regard to spurious radiation and immunity to interference in particular. However, in cases where devices such as mobile phones, radio equipment, transmitters or highfrequency systems that exceed the interference emissions limits specified in the standards are operated near safety components, the function of the safety components may be impaired.
3.1.2 Safety Instructions
Before installing and commissioning the safety components please read the Safety Instructions in this documentation.
Commissioning Test Before the AKT2G-SDI-004-000/AKT2G-SDO-004-000 can be used for the safety task, the user must carry out a commissioning test so that sensor and actuator wiring errors can be ruled out.
3.1.3 Transport / Storage
Use the original packaging in which the components were delivered for transporting and storing the safety components.
Note the specified environmental conditions Please ensure that the digital safety components are only transported and stored under the specified environmental conditions (see technical data).

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AKT2G I/O Manual | 3 Safety I/O Information
3.1.4 Mechanical Installation
Risk of injury! Bring the bus system into a safe, de-energized state before starting installation, disassembly or wiring of the devices!
Use ferrules with plastic collars When using fine-wire cables for signal connections, use ferrules with plastic collars. This leads to a higher system availability when test pulses for the corresponding channels are switched off.
3.1.4.1 Control cabinet / terminal box The safety terminals must be installed in a control cabinet or terminal box with IP54 protection class according to IEC 60529 as a minimum.
3.1.4.2 Installation position and minimum distances For the prescribed installation position the mounting rail is installed horizontally and the mating surfaces of the terminals point toward the front (see illustration below). The terminals are ventilated from below, which enables optimum cooling of the electronics through convection. The direction indication "down" corresponds to the direction of positive acceleration due to gravity.

Figure 4-1: Installation position and minimum distances
In order to ensure optimum convection cooling, the distances to neighboring devices and to control cabinet walls must not be smaller than those shown in the diagram.
External heat sources / radiant heat / impaired convection The maximum permissible ambient temperature of 55�C was checked with the above example configuration. Impaired convection, an unfavorable location near heat sources or an unfavorable configuration of the EtherCAT Terminals may result in overheating of the terminals. The key parameter is always the maximum permitted internally measured temperature of 95�C, above which the safety terminals switch to safe state and report an error. The internal temperature can be read from the safety components via CoE.

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AKT2G I/O Manual | 3 Safety I/O Information
3.2 Safety Terminal Reaction Times
The safety terminals form a modular safety system that exchanges safety-oriented data via the Safety-over-EtherCAT protocol. This topic is intended to help you determine the system's reaction time from the change of signal at the sensor to the reaction at the actuator.
3.2.1 Typical Reaction Time
The typical reaction time is the time that is required to transmit information from the sensor to the actuator, if the overall system is working without error in normal operation.
Figure 4-2: Typical reaction time Definition Description RTSensor Reaction time of the sensor until the signal is provided at the interface. Typically supplied by
the sensor manufacturer. RTInput Reaction time of the safe input, such as AKT2G-SDI-004. This time can be found in the
technical data. In the case of the AKT2G-SDI-004 it is 4 ms. RTComm Reaction time of the communication This is typically 3x the EtherCAT cycle time, because
new data can only be sent in a new Safety-over-EtherCAT telegram. These times depend directly on the higher-level standard controller (cycle time of the PLC). RTLogic Reaction time of the logic terminal. This is the cycle time of the safety PLC, depending on the size of the safety project. RTOutput Reaction time of the output terminal. This typically lies within the range of 2 to 3 ms. RTActor Reaction time of the actuator. This information is typically supplied by the actuator manufacturer WDComm Watchdog time of the communication This results in the following equation for the typical reaction time:
with, for example
3.2.2 Worst-Case Reaction Time
The worst case reaction time is the maximum time required to switch off the actuator in the case of an error.

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AKT2G I/O Manual | 3 Safety I/O Information
Figure 4-3: Worst-case reaction time This assumes that a signal change occurs at the sensor and is transmitted to the input. A communication error occurs at precisely the moment when the signal is to be transferred to the communication interface. This is detected by the logic following the watchdog time of the communication link. This information should then be transferred to the output, but a further communication error occurs here. This error is detected at the output following the expiry of the watchdog time and leads to the switch-off. This results in the following equation for the worst-case reaction:
with, for example

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AKT2G I/O Manual | 3 Safety I/O Information
3.3 Safety I/O Maintenance
Maintenance The safety components are maintenance-free! Environmental conditions
Observe the specified environmental conditions! Please ensure that the safety components are only stored and operated under the specified conditions (see technical data). If the safety component is operated outside the permitted temperature range it will switch to Global Shutdown state. Cleaning Protect the safety component from unacceptable soling during operation and storage! If the safety component was subjected to unacceptable soiling it may no longer be operated!
Have soiled terminals checked! Cleaning of the safety component by the user is not permitted! Please send soiled terminals to the manufacturer for inspection and cleaning!

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

4 Remote Input/Output Terminals

KAS remote I/Os provide a complete spectrum of bus couplers, digital and analog inputs, digital and analog outputs, stepper, counter, and thermocouple modules.
Related Documents
Please find in the table below the list of each I/O component available.

AKT2G (EtherCAT) Terminals

I/O Terminal Part Number

I/O Terminal Description

AKT2G-AN-240-000 2-channel input terminal PT100 (RTD) for resistance sensors, 16 bit, 2-, 3wire system
AKT2G-AN-400-000 4-channel thermocouple input terminal, preset to type K, with wire breakage detection, 16 bit
AKT2G-AN-430-000 4-channel analog input, parameterisable, -10/0...+10 V, -20/0/+4...+20 mA, 16 bit
AKT2G-AT-410-000 4-channel analog output terminal 0...10 V, 12 bit, 1-wire system AKT2G-AT-425-000 4-channel analog output terminal -10 V...+10 V, 12 bit, 4 x 2-wire system AKT2G-DN-002-000 Up/down counter 24 V DC, 100 kHz, 32 bit counter depth AKT2G-DN-008-000 8-channel digital input terminal 24 V DC, filter 3.0 ms, 1-wire system AKT2G-DNH-008-000 8-channel digital input terminal 24 V DC, filter 10 �s, 1-wire system AKT2G-DT-008-000 8-channel digital output terminal 24 V DC, 0.5 A, 1-wire system AKT2G-ECT-000-000 EtherCAT Coupler for E-bus terminals AKT2G-EM-000-000 Bus end cover for E-bus terminals, cover for power and E-bus contacts,
grey AKT2G-ENC-180-000 1-channel incremental encoder interface, 32 bit AKT2G-ENC-190-000 Incremental encoder interface with differential input, 16/32 bit AKT2G-PSF-024-000 Power supply terminal with fuse, 24 V DC AKT2G-SDI-004-000 4-channel digital input terminal, Safety, 24 V DC AKT2G-SDO-004-000 4-channel digital output terminal, Safety, 24 V DC, 0.5 A
Table 5-1: List of KAS I/O Terminals

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AKT2G I/O Manual | 4 Remote Input/Output Terminals
4.1 AKT2G-AN-240-000
2-channel input terminal PT100 (RTD) for resistance sensors, 16 bit, 2-, 3-wire system

Technical Data

AKT2G-AN-240-000

Number of inputs

Sensor types

Pt100, Pt200, Pt500, Pt1000, Ni100, Ni120, Ni1000 KT/KTY from firmware 06 Resistance measurement 10 to 1 k or 10 to 4 k (e.g. for potentiometer connection)

Connection method

2-, 3-wire (Preset: 3-wire)

Temperature range

Range-dependent: -200...+850�C (Pt sensors); -60...+250�C (Ni sensors)

Resolution (default)

0.1�C per digit

Conversion time

approx. 800 ms - 2 ms (configurable), depending on configuration and filter setting approx. 85 ms, preset

Measuring current (depending typ. < 0.5 mA on the sensor element and temperature)

Measuring error

for Pt sensors: < �0.5 �C at ambient temperature 0�C ... +55�C < �1.5 �C in the extended temperature range

Width in the process image max. 8-byte input

Power supply for electronics via the E-Bus

Current consumption from the typ. 190 mA Ebus

Electrical isolation

500 V (E-bus/field voltage)

Weight

approx. 60 g

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

Technical Data Permissible ambient temperature range during operation Permissible ambient temperature range during storage Permissible relative humidity Dimensions (W x H x D) Installation Vibration / shock resistance
EMC immunity/emission Protection class Installation position Approval

AKT2G-AN-240-000 -25 to +60 (extended temperature range)
-40�C ... +85�C
95%, no condensation approx. 15 mm x 100 mm x 70 mm (connected width: 12 mm) on 35 mm mounting rail according to EN 60715 conforms to EN 60068-2-6 / EN 60068-2-27, see also Installation instructions for enhanced mechanical load capacity. conforms to EN 61000-6-2 / EN 61000-6-4 IP20 variable CE ATEX cULus

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AKT2G I/O Manual | 4 Remote Input/Output Terminals
4.2 AKT2G-AN-400-000
4-channel thermocouple input terminal, preset to type K, with wire breakage detection, 16 bit

Technical Data

AKT2G-AN-400-000

Number of inputs

Thermocouple sensor types

Types J, K, L, B, E, N, R, S, T, U, C (default setting type K), mV measurement

Input filter limit frequency 1 kHz typ.; depending on sensor length, conversion time, sensor type

Connection technology 2-wire

Maximum cable length to 30 m the thermocouple

Measuring range, FSV

in the range defined in each case for the sensor (default setting: type K; -200 ... +1370�C)
Voltage: � 30 mV (1 �V resolution) up to � 75 mV (4 �V resolution)

Resolution

Internal: 16 bit

Temperature representation: 0.1/0.01 �C per digit, default 0.1�C
Note: 16 bit is used for FSV calculation; so, value leaps >0.01�C will occur at resolution 0.01�C depending of which thermocouple is set; e.g. type K: approx. 0.04�C

Supports NoCoeStorage yes, from firmware 01 function

Wiring fail indication

yes

Conversion time

approx. 2.5 s to 20 ms, depending on configuration and fil ter setting, default: approx. 250 ms

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

Technical Data
Measuring error
Voltage supply for electronics
Distributed Clocks
Current consumption via E-bus
Bit width in the process data image
Max. potential �TC against ground
Max. differential voltage between the �TC inputs
Electrical isolation
Configuration
Weight
Permissible ambient temperature range during operation
Permissible ambient temperature range during storage
Permissible relative humidity
Dimensions (W x H x D)
Mounting
Vibration/shock resistance
EMC immunity/emission
Protection class
Installation position
Approval

AKT2G-AN-400-000 < �0.3 % (relative to full scale value) via the E-bus
typ. 200 mA
max. 16 byte input, max. 8 byte output
2 V, important e.g. when operating with grounded thermocouples
�15 V permanent
500 V (E-bus/field voltage) via TwinCAT System Manager approx. 60 g -25�C ... +60�C (extended temperature range), from firmware 06
-40�C ... +85�C
95%, no condensation
approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 conforms to EN 60068-2-6 / EN 60068-2-27, see also installation instructions for terminals with increased mechanical load capacity conforms to EN 61000-6-2 / EN 61000-6-4 IP20 variable CE, ATEX, cULus, IECEx

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AKT2G I/O Manual | 4 Remote Input/Output Terminals
4.3 AKT2G-AN-430-000
4-channel analog input, parameterisable, -10/0...+10 V, -20/0/+4...+20 mA, 16 bit

Technical Data Analog inputs Conversion type ADC type Signal voltage Signal current Measuring range, nominal (Full Scale Value)
Measuring range, technical
Measuring error (full measuring range) Distributed Clocks

AKT2G-AN-430-000

4 (U differential, I single-ended)

simultaneous

SAR

-10/0...+10 V

-20/0/+4...+20 mA

Voltage

-10/0...+10 V

measurement

range

Current

-20/0/+4...+20 mA

measurement

range

Voltage

-10.73...+10.73 V

measurement

range

Current

-21.47...+21.47 mA

measurement

range

< �0.3 % (relative to full scale value)

yes

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Technical Data Distributed Clocks precision Support NoCoeStorage Resolution Internal resistance
Input filter limit frequency Common-mode voltage UCM Minimal EtherCAT cycle time

AKT2G-AN-430-000 << 1 �s yes 16 bit (incl. sign) Voltage measurement: > 200 k | Current measurement: 85 typ. 5 kHz 35 V max. (voltage measurement) 200 �s

Overcurrent protection Bit width of the process image

50 mA typ. Inputs: 16 Byte

Configuration MTBF (+55�C)

no address or configuration settings required -

Special features

U/I parameterisable, Extended Range, standard and compact process image, activatable FIR/IIR filters

Supply voltage for electronic

via the E-bus

Current consumption via E-bus

typ. 170 mA

Electrical isolation

500 V (E bus/ fieldbus voltage)

Recommended operating voltage range Voltage

UCM 35 V max.

(ground related to GND/ 0V power

measurement

contact)

range

Current

single ended,

measurement dielectric strength max. 30 V range

Recommended signal range

Voltage

Extended Range (107%), differential

measurement

range

Current

Extended Range (107%), single ended

measurement

range

Destruction limit
(ground related to GND/ 0V power contact)

Voltage

50 V

measurement

range

Current

30 V

measurement

range

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

Technical Data

AKT2G-AN-430-000

Destruction limit (differential)

Voltage

50 V

measurement

range

Current

n.a.

measurement

range

Weight

approx. 65 g

Permissible ambient temperature range during operation

-25...+60 �C

Permissible ambient temperature range during storage -40...+85 �C

Permissible relative humidity Design Dimensions (W x H x D)
Mounting Vibration/shock resistance EMC immunity/emission Protection class Installation position Approval

95 %, no condensation HD (High Density) housing with signal LED approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 conforms to EN 60068-2-6/EN 60068-2-27 conforms to EN 61000-6-2/EN 61000-6-4 IP20 variable CE, cULus

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AKT2G I/O Manual | 4 Remote Input/Output Terminals
4.4 AKT2G-AT-410-000
4-channel analog output terminal 0...10 V, 12 bit, 1-wire system

Technical Data

AKT2G-AT-410-000

Number of outputs

Power supply

24 V DC via the power contacts

Signal voltage

0..10 V

Load

> 5 k (short-circuit-proof)

Measuring error

< � 0.1% (at 0 �C ... +55 �C, relative to the full scale value) < � 0.2% (when the extended temperature range is used)

Resolution

12 bit

Conversion time

~ 250 �s

Power supply for electronics

via the E-bus

Distributed Clocks

yes

Current consumption via Ebus

typ. 140 mA

Electrical isolation

500 V (E-bus/field voltage)

Bit width in process image

4 x 16-bit AO output

Configuration

via TwinCAT System Manager

Weight

approx. 60 g

Permissible ambient temperature range during -25 �C ... +60 �C

operation

(extended temperature range)

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

Technical Data

AKT2G-AT-410-000

Permissible ambient temperature range during -40 �C ... +85 �C storage

Permissible relative humid- ity

95%, no condensation

Dimensions (W x H x D)

approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)

Mounting

on 35 mm mounting rail conforms to EN 60715

Vibration/shock resistance

conforms to EN 60068-2-6 / EN 60068-2-27,

see also installation instructions for enhanced mechanical load capacity

EMC immunity/emission

conforms to EN 61000-6-2 / EN 61000-6-4

Protection class

IP20

Installation position

variable

Approval

CE, ATEX, cULus

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AKT2G I/O Manual | 4 Remote Input/Output Terminals
4.5 AKT2G-AT-425-000
4-channel analog output terminal -10 V...+10 V, 12 bit, 4 x 2-wire system

Technical Data

AKT2G-AT-425-000

Number of outputs

Power supply

24 V DC via the power contacts

Signal voltage

-10 ..+10 V

Load

> 5 k (short-circuit-proof)

Measuring error

< � 0.1% (at 0 �C ... +55 �C, relative to the full scale value) < � 0.2% (when the extended temperature range is used)

Resolution

12 bit

Conversion time

~ 250 �s

Power supply for electronics

via the E-bus

Distributed Clocks

yes

Current consumption via Ebus

typ. 140 mA

Electrical isolation

500 V (E-bus/field voltage)

Bit width in process image

4 x 16-bit AO output

Configuration

via TwinCAT System Manager

Weight

approx. 60 g

Permissible ambient temperature range during -25 �C ... +60 �C

operation

(extended temperature range)

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

Technical Data

AKT2G-AT-425-000

Permissible ambient temperature range during -40 �C ... +85 �C storage

Permissible relative humidity

95%, no condensation

Dimensions (W x H x D)

approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)

Mounting

on 35 mm mounting rail conforms to EN 60715

Vibration/shock resistance

conforms to EN 60068-2-6 / EN 60068-2-27,

see also installation instructions for enhanced mechanical load capacity

EMC immunity/emission

conforms to EN 61000-6-2 / EN 61000-6-4

Protection class

IP20

Installation position

variable

Approval

CE, ATEX, cULus

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AKT2G I/O Manual | 4 Remote Input/Output Terminals
4.6 AKT2G-DN-002-000 4.6.1 Up/down counter 24 VDC, 100 kHz, 32 bit counter depth

The up/down counter counts binary pulses, and transmits the counter state, in an electrically isolated form, to the higher-level automation device.
The AKT2G-DN-002 EtherCAT Terminal can alternatively be operated as:
l a single-channel counter (32 bit) that can be toggled between counting up and down via the U/D input (delivery state)
l a single-channel counter (32 bit) that is controlled via the gate connection l two separate logic counters (32 bit) that can count in one direction only with the Clock 1 and
Clock 2 inputs
The signal state of the inputs and outputs is indicated by light emitting diodes.
The two outputs (Output 1 and Output 2) are switched in relation to the counter value and can thus be used as fast control signals for field devices.
The AKT2G-DN-002 supports distributed clocks, i.e. the input data can be monitored synchronously with other data that are also linked to distributed clock terminals. The accuracy across the system is < 100 ns.

