List of Concepts

 

AKD BASIC Parameters

AXIS#.WS.T
PL FB
AXIS#.VL.FB
WS.NUMLOOPS
VL.FF
DRV.NAME
PL.INTOUTMAX
AOUT.VSCALE
AXIS#.VL.KP
DRV.WARNING1 to DRV.WARNING3
IL.VCMD
AXIS#.IL.FF
VL.FBSOURCE
DIN.ROTARY
AXIS#.WS.DISTMIN
CS.TO
VBUS.UVMODE
VBUS.OVWTHRESH
MOTOR.KE
AXIS#.WS.ARM
REGEN.POWER
FB2.ENCRES
MOTOR.TBRAKERLS
AIN.VALUE
WS.VTHRESH
AXIS#.CS.STATE
AXIS#.VL.KI
IL.BUSFF
HWLS.POSSTATE
DOUT9.STATEU to DOUT11.STATEU
AOUT.DEBUGDATATYPE
VBUS.RMSLIMIT
DRV.EMUERES
DRV.HWENABLE
AIN.PSCALE
MOTOR.VOLTMAX
VBUS.UVMODE
DIN.LCMD1 to DIN.LCMD4
AOUT2.VALUEU
DRV.NVSAVE
AXIS#.VL.BUSFF
IL.MFOLDT
CS.DEC
WS.DISTMIN
AOUT.MODE
DRV OPMODE
AXIS#.IL.CMD
AXIS#.PL.INTOUTMAX
PL KP
DIN1.STATE TO DIN7.STATE
VL.ARPF1 TO VL.ARPF4
REGEN.REXT
AXIS#.PL.ERR
WS.MODE
IL.KP
MOTOR.POLES
FB1 ENCRES
REC.OFF
DIN21.STATE to DIN32.STATE
AXIS#.VL.KVFF
WS.DISARM
VL CMD
WS.TDELAY3
DOUT.RELAYMODE
IL.FF
AXIS#.WS.VTHRESH
DRV IPEAK
MOTOR.LQLL
DRV.DEC
PL CMD
DOUT.CTRL
IL.FOLDFTHRESH
DRV.RSTVAR
WS.ARM
VL.ARPQ1 TO VL.ARPQ4
REGEN.TYPE
AOUT2.CUTOFF
IL.FB
AXIS#.LOAD.INERTIA
REC.TRIGMASK
DRV.DIR
VL.KI
VBUS.UVWTHRESH
FB1.HALLSTATEV
AXIS#.DBILIMIT
REC.DONE
REGEN.REXT
MOTOR.R
AXIS#.ICONT
DRV.DBILIMIT
AOUT2.OFFSET
MOTOR.TYPE
FB1.MECHPOS
WS.TDELAY1
DIN9.STATE to DIN11.STATE
AOUT2.VALUE
AIN.OFFSET
FB1.POLES
MOTOR.BRAKERLS
DRV.DISTO
MOTOR.TEMPWARN
REGEN.POWER
FB1.ORIGIN
MOTOR.PHASE
VL.LIMITP
SWLS.LIMIT1
MOTOR.INERTIA
AXIS#.WS.TDELAY3
VL.LIMITN
CS.VTHRESH
DRV.RSTVAR
AOUT.DEBUGSCALE
MOTOR.TEMPFAULT
WS.T
FB1.IDENTIFIED
VL.ARTYPE1 TO VL.ARTYPE4
VBUS.OVFTHRESH
PL.ERR
VBUS.RMSLIMIT
AOUT2.MODE
REGEN.TEXT
DRV.CLRFAULTHIST
DOUT1.MODE to DOUT2.MODE
VL.KVFF
FB2.MODE
AOUT.PSCALE
DIN1.FILTER TO DIN7.FILTER
DRV.EMUEDIR
VL.GENMODE
DRV STOP
PL KI
MOTOR.ICONT
WS.TDELAY2
IL.KPDRATIO
VL.KBUSFF
FB2.DIR
AXIS#.VL.ARPF1 TO AXIS#.VL.ARPF4
AXIS#.IL.BUSFF
VBUS.UVFTHRESH
DOUT1.PARAM AND DOUT2.PARAM
PL.FBSOURCE
FB1.HALLSTATEU
PL.INTINMAX
AXIS#.VL.ARZQ1 TO AXIS#.VL.ARZQ4
VL.FB
PL.ERRMODE
DOUT1.STATE AND DOUT2.STATE
AOUT.VALUE
WS.IMAX
DRV DIS
DRV EN
IL.VUFB
AXIS#.IL.IFOLD
AXIS#.IPEAK
DIN1.MODE TO DIN7.MODE
IL.IUFB
MOTOR.BRAKE
DRV.NVLOAD
DRV.EMUEMTURN
MOTOR.PITCH
IL.FOLDWTHRESH
IL.MIFOLD
AXIS#.WS.STATE
DIN21.FILTER to DIN32.FILTER
DRV.NVSAVE
DIN.STATES
AXIS#.WS.TDELAY2
REGEN.TYPE
DRV.DISSOURCES
AXIS#.VL.FF
VL.FBUNFILTERED
FAULT6001.ACTION
VL.BUSFF
AXIS#.WS.TDELAY1
AOUT.CUTOFF
VL.ARZF1 TO VL.ARZF4
FB1.MEMVER
IL.DFOLDT
AXIS#.WS.IMAX
DRV.EMUEMODE
AIN.VSCALE
FB1.HALLSTATE
DOUT1.STATEU AND DOUT2.STATEU
AXIS#.IL.VCMD
SWLS.LIMIT0
AXIS#.WS.DISARM
AOUT.ISCALE
AXIS#.VL.FBUNFILTERED
AXIS#.IL.DIFOLD
AXIS#.VL.FBFILTER
AXIS#.WS.NUMLOOPS
VBUS.VALUE
VL.THRESH
VL.ARZQ1 TO VL.ARZQ4
AXIS#.DISTO
AXIS#.VL.THRESH
IL.CMD
REC.ACTIVE
DOUT.STATES
AXIS#.ACTIVE
AXIS#.STOP
AXIS#.PL.KP
AIN.DEADBANDMODE
DIN.HCMD1 TO DIN.HCMD4
AXIS#.VL.ARPQ1 TO AXIS#.VL.ARPQ4
DRV.ACC
FAULTx.ACTION
DOUTx.PARAM
AXIS#.PL.CMD
AIN.MODE
AIN.ZERO
FB1.SELECT
DRV ACTIVE
REC.TRIG
IL.MFOLDD
DRV.EMUEZOFFSET
DRV.CLRFAULTS
AXIS#.PL.KI
AIN.DEADBAND
STO.STATE
AOUT.VALUEU
DOUT21.STATEU to DOUT32.STATEU
IL.MFOLDR
MOTOR.TEMP
AXIS#.WS.MODE
DRV.TIME
IL.DIFOLD
AXIS#.VL.LMJR
PL.ERRWTHRESH
MOTOR.NAME
MOTOR.IPEAK
AOUT.DEBUGADDR
AXIS#.DIR
DRV.FAULT1 to DRV.FAULT10
AXIS#.VL.ARZF1 TO AXIS#.VL.ARZF4
CS.STATE
VL.ERR
AXIS#.IL.FOLDFTHRESH
DOUT21.STATE to DOUT32.STATE
VL.FBFILTER
AOUT.OFFSET
FB2.SOURCE
FB1.POFFSET
AIN.CUTOFF
IL.CMDU
VL CMDU
DRV CMDSOURCE
IL.IFOLD
DOUT1.MODE and DOUT2.MODE
FB1.INITSIGNED
DRV.ICONT
REGEN.WATTEXT
AXIS#.PL.INTINMAX
FB1.HALLSTATEW
IL.LIMITP
IL.LIMITN
PL.ERRFTHRESH
HWLS.NEGSTATE
DRV.BLINKDISPLAY
AXIS#.VL.CMDU
DIN1.PARAM TO DIN7.PARAM
SWLS.EN
DIN1.INV to DIN12.INV
SWLS.STATE
DOUT9.STATE to DOUT11.STATE
WS.DISTMAX
AXIS#.SETUPREQBITS
LOAD.INERTIA
AXIS#.WS.DISTMAX
IL.IVFB
AXIS#.CS.DEC
DRV.SETUPREQBITS
AIN.ISCALE
DRV.NVLOAD
REGEN.TEXT
WS.STATE
REGEN.WATTEXT
VL.LMJR
IL.VVFB
VL.KP
MOTOR.TBRAKEAPP
MOTOR.KT

