Setup for TwinCAT 3

Before you set up the drive, make sure the following are complete:

• The AKD2G is configured with WorkBench and the servomotor moves.
• A correctly configured EtherCAT card is present in the master.
• TwinCAT software from Beckhoff (NC/PTP-Mode setup) is installed. Install first the TwinCAT System Manager, restart your PC, then install the option package NC/PTP-Mode.
• The XML description of the drive is available in the firmware zipped file, on the Kollmorgen website or by using the ECAT.PRINTESI command and editing the contents.
• An AKD2G EtherCAT slave is connected to the EtherCAT master PC.
• The TwinCAT system manager resides in Config-Mode. The current mode of the system manager appears at the bottom right of the TwinCAT main-screen window.

Copy the XML description of the drive to the TwinCAT system (usually to the folder C:\TwinCAT\3.1\Config\IO\EtherCAT or a similar path under your TwinCAT 3 installation folder) and restart the TwinCAT system since TwinCAT analyzes all device description files during startup.

Overview

This section provides steps to:

• import the XML file into TwinCAT 3
• provide steps necessary to establish EtherCAT communications and
• perform a basic test using the online console in TwinCAT to enable or disable the AKD2G drive
• make a position move
• jog in both directions

This procedure uses a dual axis model of AKD2G with corresponding screenshots. For single axis models only Axis 1 under NC Task and only PDOs under I/O > Devices > Device x (EtherCAT) > Drive x (AKD2G…) > Inputs or Outputs and any CANopen over EtherCAT (CoE) objects applicable to Axis 1.

The drive identified and added to the project tree during Scan for Boxes set may differ by description and SIL number depending on your hardware model.