List of Figures

 

Example of a help topic viewed in a large and small browser window. Note the fly-out menu on the small window.
Example of auto-completion being used to find a function
Synchronized Feeder
Spring Winding
Synchronizer
Form Fill Seal
Carton Erector
Example of Automation System
Logical Architecture Hierarchy
Architectural view of KAS components.
Hardware to Display the Human-Machine Interface
High, medium and low voltage AKD PDMMs and the PCMM.
AKD PDMM and PCMM card
Graphs comparing the performance of 800 MHz single-core, 1.2 GHz single-core, and 1.2 GHz dual-core controllers.
I/O Modules
Standard I/O Couplers and Slices
KAS IDEMain Window
Project Explorer with Controller type and IP address.
Configure the Device
Libraries Toolbox
Dictionary Toolbox
Dictionary Contextual Menu
Configure the Variable
Log Messages
Configuration of the Local and Controller log messages
Filtering the Messages
Filtering the Messages - Example
Find and Replace
Find and Replace from an Editor
Example of a breakpoint (Main: GT2) set in an SFC program.
Compiler Output
Watch Window
Watch Window - Accessing Arrays
Watch Window - Selecting PLC Variable
Watch Window - Creating Expression
Watch Window - Displaying Expression
Forcing a variable
AKD Toolbar
AKD Status Bar
Status Bar Labels
About Window
Log Messages
Select an Application Template
Configure the Controller Properties
PipeNetwork - Open Editor
PipeNetwork - Add Pipeblock
PipeNetwork - Create a Link
PipeNetwork - Edit a Link
PipeNetwork - Delete a Link
PipeNetwork - Move a Link
Pipe Network - Pipe Block Properties
Pipe Network - Mapping Axis to Drive
Pipe Network comments: editing, and deselected.
Setting Axis Units
Setting the Units - Example
Display Source Code of the Pipe Network
Motion State Machine
PLCopen Axis Context Menu
PLCopen Axis Data Dialog
PLCopen Axis Parameters
PLCopen Axis - Bus Parameters
Servo/Stepper Axis - Axis Data
Servo Axis - Axis Limits
Motion State Machine
Overview of AxesGroup
Select an AKI to add.
Variable Mapping to KVB.
Open the Kollmorgen Visualization Builder Builder
AKD Configuration
AKD Setup Wizard
Add I/O Slice
Devices in the EtherCAT list and the General Properties tab of a Device's Module.
Set the Pins Number of the Block
Create a Custom Library - Select the Library Template
Use a Custom Library - Select the Library
Use a Custom Library - Display the Library
Use a Custom Library - Add a Variable
Use a Custom Library - Select the Type
Cam - New Profile
Cam - Define Profile Filename
Cam - Normalized Profile
Cam - Output Profile
Cam Profile Transformation - Step 1
Cam Profile Transformation - Step 2
Cam Profile Transformation - Step 3
Cam Profile Transformation - Step 4
Cam - Associate Profile to a Pipeblock
Set the Period of Execution
Edit the Cycle
Define the Cycle
Change Priorities by Defining the Cycle
Example of a variable not being exported and the resulting compile error.
Compiler Output
Error Location when Compiling
The Device Toolbar
Device Tooltip displays Version
Start Device with the KAS Runtime
PLC Options - Debug Compiling Mode
Setting Breakpoints
Printf Function
Customizing Output for Printf Function
Plugging a Motion Variable
Plugging a Motion Variable - Parameters
Example of Plugging a Pipe Block
Plugging a PLC Variable
Plugging a PLC Variable - Parameters
Traces Displayed with Soft Oscilloscope
Listing the Differences
Variable DictionarySee Also
Forcing a Variable
Animation in Editors
Print Project
Inserting a Reference
Defining the Reference
Autocompletion
Tooltip on Variable
Autocompletion
Tooltip on Variable
SFC Step Action Blocks
Execution Order on FBD
FBD Comments - Inserting Graphic
Add Variable in FBD Editor
Define Variable Name in FBD Editor
Define Variable Type in FBD Editor
Add a Variable in the FFLD Editor
Define a Variable Name in the FFLD Editor
Define a Variable Type in the FFLD Editor
Declare an Array for an Internal Variable
Add a Complex Structure
Rename Complex Structure
Add Variable to a Complex Structure
Create an Instance of the Structure
Edit the Name in the Variable Editor
Define Type and Scope of the Variable
Editing variables as text
Errors caused by editing variables.