AKD Parameters

AXIS#.WS.T
PL FB
AXIS#.DISSOURCESMASK
AXIS#.VL.FB
REC.RECPRMLIST
AXIS#.BODE.EXCITEGAP
BODE.VFTHRESH
WS.NUMLOOPS
VL.FF
DRV.DIFVAR
DRV.FAULTHIST
IP.GATEWAY
DRV.NAME
PL.INTOUTMAX
AOUT.VSCALE
AXIS#.VL.KP
DRV.WARNING1 to DRV.WARNING3
IL.VCMD
AXIS#.IL.FF
VL.FBSOURCE
DIN.ROTARY
IL.DFB
AXIS#.BODE.INJECTPOINT
AXIS#.WS.DISTMIN
REGEN.POWERFILTERED
CS.TO
VBUS.UVMODE
IL.FOLDFTHRESHU
VBUS.OVWTHRESH
SM.MOVE
MOTOR.KE
AXIS#.WS.ARM
REGEN.POWER
FB1.FAULTS
AXIS#.WS.FREQ
FB2.ENCRES
FBUS.STATE
MOTOR.IDMAX
MOTOR.TBRAKERLS
AIN.VALUE
FB1.RESREFPHASE
WS.VTHRESH
DRV.EMUECHECKSPEED
AXIS#.CS.STATE
AXIS#.VL.KI
FBUS.PLLSTATE
DRV.TEMPERATURES
DRV.CMDDELAY
IL.BUSFF
FB2.POFFSET
BODE.MODETIMER
FBUS.SYNCACT
FB3.MODE
AXIS#.MOTIONDISSOURCES
AXIS#.GEAR.ACC
DRV.ZERO
DRV.IZERO
HWLS.POSSTATE
DRV.NVLIST
DOUT9.STATEU to DOUT11.STATEU
AOUT.DEBUGDATATYPE
VBUS.RMSLIMIT
FB1.EXTENDEDMULTITURN
WS.TSTANDSTILL
DRV.EMUERES
MOTOR.VOLTMIN
DRV.HWENABLE
AIN.PSCALE
MOTOR.VOLTMAX
AXIS#.WS.CHECKV
VBUS.UVMODE
DIN.LCMD1 to DIN.LCMD4
AOUT2.VALUEU
DRV.NVSAVE
REC.TRIGPARAM
AXIS#.VL.BUSFF
IL.MFOLDT
REC.CH1 to REC.CH6
CS.DEC
WS.DISTMIN
DRV.MOTIONDISSOURCES
CPS.ACTIVE
AOUT.MODE
AXIS#.BODE.PRBDEPTH
REC.GAP
DRV OPMODE
FB1.USERDWORD0 to FB1.USERWORD1
AXIS#.IL.CMD
AXIS#.PL.INTOUTMAX
AXIS#.BODE.FREQ
FB2.P
PL KP
DIN1.STATE TO DIN7.STATE
FB1.POUT
IL.FRICTION
DRV.HELP
GUI.PARAM05
VL.ARPF1 TO VL.ARPF4
REGEN.REXT
AXIS#.PL.ERR
FB3.PUNIT
WS.MODE
IL.KP
MOTOR.CTF0
MOTOR.POLES
AXIS#.PL.FILTERTIME
FB1 ENCRES
REC.OFF
FB1.USERWORD0 to FB1.USERWORD3
DIN21.STATE to DIN32.STATE
BODE.IAMP
AXIS#.VL.KVFF
DRV PWD
WS.DISARM
VL CMD
WS.TDELAY3
DOUT.RELAYMODE
IL.FF
AXIS#.WS.VTHRESH
AXIS#.MT.PARAMS
DRV IPEAK
MOTOR.LQLL
DRV.DEC
VL.KO
PL CMD
DOUT.CTRL
IL.FOLDFTHRESH
FB1.USERBYTE0 to FB1.USERBYTE7
DRV.HWENDELAY
DRV.RSTVAR
WS.ARM
FBUS.TYPE
VL.ARPQ1 TO VL.ARPQ4
DRV.ONTIME
BODE.EXCITEGAP
MOTOR.BRAKESTATE
REGEN.TYPE
AOUT2.CUTOFF
IL.FB
DRV.ENDEFAULT
AXIS#.LOAD.INERTIA
REC.TRIGMASK
GUI.PARAM06
DRV.DIR
VL.KI
VBUS.UVWTHRESH
FB1.HALLSTATEV
FB1.RESKTR
FB1.OFFSET
FB1.LASTIDENTIFIED
AXIS#.DBILIMIT
REC.DONE
REGEN.REXT
DRV.RUNTIME
SM.MODE
MOTOR.R
AXIS#.BODE.IFTHRESH
AXIS#.ICONT
DRV.DBILIMIT
VBUS.HALFVOLT
SM.I2
DRV.DIFVAR
AOUT2.OFFSET
AXIS#.WS.TSTANDSTILL
MOTOR.TYPE
AXIS#.WS.CHECKT
DRV.LOGICVOLTS
FB1.MECHPOS
AXIS#.SETUPREQLIST
WS.TDELAY1
FB1.PDIR
DRV.ONTIME
REC.TRIGTYPE
IL.CMDACC
DIN9.STATE to DIN11.STATE
AOUT2.VALUE
REC.TRIGPOS
AIN.OFFSET
FAULT564.ACTION, FAULT565.ACTION