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4.6.2 Technical Data

Technical Data

AKT2G-DN-002-000

Number of counters

1 or 2

Rated voltage

24 VDC (-15%/+20%)

Signal voltage "0"

-3 V ... 5 V (EN 61131-2, type 1)

Signal voltage "1"

15 V ... 30 V (EN 61131-2, type 1)

Counting frequency

100 kHz

Counter depth

32 bit

Input current

typ. 5 mA (EN 61131-2, type 1)

Output current (per channel)

max. 0.5 A (short-circuit-proof)

Distributed Clocks (DC)

yes

Current consumption power contacts

typ. 14 mA + load

Current consumption via E-bus typ. 130 mA

Electrical isolation

500 V (E-bus/field voltage)

Supports NoCoeStorage function yes

Weight

approx. 50 g

Permissible ambient temperature -25�C ... +60�C (extended temperature range) range during operation

Permissible ambient temperature -40�C ... +85�C range during storage

Permissible relative humidity

95%, no condensation

Dimensions (W x H x D)

approx. 15 mm x 100 mm x 70 mm

Mounting

on 35 mm mounting rail conforms to EN 60715

Vibration/shock resistance

conforms to EN 60068-2-6 / EN 60068-2-27, see also Installation instructions for enhanced mechanical load capacity

EMC immunity/emission

conforms to EN 61000-6-2 / EN 61000-6-4

Protection class

IP20

Installation position

variable

Approval

CE ATEX, cULus

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4.6.3 LEDs and Connection

AKT2G I/O Manual | 4 Remote Input/Output Terminals

LEDs

LED UP/DOWN, GATE CLOCK CH.1
CLOCK CLOCK CH.2
OUTPUT1 OUTPUT2 Connection

Color Meaning
green Signal at U/D, Gate input (operating mode 32 bit up/down counter, 32 bit gated counter) Signal at the Clock input, channel 1 (operating mode 2 x 32 bit counter) see "Operating Mode Selection" on page 35
green Signal at Clock input (operating mode 32 bit up/down counter, 32 bit gated counter) Signal at the Clock input, channel 2 (operating mode 2 x 32 bit counter see "Operating Mode Selection" on page 35
green Signal at the corresponding output

Terminal Point

Description

Name

No.

U/D, Gate Clock Ch.1

1 Up/down input (operating mode 32 bit up/down counter),
Gate input (operating mode 32 bit counter with gate function) Clock 1 input (operating mode 2 x 32 bit counter)
see "Operating Mode Selection" on page 35

+24 V 0V

2 +24 V (internally connected to terminal point 6 and positive power contact) 3 0 V (internally connected to terminal point 7 and negative power contact)

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

Terminal Point

Description

Name

No.

Output 1 Clock Clock Ch.2

4 Output 1 5 Clock input (operating mode 32 bit up/down counter) and (operating mode 32
bit counter with gate function)
Clock 2 input (operating mode 2 x 32 bit counter)
see "Operating Mode Selection" on page 35

+24 V 0V Output 2

6 +24 V (internally connected to terminal point 2 and positive power contact) 7 0 V (internally connected to terminal point 3 and negative power contact) 8 Output 2

4.6.4 Basic Function Principles
The AKT2G-DN-002 input terminals count binary pulses and transfer the current value to the higherlevel controller.
In addition to the 32 bit up/down counter, further available operating modes are a 32 bit gated counter or two 32 bit counters. In gated counter mode, a low or high level at the Gate input inhibits the counting function of the terminal.
If two 32 bit counters are active, the U/D input (terminal point 1) is configured as the input for the first counter and the Clock 2 input (terminal point 5) as the input for the second counter.
Beyond that, two digital outputs can be set.
The maximum input frequency is limited to 100 kHz for the AKT2G-DN-002; the counters react to the rising edge of the input signal.

4.6.5 Operating Mode Selection
The following operation modes are possible.

Operation Predefined PDO

mode

Assignment

Setting of the counting direction via CoE directory

1 (default) 1Ch. +/- Counter:

Index 0x8020:05:

0x1A02 � CNT Inputs 0: Enable UD counter

+
0x1602 � CNT Outputs

l UD input (terminal point 1): sets the counting direction: l High level: up; l Low level: Down

l Clock input (terminal point 5): indicates the individual pulses.

Switchable outputs
Output 1

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Operation Predefined PDO

mode

Assignment

Setting of the counting direction via CoE directory

1Ch. +/- Counter:

Index 0x8020:05:

0x1A02 � CNT Inputs 1: Enable pos. gate

+
0x1602 � CNT Outputs

l Gate is inhibited by a positive level on the gate input (terminal point 1)
l Clock input (terminal point 5):

indicates the individual pulses.

Index 0x8020:04:

0: up counter

1: down counter

1Ch. +/- Counter:

Index 0x8020:05:

0x1A02 � CNT Inputs 2: Enable neg. gate

+
0x1602 � CNT Outputs

l Gate is inhibited by a negative level on the gate input (terminal point 1)
l Clock input (terminal point 5): indicates the individual pulses.

Index 0x8020:04:

0: up counter

1: down counter

2Ch. Counter:

Index 0x8000:04 (Channel1) and

0x1A00 � CNT Inputs Index 0x8010:04 (Channel2)

Channel 1

0:up counter

0x1A01 � CNT Inputs 1:down counter Channel 2

0x1600 � CNT Outputs Channel 1

0x1601 � CNT Outputs Channel 2

Switchable outputs Output 1
Output 1
Counter 1 Output 1 Counter 2 Output 2

In addition, the distributed clock function may be activated for the AKT2G-DN-002. Single-channel up/down counter, gated counter (operating mode 1-3)

1. Selection of the PDOs for "1Ch.+/-Counter" 2. CoE Init-command to configure index 0x8020:05:
l "Enable UD counter" � single-channel up/down counter (operating mode 1) If a high signal level is encountered at the up/down input of the terminal (terminal point 1), the counter counts up in the event of positive edges at the clock input (terminal point 5), with a low signal level it counts down.
l "Enable pos. gate" � single-channel gated counter closes in the case of a high level (operating mode 2) The counter is inhibited if a high level is encountered at the gate input of the terminal (terminal point 1).

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AKT2G I/O Manual | 4 Remote Input/Output Terminals
The counting direction is set by index 0x8020:04 (0: up, 1: down). The clock input (terminal point 5) indicates the individual pulses. l "Enable neg. gate" � single-channel gated counter closes in the case of a low level (operating mode 3) The counter is inhibited if a low level is encountered at the gate input of the terminal (terminal point 1).The counting direction is set by index 0x8020:04 (0: up, 1: down). The clock input (terminal point 5) indicates the individual pulses.
Two-channel up/down counter (operating mode 4)
1. Selection of the PDOs for "2Ch. Counter" The terminal points 1 or 5 serve as clock input for 32 bit counter 1 or 2.
2. CoE Init-commands to configure the indices 0x8000:04 for channel 1 and 0x8010:04 for channel. Two options are available per channel: l 0: up counter l 1: down counter

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4.6.6 Objects for Commissioning
Index 1011 Restore default parameters

Index Name (hex)
1011:0 Restore default parameters
1011:01 SubIndex 001

Meaning
Restore default parameters
If this object is set to "0x64616F6C" in the set value dialog, all backup objects are reset to their delivery state.

Data type
UINT8

Flags Default RO 0x01 (1dec)

UINT32 RW 0x00000000 (0dec)

Index 8000 CNT Settings Ch.1

Index Name (hex) 8000:0 CNT Settings
Ch.1 8000:01 Enable function
to set output 8000:02 Enable function
to reset output 8000:03 Enable reload
8000:04 Count down
8000:11 Switch on threshold value
8000:12 Switch off threshold value
8000:13 Counter reload value

Meaning

Data type Flags Default

Maximum subindex

UINT8

Activates the function for setting Output 1 BOOLEAN RW

0x13 (19dec)
0x00 (0dec)

Activates the function for resetting Output BOOLEAN RW 1

The counter counts to the value in index BOOLEAN RW 0x8000:13

Counting direction: � 0: Up � 1: Down

BOOLEAN RW

Switch-on threshold value for Output 1 UINT32 RW

Switch-off threshold value for Output 1 UINT32 RW

The limit that can be activated via "Enable UINT32 RW reload" (index 0x8000:03).
The counter counts to this limit and, on exceeding it, begins again at zero.

0x00 (0dec)
0x00 (0dec)
0x00 (0dec)
0x00000000 (0dec) 0x00000000 (0dec) 0x00000001 (1dec)

Index 8010 CNT Settings Ch.2

Index Name (hex)
8010:0 CNT Settings Ch.2
8010:01 Enable function to set output

Meaning

Data type Flags Default

Maximum subindex

UINT8

Activates the function for setting Output 2 BOOLEAN RW

0x13 (19dec)
0x00 (0dec)

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Index Name (hex) 8010:02 Enable function
to reset output 8010:03 Enable reload
8010:04 Count down
8010:11 Switch on threshold value
8010:12 Switch off threshold value
8010:13 Counter reload value

Meaning

Data type Flags Default

Activates the function for resetting Output BOOLEAN RW 2

The counter counts to the value in index BOOLEAN RW 0x8010:13

Counting direction � 0: Up � 1: Down

BOOLEAN RW

Switch-on threshold value for Output 2 UINT32 RW

Switch-off threshold value for Output 2 UINT32 RW

The limit that can be activated via "Enable UINT32 RW reload" (index 0x8010:03).
The counter counts to this limit and, on exceeding it, begins again at zero.

0x00 (0dec)
0x00 (0dec)
0x00 (0dec)
0x00000000 (0dec) 0x00000000 (0dec) 0x00000001 (1dec)

Index 8020 CNT Settings

Index Name (hex) 8020:0 CNT Settings
8020:01 Enable function to set output
8020:02 Enable function to reset output
8020:03 Enable reload
8020:04 Count down
8020:05 Operating mode

Meaning

Data type Flags Default

Maximum subindex

UINT8

Activates the function for setting Output 1 BOOLEAN RW

0x13 (19dec)
0x00 (0dec)

Activates the function for resetting Output BOOLEAN RW 1

The counter counts to the value in index BOOLEAN RW 0x8020:13

Counting direction � 0: Up � 1: Down

BOOLEAN RW

Operating mode

BIT2

� 0: Enable UD counter

U/D input (terminal point 1) specifies the counting direction:

High level: up, low level: down

� 1: Enable pos. gate (gate inhibits with positive level)

� 2: Enable neg. gate (gate inhibits with negative level)

0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
0x00 (0dec)

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

Index Name (hex)
8020:11 Switch on threshold value
8020:12 Switch off threshold value
8020:13 Counter reload value

Meaning

Data type Flags Default

Switch-on threshold value for Output 1 UINT32
Switch-off threshold value for Output 1 UINT32
The limit that can be activated via "Enable UINT32 reload" (index 0x8020:03 ). The counter counts to this limit and, on exceeding it, begins again at zero.

RW 0x00000000 (0dec)
RW 0x00000000 (0dec)
RW 0x00000001 (1dec)

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4.6.7 Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Index 6000 CNT Inputs Ch.1

Index Name (hex)

Meaning

Data type Flags Default

6000:0 CNT Inputs Maximum subindex Ch.1

UINT8

RO 0x11 (17dec)

6000:01 Output functions enabled

This bit indicates that the internal functions for BOOLEAN RO 0x00 (0dec) the output have been enabled

6000:02 Status of output

Status of the output

BOOLEAN RO 0x00 (0dec)

6000:03 Set counter The counter was set done

BOOLEAN RO 0x00 (0dec)

6000:04 Counter inhibited

The counter is stopped for as long as this bit is BOOLEAN RO 0x00 (0dec) set

6000:06 Status of State of the Clock input (high level applied) input clock

BOOLEAN RO 0x00 (0dec)

6000:0E Sync Error Synchronization error

BOOLEAN RO 0x00 (0dec)

6000:10 TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated

BOOLEAN RO 0x00 (0dec)

6000:11 Counter value

Counter value

UINT32

RO 0x00000000 (0dec)

Index 6010 CNT Inputs Ch.2

Index Name (hex)

Meaning

Data type Flags Default

6010:0 CNT Inputs Maximum subindex Ch.2

UINT8

RO 0x11 (17dec)

6010:01 Output functions enabled

This bit indicates that the internal functions for BOOLEAN RO 0x00 (0dec) the output have been enabled

6010:02 Status of output

Status of the output

BOOLEAN RO 0x00 (0dec)

6010:03 Set counter The counter was set done

BOOLEAN RO 0x00 (0dec)

6010:04 Counter inhibited

The counter is stopped for as long as this bit is BOOLEAN RO 0x00 (0dec) set

6010:06 Status of State of the Clock input (high level applied) input clock

BOOLEAN RO 0x00 (0dec)

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Index Name (hex) 6010:0E Sync Error 6010:10 TxPDO
Toggle
6010:11 Counter value

Meaning
Synchronization error The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated Counter value

Data type Flags Default

BOOLEAN RO BOOLEAN RO

0x00 (0dec) 0x00 (0dec)

UINT32

RO 0x00000000 (0dec)

Index 6020 CNT Inputs

Index Name (hex)

Meaning

Data type Flags Default

6020:0 CNT Inputs Maximum subindex

UINT8

RO 0x11 (17dec)

6020:01 Output functions enabled

This bit indicates that the internal functions for BOOLEAN RO 0x00 (0dec) the output have been enabled

6020:02 Status of output

Status of the output

BOOLEAN RO 0x00 (0dec)

6020:03 Set counter The counter was set. done

BOOLEAN RO 0x00 (0dec)

6020:04 Counter inhibited

The counter is stopped for as long as this bit is BOOLEAN RO 0x00 (0dec) set

6020:05 Status of input UD

State of the Up/Down input (high level applied) BOOLEAN RO 0x00 (0dec)

6020:06 Status of State of the Clock input (high level applied) input clock

BOOLEAN RO 0x00 (0dec)

6020:0E Sync Error Synchronization error

BOOLEAN RO 0x00 (0dec)

6020:10 TxPDO Toggle

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated

BOOLEAN RO 0x00 (0dec)

6020:11 Counter value

Counter value

UINT32

RO 0x00000000 (0dec)

Index 7000 CNT Outputs Ch.1

Index Name (hex)
7000:0 CNT Outputs Ch.1
7000:01 Enable output functions
7000:02 Set output

Meaning Maximum subindex
The internal functions for the output are enabled via this bit Set output

Data type Flags Default

UINT8

RO 0x11 (17dec)

BOOLEAN RO 0x00 (0dec)

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AKT2G I/O Manual | 4 Remote Input/Output Terminals

Index Name (hex)

Meaning

7000:03 Set counter Set counter

7000:04 Inhibit counter

The counter is stopped as long as this bit is active. The previous counter state is retained.