Parameters and Private Variables
Create an Instance of UDFB in a Program
Global Defines
Edit the Global Definitions
Wizard to Create PLC Variable - Parameters
Wizard to Create PLC Variable - Mapped Channels
Wizard to Create PLC Variable - Variables in the Dictionary
EtherCAT Devices Summary Form
EtherCAT Network - Physical View
EtherCAT Network - Logical View. K-Bus on left, E-Bus on right
EtherCAT Master Settings
ENI File tab
The ESI Files tab
Do not overwrite these files.
Opening — Upon opening a KAS project, the project's ESI files are compared to the internal library. If there are conflicts, you are prompted to resolve them.
Adding/Deleting — Adding or deleting an ESI file from the KAS IDE affects KAS's internal library of ESI files.
Saving — When a KAS project is saved, a copy of the ESI file(s) is included in the project file.
The PDO Selection/Mapping tab including FSoE objects in yellow.
The PDO Editor tab
Examples of live checking for valid entries.
Example of a device with oversampling.
Example of a Parallel Sequence in SFC
Regulation with Remote Drive
Multi-Axis Driven by a Virtual Master
Hardware Organization of Motion Functions
Third-order motion profile
Mechanical System
Pipe Network Structure
Typical Pipe Structure
Axis Pipe Block Positions
Motion State Machine
TMP Parameters: INITIAL_POSITION and TRAVEL_SPEED
TMP Parameters: ACCELERATION and DECELERATION
TMP Parameters: MODE "No Modulo"
TMP Parameters: MODE Modulo and MODULO_POSITION
PMP Generator forward & backward motion profile
PMP Parameters: FIRST_TRAVEL_SPEED, LAST_TRAVEL_SPEED and ACCELERATION
PMP Parameters: INITIAL_POSITION, "No Modulo" and MODULO_POSITION
PMP Motion Profiles for a Relative Move
PMP Motion Profiles for a Forward-Backward Motion
Sampler
Sampler Period
Sampler Mode Position
Sampler Mode Speed
Sampler Pipe Block Used to Track an External Master
Derivator - "No Modulo" Mode
Derivator - Modulo Mode
Integrator - "No Modulo" Mode
Integrator - Modulo Mode
Synchronizer Pipe Block to Start, Stop and Re-synchronize a Slave Axis
Comparator Used to Control a Valve on a Filler Mechanism
Trigger Extrapolates Output Value Based on Fast Input Timestamp
Cam Parameters
Cam Blocks Control Operation of a Three Axis Filling Mechanism
Convertor - Position Mode "No Modulo"
Convertor - Position Mode (Modulo)
Convertor - Speed Mode
Define Value with Expressions
Mode Modulo
Mode "No Modulo"
Axis Parameters: INITIAL_POSITION and TRAVEL_SPEED
Axis Parameters: ACCELERATION and DECELERATION
Axis Parameters: MODE "No Modulo"
Axis Parameters: MODE Modulo and MODULO_POSITION
Small Jerk Acceleration
Large Jerk Acceleration
Trapezoidal Acceleration
Graphic of how PLCopen axis position data is calculated.
How Actual Position is calculated.
Motion State Machine (PLCopen)
Versatile Network Architecture
Process Data is Inserted in Telegrams
Flexible Topology: Line, Tree or Star
Synchronicity and Simultaneousness
Safety over EtherCAT Software Architecture
Fieldbus Gateway
Several Device Profiles and Protocols can coexist
Master-Implementation with one Process Image
Structure of EtherCAT Master Implementation
EtherCAT Network Architecture1Image courtesy of EtherCAT.org, http://www.ethercat.org/pdf/english/etg2200_v2i0i1_slaveimplementationguide.pdf
Slave Hardware: FPGA with Host CPU
Slave Hardware: FPGA with direct I/O
EtherCAT State Machine
CANopen Status Machine
AKD Configuration According to EtherCAT State
Priority Between Motion and PLC
Application Overrunning the Basic Cycle
Firewall alert dialog.
KAS Runtime Log Window
Axes Tab
Set Axis in Error Mode
Deselect an Axis
KAS Simulator Main Window
Options for KAS Simulator
The Webserver Tabs as seen on an AKD PDMM webserver.
Example of log files displayed from a AKD PDMM or PCMM webserver.
Example of a log file's content, displayed in a browser.
Example of a AKD PDMM or PCMM with a manually defined IP address
File System tab on an AKD PDMM or PCMM web server, and when using Simulator.