VL.OBSMODE
SM.T2
FB1.INITPWINDOW
DRV.NVLIST
DRV.READFORMAT
FB1.POLES
PL.FILTERTIME
DRV.READFORMAT
REC.RETRIEVEHDR
MOTOR.BRAKEIMM
MOTOR.LISAT
MOTOR.BRAKERLS
VL.OBSBW
DRV.DISTO
MOTOR.TEMPWARN
REGEN.POWER
FB1.ORIGIN
MOTOR.PHASE
MOTOR.TBRAKETO
GUI.PARAM04
VL.LIMITP
SWLS.LIMIT1
AXIS#.IL.CMDACC
MOTOR.INERTIA
AXIS#.WS.TDELAY3
VL.LIMITN
FBx.DIAG
CS.VTHRESH
DRV.RSTVAR
MOTOR.VRATED
AOUT.DEBUGSCALE
MOTOR.TEMPFAULT
WS.T
DRV.SETUPREQLIST
FB1.IDENTIFIED
GUI.PARAM01
MOTOR.TEMPC
IL.MIMODE
FB#.FAULTS
VL.ARTYPE1 TO VL.ARTYPE4
VBUS.OVFTHRESH
IL.MI2T
IL.KBUSFF
PL.ERR
DRV.HANDWHEELSRC
AXIS#.WS.CHECKMODE
GUI.PARAM08
VBUS.RMSLIMIT
AXIS#.VL.VFTHRESH
GUI.PARAM07
AOUT2.MODE
REGEN.TEXT
DRV.CLRFAULTHIST
DRV.BOOTTIME
DOUT1.MODE to DOUT2.MODE
IL.KVFF
VL.KVFF
FB2.MODE
AOUT.PSCALE
DIN1.FILTER TO DIN7.FILTER
REGEN.POWERFILTERED
REC.RETRIEVESIZE
DRV.EMUEDIR
FB1.PFINDCMDU
VL.GENMODE
DRV STOP
DRV.DOWNLOADALLOWED
PL KI
FB1.BISSBITS
MOTOR.ICONT
WS.TDELAY2
IL.KPDRATIO
IP.SUBNET
GUI.DISPLAYS
VL.KBUSFF
REC.TRIGSLOPE
FB2.DIR
DRV.VERIMAGE
IL.KPLOOKUPVALUES
AXIS#.VL.ARPF1 TO AXIS#.VL.ARPF4
AXIS#.IL.BUSFF
WS.CHECKT
MOTOR.LDLL
VBUS.UVFTHRESH
DRV.LIST
DOUT1.PARAM AND DOUT2.PARAM
PL.FBSOURCE
FB1.HALLSTATEU
AXIS#.BODE.MODETIMER
FB1.INITPSTATUS
DRV.LIST
AXIS#.GEAR.DEC
PL.INTINMAX
AXIS#.VL.ARZQ1 TO AXIS#.VL.ARZQ4
VL.FB
FB2.PUNIT
PL.ERRMODE
DOUT1.STATE AND DOUT2.STATE
AXIS#.GEAR.IN
REC.RETRIEVEFRMT
AOUT.VALUE
AXIS#.BODE.VFLIMIT
FB2.POUT
WS.IMAX
FB1.USERBYTE0 to FB1.USERBYTE7
DRV DIS
DRV.TYPE
IP.ADDRESS
DRV EN
IL.VUFB
DRV.FEATURES
AXIS#.IL.IFOLD
DRV.REBOOT
BODE.PRBDEPTH
AXIS#.IPEAK
IL.PWMFREQ
AXIS#.BODE.IAMP
AXIS#.WS.TIRAMP
DIN1.MODE TO DIN7.MODE
IL.IUFB
DRV.BOOTTIME
MOTOR.BRAKE
DRV.NVLOAD
DRV.EMUEMTURN
MOTOR.PITCH
IL.FOLDWTHRESH
IL.MIFOLD
AXIS#.WS.STATE
IL.DEADBAND (Password Protected)
DIN21.FILTER to DIN32.FILTER
BODE.INJECTPOINT
DRV.DOWNLOADALLOWED
DRV.NVSAVE
DIN.STATES
AXIS#.WS.TDELAY2
REGEN.TYPE
VL.MODEL
DRV.VER
DRV.INFO
AXIS#.GEAR.MOVE
MOTOR.IMTR
DRV.DISSOURCES
AXIS#.VL.FF
DRV.HWENMODE
DRV.CLRCRASHDUMP
VL.FBUNFILTERED
FAULT6001.ACTION
VL.BUSFF
AXIS#.WS.TDELAY1
BODE.MODE
AOUT.CUTOFF
VL.ARZF1 TO VL.ARZF4
DRV.RUNTIME
FB1.MEMVER
IL.KPLOOKUPVALUE
FB1.PSCALE
FB1.PFIND
GUI.PARAM03
IL.DFOLDT
AXIS#.WS.IMAX
DRV.EMUEMODE
AIN.VSCALE
WS.TIRAMP
FB1.USERDWORD0 to FB1.USERDWORD1
FB1.HALLSTATE
FB3.POFFSET
DRV.CRASHDUMP
DOUT1.STATEU AND DOUT2.STATEU
AXIS#.IL.VCMD
SWLS.LIMIT0
AXIS#.WS.DISARM
MOTOR.PHSADVK1
AOUT.ISCALE
AXIS#.VL.FBUNFILTERED