7000:11 Set counter This is the counter value to be set via "Set

value

counter" (index 0x7000:03).

Data type Flags Default

BOOLEAN RO BOOLEAN RO

0x00 (0dec) 0x00 (0dec)

UINT32

RO 0x00000000 (0dec)

Index 7010 CNT Outputs Ch.2

Index Name (hex)

Meaning

Data type Flags Default

7010:0 CNT Outputs Ch.2

Maximum subindex

UINT8

RO 0x11 (17dec)

7010:01 Enable output functions

The internal functions for the output are enabled BOOLEAN RO 0x00 (0dec) via this bit

7010:02 Set output Set output

BOOLEAN RO 0x00 (0dec)

7010:03 Set counter Set counter

BOOLEAN RO 0x00 (0dec)

7010:04 Inhibit counter

The counter is stopped as long as this bit is

BOOLEAN RO 0x00 (0dec)

active. The previous counter state is retained.

7010:11 Set counter This is the counter value to be set via "Set

value

counter" (index 0x7010:03).

UINT32

RO 0x00000000 (0dec)

Index 7020 CNT Outputs

Index Name (hex)

Meaning

Data type Flags Default

7020:0 CNT Outputs

Maximum subindex

UINT8

RO 0x11 (17dec)

7020:01 Enable output functions

The internal functions for the output are enabled BOOLEAN RO 0x00 (0dec) via this bit

7020:02 Set output Set output

BOOLEAN RO 0x00 (0dec)

7020:03 Set counter Set counter

BOOLEAN RO 0x00 (0dec)

7020:04 Inhibit counter

The counter is stopped as long as this bit is

BOOLEAN RO 0x00 (0dec)

active. The previous counter state is retained.

7020:11 Set counter This is the counter value to be set via "Set

value

counter" (index 0x7020:03).

UINT32

RO 0x00000000 (0dec)

Index F000 Modular device profile

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Index (hex)

Name

Meaning

F000:0 Modular device profile General information for the modular device profile

F000:01 Module index distance

Index spacing of the objects of the individual channels

F000:02 Maximum number of Number of channels modules

Index F008 Code word

Index Name Meaning (hex)

F008:0* Code word

NoCoeStorage function:
The input code of the code word 0x12345678 activates the NoCoeStorage function:
Changes to the CoE directory are not saved if the function is active. The function is deactivated by: 1.) changing the code word or 2.) restarting the terminal.

* Function NoCoeStorage from Firmware 03

Data type

Flags Default

UINT8 RO 0x02 (2dec)

UINT16 RO 0x0010 (16dec)

UINT16 RO 0x0003 (3dec)

Data type

Flags Default

UINT32 RW 0x00000000

(0dec)

Code word The vendor reserves the authority for the basic calibration of the terminals. The code word is therefore at present reserved.
Index F010 Module list

Index (hex) F010:0 F010:01

Name Module list SubIndex 001

Meaning Maximum subindex reserved

F010:02

SubIndex 002

reserved

F010:03

SubIndex 003

reserved

Data type UINT8 UINT16
UINT16
UINT16

Flags RO RO
RO
RO

Default 0x03 (3dec) 0x0096 (150dec) 0x0096 (150dec) 0x0096 (150dec)

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4.7 AKT2G-DN-008-000
8-channel digital input terminal 24 V DC, filter 3.0 ms, 1-wire system

Technical Data Number of inputs Number of simultaneously controllable in- puts, depending on the ambient temperature Nominal voltage of the inputs Signal voltage "0" Signal voltage "1" Input filter Input current Current consumption power contacts Current consumption via E-bus Electrical isolation Bit width in the process image Configuration Weight Permissible ambient temperature range during operation

AKT2G-DN-008-000 8 8 (-25�C ... +55�C) 4 (> +55�C ) (aligned in horizontal installation position)
24 VDC (-15% / +20%) -3 V ... 5 V (EN 61131-2, type 1/3) 11 V ... 30 V (EN 61131-2, type 1/3) 3 ms typically 3 mA (EN 61131-2, type 1/3) typ. 2 mA + load typ. 90 mA 500 V (E-bus/field voltage) 8 input bits no address setting, configuration via TwinCAT System Manager approx. 55 g -25�C ... +60�C (extended temperature range, aligned in horizontal installation position) -25�C ... +45�C (all other installation positions)

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Technical Data Permissible ambient temperature range during storage Permissible relative humidity Dimensions (W x H x D) Mounting Vibration/shock resistance
EMC resistance burst/ESD Protection class Installation position
Approval

AKT2G-DN-008-000 -40�C ... +85�C
95%, no condensation approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 according to EN 60068-2-6/EN 60068-2-27, see also Installation instructions for terminals with increased mechanical load capacity conforms to EN 61000-6-2 / EN 61000-6-4 IP20 see note Constraints regarding installation position and operating temperature range CE, cULus, ATEX, IECEx

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4.8 AKT2G-DNH-008-000
8-channel digital input terminal 24 V DC, filter 10 �s, 1-wire system

Technical Data Number of imputs Number of simultaneously controllable inputs, depending on the ambient temperature
Nominal voltage of the inputs Signal voltage "0" Signal voltage "1" Input filter Input current Current consumption power contacts Current consumption via E-bus Electrical isolation Bit width in the process image Configuration
Weight

AKT2G-DNH-008-000 8 8 (-25�C ... +55�C) 4 (> +55�C ) (aligned in horizontal installation position) 24 VDC (-15% / +20%) -3 V ...5 V (EN 61131-2, type 1/3) 11 V ... 30 V (EN 61131-2, type 1/3) 10 �s typ. (10...50 �s) typically 3 mA (EN 61131-2, type 1/3) typ. 2 mA + load typ. 90 mA 500 V (E-bus/field voltage) 8 input bits no address setting, configuration via TwinCAT System Manager approx. 55 g

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Technical Data Permissible ambient temperature range during operation
Permissible ambient temperature range during storage Permissible relative humidity Dimensions (W x H x D)
Mounting Vibration/shock resistance
EMC resistance burst/ESD Protection class Installation position
Approval

AKT2G-DNH-008-000 -25�C ... +60�C (extended temperature range, aligned in horizontal installa tion position) -25�C ... +45�C (all other installation positions ) -40�C ... +85�C
95%, no condensation approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 according to EN 60068-2-6/EN 60068-2-27, see also Installation instructions for terminals with increased mechanical load capacity conforms to EN 61000-6-2 / EN 61000-6-4 IP20 see note Constraints regarding installation position and operating temperature range CE, cULus, ATEX

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4.9 AKT2G-DT-008-000
8-channel digital output terminal 24 V DC, 0.5 A, 1-wire system

Technical Data Number of outputs Non-reactive outputs Load type Nominal output voltage Switching times Output current per channel Switch-off energy (inductive) Current consumption from load voltage (power contacts) Supply voltage for electronic Current consumption via E-bus Electrical isolation Bit width in the process image Configuration
Weight

AKT2G-DT-008-000 8 yes (see Interference-Free EtherCAT Terminals) ohmic, inductive, lamp load 24 VDC (-15% / +20%) TON: 60 �s typ.; TOFF: 300 �s typ. maximum 0.5 A (short-circuit proof) max. 150 mJ/channel typ. 15 mA
via the E-Bus typ. 110 mA 500 V (E-bus/field voltage) 8 output bits no address setting, configuration via TwinCAT System Manager approx. 55 g

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Technical Data Permissible ambient temperature range during operation
Permissible ambient temperature range during storage Permissible relative humidity Dimensions (W x H x D) Mounting Vibration/shock resistance
EMC resistance burst/ESD Protection class Installation position
Approval

AKT2G-DT-008-000 Aligned in horizontal installation position: -25�C ... +60�C (extended temperature range) All other installation positions: -25�C ... +45�C -40�C ... +85�C
95%, no condensation approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm) on 35 mm mounting rail conforms to EN 60715 according to EN 60068-2-6/EN 60068-2-27, see also Installation instructions for terminals with increased mechanical load capacity conforms to EN 61000-6-2 / EN 61000-6-4 IP20 see note Constraints regarding installation position and operating temperature range CE, cULus, ATEX

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4.10 AKT2G-ECT-000-000
EtherCAT Coupler for E-bus terminals

Characteristic Protection class Higher level network technology Higher level network - max. connection length Higher level network connection technology higher-level network protocol supports HotConnect with address setting on the device

AKT2G-ECT-000-000 IP20 100 MBit FastEthernet (100BASE-TX) 100 m RJ45 EtherCAT Device Protocol yes, Fast-Hot-Connect

Technical Data Task in the EtherCAT system
Number of EtherCAT Terminals Number of peripheral signals Data transfer medium Cable length between 2 Bus Couplers Protocol / Baud rate HotConnect Delay

AKT2G-ECT-000-000 Coupling of EtherCAT Terminals (ECT-xxx) to 100BASE-TX EtherCAT networks up to 65535 in the overall system max. 4.2 GB addressable IO points Ethernet 100BASE-TX (at least Ethernet CAT5 cable) max. 100 m (100BASE-TX)
EtherCAT Device Protocol / 100 MBaud no 1 �s typ.

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Technical Data

AKT2G-ECT-000-000

Bus connection

2 x RJ45

Power supply

24 VDC (-15%/+20%)

Current consumption

70 mA + ( E-bus current/4)

E-bus power supply (5 V)

max. 2 A (-25 �C ... +55 �C)

max. 1 A (> +55 �C)

Power contacts

max. 24 VDC, max. 10 A

Electrical isolation

500 V (power contact/supply voltage/EtherCAT)

Dimensions (W x H x D)

approx. 44 mm x 100 mm x 68 mm

Weight

approx. 105 g

Permissible ambient temperature -25�C ... +60�C (extended temperature range) range during operation

Permissible ambient temperature -40�C ... + 85�C range during storage

Permissible relative air humidity 95%, no condensation

Mounting

on 35 mm mounting rail according to EN 60715

Vibration / shock resistance

conforms to EN 60068-2-6 / EN 60068-2-27, see also Installation instructions] for enhanced mechanical load capacity

EMC immunity / emission

conforms to EN 61000-6-2 / EN 61000-6-4

Protection class

IP20

Installation position

variable

Approval

CE, ATEX, cULus, IECEx

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4.11 AKT2G-EM-000-000
Bus end cover for E-bus terminals, cover for power and E-bus contacts, grey

Each EtherCAT terminal block must be terminated at the right hand end with a AKT2G-EM-000-000 bus end cap due to mechanical and electrical protection.

Technical Data

AKT2G-EM-000-000

Electrical isolation

Bit width in the process image

Configuration

no address or configuration settings

Diagnosis

PE contact

Renewed infeed

Connection facility to additional power contact

Side by side mounting on Bus Terminals with power

yes

contact

Side by side mounting on Bus Terminals without power yes contact

Electrical connection to mounting rail

Weight

approx. 8 g

Permissible ambient temperature

-25�C ... +60�C (extended temperature range)

Permissible ambient temperature range (during storage) -40�C ... +85�C

Permissible relative humidity

95%, no condensation

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Technical Data Dimensions (W x H x D)
Mounting Vibration/shock resistance EMC resistance burst/ESD Protection class Installation position Approval

AKT2G I/O Manual | 4 Remote Input/Output Terminals
AKT2G-EM-000-000 approx. 8 mm x 100 mm x 34 mm (width aligned: 5 mm) aligned to the last terminal in the terminal block conforms to EN 60068-2-6/EN 60068-2-27 conforms to EN 61000-6-2/EN 61000-6-4 IP 20 variable CE, ATEX, cULus

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4.12 AKT2G-ENC-180-000

4.12.1 Incremental Encoder Interface AKT2G-ENC-180
The AKT2G-ENC-180 EtherCAT Terminal is an interface with 24 V inputs for the direct connection of incremental encoders. A 32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled.
The measurement of period and frequency is possible. The gate input allows the locking of the counter, selectively with a high or low level. The latch input is similarly configurable and evaluates high or low levels.
The AKT2G-ENC-180 supports distributed clocks, i.e. the input data can be synchronously acquired with other data that are similarly connected, distributed to distributed clock terminals. The universal system accuracy is around < 100 ns.
With a moving axis, the micro-increment functionality offers 256 times higher axis position resolution than physically provided by the encoder.
The AKT2G-ENC-180 can also be used as a single-channel 32/16 bit counter on channel A, in which case the signal level on channel B defines the count direction.

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4.12.2 AKT2G-ENC-180 Technical Data

Technical Data

AKT2G-ENC-180-000

Sensor inputs

Encoder connection

A, B, C, gate/latch input, 24 V

Encoder operating voltage 24 V

Signal voltage "0" (inputs A, B, 0 V .. 5 V (EN 61131-2, type 1) C, gate/latch)

Signal voltage "1" (inputs A, B, 15 V .. 30 V (EN 61131-2, type 1) C, gate/latch)

Counter

1 x 32/16-bit binary, switchable

Limit frequency

max. 400,000 increments/s with 4-fold evaluation), corresponds to 100 kHz

Quadrature decoder

4-fold evaluation

Timestamp resolution

1 ns

Timestamp accuracy

100 ns

Commands

Read, set, latch, gate function

Power supply for electronic via the E-Bus

Distributed Clocks

yes

Supply voltage

24 VDC (-15 %/+20 %)

Current consumption from the E-bus

typ. 130 mA

Current consumption from the power contacts

0.1 A (excluding sensor load current)

Electrical isolation

500 V (E-bus/field voltage)

Supports NoCoeStorage

yes

function

Weight

approx. 50 g

Permissible ambient temperature range during operation

-25 �C ... +60 �C (extended temperature range)

Permissible ambient temperature range during storage

-40 �C ... +85 �C

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D)

approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)

Mounting

on 35 mm mounting rail conforms to EN 60715

Vibration/shock resistance

according to EN 60068-2-6/EN 60068-2-27, see also Installation instructions for terminals with increased mechanical load capacity

EMC immunity/emission

conforms to EN 61000-6-2 / EN 61000-6-4

Protection class

IP20

Installation position

variable

Approval

CE, ATEX, cULus

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4.12.3 AKT2G-ENC-180-000 LEDs and Pin Assignment

AKT2G-ENC-180-000 LEDs

LED

Color Meaning

A, B, C

green flashes when pulses are present at the inputs

Gate, Latch green lights up when a signal is present at the gate/latch input

AKT2G-ENC-180-000 Pin Assignment

Terminal Point No. Comment

+24 V

Gate / Latch 24 V 8

Encoder input A +24 V (internally connected to terminal point 6 and positive power contact) 0 V (internally connected to terminal point 7 and negative power contact) Encoder input C Encoder input B +24 V (internally connected to terminal point 2 and positive power contact) 0 V (internally connected to terminal point 3 and negative power contact) Gate / Latch input

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4.12.4 Commissioning AKT2G-ENC-180-000
4.12.4.1 Basic function principles The terminal acquires the 90� phase-shifted digital output signal of an incremental encoder on channels A and B. The zero pulse is acquired on channel C. These signals are converted into a position value with quadruple evaluation with the aid of the quadrature encoder and the 32-bit counter. The latch and reset functions enable the exact referencing and saving of the counter value, irrespective of the speed. Incremental encoders divide a 360� rotation of the encoder axis into individual steps (increments) and mark a full revolution by means of a special mark (zero pulse). The phase angle between the signals on channels A and B sets the counting direction. Up: signal on channel A leads signal on channel B by 90� Down: signal on channel A lags signal on channel B by 90� In case of single evaluation, the positive edges on channel A are counted. In case of quadruple evaluation, the positive and negative edges on channel A and channel B are counted.
Figure 5-1: Quadrature decoder Whereas absolute value encoders deliver an absolute and unambiguous position value over the complete travel path directly after switching on, it is necessary with incremental encoders to perform a reference run homing after switching on in order to be able to determine an unambiguous position. Referencing can be carried out, for example, with the aid of reference cams or using the zero pulse of the encoder.

