List of Concepts

 

AKD BASIC Parameters

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

AKD Parameters

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

AKD Workbench

Faults and Warnings
Initial Drive Setup
Clearing Faults
Parameter and Command Error Messages
Velocity Loop
Analog Output
Non-Plug and Play Feedback Devices
Feedback 1
Creating Motion Profile Tables
Analog Output
Position Loop
Motor I2t algorithm
Configuring General Drive Settings
Non-Plug and Play Feedback Devices
Extended Multiturn
WorkBench Interface: Overview
Faults and Warnings View
Motor View
All Parameters
Enable/Disable
Analog Input
Foldback
Using AKD in a Vertical Axis
Encoder Emulation
Current Loop Gain Scheduling
Creating Motion
Using the Performance Servo Tuner: Advanced
Under Voltage Fault Behavior
Brake
Device Overview View
Configuring with Linear Motors
All Parameters
Analog Input
AKD Models
Tuning Guide
Connection Diagrams
Wake and Shake Overview
Feedback 2
Using Wake and Shake Mode 1 (AXIS#.WS.MODE 1)
Tuning Your System
Under Voltage Fault Behavior
Power View
AKD Setup Wizard
Configuring Motor Settings
Drive Overview
Fault and Warning Messages
Slider Tuning
Configuring General Drive Settings
Controlled Stop
Dynamic Braking
Wake and Shake Overview
Using the Performance Servo Tuner
Using Position Capture
Using Parameters and the Terminal Screen
Current Loop Gain Scheduling
Limits
Initial Drive Setup
Unknown Fault
Emergency Stop
Motion Profile Table
Digital Inputs and Outputs
Current Loop

Drive

AKD Drive Configuration
AKD Drive
Project Explorer
KAS breakdown
AKD Setup Wizard
Add and Configure a Servo Drive
Drives
AKD Drive
Logical View

Fieldbus

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

FSoE

Troubleshooting FSoE Safety Parameters
FSoEParamsInit
FSoE / PDO Connections Tab

Function Blocks

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

HMI

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

I/O

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

installation

FAQ

Motion

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

Motion functions

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

multiple

FAQ

PD

KAS breakdown

PipeNetwork functions

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

PipeNetwork Functions

MLFB_ECATRestart

PLC

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

PLCopen functions

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

PLCopen Functions

FSoEParamsInit

Safety

Set Up FSoE Master and an AKD2G with SafeMotion Monitor

Safety; FSoE

Troubleshooting FSoE Safety Parameters

Variable

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