MOTOR.VMAX
AXIS#.IL.DIFOLD
BODE.VAMP
AXIS#.VL.FBFILTER
AXIS#.WS.NUMLOOPS
DRV.HELPALL
REC.TRIGVAL
IL.DCMD
AXIS#.BODE.VAMP
VBUS.VALUE
VL.THRESH
VL.ARZQ1 TO VL.ARZQ4
AXIS#.DISTO
AXIS#.VL.THRESH
IL.CMD
BODE.IFTHRESH
FB1.TRACKINGCAL
REC.ACTIVE
DOUT.STATES
IL.MI2TWTHRESH
AXIS#.ACTIVE
REC.TRIGPRMLIST
DRV.INFO
AXIS#.STOP
GUI.DISPLAY
SM.V1
AXIS#.PL.KP
IP.RESET
SM.V2
AIN.DEADBANDMODE
DIN.HCMD1 TO DIN.HCMD4
FB1.PUNIT
AXIS#.VL.ARPQ1 TO AXIS#.VL.ARPQ4
DRV.ACC
BODE.FREQ
IL.OFFSET
FAULTx.ACTION
DOUTx.PARAM
AXIS#.BODE.MODE
AXIS#.PL.CMD
IL.KACCFF
DRV.FAULTS
MOTOR.PHSADVK2
AIN.MODE
AIN.ZERO
FB1.SELECT
MOTOR.RTYPE
MOTOR.IMID
REC.STOPTYPE
DRV ACTIVE
REC.TRIG
FB3.POUT
FB1.P
REC.RETRIEVEDATA
IL.MFOLDD
IL.KPLOOKUPINDEX
DRV.EMUEZOFFSET
VL.VFTHRESH
DRV.CLRFAULTS
FB3.PIN
AXIS#.PL.KI
AXIS#.BODE.IFLIMIT
AIN.DEADBAND
DRV.MEMDATA
WS.CHECKV
STO.STATE
AOUT.VALUEU
BODE.VFLIMIT
TEMP.CONTROL
DOUT21.STATEU to DOUT32.STATEU
IL.MFOLDR
FB1.INITPSAVED
MOTOR.TEMP
AXIS#.WS.MODE
GUI.PARAM09
AXIS#.IL.OFFSET
MOTOR.AUTOSET
DRV.TIME
DRV.HELPALL
IL.DIFOLD
AXIS#.VL.LMJR
PL.ERRWTHRESH
MOTOR.NAME
MOTOR.IPEAK
SM.T1
DRV.REBOOT
AOUT.DEBUGADDR
IL.FBSOURCE
MOTOR.SUPPORTEDPARAMS
FBUS.SAMPLEPERIOD
AXIS#.DIR
DRV.FAULT1 to DRV.FAULT10
AXIS#.VL.ARZF1 TO AXIS#.VL.ARZF4
CS.STATE
VL.ERR
AXIS#.IL.FOLDFTHRESH
DOUT21.STATE to DOUT32.STATE
VL.FBFILTER
AOUT.OFFSET
FB2.SOURCE
FB1.POFFSET
DRV.ERRORLIST
FB1.USERWORD1 to FB1.USERWORD3
FB2.PIN
AIN.CUTOFF
IL.CMDU
BODE.IFLIMIT
VL CMDU
DRV CMDSOURCE
IL.IFOLD
DOUT1.MODE and DOUT2.MODE
FB1.INITSIGNED
GUI.PARAM02
TEMP.POWER1 to TEMP.POWER3
FBUS.SYNCDIST
FB3.P
DRV.ICONT
REGEN.WATTEXT
USER.INT1 to USER.INT24
REC.NUMPOINTS
IP.MODE
DRV.HELP
AXIS#.PL.INTINMAX
FB1.HALLSTATEW
IL.LIMITP
FB1.DIAG
FB3.PDIR
IL.LIMITN
FBUS.PROTECTION
PL.ERRFTHRESH
HWLS.NEGSTATE
DRV.BLINKDISPLAY
AXIS#.VL.CMDU
DIN1.PARAM TO DIN7.PARAM
WS.CHECKMODE
DRV.NVCHECK
SWLS.EN
AXIS#.GEAR.OUT
DIN1.INV to DIN12.INV
FBUS.REMOTE
SWLS.STATE
DOUT9.STATE to DOUT11.STATE
WS.DISTMAX
AXIS#.SETUPREQBITS
AXIS#.IL.KACCFF
DRV.DISSOURCESMASK
AXIS#.IL.FRICTION
FB1.PIN
LOAD.INERTIA
AXIS#.WS.DISTMAX
IL.IVFB
AXIS#.CS.DEC
AXIS#.BODE.VFTHRESH
DRV.SETUPREQBITS
SM.I1
AIN.ISCALE
MOTOR.IDDATAVALID
DRV.NVLOAD
REGEN.TEXT
FBUS.PLLTHRESH
DRV.DISMODE
MOTOR.VOLTRATED
REC.RETRIEVE
WS.STATE
REGEN.WATTEXT
DRV.EMUEPULSEWIDTH
DRV.NVCHECK
VL.LMJR
IL.VVFB
VL.KP
MOTOR.TBRAKEAPP
FBUS.SYNCWND
MOTOR.KT
DRV.MEMADDR
FBUS.PARAM1 TO FBUS.PARAM10
DRV.WARNINGS
WS.FREQ
GUI.PARAM10