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4.12.4.2 Operating modes and settings
4.12.4.2.1 General
The AKT2G-ENC-180 incremental encoder interface terminal enables connection of incremental encoders with the Bus Coupler or the PLC. A 32-bit counter with quadrature decoder as well as a 32bit latch can be read, set or activated (switchable to 16-bit). In addition to the encoder inputs A, B and C, a gate/latch input (24 V) is also available on the AKT2G-ENC-180 for latching/saving the counter value. The gate/latch input is parameterizable via the CoE directory. no function, or disabling the counter at HIGH or LOW signal level.
The AKT2G-ENC-180 can also be used as a single-channel 32/16 bit counter on channel A, in which case the signal level on channel B defines the count direction. The changeover to this mode takes place via the CoE directory.
The Counter Value input value represents a 32-bit "position counter". At the period input the period between two positive edges of channel A is measured with a resolution of 100 ns (default setting, decimal value x 100 ns). Depending on the setting (index 0x8000:14, index 0x8000:16), the period length may be up to 1.6 s or 3.2 s.

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4.12.4.2.2 Operating modes
Permissible operating modes for the AKT2G-ENC-180
The following modes are available for the AKT2G-ENC-180. They apply both for the encoder analysis and counter terminal mode.
The combinations of DC, PDO and CoE settings listed below are permissible per mode. Other settings can lead to irregular process data and error messages in the Safety PLC System Manager Logger window.

Mode DC

Pain PDO

Optional PDO 1 Optional PDO 2

FreeRun Predefined PDO Assignment: Standard 32-bit (MDP 511):

0x1A00 + 0x1600 + 0x1A02

0x1A00 Inputs:

0x1A02

16 Bit Status,

32 Bit Period

32 Bit Counter Value,

32 Bit Latch Value 0x1A03

32 Bit Frequency +

0x1600 Outputs: 16 Bit Control, 32 Bit Set Counter Value

Features CoE
CoE combinations 0x8000:nn

FreeRun Predefined PDO Assignment: Standard 16-bit (MDP 511):

0x1A01 + 0x1601 + 0x1A02

CoE combinations 0x8000:nn

0x1A01 Inputs:

0x1A02

16 Bit Status,

32 Bit Period

16 Bit Counter Value,

16 Bit Latch Value 0x1A03

32 Bit Frequency +

0x1601 Outputs: 16 Bit Control 16 Bit Set Counter Value

DC/DCi Predefined PDO Assignment:

Standard 32 Bit with 64 Bit Timestamp (MDP 511):

0x1A00 + 0x1600 + 0x1A02 + 0x1A04

CoE combinations 0x8000:nn

0x1A00 Inputs: 16 Bit Status, 32 Bit Counter Value, 32 Bit Latch Value
+
0x1600 Outputs: 16 Bit Control, 32 Bit Set Counter Value

0x1A02 32 Bit Period
or
0x1A03 32 Bit Frequency

0x1A04 64 Bit Timestamp
or
0x1A05 32 Bit Timestamp (compact)

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Mode DC

Pain PDO

Optional PDO 1 Optional PDO 2

DC/DCi Predefined PDO Assignment:

Standard 16 Bit with 32 Bit Timestamp (MDP 511):

0x1A01 + 0x1601 + 0x1A02 + 0x1A05

0x1A01 Inputs: 16 Bit Status, 16 Bit Counter Value, 16 Bit Latch Value
+
0x1601 Outputs: 16 Bit Control, 16 Bit Set Counter Value

0x1A02 32 Bit Period
or
0x1A03 32 Bit Frequency

0x1A04 64 Bit Timestamp
or
0x1A05 32 Bit Timestamp (compact)

Features CoE
CoE combinations 0x8000:nn

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4.12.4.2.3 Explanatory notes for parameters and modes

4.12.4.2.3.1 Frequency

l The timeframe for the frequency calculation as well as the resolution can be parameterized in the CoE objects Frequency window (index: 0x80n0:11), Frequency scaling (index: 0x80n0:13), Frequency resolution (index: 0x80n0:15) and Frequency wait time (index: 0x80n0:17). � The positive edges of track A are counted in the specified timeframe (see Frequency modes) and the next subsequent edge including the time until it arrives is counted. The waiting time for the edge can be set in the CoE object Frequency Wait Time (index: 0x80n0:17) (unit: ms) and is set as standard to 1.6 seconds. This is also the maximum value.
l The frequency is always specified as a positive number, irrespective of the sense of rotation. l The size of the timeframe is 10 ms (default), but at the least the basic unit Frequency window
base (index: 0x80n0:0F). l This calculation is carried out in the terminal in free-running mode without reference to the
distributed clocks system. It is therefore independent of the DC mode. l AKT2G-ENC-180: No frequency measurement is possible if the counter is blocked by the gate.
In this case the period can be measured regardless. l AKT2G-ENC-180: A C or external reset restarts the frequency measurement. The last
frequency value remains unchanged until a new frequency value is determined. l The object Frequency window base (index: 0x80n0:0F) is used for switching the basic unit for
the Frequency window between 1 �s and 1 ms, in order to adjust the time window for the measurement. The following maximum measuring windows are therefore possible:

Basic unit 1 �s 1 ms

Max. timeframe 65.5 ms 65 s

l on expiry of the measuring window Frequency window (index: 0x80n0:11), the subsequent positive edge on track A is awaited, but at the longest for 1.6 s or the time from Frequency wait time (index: 0x80n0:17).
l The frequency is measured with different accuracies depending on the selected basic unit Frequency window base (index 0x80n0:0F) and the window size.

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4.12.4.2.3.2 Frequency mode A The measurement is automatically performed in frequency mode A if the window size is smaller than or equal to 600 ms.
l Basic unit 1 �s: all window sizes l Basic unit 1 ms: up to 600 ms window size 4.12.4.2.3.3 Measurement sequence l The measurement starts with a positive edge at track A. The current counter value and time
(resolution: 100 ns) are stored. l On expiry of the measuring window Frequency window (index: 0x80n0:11), the subsequent
rising edge on track A is awaited, but at the longest for 1.6 s or the time from Frequency wait time (index: 0x80n0:17). l The frequency is calculated from the edge difference and the actual elapsed time.
Figure 5-2: Frequency measurement principle - frequency mode A

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4.12.4.2.3.4 Frequency mode B The measurement is automatically performed in frequency mode B if the window size is greater than 600 ms.
l Basic unit 1 ms: from 601 ms window size
Measurement sequence
l At the start of the measurement the time and the current position are stored with a resolution of 100 ns, irrespective of the current signal position.
l After the measurement the current position is stored irrespective of the current signal position.
l The frequency is calculated from the number of increments and the actual elapsed time. l The frequency measurement therefore takes place with reduced accuracy. l The larger the measuring window in relation to the basic unit, the more precise the frequency
calculation.

Figure 5-3: Frequency measurement principle - frequency mode B
4.12.4.2.3.5 Period calculation
l This calculation is carried out free-running in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.
l During each cycle the interval between two positive edges of input A is counted. l Depending on the setting, periods of up to 1.6 s or 3.2 s in length are measurable. l If no edge change occurs for approx. 1.6 s, any period specification is cancelled.
4.12.4.2.3.6 Gate function
The counter can be latched with the aid of the gate function. The Gate polarity object (index: 0x8000:04) provides three different options:
0: The gate function is inactive.
1: The counter value is latched by a HIGH level at the gate input. The counter value does not change as long as the HIGH level is applied. Signals on channels A and B have no effect on the counter value.
2: The counter value is locked by a LOW level at the gate input. The counter value does not change as long as the LOW level is applied. Signals on channels A and B have no effect on the counter value.
In the case of a simultaneous activation of the gate function (latch on HIGH level / latch on LOW level) and Enable extern reset (reset on positive edge / reset on negative edge), the counter value is first reset to zero. Latching subsequently takes place.

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4.12.4.2.3.7 Latch
Activating the latch C input ("C") and latching the counter value
l The counter value is saved in Latch value (index: 0x6000:12) upon the first latch pulse (positive edge on input "C") after setting the bit (TRUE) in Enable latch C (index: 0x7000:01) (takes priority over Enable latch extern on positive / negative edge index: 0x7000:02 / 0x7000:04). If the bit is set, the subsequent pulses on the other inputs have no effect on the latch value in Latch value (index: 0x6000:12).
l After re-activation of Enable latch C (index: 0x7000:01), the next counter value at the latch input can be written only if the value of the Latch C valid bit (index 0x6000:01 FALSE) has been reset.
Activation of the external latch input and saving ("latching") of the counter value (index 0x7000:02, 0x7000:04)
l The counter value at the latch input Latch value (index 0x6000:12) will be saved upon the first external latch pulse with a positive edge if the bit (TRUE) is set in Enable extern latch on positive edge (index: 0x7000: 02). The subsequent pulses have no influence on the latch value in Latch value (index: 0x6000:12).
l The counter value at the latch input Latch value (index: 0x6000:12) will be saved upon the first external latch pulse with a negative edge if the bit (TRUE) is set in Enable extern latch on negative edge (index: 0x7000: 04). The subsequent pulses have no influence on the latch value in Latch value (index: 0x6000:12).
l After re-activation, a new counter value on the latch input can be written only if the value of the Latch extern valid bit (index: 0x6000:02) has been reset.
4.12.4.2.3.8 Reset
The counter can be reset via Enable C reset (index: 0x8000:01) or via Enable extern reset (index: 0x8000:02). Extern reset polarity (index: 0x8000:10) defines whether the reset takes place on a positive or negative edge at the external latch input.
"Enable C reset" (index: 0x8000:01)
l For activation the bit in Enable C reset (index: 0x8000:01) is set to TRUE.
The counter value is reset to zero if the zero pulse is present on channel C.
"Enable extern reset" (index: 0x8000:02),
l For activation the bit in Enable extern reset (index: 0x8000:02) is set to TRUE. l "Extern reset polarity" (index: 0x8000:10)
l Bit not set: the counter is set to zero with a negative edge at the external latch input. l Bit set: the counter is set to zero with a positive edge at the external latch input.
The simultaneous activation of the functions Enable C reset (index: 0x8000:01) und Enable extern reset (index: 0x8000:02) is not possible.

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4.12.4.2.3.9 Up/down counter l The operating mode (encoder or up/down counter) is selected via the CoE object Enable up/down counter (index: 0x80n0:03). On the CoE - Online tab, click on the row of the index to be parameterized, enter the corresponding value in the SetValue dialog and confirm with OK. l 0: the up/down counter is not active. l 1: the up/down counter is active. � In the case of the AKT2G-ENC-180 the counter value can be locked via the object Gate polarity (index: 0x8000:04) (s. Gate function). l The counting direction (up/down) is specified via the signal level at channel B. � An additional option for reversing the direction of rotation is to set the Reversion of rotation bit (index: 0x80n0:0E). l Connection:
Figure 5-4: Counter connection principle

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4.12.4.2.3.10 Micro-increments l Works with and without distributed clocks, but in the AKT2G-ENC-180 this is only meaningful in conjunction with one of the DC modes l By setting the counter value only the integer component can be modified. l The principle:

Figure 5-5: Principle of frequency measurement
The highly constant query cycles (accuracy: 100 ns) of the distributed clocks system permits the AKT2G-ENC-180 to interpolate interpolated axis positions between the counted encoder increments above a certain speed. The interpolation resolution is 8 bit, corresponding to 256 values. A standard encoder with 1,024 bars with 4-way evaluation and micro-increments thus becomes a high-resolution axis encoder with 4096 * 256 = 1,048,567 bars.
If the speed falls below the minimum speed, this is displayed by the object Extrapolation stall (index: 0x60n0:08) in the process data.
4.12.4.2.3.11 Digital filter
The AKT2G-ENC-180 has a digital filter on encoder channels A and B that can be switched off (object Disable Filter, index: 0x80n0:08). This acts as a diffuse low-pass filter at about 100 KHz (equals 400,000 increments/second with 4-fold evaluation), i.e. the permissible limit frequency.
In each application it is advisable to check whether it would be advantageous to deactivate the filter the detection of fast axis movements may be improved as a result.

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4.13 AKT2G-ENC-190-000 4.13.1 Interface terminal for incremental encoder

Figure 5-6: AKT2G-ENC-190-000
The AKT2G-ENC-190-000 EtherCAT Terminal is an interface for direct connection of incremental encoders with differential inputs (RS422). A 16-bit counter (in normal operating mode) or a switchable 16/32-bit counter (in enhanced operating mode) with a quadrature decoder and a 16-bit latch (in normal operating mode) or 32-bit latch (in enhanced operating mode) for the zero pulse can be read, set or enabled. Incremental encoders with alarm output can be connected at the negative switching status input of the interface. The measurement of period and frequency is possible. The gate input allows the locking of the counter, alternatively with a high or low level. The latch input is similarly configurable and evaluates high or low levels. The AKT2G-ENC-190-000 can also be used as bidirectional counter on channel A; channel B specifies the count direction.
4.13.2 Technology
The AKT2G-ENC-190-000 incremental encoder interface terminal enables connection of incremental encoders with
A/B/C track to the Bus Coupler and the PLC. A 16-bit counter (in normal operating mode) or a switchable 16/32-bit counter (in enhanced operating mode) with a quadrature decoder and a 16-bit latch (in normal operating mode) or 32-bit latch (in enhanced operating mode) can be read, set or enabled. Differential signals based on RS422 are provided as encoder connection. From hardware 09 [} 204] single-ended 5 V signals are possible for the AKT2G-ENC-190-000 based on pull-up resistors.
In addition to the encoder inputs A, B and C, an additional latch input G1 (24 V) and a gate input G2 (24 V) for locking the counter during operation are available.
The terminal is supplied as a 4-fold quadrature decoder with complementary analysis of the sensor signals A, B, C. If the incremental encoder has an alarm output it can be connected to the INPUT 1 status input of the AKT2G-ENC-190-000. The AKT2G-ENC-190-000 can optionally be operated as a bidirectional counter terminal on channel A.

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4.13.2.1 AKT2G-ENC-190-000 input impedance The signal source must be able to operate the input impedance of the AKT2G-ENC-190-000 (typically 220 , subject to modification) with adequate voltage levels according to RS422.
4.13.2.2 Gate/latch input For gate and latch inputs (24 V) a max. input frequency of 1 MHz is permitted. Subject to modification.
4.13.2.3 Level on interface In differential mode the AKT2G-ENC-190-000 expects the signal levels after RS422. The data are transferred without ground reference as voltage difference between two cables (signal A and inverted signal /A). The terminal analyses signal levels in the range -200 mV < Vid < +200 mV as valid signals. The differential signal must be in the common mode range (<+13.2 V and >-10 V, with respect to GND) (cf. diagram). Signal levels outside this range can lead to destruction.

Figure 5-7: Level interface
In differential mode only the voltage difference is evaluated, so that common-mode interference on the transmission link does not lead to corruption of the wanted signal, since any interference affects both cables simultaneously.
If the AKT2G-ENC-190-000 is only operated in single-ended mode, a nominal level voltage between 3.5 V and 5.5 V is expected.
The AKT2G-ENC-190-000-0010 and AKT2G-ENC-190-000-0011 do not support single-ended mode.