PipeNetwork Structure
Pipe Network - Create a Link
Pipe Block - Relation Type for Output-Input
A cam profile
Cam Profile Editor Main Window
Cam Table
Modifying an Element Type
Cam Table Contextual Menu
Add New Point
Cam Table Contextual Menu
Cam Profile Graph
Cam Profile Graph - Slope Line
Cam Profile Graph - Contextual Menu
Curve Selection Table
Standard Color Selection
Curves Graph
Example of using the Oscilloscope
Accessing the Scope
Oscilloscope Control Panel
Scope Control Panel - Channels
Scope Control Panel - Time-base
Scope Control Panel - Time Position
Cycle Time Calculation
Motion, PLC and Real Time Margin Time Calculations
Multiple Core Controller, PLC and Real Time Margin Time Calculations.
Example of the traces generated in the Oscilloscope.
Using the Variable Selector to choose a variable to be mapped in the Oscilloscope
Plugging a Probe from the Dictionary
Associating a PipeNetwork (left) and PLCopen (right) variable to a Channel
Plugging a Probe from the Pipe Network
Control Panel Control Library
Control Panel Control Properties
Control Panel - Selection of Controls
Map variables to a Control Panel control
Map Variables to a Control Panel Control in the Graphical Editor
Control Panel
Display of KAS Simulator
Examples of CS types on a machine and part.
n-Degree Transition
180-Degree Transition: New move is in the opposite direction as old move. The sudden change in the direction of motion may result in large jerks to the axes
0-Degree Transition: New move continues in same direction as old move — continuous behavior
0-Distance Transition: Motion passes the first move's endpoint . There is no transition arc. A sudden change in the direction of motion may result in large jerks to the axes.
n-Degree Transition
Tangent Transition: Line is tangent to the arc
Intersection Transition: The line intersects the arc a "corner distance" away from the beginning of the new move.
0-Distance Transition: Special behavior for 0-distance transitions.
Examples of Arc-to-Arc Transitions
Oscilloscope Representation of linear coordinated move with a MC_GrpHalt command called twice
Oscilloscope Representation of linear coordinated move with a MC_GrpStop
Online Change - Process Diagram
Online Change - States and Transitions
PLC Options - Online Change Enable
Online Change - Updating Controller Version
Online Change - Dictionary
One-click Recovery - Process Diagram
Pulse Limitations with Falling Edge
Pulse Limitations with Rising Edge
Registration
Example of using a Pipe Network Trigger block for position capture.
Configuration of the Trigger block
PLC Timestamp Related to Fast Input Event
Example of setting byte sizes in a third-party Network Configurator.
Example of setting byte sizes in the KAS IDE Fieldbus Editor
Example of configuring sub-modules.
Software Structure Overview
Main Module Description
Axis Module Description
State Machine
PN Template with FFLD - Main
PN Template with ST - Main
PN Template - Main
PN Template - MachineLogic
PN Template - Motion
PN Template - Control Panel
PN Template with ST - Main
PN Template - Motion
PN Template - Control Panel
PN Template with FFLD - Main
PN Template - Motion
PN Template - Control Panel
PLCopen Template with FFLD - Main
PLCopen Template with ST - Main
PLCopen - Template Main
PLCopen Template - Step 5 of the Main
PLCopen Template - Motion
PLCopen Template - Control Panel
PLCopen Template - Fault Report Panel
PLCopen Template with ST - Main
PLCopen Template - Motion
PLCopen Template - Control Panel
PLCopen Template - Fault Report Panel
PLCopen Template with FFLD - Main
PLCopen Template - Motion
PLCopen Template - Control Panel
PLCopen Template - Fault Report Panel
SFC step action blocks
SFC Time Diagram - Timer vs Step Activation
List of Pipe Blocks
MLPipeAct
MLPipeAddBlock
MLPipeDeact
MLBlkReadModPos
MLBlkReadModPos
MLAddInit
MLAddReadOff1
MLAddReadOff2
MLAddReadRatio1
MLAddReadRatio2
MLAddWriteInput
MLAddWriteOff1
MLAddWriteOff2
MLAddWriteRat1
MLAddWriteRat2\
Initial speed is smaller than the new speed
Initial speed is bigger than the new speed
The speed update is taken into account only if the second MLAxisAbs is triggered during acceleration or constant velocity
ML_AxisDriveNumber
Axis Functions Usage
MLPrfReadIOffset
MLPrfReadIScale
