Project Explorer

The Project Explorer toolbox is a window that displays machine application information in a tree-structure representation. This window contains all the items used to design, implement, test, and document the application.

Item	Description
Hardware	Devices that make up the system such as Controllers, EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs Motion Bus, servo and stepper drives, HMI "Human-machine interfaces " Also known as computer-human interfaces (CHI), and formerly known as man-machine interfaces, they are usually employed to communicate with PLCs and other computers, such as entering and monitoring temperatures or pressures for further automated control or emergency response devices, I/O Terminals, etc.
PLC "Programmable Logic Controller" A Programmable Logic Controller, PLC, or Programmable Controller is a digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events (IEC "International Electrotechnical Commission" IEC is a not-for-profit, non-governmental international standards organization that prepares and publishes International Standards for all electrical, electronic and related technologies 61131-3)	Programs that control the system User-defined Functions and Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. Blocks
Motion	Pipe Networks or PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML Axis objects Cam profiles

You can navigate in the project-tree by entering the item's initial letter or using the arrow keys.

A project is made of several items that are:

System
Controller
- PLC
- Motion
  - Profiles
  - Pipe Network or PLCopen
- Controller Onboard I/O
- EtherCAT
- References
- Fieldbus
- Control Panel
- KVB Project
- SafePLC2 Project
HMI Device
- KVB Project

Node Names: Allowable characters for node names include A-Z, a-z, 0-9, . (period), - (hyphen), and _ (underscore).

System

This item concerns the whole project. A right-click opens its menu that provides these options:

System Node - Contextual Menu
Command	Description
Add HMI Device	Add a new HMI device with a KVB panel. For mode details see HMI Device.

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Controller

A controller is composed of:

a PLC item
a Motion item
a Control Panel
an EtherCAT Motion Bus
some References

This item displays the controller's IP address and controller hardware type.

It is used to Access the WebServer From the IDE.
- The webserver functionality may be used directly in the KAS IDE.
See Using the KAS Web Server for more information.

The IP address is shown as 127.0.0.1 if the system is in simulation mode.

Controller Node - Contextual Menu
Command	Description
Add Control Panel	Add a new contol panel to the controller. For more details see Control Panel.
Import Control Panel	Import a pre-configured control panel for use in the project. See Import a Control Panel for more information.
Add KVB Project	Add a new KVB panel which is embedded into the controller. See KVB Project for more information.
Import KVB Project	Import a compressed ("zipped") KVB project, which may be created in KAS or KVB. The system validates the compressed KVB project and adds the panel.
Add SafePLC2 Project	Add a node to the tree to access a SafePLC2 project directly from the KAS IDE. See Working with SafePLC2 Projects for more information.
Import SafePLC2 Project	Select a `.SPL2` file to import. There may only be a single instance of a SafePLC2 project in the KAS IDE. If none exists, a SafePLC2 Project is added to the end of the Project tree. If there is a project, you are prompted to overwrite the project or cancel the import. The import cannot occur if SafePLC2 is running.
Add Fieldbus	Add a node to access the Fieldbus Editor.
Access Web Server	This command opens the web server interface in the GUI "Graphical User Interface" A GUI is a type of user interface which allows people to interact with a computer and computer-controlled devices. See Access the WebServer From the IDE and Using the KAS Web Server for more information.
Properties	Open a dialog box to configure the controller. See Configure the Controller for a full description of this dialog box. Figure 3-1: Configure the Device Parameters Description IP Address or COM: Allows for connecting to and downloading your application to the controller. Changing this value modifies the IP address for the Controller. The last 10 IPs entered are accessible and are stored with the project. Selecting an item in the list and pressing the 'Delete' key clears the entry from the list. When you click to choose the simulation mode, this address is disabled. Do not use leading zeroes when entering an IP address. The connection to the controller automatically fails if leading zeroes are used. Example: Use 10.2.3.40 instead of 010.002.003.040. The Controller type can be a AKD PDMM or PCMM. See Different Implementations. A version number is used to ensure both versions of your application on the KAS IDE and the KAS Runtime In 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 are the same. Enabling Download project source to the controller allows for comparing source on the controller to the source on your computer. The Enable PLC variable remote access is disabled by default. Enabling it allows users to read/write variables using an HTTP connection. Modbus ModBus is a serial communications protocol and is now the most commonly available means of connecting industrial electronic devices. ModBus is often used to connect a supervisory computer with a remote terminal unit in supervisory control and data acquisition (SCADA) systems. Versions of the ModBus protocol exist for serial port and Ethernet (it is widely used with TCP/IP over Ethernet) Configuration sets what the Modbus connects to. Cycle Time specifies the update rate.

