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Add the Controller

To add a controller to your project:

• Click the New command in the File menu to start the Controller Creation Wizard
• Select the controller type within the list and click the Next button
  

Figure 4-3: Select a Controller

• Choose the motion engine option (Pipe Network or PLCopen) and select the application template (see list below)
  

Figure 4-4: Select an Application Template

• Click the Finish button
• Click the Save As command in the File menu
• Define the Project Name and its Location
• Click OK

List of available application templates

Template Type	Template name	Description
Pipe Network	2 Axes FFLD	Simple Gearing, 2 PipeNetwork axes (FFLD only)
	2 Axes ST	Simple Gearing, 2 PipeNetwork axes (ST"Structured text" A high-level language that is block structured and syntactically resembles Pascal only)
	2 Axes SFC	Simple Gearing with optimized performance, 2 PipeNetwork axes (SFC"Sequential function chart" It can be used to program processes that can be split into steps. The main components of SFC are: - Steps with associated actions - Transitions with associated logic conditions - Directed links between steps and transitions, ST, FFLD, and FBD"Function block diagram" A function block diagram describes a function between input variables and output variables. A function is described as a set of elementary blocks)
PLCopenA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML	2 Axes FFLD	Simple Gearing, 2 PLCopen axes (FFLD only)
	2 Axes ST	Simple Gearing, 2 PLCopen axes (ST only)
	2 Axes SFC	Simple Gearing with optimized performance, 2 PLCopen axes (SFC and FFLD)
Coordinated Motion	2 Axes - Linear / Circular	Raster Scan Motion Path, 2 PLCopen axes
	3 Axes - Linear / Circular	Raster Scan Motion Path, 2 PLCopen axes and 1 PipeNetwork axis
	3 Axes - Linear (3D)	Diamond/Square Motion Path, 3 PLCopen axes
KAS RuntimeIn 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	Library	Allows you to create a custom library (Create and Use Custom Libraries)

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