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9 - KAS IDE - Initial Settings

When an 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 created xml file is created it includes the initialization of several controller and drive settings. When an external .xml file is imported these settings must be made in the AKD drive and .kas project

KAS Project Additions:

• Writing to AKD Digital Outputs. Set the Digital Outputs Mask, 0x60fe-2:=0x30000 (4 bytes) for each AKD axis using the ECATWriteSdo function block. The output mask index for each drive is determined by looking at the .xml file address image (Figure 14)
  • Given 1001, and 1002 for the axis addresses, the ECATWriteSDO function blocks would be setup as follows:
    • Inst_ECATWriteSdo( 1, 16#60FE , 2, 4, 1001, 16#30000 );
    • Inst_ECATWriteSdo2 ( 1, 16#60FE , 2, 4, 1002, 16#30000 );

Figure 11-246: XML image showing Output Index number for Axis1 and Axis2

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