MLPrfReadOOffset
MLPrfReadOScale
MLPrfWriteIOffset
MLPrfWriteIScale
MLPrfWriteOOffset
MLPrfWriteOScale
MLCompCheck
MLCompWriteRef
Comparator Functions Usage
MLCNVConnect
MLDerInit
MLDerReadInModPos
MLDerWriteInModPos
Gear Functions Usage
MLIntInit
Master Functions Usage
Initial speed is smaller than the new speed
Initial speed is bigger than the new speed
The speed update is taken into account only if the second MLAxisAbs is triggered during acceleration or constant velocity
TMP Initialization
Phaser Functions Usage
PMP Generator Forward & Backward Motion Profile
MLSmpConECAT function
MLSmpConPLCAxis function
MLSmpConPNAxis function
Synchronizer Functions Usage
Get Output Phasing after MLSyncStart
Get Output Phasing after MLSyncStop
MLSyncStart
MLSyncStop
Set output phasing after MLSyncStart
Set output phasing after MLSyncStop
Trigger Functions Usage
MLTrigIsTrigged
MLTrigReadPos
MLTrigReadTime
MC_ClearFaults
MC_CreatePLCAxis
MC_EStop
MC_InitAxis
MC_InitAxisFeedback
MC_Power
MC_ErrorDescription Function Block
MC_ResetError
MC_Stop
MC_TouchProbe
MC_ReadActPos
MC_ReadActVel
MC_ReadAxisErr
MC_ReadBoolPar
MC_ReadParam
MC_ReadStatus
The MC_WriteParam function block
MC_Halt
MC_MoveAbsolute
MC_MoveAdditive
MC_MoveRelative
MC_MoveSuperimp
MC_MoveVelocity
MC_MoveContVel
MC_SetOverride
MC_CamIn
MC_CamIn examples
MC_CamOut
MC_CamStartPos
MC_CamStartPos
MC_GearIn
MC_GearInPos
MC_GearOut
MC_Phasing
MC_SyncSlaves
MC_Reference
MC_SetPos
Motion State Machine
MC_AddAxisToGrp
MC_CreateAxesGrp
MC_GrpDisable
MC_GrpEnable
MC_GrpReadBoolPar
MC_GrpReadParam
MC_GrpReset
MC_GrpWriteBoolPar
MC_GrpWriteParam
MC_InitAxesGrp
MC_RemAxisFromGrp
MC_SetKinTra
MC_UngroupAllAxes
MC_GrpReadActAcc
MC_GrpReadActPos
MC_GrpReadActVel
MC_GrpReadCmdPos
MC_GrpReadCmdVel
MC_GrpReadError
MC_GrpReadStatus
MC_AxisSetDefaults
MC_GrpSetOverride
MC_MoveCircAbs
MC_MoveCircRel
MC_MoveDirAbs
MC_MoveDirRel
MC_MoveLinAbs
MC_MoveLinRel
MC_GrpSetPos
DriveParamRead
DriveParamStrRead
DriveParamWrite
ECATDevReadParam
ECATReadSdo
ECATReadSdo State Diagram
ECATWriteSdo
ECATWriteSdo State Diagram
ECATCommErrors function block
ECATDeviceStatus function block
ECATMasterStatus function block
ECATWCStatus function
FSoEParamsInit Function Block
GetCtrlPerf
The FileCopy Function Block
The FileCopy Function Block
The FileDelete Function Block
The FileCopy Function Block
The FileExists Function Block
The FileOpenA function block
The FileOpenR function block
The FileOpenW function block
The FileReadBinData Function Block
The FileReadLine Function Block
The FileRename Function Block
The FileCopy Function Block
The FileSize Function Block
The FileWriteLine Function Block
The FileWriteLine Function Block
The TcpAccept function block
The TcpBinReceive function block
The TcpBinSendf function block
The TcpClose function block
The TcpConnect function block
The TcpIsConnected function block
The TcpIsValid function block
The TcpListen function block
The TcpSend function block
CBS First Order Digital Filter
Pulse Width Duty Cycle
Scale Input
Scale Output
FB_ElapseTime
MFB_ElapseTime – Time Diagram
PipeNetwork_FFLD
ProfilesCode_FFLD
The TemperaturePID user-defined function block
MCFB_DriveFault
MLFB_ECATRestart
Mode to find the zero angle reference of the motor.
MLFB HomeFindHomeFastInput
MLFB HomeFindHomeFastInputModulo
MLFB HomeFindLimitFastInput
MLFB HomeFindLimitFastInputModulo
Kollmorgen UDFB Jog for PipeNetwork
MCFB_AKDFault
MCFB_AKDFaultLookup
MCFB_DriveFault
MCFB_ECATRestart
MCFB StepAbsolute
MCFB StepAbsSwitch
MCFB StepBlock
MCFB StepLimitSwitch
MCFB StepRefPulse
MCFB StepAbsSwitchFastInput
MCFB StepLimitSwitchFastInput
Jog for PLCopen
MCFB_GearedWebTension Function Block I/O
AKDFltRpt
S700FltRpt
Form Fill and Seal Machine Overview
Filling Screw Base Profile
Sealing Jaw Base Profile
Flying Shear Base Profile
Form Fill and Seal Machine Overview
Filling Screw Base Profile
Sealing Jaw Base Profile
Flying Shear Base Profile
Unwind Base Profile
Cutting Knife Base Profile
Unwind Base Profile
Cutting Knife Base Profile
Knife CAM profile
Rotary Knife Pipenetwork
Knife Cam profile
Feeder CAM Profile base shape
Mapping of standard components
Standard Components in Project tee
EtherCAT structure in the dictionary
EtherCAT function blocks in the library.