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4.13.3 Technical Data

Technical Data

AKT2G-ENC-190-000

Sensor connection Additional inputs

A, �A, B, �B, C, �C (RS422 differential inputs) also single-ended connection (5 V �20%) possible gate, latch (24 VDC, both max. 1 MHz permitted),
status input (max. 5 VDC, potential-free, switching to negative potential)

Encoder operating voltage / Encoder supply

5 VDC (generated from the 24 V DC power contacts)

Sensor output current

0.5 A

Counter

16 bit, 16/32 bit switchable

Zero pulse latch

16 bit, 16/32 bit switchable

Limit frequency

1 MHz (equals 4 million increments with 4-fold evaluation)

Quadrature decoder

4-fold evaluation

Distributed Clocks

in enhanced operating mode

Broken wire detection to sensor in enhanced operating mode

Commands

read, set, enable

Cycle time

min. 100 �s

Current consumption via Ebus typ. 130 mA

Current consumption from the 0.1 A (excluding sensor load current) power contacts

Electrical isolation

500 V (E-bus/field voltage)

Bit width in process image

up to 6 bytes outputs, 22 bytes inputs, depends on parametrization

MTBF (+55�C)

Weight

approx. 100 g

Permissible ambient temperature range during operation

-25�C ... +60�C (extended temperature range)

Permissible ambient temperature range during storage

-40�C ... +85�C

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D)

approx. 27 mm x 10 mm x 70 mm (width aligned: 24 mm)

Mounting

on 35 mm mounting rail conforms to EN 60715

Vibration/shock resistance

conforms to EN 60068-2-6 / EN 60068-2-27, see also installation instructions for enhanced mechanical load capacity

EMC immunity/emission

conforms to EN 61000-6-2 / EN 61000-6-4

Protection class

IP20

Installation position

variable

Approval

CE ATEX cULus

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4.13.4 AKT2G-ENC-190-000 LEDs and Connection

Figure 5-8: AKT2G-ENC-190-000 4.13.4.1 Connection

Encoder supply via the terminal The encoder supply voltage (5 V), can be taken from the terminal point 1'.

Terminal Point No. Comment

A B C Latch 24 V �A �B �C Gate 24 V Ue = +5 V +24 V 0V Input 1
Uo = 0 V +24 V

1 Encoder input A 2 Encoder input B 3 Encoder input C 4 Latch input 5 Encoder input A 6 Encoder input B 7 Encoder input C 8 Gate input 1' +5 V encoder supply 2' +24 V (internally connected to terminal point 6' and positive power contact) 3' 0 V (internally connected to terminal point 7' and negative power contact) 4' Status input 1
Alarm input from rotary encoder. Internally connected to 5 V via pull-up. Switching to negative potential, i.e. connection to GND leads to error bit and LED display. If externally supplied (not recommended) 5 V max. against GND is permitted. 5' 0 V encoder supply 6' +24 V (internally connected to terminal point 2' and positive power contact)

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Terminal Point No. Comment

0V Shield

7' 0 V (internally connected to terminal point 3' and negative power contact) 8' Screen

4.13.4.2 LEDs

LED

Color Meaning

LED
INPUT A, B, C
INPUT 1

Color Meaning green indicates TRUE level
red is lit, if INPUT 1 is connected to GND

LATCH GATE RUN

[INPUT 1 is connected to an internal 5 V HIGH level though internal pull-up (default)] green is lit, if a signal (+24 V) is connected to the latch input green is lit, if a signal (+24 V) is connected to the gate input green This LED indicates the terminal's operating state:

State of the EtherCAT State Machine: INIT = initialization of the

off

terminal or BOOTSTRAP = function for firmware updates of the

terminal

flashing

State of the EtherCAT State Machine: PREOP = function for mailbox communication and different standard-settings set

State of the EtherCAT State Machine: SAFEOP = verification of single flash the Sync Manager channels and the distributed clocks.

Outputs remain in safe state

State of the EtherCAT State Machine: OP = normal operating state; mailbox and process data communication is possible

POWER 5 V green Operating voltage display for incremental encoder power supply

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4.13.5 Commissioning AKT2G-ENC-190-000

4.13.5.1 Normal Operation Mode

4.13.5.1.1 Process data and modes - Normal Operation Mode In AKT2G-ENC-190-000 "normal operation mode" the following modes are available:

Mode Distributed Main Comment Optional Comment

Clock

PDO

PDO 1

Features Comment CoE

Operational 0x1A00 16 bit

0x1A02 Frequency: 32 bit 0x8000:01 Register

Value/Latch

0x1600 Byte-

Alignment

Period: 16 bit
Window: 16 bit CoE object

reload +

0x8001:02 Reload Value

0x8001:02

Operational "

0x8000:02 Index Reset

Operational "

0x8000:03, FWD Cnt + :04, :05 pos/ neg Gate

Operational 0x1A01 16 bit

0x1A02 Frequency: 32 bit 0x8000:01 Register

Value/Latch

0x1601 Word

Alignment

Period: 16 bit
Window: 16 bit CoE object

reload +

0x8001:02 Reload Value

0x8001:02

Operational "

0x8000:02 Index Reset

Operational "

0x8000:03, FWD Cnt + :04, :05 pos/ neg Gate

Frequency
l 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).
l Only the increment edges in the specified time window are counted. l If no edge change occurs for approx. 1.6 s, any frequency specification is cancelled. l This calculation is carried out in the slave without reference to the distributed clocks system.
It is therefore independent of the DC mode. l No frequency measurement is possible if the counter is blocked by the gate. In this case the
period can be measured regardless. l 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. l A C or external reset restarts the frequency measurement. The last frequency value
remains unchanged until a new frequency value is determined.

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Figure 5-9: Frequency measurement principle in normal operation mode Period calculation
l This calculation is carried out in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.
l In each cycle the interval between 2 positive edges of input A is counted with a resolution of 100 ns.
l If no edge change occurs for approx. 1.6 s, any period specification is canceled.
l
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 l 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 l 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 l 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).
l CoE object 0x8000:04 (TRUE): Locking of the counter at the gate input with positive edge (0 V -> + 24 V).
l CoE object 0x8000:05 (TRUE): Locking of the counter at the gate input with negative edge (+ 24 V -> + 0 V).

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4.13.5.1.2 Object Description and Parameterization - Normal Operation Mode

4.13.5.1.2.1 Restore object Index 1011 Restore default parameters

Index Name (hex)

Meaning

Data type

Flags Default

1011:0 Restore Restore the default settings default parameters

UINT8 RO

1011:01 SubIndex 001

If this object is set to "0x64616F6C" in the set UINT32 RW value dialog, all backup objects are reset to their delivery state. Note: Some FW versions also accept the following input: "0x6C6F6164".

0x01 (1dec)
0x00000000 (0dec)

4.13.5.1.2.2 Configuration data Index 8000 Non-Volatile Settings 0

Index Name Meaning (hex)

Data type

Flags Default

8000:0

Non- Maximum subindex Volatile Settings 0

UINT8 RO

8000:01 Enable The counter counts up to the "Counter reload register value", or the "Counter reload value" (0x8001:02) is reload loaded in the event of an underflow Example 360� encoder with set bit:

BOOLEAN RW

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

8000:02 Enable index reset

Activates input "C" for resetting the counter.

BOOLEAN RW

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.)

8000:03 Enable FWD count

FALSE

BOOLEAN RW

The terminal operates in quadrature decoder mode

TRUE

The terminal operates as counter, count direction to input B

8000:04 Enable pos. gate

Gate input responds to positive edge and locks the counter

BOOLEAN RW

8000:05 Enable neg. gate

Gate input responds to negative edge and locks the BOOLEAN RW counter

0x05 (5dec) 0x00 (0dec)
0x00 (0dec)
0x00 (0dec)
0x01 (1dec) 0x00 (0dec)

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Index 8001 Non-Volatile Settings 1

Index Name (hex)

Meaning

Data type

Flags Default

8001:0 Non-

Maximum subindex

Volatile

Settings 1

UINT8 RO

8001:01 Frequency The value specifies the size of the time window for UINT16 RW window the "Window" variable.

resolution: 16�s; e.g. default value: 16 �s x 100dec = 1.6 ms

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

0x02 (2dec)
0x0064 (100 dec)
0xFFFF (65535 dec)

4.13.5.1.2.3 Input data Index 6000 Inputs

Index Name (hex)
6000:0 Inputs 6000:01 Status 6000:02 Value

Meaning
Length of this object Status byte meter reading

6000:03 Latch

Latch value

6000:04 Frequency Frequency value (resolution: 0.01 Hz / digit) [fixed 10 ms measuring window]
6000:05 Period Period (resolution 500 ns / digit)

6000:06 Window Measured value of the variable timeframe ( "Frequency window" (0x8001:01)

Data Flags Default type

UINT8 RO 0x06 (6dec)

UINT8 RO 0x00 (0dec)

UINT16 RO UINT16 RO UINT32 RO UINT16 RO UINT16 RO

0x0000 (0dec)
0x0000 (0dec)
0x00000000 (0dec)
0x0000 (0dec)
0x0000 (0dec)

4.13.5.1.2.4 Output data Index 7000 Outputs

Index (hex)
7000:0 7000:01 7000:02

Name Meaning

Outputs Length of this object

Ctrl

Control byte

Value The counter value to be set via CNT_SET (CB.02).

Data type
UINT8 UINT8 UINT16

Flags Default
RO 0x02 (2dec) RO 0x00 (0dec) RO 0x0000
(0dec)

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4.13.5.1.3 Control and status byte

4.13.5.1.4 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

Name -

EN_LATCH_EXTN

CB.2

CB.1

CNT_SET EN_LATCH_EXTP

CB.0 EN_LATC

Legend

Bit Name Description

CB.3 EN_

1bin

LATCH_

EXTN

CB.2 CNT_ rise SET

CB.1 EN_

1bin

LATCH_

EXTP

CB.0 EN_

1bin

LATC

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.
The counter is set with rising edge of CNT_SET to the value specified via the process data (index 0x7000:02 ).
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.
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).

4.13.5.1.5 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
Name - - STATUS_ INPUT

SB.4

SB.3

SB.2

OVERFLOW UNDERFLOW CNTSET_ ACC

SB.1
LAT_EXT_ VAL

SB.0
LATC_ VAL

4.13.5.1.6 Legend

Bit Name

Description

SB.5 STATUS_ INPUT
SB.4 OVERFLOW

0
bin
/1bin 1bin

Indicates the status of INPUT 1
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.

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Bit Name

Description

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.

4.13.5.1.7 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:
l Operating mode selection encoder "0x8000:03 Enable FWD count = FALSE". l The differential inputs (/A, /B, /C) must remain open and must not be connected to ground

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4.13.5.2 Enhanced Operation Mode

4.13.5.2.1 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

FreeRun 0x1A04 Count/Latch

in 32 bit

0x1603

0x1A03 compact:

Count/Latch

0x1602 in 16 bit

DC/DCi 0x1A04 Count/Latch

in 32 bit

0x1603

10 "

0x1A03 compact:

Count/Latch

0x1602 in 16 bit

Optional Comment PDO 1

Optional Comment PDO 2

0x1A05 Frequency --

(32 bit)

0x1A06 or

Period

(32bit)

Features CoE

Comment

0x80n0:nn CoE combinations 0x80n0:nn

0x1A07 Timestamp 64 bit "

Timestamp 32 bit

0x1A08 (compact)

4.13.5.2.1.1 Frequency

l The time window for the frequency calculation and the resolution can be parameterized in CoE objects 0x80n0:11 [} 141], 0x80n0:13 [} 141], 0x80n0:15 [} 141], 0x80n0:17 [} 141].
l 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.
l The time window is 10 ms (default), min. 1 �s. 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.
l The time is measured with a resolution of 100 ns. l This calculation is carried out in the slave without reference to the distributed clocks system. It
is therefore independent of the DC mode. l No frequency measurement is possible if the counter is blocked by the gate. In this case the
period can be measured regardless. l 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 [} 141]. l A C or external reset restarts the frequency measurement. The last frequency value remains
unchanged until a new frequency value is determined.

4.13.5.2.1.2 Frequency measurement

l Basic unit 1 �s: all window sizes

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4.13.5.2.1.3 Measurement sequence
l The measurement starts with a positive edge at track A. The current counter value and time (resolution: 100 ns) are stored.
l After the measuring window time has elapsed (index 0x80n0:11 [} 141]), the system waits for the following rising edge at track A or a maximum of 1.6 sec or the time from 0x80n0:17 [} 141]
l The frequency is calculated from the edge difference and the actual elapsed time.

4.13.5.2.1.4 Period calculation
l This calculation is carried out in the slave without reference to the distributed clocks system. It is therefore independent of the DC mode.
l In each cycle the interval between 2 positive edges of input A is counted with a resolution of 100 ns.
l 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.
4.13.5.2.1.5 Latch
Activation of latch C input ("C") and saving ("latching") of the counter value (index 0x70n0:01 [} 145])
l 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 [} 145] (has priority before 0x70n0:02 [} 145] / 0x70n0:04 [} 145]). The subsequent pulses at the other inputs have no influence on the latch value in index 0x60n0:12 [} 144] if the bit is set.
l 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 [} 144]) is "FALSE".
Activation of the external latch input ("gate/latch") and latching of the counter value (index 0x70n0:02 [} 145], 0x70n0:04 [} 145])
l The counter value at the latch input (Index 0x70n0:02 [} 145]) will be saved upon the first external latch pulse with a rising edge if the bit ("TRUE") is set in index 0x60n0:12 [} 144]. The subsequent pulses have no influence on the latch value in index 0x60n0:12 [} 144].
l The counter value at the latch input (Index 0x60n0:12 [} 144]) will be saved upon the first external latch pulse with a falling edge if the bit ("TRUE") is set in index 0x70n0:04 [} 145]. The subsequent pulses have no influence on the latch value in index 0x60n0:12 [} 144].
l 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 [} 144]) is "FALSE".

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4.13.5.2.1.6 Reset
l Counter reset (index 0x80n0:01 [} 141], 0x80n0:02 [} 141], 0x80n0:10 [} 141]): For a counter reset via input C set the bit in index 0x80n0:01 [} 141], for a reset via the external latch input set the bit in index 0x80n0:02 [} 141].
l The functions "Enable C reset" (0x80n0:01 [} 141]) and "Enable extern reset" (0x80n0:02 [} 141]) cannot be activated simultaneously.
l Note for "Extern reset polarity", index 0x80n0:10 [} 141]: The edge for setting the counter to zero can be selected via index 0x80n0:10 [} 141]. Bit not set: counter is set to zero with falling edge. Bit set: counter is set to zero with rising edge.
4.13.5.2.1.7 Up/down counter
l The mode (encoder or up/down counter) is set via the CoE objects (profile-specific objects, tab CoE Online, index 0x80n0:03 [} 141] "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.
l Set the gate polarity accordingly via object 0x80n0:04 [} 141]. l An additional option for reversing the rotation direction is available by setting the bit in index
0x80n0:0E [} 141].
4.13.5.2.1.8 Overflow/underflow
l Overflow/underflow control is inactive in combination with an activated reset function (C/external).
l The underflow bit (0x60n0:04 [} 144]) is set if an underflow ...00 ...FF occurs. It is reset if 2/3 of the counter range are underrun.
l The overflow bit (0x60n0:05 [} 144]) is set if an overflow FF... 00... occurs. It is reset if 1/3 of the counter range is exceeded.
4.13.5.2.1.9 Open circuit detection
l A separate open circuit detection can be activated for each of the channels A, B and C (index 0x80n0:0B [} 141], 0x80n0:0C [} 141], 0x80n0:0D [} 141]).
l Open circuit detection is activated for channels A and B by default. l A differential voltage of typically -1.5 V >Vid > +1.5 V is detected as an open circuit. l If an open circuit is detected, it is indicated as process data open circuit = TRUE. The bit in object
0x60n0:07 [} 144] is set. An open circuit is indicated separately in indices 0xA0n0:01 [} 145] (track A), 0xA0n0:02 [} 145] (track B) and 0xA0n0:03 [} 145](track C). l 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).
4.13.5.2.1.10 Micro-increments
l Works with and without distributed clocks, but this is only meaningful in conjunction with one of the DC modes
l By setting the counter value only the integer component can be modified.

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l The principle:

AKT2G I/O Manual | 4 Remote Input/Output Terminals

Figure 5-10: 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 [} 144] (extrapolation stall) in the process data.

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4.13.5.2.1.11 Configuration Data

4.13.5.2.2 Index 8010 ENC Settings

Index (hex)

Name

Meaning

Data type

Flags Default

8010:0 ENC Settings

Maximum subindex

UINT8 RO

8010:01 Enable C reset
8010:02 Enable extern reset

The counter is reset via the C input.

BOOLEAN RW

A counter reset is triggered via the external BOOLEAN RW latch input (24 V)

8010:03 Enable up/down counter
8010:04 Gate polarity

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.
0: Disable gate
1: Enable pos. gate (gate locks with "HIGH" level)

BOOLEAN RW

BIT2

2: Enable neg. gate (gate locks with "LOW" level)

8010:08 Disable filter

0: Activates the input filter (inputs A, /A, B, /B, BOOLEAN RW C, /C only)

1: Deactivates the input filter

If a filter is activated a signal edge must be present for at least 2.4 �s in order to be counted as an increment.

