EtherCAT Devices tab

The EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. Devices tab lists all the EtherCAT devices and provides for the ability to discover and map their use.

The interface is slightly different for AKD and AKD2G drives 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..
The AKD2G prompts you to select the mapping by the drive axis.

Figure 1: EtherCAT Devices Summary Form

First generation AKD drives support one axis per drive, while AKD2G drives support two axes per drive.
When configuring drives in the EtherCAT Devices tab, you need to designate which motion axis applies to each drive axis, which is the actual axis the drive controls.

Item Description

Show only drives

This option hides all EtherCAT slaves from the list that are not drives.

Scan Devices

The KAS Kollmorgen Automation Suite Runtime In computer science, runtime (or run-time) describes the operation of a computer program, the duration of its execution, from beginning to termination (compare compile time). In KAS, runtime refers to the virtual machine that manage the program written in a computer language while it is running. sends EtherCAT messages to discover the physical devices and modules present in the network.

See Scan Devices.

Name, Vendor, Product, and Model

The project device name, vendor name, product name (or code number), and model number for each device is displayed and ordered by the 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. in the tree.
The model (when available) includes the extension and connectivity options (e.g., NBEC).
See AKD Models and AKD2G Model Description for information on interpreting the model text of Kollmorgen drives.

Firmware Version

For Kollmorgen drives, the firmware version is displayed on the conditions that:
- The “Scan Devices” routine was run successfully on the EtherCAT network (for drives with version 01-08-000-00 firmware or later)
- Firmware was downloaded to the drive(s) while the KAS project was open in the KAS-IDE Kollmorgen Automation Suite - Integrated Development Environment.
For other devices, the firmware version is displayed if the Scan Devices routine was successfully run and the device supports reading this information over EtherCAT (i.e., it uses CoE object 0x100A:0).
Otherwise (Unknown) is displayed.

If a Kollmorgen drive is showing the firmware version as "Unknown", the drive has valid resident firmware (from which to boot), but does not have valid operational firmware.
Download and install the latest operational firmware and reboot the AKD / AKD2G.

Drive Axis Number

This number designates which axis, of those available on a drive, is being defined.
For most drives, this number is a "1", but for AKD2Gs, there are two entries:
- Drive Axis Number 1
- Drive Axis Number 2

Mapped to Axis

For each drive, it is displayed if it is:

Unassigned: From the drop-down menu, choose an axis that has not been assigned.
- It is applicable for either PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. or Pipe Network motion engines.
Already mapped to a physical device: The mapping operation is done using the Scan Devices command.
- See details in Scan Devices.
If a drive node is removed from the EtherCAT network using ECATDeviceAction, then the mapped axis (if any) is automatically forced to simulation.

Simulated

Used to simulate the device, which means that the device is not used and no communication to this device is performed through the fieldbus An industrial network system for real-time distributed control (e.g., CAN or PROFIBUS, Sercos®). It is a way of connecting instruments in a plant design..

When can drives can be simulated?

Mapped to an Axis?	Simulated State
No	Simulation is not applicable
Yes	If the Drive is mapped to a physical drive, then the simulation is Enabled Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.. Set the state to Yes/No --> Display checkbox. If Drive is not mapped to a physical drive, Simulation is forced to Yes.

Save parameters to NV memory

Save the drives' parameters to the NVRAM of each drive currently selected in the list.
- This action is enabled only when the Online Mode is activated.
You are automatically prompted to save modified drive parameters if this action has not been performed prior to these circumstances:
- Exiting Online Configuration Mode.
- Disconnecting from the controller
- Closing the project
- Exiting the IDE Integrated Development Environment - An type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger.

Upgrade Firmware

This command triggers a firmware upgrade for the selected drives.
Use Ctrl+A shortcut to select all drives.
For more details, see the FAQ Setup section.

Scan Devices

The scan process allows these tasks:

Discover the devices and modules physically present in the fieldbus network.
- See EtherCAT Network - Physical View.
Map them to items under the EtherCAT node of the Project Explorer
- See EtherCAT Network - Logical View.
The order of the devices in the tree is the same as in the real fieldbus network.

Figure 2: EtherCAT Network - Physical View

K-Bus	E-Bus
Figure 3: EtherCAT Network - Logical View

During the scan operation, all physical devices connected to the EtherCAT network are discovered and identified.

The KAS-IDE lists the devices in the order they are connected.
Kollmorgen devices, which include AKD and S300 Servostar 300 drive/S700 Servostar 700 drive drives, Standard I/O Couplers, and remote I/O terminals, include detailed information for each device.
- See Remote Input/Output Terminals for a list.

The status of devices can be determined by their icon in the logical view.

EtherCAT device icon descriptions
Icon	Meaning	Description
(device icon)	Normal	The device has been added by scanning the system. The associated ESI file has been found. The icon varies by device, but is the icon set by the manufacturer in the ESI file.
	Excluded	The device has been added manually or has been disassociated from a discovered device.
	ESI missing	The ESI file is missing.
	Error	For AKD, shown when there is an error.

Scan Limitations

I/O slices for Standard I/O Coupler do not reveal their Device IDs.
The discovery feature does not differentiate between AKT-DN-004-000 and AKT-DNH-004-000 I/O terminals.
- Nor between AKT-DN-008-000 and AKT-DNH-008-000.
Devices other than those made by Kollmorgen are identified by the Vendor Name (or ID number) and Product Name (or ID number).
- If the device is missing an ESI file, the ESI file supplied by the device Vendor must be imported.
- The ESI file is required by the IDE to decode and display the Product Name, Device Description, and other details.
ESI files for any MDP devices connected to the network should be added to KAS-IDE's ESI library before starting a scan.
- If the ESI file for an MDP device is not available, then the scan cannot identify the device and cannot discover any physical or logical modules under the device.