Add the Controller

In the File menu, click New to start the Controller Creation Wizard.
Select the type of controller in the project.
Choose the motion engine option (Pipe Network Concept or PLCopen®) and select the application template.
See the Available Application Templates list).
Click Finish.
In the File menu, click Save As.
Define the Project Name and its location.
Click OK.

Available Application Templates

List of available application templates

Coordinated Motion
KAS Runtime
KDN Download
Pipe Network
PLCopen

Coordinated Motion

Template Name	Description
Coordinated Motion - 2-Axis Template	Linear / Circular Raster Scan Motion Path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along. 2 PLCopen axes
Coordinated Motion - 3-Axis Template	Linear / Circular Raster Scan Motion Path 1 Pipe Network axis 2 PLCopen axes
Coordinated Motion - 3-Axis (3D) Template	Linear 3D Diamond / Square Motion Path 3 PLCopen axes

KAS Runtime

Template Name

Description

Library

Used to create a custom User modified or defined material (e.g., custom units or custom settings). library.

See also see "Create and Use Custom Libraries" on page 1.

KDN Download

Template Name

Description

KDN

Click Finish to close the dialog.
A web browser page opens on KDN with custom-built template files.
The template files may have enhanced or specific functionality A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances..
Download and save a template file.
Open it from KAS-IDE Kollmorgen Automation Suite - Integrated Development Environment.

Pipe Network

Template Name	Description
Pipe Network 1-Axis Template - FFLD	Simple initialization, relative position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. move.
Pipe Network 1-Axis Template - ST	Simple initialization, relative position move.
Pipe Network 2-Axes Template - FFLD	Position and velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP moves, gearing, camming, and drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. status.
Pipe Network 2-Axes Template - ST	Position and velocity moves, gearing, camming, and drive status.
Pipe Network 2-Axes Template - FBD, FFLD, SFC, and ST	Position and velocity moves, gearing, camming, and drive status with optimized performance.

PLCopen

Template Name	Description
PLCopen 1-Axis Template - FFLD	Simple initialization, relative position move.
PLCopen 1-Axis Template - ST	Simple initialization, relative position move.
PLCopen 2-Axes Template - FFLD	Position and velocity moves, gearing, camming, and drive status.
PLCopen 2-Axes Template - ST	Position and velocity moves, gearing, camming, and drive status.
PLCopen 2-Axes Template - FFLD and SFC	Position and velocity moves, gearing, camming, and drive status with optimized performance.

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