8010:0A Enable

If DC mode is activated, the AKT2G-ENC-190 BOOLEAN RW

micro

interpolates micro-increments between the

increments 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.

8010:0B Open circuit detection A
8010:0C Open circuit detection B

An open circuit on track A is indicated in index BOOLEAN RW 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.
An open circuit on track B is indicated in index BOOLEAN RW 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.

0x17 (32dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
0x01 (1dec)
0x01 (1dec)
0x00 (0dec)
0x01 (1dec)
0x01 (1dec)

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Index (hex)

Name

Meaning

Data type

Flags Default

8010:0D Open

An open circuit on track C is indicated in index

circuit

0x6010:07 and as process data. Diagnosis is

detection C 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

8010:0E Reversion Activates reversion of rotation of rotation

BOOLEAN RW

8010:10 Extern

0: Fall (the counter is set to zero with a falling BIT1

reset

edge)

polarity

1: Rise (the counter is set to zero with a rising

edge)

8010:11 Frequency This is the minimum time over which the window frequency is determined. Default 10 ms [resolution: 1 �s]

UINT16 RW

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.

8010:13 Frequency Scaling of the frequency measurement (must UINT16 RW

scaling

be divided by this value to obtain the unit in

Hz):

8010:14 Period scaling

100: "0.01 Hz" Resolution of the period in the process data: UINT16 RW
100: "100 ns" period value is a multiple of 100 ns

500: "500 ns" period value is a multiple of 500 ns

8010:15 Frequency Resolution of the frequency measurement: UINT16 RW resolution 100: "0.01 Hz"

0x00 (0dec)
0x00 (0dec) 0x01 (1dec)
0x2710 (10000dec)
0x0064 (100dec) 0x0064 (100dec)
0x0064 (100dec)

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Index (hex)

Name

Meaning

Data type

8010:16 Period resolution

Internal resolution of the period measurement:

UINT16

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]).
8010:17 Frequency Waiting time [ms] for frequency Wait Time measurement

UINT16

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)

Flags Default RW 0x01F4
(500dec)
RW 0x0640 (1600dec)

4.13.5.2.3 Index 6010 ENC Inputs

Index (hex)

Name

Meaning

Data type

Flags Default

6010:0 ENC Inputs Maximum subindex

UINT8 RO

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.

6010:02 Latch extern The counter value was locked via the

valid

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.

6010:03 Set counter The counter was set. done

BOOLEAN RO BOOLEAN RO BOOLEAN RO

0x16 (22dec) 0x00 (0dec)
0x00 (0dec)
0x00 (0dec)

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Index (hex)

Name

Meaning

Data type

Flags Default

6010:04 Counter underflow

Counter underflow.
Overflow/underflow control is inactive in combination with a reset function (C/external).

BOOLEAN RO

6010:05 Counter overflow

Counter overflow.
Overflow/underflow control is inactive in combination with a reset function (C/external).

BOOLEAN RO

6010:06 Status of input status
6010:07 Open circuit

State of the status input (alarm "input 1") Indicates an open circuit.

BOOLEAN RO BOOLEAN RO

Configuration via index 0x8010:0A, 0x8010:0B, 0x8010:0C

6010:08 Extrapolation The extrapolated part of the counter is

stall

invalid

BOOLEAN RO

6010:09 Status of input A
6010:0A Status of input B

Status of input A Status of input B

BOOLEAN RO BOOLEAN RO

6010:0B Status of input C
6010:0C Status of input gate

Status of input C The state of the gate input

BOOLEAN RO BOOLEAN RO

6010:0D Status of extern latch
6010:0E Sync Error

Status of the extern latch input

BOOLEAN RO

The Sync error bit is only required for DC BOOLEAN RO mode. It indicates whether a synchronization error has occurred during the previous cycle.

6010:0F TxPDO State

This means a SYNC signal was triggered in the AKT2G-ENC-190, although no new process data were available (0=OK, 1=NOK).
Validity of the data of the associated TxPDO (0 = valid, 1 = invalid).

BOOLEAN RO

6010:10 TxPDO Toggle
6010:11 Counter value

The TxPDO toggle is toggled by the slave when the data of the associated TxPDO is updated.
Counter value

BOOLEAN RO UINT32 RO

6010:12 Latch value Latch value

UINT32 RO

6010:13 Frequency The frequency (setting of the scaling and UINT32 RO

value

resolution in index 0x8010:13 and

0x8010:15)

0x00 (0dec)
0x00 (0dec)
0x00 (0dec) 0x00 (0dec)
0x00 (0dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec) 0x00 (0dec)
0x00 (0dec) 0x00 (0dec) 0x00000000 (0dec) 0x00000000 (0dec) 0x00000000 (0dec)

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Index (hex)

Name

Meaning

6010:14 Period value 6010:16 Timestamp

The period (setting of the scaling and resolution in index 0x8010:14 and 0x8010:16)
Timestamp of the last counter change

Data type UINT32
UINT64

Flags Default
RO 0x00000000 (0dec)
RO

4.13.5.2.4 Index 7010 ENC Outputs

Index Name (hex)

Meaning

Data type

Flags Default

7010:0 ENC Outputs

Maximum subindex

UINT8 RO

7010:01 Enable latch C
7010:02 Enable latch extern on positive edge
7010:03 Set counter
7010:04 Enable latch extern on negative edge
7010:11 Set counter value

Activate latching via input "C".

BOOLEAN RO

Activate external latch with positive BOOLEAN RO edge.

Set counter

BOOLEAN RO

Activate external latch with negative edge.

BOOLEAN RO

The counter value to be set via "Set UINT32 RO counter" (index 0x7010:03).

0x11 (17dec) 0x00 (0dec) 0x00 (0dec)
0x00 (0dec) 0x00 (0dec)
0x00000000 (0dec)

4.13.5.2.4.1 Information / Diagnostic Data (Channel Specific)

4.13.5.2.5 Index A010 ENC Diag data

Index (hex) Name

Meaning

A010:0 A010:01 A010:02 A010:03

ENC Diag data Open circuit A Open circuit B Open circuit C

Maximum subindex Open circuit on track A Open circuit on track B Open circuit on track C

Data type
UINT8 BOOLEAN BOOLEAN BOOLEAN

Flags Default
RO 0x03 (3dec) RO 0x00 (0dec) RO 0x00 (0dec) RO 0x00 (0dec)

4.13.5.2.6 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:

l Operating mode selection encoder "0x80n0:03 [} 141] Enable up/down counter = FALSE". l The differential inputs (/A, /B, /C) must remain open and must not be connected to ground l The option to reverse the direction of rotation is given by setting the bit in index 0x80n0:0E [}
141] "reversion of rotation =TRUE". l The open circuit detection does not work in principle conditionally with single-ended
connection

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4.14 AKT2G-PSF-024-000
Power supply terminal with fuse, 24 V DC The AKT2G-PSF-024 feed terminal can be positioned at any location between the input and output terminals for establishing a further potential group or for supplying the terminals following on the right in applications with high current load. The E-Bus is looped through.

Technical Data Nominal voltage Power contact current load Electrical isolation Integrated fine-wire fuse Current consumption from E-Bus Bit width in the process image Configuration Power LED Diagnosis (fuse) Electrical connection to mounting rail PE contact Renewed infeed Connection facility to additional power contact Side by side mounting on Bus Terminals with power contact

AKT2G-PSF-024-000 24 VDC max. 10 A 500 V (E-bus/field potential) yes; 6.3 A no address or configuration settings yes yes, Error LED no yes yes 1 yes

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Technical Data

AKT2G-PSF-024-000

Side by side mounting on Bus Terminals without power yes contact

Weight

approx. 55 g

Permissible ambient temperature range (during operation)

0�C ... +55�C

Permissible ambient temperature range (during storage)

-25�C ... +85�C

Permissible relative humidity

95%, no condensation

Dimensions (W x H x D)

approx. 15 mm x 100 mm x 70 mm (width aligned: 12 mm)

Mounting

on 35 mm mounting rail conforms to EN 60715

Vibration/shock resistance

conforms to EN 60068-2-6/EN 60068-2-27

EMC resistance burst/ESD

conforms to EN 61000-6-2/EN 61000-6-4

Protection class

IP 20

Installation position

variable, see Positioning of passive Terminals

Approval

CE, ATEX, cULus

Hazard to individuals and devices!
When designing a Bus Terminal block with different potentials on the power contacts (e.g. 230 V AC and 24 V DC), please note that it is mandatory to use potential separation terminals! Bring the bus system into a safe, powered down state before starting installation, disassembly or wiring of the Bus Terminals!

4.14.1 Connections

Terminal Point

Description

Indication Number

+24 V

Supply input + 24 V (connected internally with terminal 4 and positive power contact)

0 V for supply input (connected internally with terminal 5 and negative power

contact)

PE (connected internally with terminal 6 and PE power contact)

+24 V

Supply input + 24 V (connected internally with terminal 1 and positive power contact)

0 V for supply input (connected internally with terminal 2 and negative power

contact)

PE (connected internally with terminal 3 and PE power contact)

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4.14.2 LEDs

LED

Color Meaning

Power LED green off No input voltage at supply input

on 24 VDC at supply input

Error LED red off Fuse OK

on Fuse error

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4.15 AKT2G-SDI-004-000
4.15.1 Safety terminal with 4 digital fail-safe inputs
The AKT2G-SDI-004 is a digital input terminal with floating contacts for 24 V DC. The Bus Terminal has 4 fail-safe inputs. With two-channel connection, the AKT2G-SDI-004 meets the requirements of IEC 61508:2010 SIL 3, DIN EN ISO 13849-1:2015 (Cat 4, PL e), UL508, UL1998 and UL991. The safety terminal has the typical design of an EtherCAT terminal.

Figure 5-11: AKT2G-SDI-004 � safety terminal with 4 digital fail-safe inputs
Be sure to review l Safety Instructions l Safety Operation l Safety Terminal Reaction Times l Safety I/O Maintenance

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4.15.2 Intended use
Caution - Risk of injury! Safety components may only be used for the purposes described below! The safety terminals expand the application range of the E-Bus terminal system with functions that enable them to be used for machine safety applications. The safety terminals are designed for machine safety functions and directly associated industrial automation tasks. They are therefore only approved for applications with a defined fail-safe state. This safe state is the wattless state. Fail-safety according to the relevant standards is required. The safety terminals enable connection of:
l 24 VDC sensors (AKT2G-SDI-004) such as emergency off pushbutton switches, pull cord switches, position switches, two-hand switches, safety mats, light curtains, light barriers, laser scanner, etc.
l 24 VDC actuators (AKT2G-SDO-004 ) such as contactors, protection door switches with tumbler, signal lamps, servo drives, etc.
Test pulses When selecting actuators please ensure that the AKT2G-SDO-004 test pulses do not lead to actuator switching or diagnostic message from the AKT2G-SDO-004. The following safety components have been developed for these tasks:
l The AKT2G-SDI-004 is an EtherCAT Terminal with 4 digital fail-safe inputs. l The AKT2G-SDO-004 is an EtherCAT Terminal with 4 digital fail-safe outputs. These safety components are suitable for operation on the l Kollmorgen AKT2G-ECT-000-000 series Bus Couplers
Power supply from SELV/PELV power supply unit! The safety components must be supplied with 24 VDC by an SELV/PELV power supply unit with an output voltage limit Umax of 36 VDC. Failure to observe this can result in a loss of safety.
Follow the machinery directive! The safety components may only be used in machines as defined in the machinery directive.
Ensure traceability! The buyer has to ensure the traceability of the device via the serial number.

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4.15.3 Technical Data

Product designation

AKT2G-SDI-004

Number of inputs

Status display

4 (one green LED per input)

Reaction time (read input/write to E- typically: 4 ms,

bus)

maximum: see error reaction time

Error reaction time

watchdog time

Cable length between sensor and terminal

unshielded max. 100 m (0.75 or 1 mm�) shielded max. 100 m (0.75 or 1 mm�)

Output current of the clock outputs typically 10 mA, max. 15 mA

Input process image

6 bytes

Output process image

6 bytes

AKT2G-SDI-004 supply voltage (PELV)

24 VDC (�15% / +20%)

Signal voltage "0" inputs
Signal voltage "1" inputs
Current consumption of the modular electronics at 24 V (without current consumption of sensors)

-3 V to 5 V (EN 61131-2, type 3) see section Characteristic curve of the inputs
11 V to 30 V (EN 61131-2, type 3) see section Characteristic curve of the inputs
4 channels occupied: typically 12 mA 0 channels occupied: typically 1.4 mA

Current consumption via E-bus

4 channels occupied: approx. 200 mA

Power dissipation of the terminal

typically 1 W

Electrical isolation (between the

channels)

Electrical isolation (between the

yes

channels and the E-bus)

Insulation voltage (between the channels and the E-bus, under common operating conditions)

insulation tested with 500 VDC

Dimensions (W x H x D)

12mm x 100mm x 68mm

Weight

approx. 50 g

Permissible ambient temperature (operation) up to SW 05
Permissible ambient temperature (operation) from SW 06 (week 02/2014)

0 �C to +55 �C (see note in Installation position and minimum distances)
-25�C to +55 �C (see note in Installation position and minimum distances)

Permissible ambient temperature (transport/storage)

-40�C to +70�C

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Product designation Permissible air humidity Permissible air pressure (operation/storage/transport)
Climate category according to EN 60721-3-3
Permissible level of contamination according to EN 60664-1 Impermissible operating conditions
EMC immunity/emission Vibration/shock resistance Shocks Protection class Permitted operating environment Permissible installation position Approvals

AKT2G-SDI-004
5% to 95%, non-condensing
750 hPa to 1100 hPa (this corresponds to a height of approx. -690 m to 2450 m over sea level assuming an international standard atmosphere)
3K3 (the deviation from 3K3 is possible only with optimal environmental conditions and also applies only to the technical data which are specified differently in this documentation)
level of contamination 2 (comply with the section Safety I/O Maintenance
Safety terminals must not be used under the following operating conditions: � under the influence of ionizing radiation (that exceeds the level of the natural environmental radiation) � in corrosive environments � in an environment that leads to unacceptable soiling of the Bus Terminal
conforms to EN 61000-6-2 / EN 61000-6-4
conforms to EN 60068-2-6 / EN 60068-2-27
15 g with pulse duration 11 ms in all three axes
IP20
In the control cabinet or terminal box, with minimum protection class IP54 according to IEC 60529
see section Installation position and minimum distances
CE, cULus

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4.15.4 Safety Parameters
Key Figures Lifetime [a] Prooftest Interval [a]
PFHD %SIL3 PFD %SIL3 MTTFd DC Performance level Category HFT Element classification 2

AKT2G-SDI-004 20 not required 1
1.11E-09 1.11% 8.29E-05 8.29 % high high PL e 4 1 Type B

1. Special proof tests are not required during the entire service life of the AKT2G-SDI-004 EtherCAT terminal.
2. Classification according to IEC 61508-2:2010 (chapter 7.4.4.1.2 and 7.4.4.1.3)
The AKT2G-SDI-004 EtherCAT Terminal can be used for safety-related applications within the meaning of IEC 61508:2010 up to SIL3 and EN ISO 13849-1 up to PL e (Cat4).
For the calculation or estimation of the MTTFd value from the PFHD value, further information can be found in ISO 13849-1:2015 Table K.1.

4.15.5 Characteristic curve of the inputs
The characteristic curve of the inputs is similar to type 3 according to EN 61131-2.

Figure 5-12: Characteristic curve of the inputs

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4.15.6 Dimensions

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Width Height Depth

12 mm (side-by-side installation) 100 mm 68 mm

Figure 5-13: Dimensions of the AKT2G-SDI-004.
4.15.7 Block Diagram of the AKT2G-SDI-004

Figure 5-14: Block diagram of the AKT2G-SDI-004
The block diagram shows the basic configuration of a channel in the AKT2G-SDI-004. The part with a red border is present four times in the terminal.