AKD Workbench

Analog Input
Unknown Fault
AKD Setup Wizard
Settings
Slider Tuning
Regeneration
Motor View
Using Position Capture
Enable/Disable
Parameter List
Drive Overview
Block Diagrams
Find and Enter AmsNetId
Initial Drive Setup
Non-Plug and Play Feedback Devices
Using Parameters and the Terminal Screen
Block Diagram for Position/Velocity Loop
Controlled Stop
AKD Models
Limits
Using the Performance Servo Tuner: Advanced
Analog Output
Configuring General Drive Settings
Foldback
Extended Multiturn
Emergency Stop
Power View
Current Loop Gain Scheduling
Tuning Your System
Power
WorkBench Interface: Overview
Under Voltage Fault Behavior
Configuring Motor Settings
Drive Overview
Slider Tuning
Faults and Warnings
Brake
Encoder Emulation
Feedback 1
Using Parameters and the Terminal Screen
Terminal
Initial Position Check
Clearing Faults
Under Voltage Fault Behavior
AKD-C Display Codes
Scope
Configuring General Drive Settings
All Parameters
Using the Performance Servo Tuner: Advanced
Dynamic Braking
Initial Drive Setup
Motor I2t algorithm
Digital Inputs and Outputs
Parameter Load/Save
Analog Output
Parameter and Command Error Messages
Wake and Shake Overview
Tuning Guide
Position Loop
Creating Motion
Confirm Connection with the Device
Velocity Loop
Motion Profile Table
Using the Performance Servo Tuner
Creating Motion Profile Tables
Service Motion
Using Wake and Shake Mode 1 (AXIS#.WS.MODE 1)
Multiturn Overflow
Using AKD in a Vertical Axis
Wake and Shake Overview
Using Wake and Shake Mode 1 (WS.MODE 1)
Faults and Warnings View
AKD Display Codes
Configuring Drive Power
Non-Plug and Play Feedback Devices
Using the Performance Servo Tuner
Configuring with Linear Motors
Using Wake and Shake Mode 0 (WS.MODE 0)
Current Loop Gain Scheduling
Connection Diagrams
Tuning Your System
Fault and Warning Messages

Drive

Project Explorer
Logical View
Drives
AKD Drive
KAS breakdown
AKD Drive
AKD Setup Wizard
Add Drive
AKD Drive

Fieldbus

EtherCAT Features
Distributed Clock
Functional principle
Project Explorer
Logical View
EtherCAT Library
Safety over EtherCAT
EtherCAT Devices tab
Motion Bus and Fieldbuses
Architectural View
Gateways
KAS breakdown
Topology
File Access over EtherCAT (FoE)
Performance
PDOs for AKD, AKD2G, AKD-N, and S300/S700
EtherCAT Motion Bus Concepts
EtherCAT Error Messages
Communications and Fieldbus
EtherCAT Protocol
Device profiles
Configure EtherCAT Motion Bus
EtherCAT Implementation

Function Blocks

Differences Between Functions and Function Blocks
Calling a Function BlockCAL, CALC, CALNC, CALCN

HMI

Project Explorer
Human Machine Interface Editor
Logical View
HMI
Architectural View
KAS breakdown
Human Machine Interface
Add an HMI Device

I/O

Remote Input/Output
Configure Controller Onboard I/O
Project Explorer
Logical View
Motion Bus and Fieldbuses
Architectural View
KAS breakdown
Add and Configure I/O Slices
Add and Configure I/O Slices
Onboard I/O
Input Output Bus
Analog I/O Parameters

installation

FAQ

Motion

Libraries
Probes
Curve Selection and Color Table
Import Cam Profile
Pipe Network Editor
Function Blocks
Project Explorer
Adding Motion
Trace Zoom Feature
Plugging Unplugging Channels
Cam Profile Graph
Bookmarks
Cam Profile Editor
Pipe Block Lifetime and State Machine
Stop KAS Simulator
Priority Between Motion and PLC
Soft Oscilloscope Debugging
PLCopen or Pipe Network
Traces
Pipe Blocks Description
Architectural View
Pipe Network Concept
SFC execution
KAS breakdown
Reload, Save, Auto Fit, and Properties Buttons
Create PLCopen Axis
Inserting Pipe Blocks or Comments
Curves Graph
Periodicity
Motion Control Main Functions
Log Messages
Printf Function
Queueing
Start KAS Simulator
PLC Online Change
Soft Oscilloscope
The Graphical Area
Pipe Network Editor Controls
Cam Profile Editor's Cam Table
Function Blocks - General rules
Modify PLCopen Axis
Axis tab
KAS Runtime log window
Setting Scale
The Control Panel
PLCopen
Describing KAS Simulator Graphical User Interface
PLCopen State Machine

