AKD Drive

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 will need to designate which motion axis applies to each "drive axis", which is the actual axis the drive controls.

In addition to the different views, the WorkBench provides a toolbar and a status bar to display some extra information.

For more details about AKD GUI "Graphical User Interface" A GUI is a type of user interface which allows people to interact with a computer and computer-controlled devices click here

WorkBench Toolbar

The toolbar provides access to the following:

• Enable / Disable the drive (software enable)
• Start / Stop the Service Motion
• Mode:position / torque Torque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist / velocity (for more details about Operation Modes click here)
• Disable & Clear Faults: Click this button to clear the fault, then click the Enable button to enable the drive again (for more details click here)

Figure 3-22: AKD Toolbar

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• Depending on the number of AKD drives physically present in the EtherCAT network, the KAS IDE "Integrated development environment" An integrated development environment is a 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 might slow down when getting data.
  The KAS 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). Within KAS, runtime also refers to the virtual machine that manage the program written in a computer language while it is running is not concerned with this limitation.

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• To stop all the AKD drives at the same time, click on the Stop button in the Device Toolbar.

WorkBench Status Bar

The status bar provides the following information on the drive:

• A fault indicator (No Faults / x Faults) that becomes red when any AKD gets a fault
  You can also set the Log message to get more details on the drive messages
• The drive status: active / inactive
• The software (SW) enable status
• The hardware (HW) enable status

Figure 3-23: AKD Status Bar

For the SW and HW enable status indicators, the color code is:

• Green when it is OK (i.e. everything is ready to do motion)
• Red in case of errors / faults
• Grey for all other cases (for example when SW or HW is not enabled: status is not green because a motion could not happen, and not red because it is not an error)

See Also