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4.15.8 AKT2G-SDI-004 Pin Assignment

Figure 5-15: AKT2G-SDI-004 pin assignment

Terminal point 1 2 3 4 5 6 7 8

Input 1 3 2 4

Signal Input 1+ Input 1Input 3+ Input 3Input 2+ Input 2Input 4+ Input 4-

Configurable inputs
The inputs 1 to 4 can be occupied as you want with normally closed contacts or normally open contacts. The corresponding analysis is carried out in the safety PLC.

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4.15.9 Signal Cables
4.15.9.1 Permitted cable length

AKT2G I/O Manual | 4 Remote Input/Output Terminals

Figure 5-16: Permitted cable length
When connecting a single switching contact via its own continuous cabling (or via a non-metallic sheathed cable), the maximum permitted cable length is 100 m.
The use of contact points, connectors or additional switching contacts in the cabling reduces the maximum propagation.

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4.15.9.2 Cable routing
Figure 5-17: Cable routing
Route the signal cable separately The signal cable must be routed separately from potential sources of interference, such as motor supply cables, 230 VAC power cables etc.! Interference caused by cables routed in parallel can influence the signal form of the test pulses and thus cause diagnostic messages (e.g. sensor errors or OpenLoad errors).
l D: Distance between the cable ducts should be as large as possible l blue arrows: signal line l red arrows: potential source of interference
The common routing of signals together with other clocked signals in a common cable also reduces the maximum propagation, since crosstalk of the signals can occur over long cable lengths and cause diagnostic messages. The test pulses can be switched off (sensor test parameter) if the connection of a common cable is unavoidable. However, this then leads to a reduction in the degree of diagnostic cover when calculating the performance level.
4.15.9.3 Test pulses The typical length of a test pulse (switching from 24 V to 0 V and back to 24 V) is 350 �s and takes place approx. 250 times per second. The test pulses at the outputs Input 1+ to Input 4+ are generated separately for each channel in order to be able to detect cross-circuits between the individual channels of a terminal and also between channels of different terminals. In order to generate test pulses as shown in the diagram, the sensor test active safety parameter must be set to true for the respective channels. The test cycle for all four channels is typically 4 ms. The times between the test pulses of different channels vary, thus allowing better diagnostic detection.

Figure 5-18: Typical course of test pulses of the inputs
If self-testing sensors are to be used on the safe inputs, please refer to chapter Configuration for light barriers, light grids, light curtains etc.

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4.15.10 Address Settings on Safety Terminals with 65535 Possible Addresses

Figure 5-19: Address settings on safety terminals with 65535 possible addresses

Set the safety address for the terminal using the two dip switches (with 8 setting options) on the lefthand side of the AKT2G-SDI-004 safety terminal. Safety addresses between 1 and 65535 are available.

DIP switches

Address

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 1

OFF ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 2

ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 3

OFF OFF ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 4

ON OFF ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 5

OFF ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 6

ON ON ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 7

OFF OFF OFF ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 8

...................................................

ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON 65535

Safety address
Each safety address may only be used once within a network! The address 0 is not a valid safety address!

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4.15.11 Safety Terminal Address and Parameters

PrmName

Meaning

FSoE_Address DIP switch address

Operating Mode Digital / standstill monitoring 1 and 2

Sensor test

The clock signal for connection Input1+ is

channel 1 active checked at connection Input1-.

Sensor test

The clock signal for connection Input2+ is

channel 2 active checked at connection Input2-.

Sensor test

The clock signal for connection Input3+ is

channel 3 active checked at connection Input3-.

Sensor test

The clock signal for connection Input4+ is

channel 4 active checked at connection Input4-.

Logic channel 1 Logic of channels 1 and 2 and 2

Logic channel 3 Logic of channels 3 and 4 and 4

Store Code Project CRC

This parameter is required for the safety Restore Mode
This parameter is required for the safety Restore Mode

Values 1 to 65535 Digital / standstill 1 and 2 true / false
true / false
true / false
true / false
l single logic l asynchronous repetition OSSD
(sensor test must be switched off) l any pulse repetition OSSD (sensor
test must be switched off) l short cut is no module fault l single logic l asynchronous repetition OSSD
(sensor test must be switched off) l any pulse repetition OSSD (sensor
test must be switched off) l short cut is no module fault 0x0000
0x0000

Test pulses
If the parameters Current Measurement active or Testing of outputs active are set to TRUE, the terminal generates test pulses at the outputs. To avoid generating test pulses at the channel outputs, testing of outputs active and Current measurement active must be set to FALSE.
Please note that deactivating Current measurement active and/or Testing of outputs active may reduce the achievable performance level. A calculation example for the performance level can be found in the safety PLC application manual.
There are no known applications for which it would make sense to set Testing of outputs active to FALSE, while Current measurement active is set to TRUE.

101

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4.15.11.1 AKT2G-SDI-004 configuration for light barriers, light grids, light curtains etc. The AKT2G-SDI-004 also supports direct connection of contact-free protective devices with two selftesting outputs such as light barriers, light grids, light curtains, laser scanners, etc. Sensors with self-testing outputs! Only sensors with self-testing outputs and a maximum sensor self-test duration of 350 �s may be connected to the AKT2G-SDI-004 (see illustration below).
Figure 5-20: Maximum permissible sensor self-test duration of 350 �s Parameter To connect these sensors please set the following parameters for the AKT2G-SDI-004 in the safety PLC software: Connect the two sensor signals either to channels 1 and 2 or channels 3 and 4 and activate asynchronous repetition OSSD or any pulse repetition for the two inputs used under parameter Logic for channel x and y. The difference between these settings is that with any pulse repetition simultaneous tests of the OSSD signals up to 350 �s are allowed. For the two inputs used set the sensor test for the AKT2G-SDI-004 to False. 4.15.11.2 Configuration of the AKT2G-SDI-004 for safety switching mats The AKT2G-SDI-004 also supports direct connection of safety switching mats. Parameter To connect these switching mats please set the following parameters for the AKT2G-SDI-004 in the safety PLC software: Connect the two sensor signals either to channels 1 and 2 or channels 3 and 4 and activate short cut channel x/y is no module fault for the two inputs used under parameter Logic for channel x and y.
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4.15.12 AKT2G-SDI-004 Diagostic LEDs
The LEDs Diag 1 to Diag 4 display diagnostic information for the AKT2G-SDI-004.

4.15.12.1 Diag 1 (green) The Diag 1 LED indicates the state of the safety network.

Flashing Code LED illuminated continuously

Meaning normal operation: Safety communication OK

rapid flickering, alternating with 1 flash pulse Error in S parameter (safety parameter)

rapid flickering, alternating with 2 flash pulses Error in I parameter (Individual parameter)

rapid flickering, alternating with 3 flash pulses Waiting for S and I parameter

rapid flickering, alternating with 4 flash pulses S- and I-parameter correct: waiting for first host message

rapid flickering, alternating with 5 flash pulses Watchdog error

rapid flickering, alternating with 6 flash pulses CRC error

rapid flickering, alternating with 7 flash pulses Sequence number error

rapid flickering, alternating with 8 flash pulses Communication error in the safety protocol

4.15.12.2 Diag 2 (red) The Diag 2 LED illuminates red if the terminal detects an external supply or cross-circuit. The LED extinguishes once the error is rectified.
4.15.12.3 Diag 3 (red) and Diag 4 (red) If the Diag 3 LED is lit, the Diag 4 LED indicates internal terminal errors.
4.15.12.3.1 Flashing Codes In the case of such an error, the Diag 4 LED on the AKT2G-SDI-004 displays flashing codes that describe the error in more detail. A flashing code consists of four sequences, which are interrupted in each case by a short break. After the four sequences there is a long break, following which the flashing code is displayed again. Count the individual sequences of the flashing code. The errors indicated by the following flashing codes are reversible. After successful troubleshooting the terminal can be restarted.

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Diag 3 Diag 4 Meaning LED LED
Flashing Meaning Code

Remedy Remedy

lit

6-1-1-1 max. internal temperature exceeded

Ensure that the permissible ambient temperature is adhered to.

7-1-1-1 internal temperature below min. value

2-1-2-1 max. supply voltage �C1 exceeded

Check the supply voltage.

3-1-2-1 max. supply voltage �C2 exceeded

4-1-2-1 voltage fell below min. supply voltage �C1

5-1-2-1 voltage fell below min. supply voltage �C2

8-1-1-1 Temperature difference between the measuring points exceeded

Check the installation position and the ambient temperature.

If another flashing code is displayed, this means that there is an internal terminal error that has stopped the terminal. In this case the terminal must be checked by Kollmorgen.

Note the flashing codes and return the terminal Note the flashing code displayed and include this information with the terminal when you return it.

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4.15.13 AKT2G-SDI-004 Diagostic Objects

Do not change CoE objects! Do not make any modifications to the CoE objects in the safety components! Any modifications of the CoE objects will permanently set the safety components to the Fail-Stop state.
Index FA80hex: Internal temperature values The CoE object FA80hex indicates the current internal temperature values of the AKT2G-SDI-004.

Index FA80:01 FA80:02

Name Temperature 1 Temperature 2

Meaning Temperature measurement 1 Temperature measurement 2

Flags RO RO

Default 0bin 0bin

Index 800Ehex: diagnostic information The CoE object 800Ehex displays further diagnostic information.

Index Name

Meaning

Flags Default

800E:0 Diag

The following sub-indices contain detailed diagnostic RO information.

800E:0A Sensor test error

Bit

Error during the sensor test

1bin

Error at input 1

0bin

Error at input 2

0bin

800E:0B Error during two

Bit

channel evaluation

1bin

Error at input 3

0bin

1bin

Error at input 4

0bin

Error during the contiguous evaluation of RO two channels, i.e. the two channels contradict each other.

1bin

Error in the first

0bin

input pair

1bin

Error in the second

0bin

input pair

800E:0C Error in the safety mat Bits

operation mode: input

pair disagree

1, 0

Error in the input pair

11bin

Error in the first input pair

RO 00bin

3, 2

11bin

Error in the second input pair

00bin

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Index Name

Meaning

800E:0D Error in the safety mat Bit operation mode: external supply

Error in the test pulses in the safety mat operating mode; i.e. the terminal has detected an external supply.

1bin

Error at input 1 Error at input 2 Error at input 3

1bin

Error at input 4

Flags Default RO
0bin 0bin 0bin 0bin

Differing diagnostic messages possible
Due to the variable order or execution of the test series, diagnostic messages differing from those given in the table above are possible.
4.15.14 Certificates
The AKT2G-SDI-004-000 has been tested to the following directives and standards.
l 2006/42/EC l EN 61508-1:2010 (up to SIL 3) l EN 61508-2:2010 (up to SIL 3) l EN 61508-3:2010 (up to SIL 3) l EN 62061:2005/A2:2015 (up to SILCL 3) l EN ISO 13849-1:2015 (Cat. 4, PL e) l EN 81-20:2014 l EN 81-22:2014 l EN 81-50:2014 l EN 13243:2015
Note on approval accroding to EN 81-20, EN 81-22, and EN 81-50
l The Safety components may only be used in machines that have been designed and installed in accordance with the requirements of the EN 60204-1 standard.
l Provide a surge filter for the supply voltage of the Safety components against overvoltages. (Reduction to overvoltage category II)
l EN 81 requires that in the case of devices with internal temperature monitoring, a stop must be reached in the event of an overtemperature. In this case, passengers must be able to disembark (see EN 81-20 chapter 5.10.4.3, for example). To ensure this, application measures are necessary. The internal terminal temperature of the Safety components can be read out by the user. There is a direct switch-off at the maximum permissible temperature of the respective Safety component (see Installation position and minimum distances).
l The user must select a temperature threshold below the maximum temperature such that a stop can be reached in all cases before the maximum temperature is reached. Information on the optimum terminal configuration can be found under Notes on the arrangement of Safety components and under Example configuration for temperature measurement.
l For the use of the Safety components according to EN 81-22 and EN 81-50, the conditions described in the manuals for achieving category 4 according to EN ISO 13849-1:2015 must be observed.
l The use of Safety components is limited to indoor applications.

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l Basic protection against direct contact must be provided, either by fulfilling protection class IP2X or by installing the Safety components in a control cabinet which corresponds at least to protection class IP54 according to EN 60529.
l The ambient conditions regarding temperature, humidity, heat dissipation, EMC and vibrations, as specified in the operating instructions under technical data, must be observed.
l The operating conditions in potentially explosive atmospheres (ATEX) are specified in the operating instructions.
l The safe state (triggering) of the application must be the de-energized state. The safe state of the Safety components is always the de-energized, switched-off state, and this cannot be changed.
l The service life specified in the operating instructions must be observed. l If the Safety component is operated outside the permissible temperature range, it changes
to "Global Shutdown" state. l The Safety components must be installed in a control cabinet with protection class IP54
according to EN 60529, so that the requirement for contamination level 3 according to EN 60664-1 can be reduced to level 2. l The Safety components must be supplied by a SELV/PELV power supply unit with a maximum voltage of Umax 36 VDC.

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4.16 AKT2G-SDO-004-000
4.16.1 Safety terminal with 4 digital fail-safe outputs
The AKT2G-SDO-004 is a safe output terminal with digital outputs for connecting actuators (contactors, relays, etc.) with a maximum current 0.5 A (24 VDC). The Bus Terminal has 4 fail-safe outputs. The AKT2G-SDO-004 meets the requirements of IEC 61508:2010 SIL 3, DIN EN ISO 13849-1:2015 (Cat 4, PL e), UL508, UL1998 and UL991. The safety terminal has the typical design of an EtherCAT terminal.

Figure 5-21: AKT2G-SDO-004-000 safety terminal with 4 digital fail-safe outputs

Be sure to review
l Safety Instructions l Safety Operation l Safety Terminal Reaction Times l Safety I/O Maintenance

Description of Safety Parameters

Parameter Name

Description

Values

Standard outputs

In addition the safe output can be switched off from the PLC program. The safe outputs are logically ANDed with the standard digital outputs.

Current

Current measurement for the outputs are activated

measurement

active

Testing of

Test pulses for the outputs are activated

outputs active

True / False True / False
True / False

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Parameter Name

Description

Values

Error acknowledge active

True: Terminal errors lead to a reset of the FSoE connection (error code 14 (0x0E)). This error code is shown in the diagnostic data for the connection until it is acknowledged. False (Default): Terminal errors can only be reset by switching the power supply off and back on again.