Motion functions

MC_GearInPos
Motion Library - Comparator
MC_CamTblSelect
MC_GearIn
MC_MoveSuperimp
MC_TouchProbe
Motion Library - Phaser
Motion Library - Trigger
Motion Library
MC_EStop
MC_MoveAdditive
MC_ReadParam
MC_InitAxis
Motion Library - Block
MC_CreateAxis
MC_GearOut
MC_MoveRelative
MC_ReadActPos
Motion Library - Delay
MC_ClearFaults
Motion Library - Axis
MC_CreateAxis
MC_SetOverride
MC_AbortTrigger
MLPMPAbs
Motion Library - Derivator
Motion Library - State Machine
MC_ResetError
MC_ReadStatus
MLSmpConnect
MC_StopRegist
MC_ReadActVel
MLCamInit
MC_Halt
MC_ReadAxisErr
MC_CamIn
MC_WriteBoolPar
MC_MoveAbsolute
MC_ReadBoolPar
MC_SyncSlaves
MC_Power
MC_Reference
MC_SetPosition
Motion Library - Integrator
MC_WriteParam
MC_SetKinTra
MC_SetPos
MC_Stop
MC_Phasing
Motion Library - Master
MC_CamOut
Motion Library - Adder
MLCNVConnect
MC_MoveVelocity

multiple

FAQ

PD

KAS breakdown

PipeNetwork functions

ROOT
MAKEWORD
RIGHT
PrintMessage
ATOH
FLIPFLOP
INSERT
QOR
FIFO
MC_UngroupAllAxes
SigPlay
Motion Library - PMP
MC_InitAxesGrp
MC_AxisSetDefaults
Real Time Clock
udpSendToArray
MLAxisGenReadAcc
MC_GrpReadActAcc
CTUD
MLAxisRstFastIn
printf
MLAxisReAlign
MC_GrpEnable
MLMstForcePos
udpRcvFrom
Motion Library - Comparator
MLMotionRstErr
OR_MASK
MC_AddAxisToGrp
F_TRIG
MLProfileCreate
LoadString
AND_MASK
MLAxisReadModPos
CMP
ANY_TO_DINT
SerializeIn
MAX
MC_GrpWriteParam
MLAxisGenEN
STACKINT
SHL
MLAxisIsTrigged
udpClose
EXP / EXPL
HIWORD
Motion Library - Phaser
Motion Library - Trigger
udpRcvFromVar
MC_CreateAxesGrp
BIN_TO_BCD
MLAxisReadUUnits
MLPNAxisCreate
TMU
Motion Library - Pipe
MLMstWriteDecel
ClearCtrlErrors
MLMotionSysTime
HTOA
MLAxisIsCnctd
TAN
PACK8
MLAxisGenWriteSpd
EnableEvents
MLAxisReAlgnRdy
ECATReadSDO
MLMotionStart
LOWORD
MLCNVInit
ECATDeviceStatus
MAKEDWORD
Motion Library - Block
AVERAGE
MC_MoveDirRel
MC_MoveDirAbs
DriveParamWrite
SETBIT
MLAxisReadTq
ASCII
MC_GrpReadParam
eipAdapter
ApplyRecipeColumn
MUX4
MLAxisStatus
ScaleLin
MLMstAdd
HYSTER
MLAxisAdd
XOR_MASK
MLSmpConPNAxis
POW
MLAxisInit
MUX8
ECATReadData
Motion Library - Delay
DTEVERY
INC
udpCreate
MLMstRun
FilterOrder1
TON
SigID
udpIsValid
DriveParamRead
MBSHIFT
MLAxisRead2ndFB
<>
MC_MoveCircAbs
MC_ErrorDescription
MC_GrpReadActPos
LIM_ALRM
>
BCD_TO_BIN
SEMA
CONCAT
MLAxisResetErrors
MLMstReadSpeed
ANY_TO_BOOL
ECATWCStatus
Motion Library - Gear
VLID
StringToArray
MLAxisReadActPos
ECATSetControl
MLMotionStop
MC_GrpHalt
MC_GrpReadActVel
MLAxisPower
UNPACK8
MC_GrpReadCmdVel
ODD
MLAxisGenReadSpd
MLAxisTimeStamp
DELETE
CTD
MLAxisCreate
SIN
ROR
ABS
Motion Library - Derivator
COS
MLAxisGenIsRdy
GetCtrlInfo
MLAxisDriveNumber
DEC
udpAddrMake
StringTable
TOF
PID
MLAxisCmdPos
MLAxisMoveVel
MLSmpConnectEx
MLAxisReadFEUU
ECATGetObjVal
>=
MLSmpConnect
MLAxisGenWriteAcc
MLAxisStop
BLINK
MLMstInit
ACOS
MLMstWriteAccel
MLAxisReadGenStatus
SHR
FIND
udpRcvFromArray
eipWriteAttr
MC_RemAxisFromGrp
MLAxisGenPos
SigScale
ECATWriteData
Motion Library - CAM Profile
MLProfileInit
GetCtrlErrors
HIBYTE
-
NOT
<=
MLSmpConECAT
MC_MoveLinAbs
LEFT
AND
MLAxisReadFBUnit
MC_MoveLinRel
MLCNVConnectEx
MC_GrpDisable
MC_GrpReset
UDP Functions for PxMM & Simulator
MLAxisWriteUUnits
TMD
RS
+
MC_MoveCircRel
FatalStop
MC_GrpStop
MLMstWriteSpeed
MC_GrpSetOverride
MLAxisWritePipPos
SD Card Mounting Functions
MLAxisCfgFastIn
SurfLin
TP
MLCNVConECAT
MLProfileRelease
CycleStop
MLAxisPipePos
BLINKA
/ DIV
ANY_TO_INT
ASIN
MLMstWriteInitPos
XOR
MLMstReadAccel
LOBYTE
MLAxisReadVel
Sig_gen
MLAxisRatedTq
MLAxisPowerDOff
*DEPRECATED* File Management Functions
MC_GrpReadBoolPar
R_TRIG
GetCtrlPerf
<
SerializeOut
MLSmpConPLCAxis
LIFO
ANY_TO_LREAL
MLMstRel
DERIVATE
ALARM_A
MC_GrpReadError
MLAxisAddress
SQRT
MLAxisFBackPos
MLAxisGenIsEN
ANY_TO_STRING
udpSendToVar
= EQ
MLCNVDisconnect
MLMstReadInitPos
NUM_TO_STRING
MLMotionStatus
SetWithin
Motion Library - Sampler
MLAxisWritePos
MLAxisWriteModPos
ECATMasterStatus
INTEGRAL
CountOf
DAY_TIME
MLAxisRel
MLMstAbs
MLAxisGenWriteDec
ALARM_M
ArrayToString
Motion Library - Integrator
ECATWriteSdo
MOVEBLOCK
MLProfileBuild
ECATGetStatus
GETSYSINFO
SEL
MLMotionInit
MLMotionCycleTime
RAMP
DTAT
LN / LNL
MOD / MODR / MODLR
MC_GrpWriteBoolPar
ROL
MID
PLS
MLMstReadDecel
NOT_MASK
LOG / LOGL
MLEN
NEG
eipReadAttr
DriveParamStrRead
MLAxisAddTq
CurveLin
MC_GrpReadCmdPos
*
PWM
MC_GrpReadStatus
MLSmpInit
EXPT
udpSendTo
ATAN
Motion Library - Adder
CTU
TESTBIT
REPLACE
MLMstStatus
LIMIT
MC_GrpSetPos
CHAR
ANY_TO_LINT
ANY_TO_REAL
UseDegrees
OR
MLAxisAbs
Motion Library - Convertor
MLAxisGenReadDec
DTFORMAT
ANY_TO_TIME
MLCNVConnect
ANY_TO_SINT
TRUNC
CRC16
SR