Standard Components in the Project View.
Standard Components in the EtherCAT view.
Start view of the EtherCAT Configurator
General view with the EtherCAT nodes
PDO Assignment
Task view
Variable view
Device EtherCAT view
KAS IDE EtherCAT ENI File view
EtherCAT address setting for AKD drives
XML image showing Output Index number for Axis1 and Axis2
XML image showing Input Index number for Axis1 and Axis2
Example of data index offset and size for non-standard I/O item
Direct EtherCAT function blocks in KAS IDE library
Writing to a non-standard I/O device
Complete XML file mapping – part 1
Complete XML file mapping – part 2
Full scale value, measuring span
Simplified representation of the mass moments of inertia
Control structure of a standard stepper motor drive
Behavior of the rotor under load
Stepper slice objects in the KAS IDE
Installation position and minimum distances
Typical reaction time
Worst-case reaction time
Components AKT2G-AC-FAN-001
Engaging the holder for the fan cartridge
Push latching tab into groove
Pull the fan cartridge off towards the front
Remove the holder using a screwdriver
AKT2G-AC-FAN-001 LED
Display of the measurement and calculation of the resistance/temperature
3-wire connection technology
Examples for temperature-dependent resistance values
Principle of the thermocouple
Calculation of process data
External cold junction
Internal connection diagram 0/4...20 mA inputs
Internal connection diagram for 0/4..20 mA inputs of a AKT2G-AN-430
Example: AKT2G-ECT-000 EtherCAT coupler with 3 ports
Internal and external port assignment for Bus Coupler AKT2G-ECT-000
Potential diagram ECT-000
GND concept ECT-000
Diagnostic LEDs EK1100, EK1100-0008
Quadrature decoder
Frequency measurement principle - frequency mode A
Frequency measurement principle - frequency mode B
Counter connection principle
Principle of frequency measurement
AKT2G-ENC-190-000
Level interface
AKT2G-ENC-190-000
Frequency measurement principle in normal operation mode
Frequency measurement principle in enhanced operation mode
AKT2G-SDI-004 – safety terminal with 4 digital fail-safe inputs
Characteristic curve of the inputs
Dimensions of the AKT2G-SDI-004. Click the image for an actual size image.
Block diagram of the AKT2G-SDI-004
AKT2G-SDI-004 pin assignment
Permitted cable length
Cable routing
Typical course of test pulses of the inputs
Address settings on safety terminals with 65535 possible addresses
Maximum permissible sensor self-test duration of 350 µs
AKT2G-SDO-004-000 safety terminal with 4 digital fail-safe outputs
Dimensions of the AKT2G-SDO-004. Click the image for an actual size image.
Block diagram of the AKT2G-SDO-004
AKT2G-SDO-004 pin assignment
Permitted cable length
Cable routing
Typical course of test pulses of the outputs.
Address settings on safety terminals with 1023 possible addresses
LEDs and connection of the AKT2G-SM-L15
Bipolar control (serial) of a bipolar motor
Bipolar control (parallel) of a bipolar motor
Bipolar control of a unipolar motor. Only one half of each winding is controlled.
LEDs and connection of the AKT2G-SM-L50
Bipolar control (serial) of a bipolar motor
Bipolar control (parallel) of a bipolar motor
Bipolar control with only one half of each winding is controlled
The encoder is supplied from the power contacts via terminal points 3 (+24 V) and 7 (0 V).
Spring contacts of the I/O components.
Attaching on mounting rail
Disassembling of terminal
Power contact on left side
Standard wiring
Connecting a cable on a terminal point
Recommended distances for standard installation position
Other installation positions
Correct positioning
Incorrect positioning
SE and DIFF module as 2-channel version
2-wire connection
Connection of externally supplied sensors
2-, 3- and 4-wire connection at single-ended and differential inputs
Common-mode voltage (Vcm)
Recommended operating voltage range
Signal processing analog input
Diagram signal delay (step response)
Diagram signal delay (linear)
SFC Step - Timeout Alarm
The file cclog.txt is not writeable.
The file main.c is not writeable.
ETHERCAT Coupler Diagnostic LEDs
Connecting all the Hardware components