True / False

For example, using the BBH SafePLC2 software, the parameters can be configured from the AKT2GSDO-004-000 Properties:

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4.16.2 Intended use
Caution - Risk of injury! Safety components may only be used for the purposes described below! The safety terminals expand the application range of the E-Bus terminal system with functions that enable them to be used for machine safety applications. The safety terminals are designed for machine safety functions and directly associated industrial automation tasks. They are therefore only approved for applications with a defined fail-safe state. This safe state is the wattless state. Fail-safety according to the relevant standards is required. The safety terminals enable connection of:
l 24 VDC sensors (AKT2G-SDI-004) such as emergency off pushbutton switches, pull cord switches, position switches, two-hand switches, safety mats, light curtains, light barriers, laser scanner, etc.
l 24 VDC actuators (AKT2G-SDO-004 such as contactors, protection door switches with tumbler, signal lamps, servo drives, etc.
Test pulses When selecting actuators please ensure that the AKT2G-SDO-004 test pulses do not lead to actuator switching or diagnostic message from the AKT2G-SDO-004. The following safety components have been developed for these tasks:
l The AKT2G-SDI-004 is an EtherCAT Terminal with 4 digital fail-safe inputs. l The AKT2G-SDO-004 is an EtherCAT Terminal with 4 digital fail-safe outputs. These safety components are suitable for operation on the l Kollmorgen AKT2G-ECT-000-000 series Bus Couplers
Power supply from SELV/PELV power supply unit! The safety components must be supplied with 24 VDC by an SELV/PELV power supply unit with an output voltage limit Umax of 36 VDC. Failure to observe this can result in a loss of safety.
Follow the machinery directive! The safety components may only be used in machines as defined in the machinery directive.
Ensure traceability! The buyer has to ensure the traceability of the device via the serial number.
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4.16.3 Technical Data

Product designation Number of outputs Status display Error reaction time Output current per channel
Actuators
Cable length between actuator and terminal Wire cross section

AKT2G-SDO-004-000 4 4 (one green LED per output) watchdog times max. 500 mA, min. 20 mA with parameter current measurement active set When selecting actuators please ensure that the AKT2G-SDO-004000 test pulses do not lead to actuator switching. unshielded max. 100 m shielded max. 100 m
min. 0.75 mm2

Input process image
Output process image
AKT2G-SDO-004-000 supply voltage (PELV)
Current consumption via E-bus
Power dissipation of the terminal
Electrical isolation (between the channels)
Electrical isolation (between the channels and the E-bus)
Insulation voltage (between the channels and the E-bus, under common operating conditions)
Dimensions (W x H x D)
Weight
Permissible ambient temperature (operation) up to SW 03
Permissible ambient temperature (operation) from SW 04 (week 02/2014)
Permissible ambient temperature (transport/storage)
Permissible air humidity
Permissible air pressure (operation/storage/transport)

6 bytes 6 bytes 24 VDC (�15%/+20%)
approx. 221 mA typically 2 W no
yes
insulation tested with 500 VDC
24mm x 100mm x 68mm approx. 100 g 0�C to +55�C (see note in Installation position and minimum distances) -25�C to +55 �C (see note in Installation position and minimum distances)
-40�C to +70�C
5% to 95%, non-condensing 750 hPa to 1100 hPa (this corresponds to a height of approx. -690 m to 2450 m over sea level assuming an international standard atmosphere)

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Product designation Climate category according to EN 60721-3-3
Permissible level of contamination according to EN 60664-1 Impermissible operating conditions
EMC immunity/emission Vibration/shock resistance Shocks Protection class Permitted operating environment Permissible installation position Approvals

AKT2G-SDO-004-000
3K3 (the deviation from 3K3 is possible only with optimal environmental conditions and also applies only to the technical data which are specified differently in this documentation)
level of contamination 2 (comply with the section Safety I/O Maintenance
safety terminals must not be used under the following operating conditions:
l under the influence of ionizing radiation (that exceeds the level of the natural environmental radiation)
l in corrosive environments l in an environment that leads to unacceptable soiling of the
Bus Terminal
conforms to EN 61000-6-2 / EN 61000-6-4
conforms to EN 60068-2-6 / EN 60068-2-27
15 g with pulse duration 11 ms in all three axes
IP20
In the control cabinet or terminal box, with minimum protection class IP54 according to IEC 60529
see section Installation position and minimum distances
CE, cULus

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4.16.4 Safety Parameters
Key Figures Lifetime [a] Prooftest Interval [a]
PFHD %SIL3 PFD %SIL3 MTTFd DC Performance level Category HFT Element classification 2

AKT2G-SDO-004-000 20 not required 1
1.25E-09 1,25 % 8.45E-05 8,45 % high high PL e 4 1 Type B

1. Special proof tests are not required during the entire service life of the AKT2G-SDO-004 EtherCAT terminal.
2. Classification according to IEC 61508-2:2010 (chapter 7.4.4.1.2 and 7.4.4.1.3)
The AKT2G-SDO-004 EtherCAT Terminal can be used for safety-related applications within the meaning of IEC 61508:2010 up to SIL3 and EN ISO 13849-1 up to PL e (Cat4).
For the calculation or estimation of the MTTFd value from the PFHD value, further information can be found in ISO 13849-1:2015 Table K.1.

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4.16.5 Dimensions

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Width Height Depth

24 mm (side-by-side installation) 100 mm 68 mm

Figure 5-22: Dimensions of the AKT2G-SDO-004.
4.16.6 Block Diagram of the AKT2G-SDO-004

Figure 5-23: Block diagram of the AKT2G-SDO-004 The block diagram shows the basic configuration of a channel in the AKT2G-SDO-004. The part with a red border is present four times in the terminal. The high-side and low-side switches only exist once for all channels. This means that each channel has a total of four stop paths.
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4.16.7 AKT2G-SDO-004 Pin Assignment

Figure 5-24: AKT2G-SDO-004 pin assignment

Terminal point Output Signal

- not used, no function

positive power contact

- negative power contact

not used, no function

- not used, no function

positive power contact

- negative power contact

not used, no function

1 Output 1+

Output 1-

3 Output 3+

Output 3-

2 Output 2+

Output 2-

4 Output 4+

Output 4-

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AKT2G I/O Manual | 4 Remote Input/Output Terminals Test Pulses When selecting actuators please ensure that the AKT2G-SDO-004 test pulses do not lead to actuator switching or diagnostic message from the AKT2G-SDO-004.
4.16.8 Signal Cables
4.16.8.1 Permitted cable length
Figure 5-25: Permitted cable length When connecting a single switching contact via its own continuous cabling (or via a non-metallic sheathed cable), the maximum permitted cable length is 100 m. The use of contact points, connectors or additional switching contacts in the cabling reduces the maximum propagation.
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4.16.8.2 Cable routing
Figure 5-26: Cable routing
Route the signal cable separately The signal cable must be routed separately from potential sources of interference, such as motor supply cables, 230 VAC power cables etc.! Interference caused by cables routed in parallel can influence the signal form of the test pulses and thus cause diagnostic messages (e.g. sensor errors or OpenLoad errors).
l D: Distance between the cable ducts should be as large as possible l blue arrows: signal line l red arrows: potential source of interference The common routing of signals together with other clocked signals in a common cable also reduces the maximum propagation, since crosstalk of the signals can occur over long cable lengths and cause diagnostic messages. The test pulses can be switched off (sensor test parameter) if the connection of a common cable is unavoidable. However, this then leads to a reduction in the degree of diagnostic cover when calculating the performance level.
4.16.8.3 Test Pulses The typical length of test pulse (switching from 24 V to 0 V and back to 24 V) is 300 �s to 800 �s. Testing usually takes place 5 to 7 times per second.
Test pulses for the outputs The following diagram shows a typical test pulse curve for the four outputs of an AKT2G-SDO-004. The parameters Current measurement active and Testing of outputs active are enabled.

Figure 5-27: Typical course of test pulses of the outputs.

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4.16.9 Address Settings on Safety Terminals with 1023 Possible Addresses

Figure 5-28: Address settings on safety terminals with 1023 possible addresses

The safety address of the terminal is set via the 10-way DIP switch on the left-hand side of the safety terminal. Safety addresses between 1 and 1023 are available.

DIP switch

Address

ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 1

OFF ON OFF OFF OFF OFF OFF OFF OFF OFF 2

ON ON OFF OFF OFF OFF OFF OFF OFF OFF 3

OFF OFF ON OFF OFF OFF OFF OFF OFF OFF 4

ON OFF ON OFF OFF OFF OFF OFF OFF OFF 5

OFF ON ON OFF OFF OFF OFF OFF OFF OFF 6

ON ON ON OFF OFF OFF OFF OFF OFF OFF 7

...

ON ON ON ON ON ON ON ON ON ON 1023

Safety address
Each safety address may only be used once within a network! The address 0 is not a valid safety address!

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4.16.10 Safety Terminal Address and Parameters

PrmName Meaning

Values

FSoE_ Address

DIP switch address

1 to 1023

Standard outputs active

In addition the output can be switched off from the standard PLC. The safe output true /

is linked with the standard logic signal AND.

false

Current

Current measurement for the outputs is activated

measurement

active

true / false

Testing of outputs active

Test pulses for the outputs are activated

true / false

Error acknowledge active

True: Terminal errors lead to a reset of the safety connection (error code 14 (0x0E)). This error code is shown in the diagnostic data for the connection until the user acknowledges it via ErrAck.

true / false

False (Default): Terminal errors can only be reset by switching the power supply off and back on again.

Store Code This parameter is required for the safety Restore Mode

0x0000

Project CRC This parameter is required for the safety Restore Mode

0x0000

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4.16.11 AKT2G-SDO-004 Diagostic LEDs
The LEDs Diag 1 to Diag 4 display diagnostic information for the AKT2G-SDO-004.

4.16.11.1 Diag 1 (green) The Diag 1 LED indicates the state of the safety network.

Flashing Code LED illuminated continuously

Meaning Diagnostic flashing code in preparation

4.16.11.2 Diag 2 (red) The Diag 2 LED indicates the state of the digital outputs.

Flashing Code rapid flickering, alternating with 1 flash pulse rapid flickering, alternating with 2 flash pulses rapid flickering, alternating with 3 flash pulses rapid flickering, alternating with 4 flash pulses rapid flickering, alternating with 5 flash pulses rapid flickering, alternating with 6 flash pulses rapid flickering, alternating with 7 flash pulses rapid flickering, alternating with 8 flash pulses rapid flickering, alternating with 9 flash pulses rapid flickering, alternating with 10 flash pulses

Meaning Error at output 1 Error at output 2 Error at output 3 Error at output 4 Field voltage too low Field voltage too high Internal terminal temperature too low Internal terminal temperature too high Temperature difference error Error in output circuit

4.16.11.3 Diag 3 (red) and Diag 4 (red) If the Diag 3 LED is lit, the Diag 4 LED indicates internal terminal errors. These errors lead to shutdown of the terminal. The terminal must be checked by Kollmorgen.
4.16.11.3.1 Flashing Codes In the case of such an error, the Diag 4 LED on the AKT2G-SDO-004 displays flashing codes that describe the error in more detail. A flashing code consists of four sequences, which are interrupted in each case by a short break. After the four sequences there is a long break, following which the flashing code is displayed again. Count the individual sequences of the flashing code.

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Note the flashing codes and return the terminal Note the flashing code displayed and include this information with the terminal when you return it.

4.16.12 Possible Causes of Diagnostic Messages - AKT2G-SDO-004

Diagnostics Possible cause

Remedial actions

Diag 2 LED If parameters "Testing of outputs

Flash code 1 active" and/or "Current measurement

to 4 or

active" are enabled:

Faulty test pulses.

Cause: external supply or crosscircuit.

Eliminate cross-circuit or external supply.

Faulty test pulses.
Cause: parallel routed cables with high capacitive
coupling and dynamized signals, possibly also in common cables

Isolate lines and lay in separate non-metallic sheathed cable.
Create a distance between the non-metallic sheathed cables.

Cause: Current is below the limit of 20 Select actuator accordingly.

mA or above the limit of 500 mA.

Current > 20mA and

< 500mA

Regardless of whether the parameters "Testing of outputs active" and/or "Current measurement active" are enabled:

The output voltage lies below the permissible voltage range (24V 15%/+20%).
A possible cause is a short-circuit at the output or e.g. a voltage drop at the instant of switching.

Eliminate short-circuit. Design power supply accordingly. Check supply lines for voltage drop.

EMC faults

Take suitable EMC measures

Internal defect

Replace terminal

Diag 2 LED Voltage at the power contacts not Flash code 5 switched on.

Switch on voltage at the power contacts and reset the error display through PowerOn Reset of the terminal

Voltage at the power contacts was switched on after the terminal supply

Switch on voltage at the power contacts before or at the same time as the terminal supply and reset the error display through PowerOn Reset of the terminal

Voltage on the power contacts too low.

Increase the voltage at the power contacts and reset the error display through PowerOn Reset of the terminal

EMC faults

Take suitable EMC measures

Internal defect

Replace terminal

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Diagnostics Possible cause

Remedial actions

Diag 2 LED Field voltage too high. Flash code 6 Voltage on the power contacts too
high.

Reduce the voltage at the power contacts and reset the error display through PowerOn Reset of the terminal

Voltage briefly too high due to external Use an R/C or diode-based protective circuit on the

influences, such as switching

actuators

contactors off.

EMC faults

Take suitable EMC measures

Internal defect

Replace terminal

Diag 2 LED Terminal temperature too low Flash code 7
EMC faults

Comply with the specified temperature range Take suitable EMC measures

Internal defect

Replace terminal

Diag 2 LED Terminal temperature too high Flash code 8
EMC faults

Comply with the specified temperature range Take suitable EMC measures

Internal defect

Replace terminal

Diag 2 LED Terminal temperature difference too Flash code 9 large:
one of the 3 internal measuring points is faulty

Replace terminal

Terminal temperature difference too large:
An internal measuring point shows an elevated temperature due to inadequate convection.

Check the installation position of the terminal and modify it according to the specifications in section Mechanical installation, if required

EMC faults

Take suitable EMC measures

Internal defect

Replace terminal

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4.16.13 Certificates
The AKT2G-SDO-004-000 has been tested to the following directives and standards.
l 2006/42/EC l EN 61508-1:2010 (up to SIL 3) l EN 61508-2:2010 (up to SIL 3) l EN 61508-3:2010 (up to SIL 3) l EN 62061:2005/A2:2015 (up to SILCL 3) l EN ISO 13849-1:2015 (Cat. 4, PL e) l EN 81-20:2014 l EN 81-22:2014 l EN 81-50:2014 l EN 13243:2015
Note on approval accroding to EN 81-20, EN 81-22, and EN 81-50
l The Safety components may only be used in machines that have been designed and installed in accordance with the requirements of the EN 60204-1 standard.
l Provide a surge filter for the supply voltage of the Safety components against overvoltages. (Reduction to overvoltage category II)
l EN 81 requires that in the case of devices with internal temperature monitoring, a stop must be reached in the event of an overtemperature. In this case, passengers must be able to disembark (see EN 81-20 chapter 5.10.4.3, for example). To ensure this, application measures are necessary. The internal terminal temperature of the Safety components can be read out by the user. There is a direct switch-off at the maximum permissible temperature of the respective Safety component (see Installation position and minimum distances).
l The user must select a temperature threshold below the maximum temperature such that a stop can be reached in all cases before the maximum temperature is reached. Information on the optimum terminal configuration can be found under Notes on the arrangement of Safety components and under Example configuration for temperature measurement.
l For the use of the Safety components according to EN 81-22 and EN 81-50, the conditions described in the manuals for achieving category 4 according to EN ISO 13849-1:2015 must be observed.
l The use of Safety components is limited to indoor applications. l Basic protection against direct contact must be provided, either by fulfilling protection class
IP2X or by installing the Safety components in a control cabinet which corresponds at least to protection class IP54 according to EN 60529. l The ambient conditions regarding temperature, humidity, heat dissipation, EMC and vibrations, as specified in the operating instructions under technical data, must be observed. l The operating conditions in potentially explosive atmospheres (ATEX) are specified in the operating instructions. l The safe state (triggering) of the application must be the de-energized state. The safe state of the Safety components is always the de-energized, switched-off state, and this cannot be changed. l The service life specified in the operating instructions must be observed. l If the Safety component is operated outside the permissible temperature range, it changes to "Global Shutdown" state. l The Safety components must be installed in a control cabinet with protection class IP54 according to EN 60529, so that the requirement for contamination level 3 according to EN 60664-1 can be reduced to level 2. l The Safety components must be supplied by a SELV/PELV power supply unit with a maximum voltage of Umax 36 VDC.

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Kollmorgen | kdn.kollmorgen.com | December 2020

About KOLLMORGEN Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage.
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North America KOLLMORGEN 201 West Rock Road Radford, VA 24141, USA
Web: www.kollmorgen.com
Mail: support@kollmorgen.com
Tel.: +1 - 540 - 633 - 3545
Fax: +1 - 540 - 639 - 4162

South America KOLLMORGEN Avenida Jo�o Paulo Ablas, 2970 Jardim da Gl�ria, Cotia � SP CEP 06711-250, Brazil

Web: www.kollmorgen.com

Mail: Tel.:

contato@kollmorgen.com +55 11 4615-6300

Fax: +1 - 540 - 639 - 4162

Europe KOLLMORGEN Europe GmbH Pempelfurtstr. 1 40880 Ratingen, Germany

Web: www.kollmorgen.com

Mail: technik@kollmorgen.com

Tel.: +49 - 2102 - 9394 - 0

Fax:

+49 - 2102 - 9394 - 3155

China and SEA KOLLMORGEN Room 302, Building 5, Lihpao Plaza, 88 Shenbin Road, Minhang District, Shanghai, China.
Web: www.kollmorgen.cn
Mail: sales.china@kollmorgen.com
Tel.: +86 - 400 668 2802
Fax: +86 - 21 6248 5367