PLC

Structures
Create and Use Custom Libraries
SFC Steps
Programming Languages
Jumps and RETURN
Probes
SFC Transitions
Conditional compiling
Inserting FBD objects on a line
Resizing FBD objects
Read Output of a Function Block in ST
Selecting FBD variables and instances
Using the FFLD toolbar
Project Explorer
Program Organization Units
Watch Window
ST / IL Editor
Trace Zoom Feature
Viewing FBD diagrams
Drawing SFC divergences
Logical View
Constant expressions
Bookmarks
Entering the condition of a transition
Entering actions of a step
Create Function and Function Blocks
FBD Editor
Data In/Out
Soft Oscilloscope Debugging
ST / IL drag-and-drop
Variable Animation
Find and Replace
Variable Tag and Description
SFC child control
Traces
Definitions
SFC notes
IEC 61131-3 Editor Debugging
SFC Editor
Architectural View
Free Form Ladder(FFLD) Editor
Using the SFC toolbar
Use Pre-defined Libraries
SFC execution
SFC parallel branches
KAS breakdown
ST / IL Syntax coloring
ST / IL tooltips
Use the Defines Program
SFC step timeout
Autocompletion
Entering SFC macro-steps
Log Messages
Viewing SFC charts
Compare PLC programs
Intellisense
Moving or copying FBD objects
Data Types
Sequential Function Chart
Defining structures
Printf Function
Variables tab
Set Breakpoints
Variable Monitoring
Create Programs
Using the FBD toolbar
Variable Initial Value
SFC actions
SFC macro steps
PLC Online Change
Free Form Ladder Diagram
Soft Oscilloscope
The Graphical Area
PLC Standard Libraries
Drawing FBD connection lines
Power rail and lines
IEC 61131-3
Languages - Overview
Function blocks
Renumbering steps and transitions
Step-By-Step Debugging
ST / IL Language selection
Information and Logs
SFC hierarchy
Moving and copying items
Setting Scale
The Control Panel
SFC jumps
Contacts and coils
Selection grid
SFC conditions
Moving and copying SFC charts

PLCopen functions

ROOT
MCFB_StepAbsSwitch
MAKEWORD
RIGHT
PrintMessage
ATOH
FLIPFLOP
INSERT
QOR
FIFO
MC_UngroupAllAxes
SigPlay
MC_InitAxesGrp
MC_AxisSetDefaults
Real Time Clock
udpSendToArray
Registers
MC_GrpReadActAcc
Parenthesis
MC_GearInPos
MCFB_Jog
MCFB_StepRefPulse
CTUD
printf
MC_GrpEnable
udpRcvFrom
MC_CamTblSelect
MC_GearIn
MLMotionRstErr
OR_MASK
MC_AddAxisToGrp
F_TRIG
MLProfileCreate
Languages integration
MC_MoveSuperimp
LoadString
String operations
AND_MASK
CMP
ANY_TO_DINT
SerializeIn
MAX
REPEAT
Calling a Sub-Program
MC_GrpWriteParam
STACKINT
SHL
AS-interface
udpClose
MC_TouchProbe
EXP / EXPL
HIWORD
udpRcvFromVar
MC_CreateAxesGrp
BIN_TO_BCD
R
MC_EStop
TMU
ClearCtrlErrors
MCFB_AKDFaultLookup
MLMotionSysTime
MC_MoveAdditive
HTOA
TAN
PACK8
EnableEvents
Comparison operations
ECATReadSDO
MLMotionStart
MC_ReadParam
LOWORD
ECATDeviceStatus
MAKEDWORD
S
MC_InitAxis
AVERAGE
MC_MoveDirRel
MC_MoveDirAbs
File Management
MC_CreateAxis
DriveParamWrite
SETBIT
ASCII
MC_GrpReadParam
eipAdapter
Calling a Function
ApplyRecipeColumn
MUX4
MC_GearOut
MC_MoveRelative
EXIT
ScaleLin
HYSTER
MC_ReadActPos
ON
Basic Operations
XOR_MASK
POW
MUX8
ECATReadData
DTEVERY
MC_ClearFaults
INC
udpCreate
FilterOrder1
TON
SigID
udpIsValid
DriveParamRead
MC_MachRegist
MBSHIFT
MC_CreateAxis
<>
MC_MoveCircAbs
MC_ErrorDescription
MC_CamResumePos
MC_GrpReadActPos
LIM_ALRM
>
BCD_TO_BIN
MCFB_StepAbsSwitchFastInput
SEMA
CONCAT
ANY_TO_BOOL
ECATWCStatus
Function Block Diagram
Variable name
MC_SetOverride
VLID
MC_AbortTrigger
MCFB_StepAbsolute
StringToArray
FOR
Assignment
ECATSetControl
MLMotionStop
MC_GrpHalt
MC_GrpReadActVel
UNPACK8
MC_GrpReadCmdVel
ODD
DELETE
Viewing FFLD diagrams
CTD
MIN
SIN
ROR
ABS
ATAN2
COS
Labels
GetCtrlInfo
MC_AddSuperAxis
DEC
udpAddrMake
StringTable
ECATCommErrors
TOF
Structured Text
PID
MC_ResetError
Boolean Operations
Arrays
MC_ReadStatus
ECATGetObjVal
>=
BLINK
MCFB_StepLimitSwitchFastInput
ACOS
MC_StopRegist
MC_ReadActVel
WHILE
SHR
MC_CamStartPos
FIND
udpRcvFromArray
eipWriteAttr
MC_RemAxisFromGrp
SigScale
Arithmetic operations
ECATWriteData
MLProfileInit
GetCtrlErrors
HIBYTE
-
NOT
<=
MC_MoveLinAbs
LEFT
AND
MCFB_StepBlock
MC_MoveLinRel
MC_GrpDisable
MC_GrpReset
UDP Functions for PxMM & Simulator
TMD
MC_Halt
RS
+
MC_MoveCircRel
FatalStop
MC_GrpStop
MC_ReadAxisErr
MC_MarkRegist
MC_GrpSetOverride
MC_CamIn
Trigonometric fonctions
SD Card Mounting Functions
SurfLin
TP
MLProfileRelease
Timers
CycleStop
BLINKA
/ DIV
ANY_TO_INT
ASIN
Calling a Function BlockCAL, CALC, CALNC, CALCN
XOR
IF
MC_WriteBoolPar
RETURN
MC_MoveAbsolute
LOBYTE
Sig_gen
MC_ReadBoolPar
CASE
*DEPRECATED* File Management Functions
*DEPRECATED* File Management Functions
MC_GrpReadBoolPar
R_TRIG
MC_SyncSlaves
GetCtrlPerf
Counters
MC_Power
PLC Standard Libraries
<
SerializeOut
PLC Advanced Libraries
LIFO
ANY_TO_LREAL
DERIVATE
Mathematic functions
ALARM_A
Jumps
MC_GrpReadError
SQRT
ANY_TO_STRING
MC_Reference
LogFileCSV
udpSendToVar
= EQ
NUM_TO_STRING
MLMotionStatus
SetWithin
ECATMasterStatus
INTEGRAL
CountOf
DAY_TIME
MC_SetPosition
ALARM_M
ArrayToString
ECATWriteSdo
MOVEBLOCK
MLProfileBuild
MC_WriteParam
ECATGetStatus
GETSYSINFO
SEL
MCFB_StepLimitSwitch
MLMotionInit
MLMotionCycleTime
Power Rails
MC_SetKinTra
RAMP
DTAT
LN / LNL
MOD / MODR / MODLR
MC_GrpWriteBoolPar
ROL
MC_SetPos
MID
Selectors
PLS
MCFB_AKDFault
NOT_MASK
MC_Stop
LOG / LOGL
MLEN
NEG
eipReadAttr
DriveParamStrRead
MC_Phasing
CurveLin
MC_GrpReadCmdPos
*
PWM
MC_CamOut
MC_InitAxisFeedback
MC_GrpReadStatus
Type conversion functions
EXPT
MCFB_GearedWebTension
udpSendTo
ATAN
WAIT / WAIT_TIME
CTU
TESTBIT
REPLACE
MC_RemSuperAxis
LIMIT
MC_GrpSetPos
CHAR
ANY_TO_LINT
ANY_TO_REAL
UseDegrees
OR
DTFORMAT
ANY_TO_TIME
ANY_TO_SINT
TRUNC
CRC16
Instruction List
SR
MC_MoveVelocity

Variable

Structures
Creating variables
Variables
Probes
Watch Window
Trace Zoom Feature
Data In/Out
Soft Oscilloscope Debugging
Find and Replace
Variable Tag and Description
Traces
Definitions
IEC 61131-3 Editor Debugging
Variable name
Variable Editor
Compare PLC programs
Arrays
Defining structures
Variables tab
Set Breakpoints
Create Variables
Variable Monitoring
Working with Variables
Variable Initial Value
Soft Oscilloscope
The Graphical Area
Variable Table List
Step-By-Step Debugging
FBD variables
Information and Logs
Setting Scale
Variable editor
Sorting variables
The Control Panel