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PLC

This item contains all the PLC (Virtual Machine) part of the controller.

These items can be present in the PLC:

Programs
Subprograms
Some Defines

PLC Node - Contextual Menu
Command	Description
Libraries	Import new libraries

Programs

Program Node - Contextual Menu
Command	Description
New Program	Add new program items: Free Form Ladder Diagram (FFLD) Editor Function Block Diagram (FBD) Instruction List (IL) Sequential Function Chart (SFC) Structured Text (ST)
Cycle	Configure the cycle of the virtual machine. See Define the PLC Cycle for more information about mode details.
Import	Import a saved program.

Programs and Subprograms can be reordered by drag-and-drop.
Dragging an item up the list places it above the program you drop it on, while dragging down places it below.

Program Item - Contextual Menu

Program Item - Contextual Menu
Command	Description
Add Child SFC	Add a child program to this program. This is reserved for only the first SFC program.
Import Child SFC	Import a saved SFC program to the current program. This is reserved for only the first SFC program. How to import all children from one project to another? Export each program one at a time from the existing project. Save the program (specify a location and a name, avoiding spaces in the file name). Close the project. Open the project to be updated. Import each saved program in the project tree. Rename the program if needed. Only local variables are copied (not the global variables).
Export	Save the selected program to your file server, avoiding spaces in the file name.
Rename	Rename the selected program.
Delete	Delete the selected program.
Print SFC and All Level 2	Print all PLC programs. See Print for more information.

You can double-click the program name to open the program in the workspace.

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Subprograms

Subprogram Node - Contextual Menu
Command	Description
New Function (Subprogram)	Add a new subprogram item: Free Form Ladder Diagram (FFLD) Editor Function Block Diagram (FBD) Instruction List (IL) Structured Text (ST)
New UDFB "User Defined Function Block" UDFB can be used as a sub-function block in another program of the application. It is described using FBD, LD, ST or IL language. Input / output parameters of a UDFB (as well as private variables) are declared in the variable editor as local variables of the UDFB	Add a new UDFB item: Free Form Ladder Diagram (FFLD) Editor Function Block Diagram (FBD) Instruction List (IL) Structured Text (ST)
Import	Import a saved program.

Subprogram Item - Contextual Menu

You can create your own functions as well as functional blocks that are called UDFBs (User-Defined Functional Blocks).

For each of them, you can use these commands:

Subprogram Item - Contextual Menu
Command	Description
Export	Save the selected subprogram onto your file server.
Rename	Rename the selected subprogram.
Create Unlocked Copy	Duplicate the selected, locked subprogram. The duplicate is NOT locked.
Delete	Delete the selected subprogram.
In/Out Parameters	Open the Program Properties dialog box to Declare Functions or Function Blocks. This item is disabled for locked UDFBs.

You can double-click the subprogram name to open the subprogram in the workspace.

Defines

This item contains all the global definitions in the scope of the corresponding device.

See Use the Defines List for more information.

You can double-click a Define item to show these global definitions.
A file of internal defines are found in the installation directory of the KAS IDE\Astrolabe\Bin\HwDef\lib.eqv.

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Motion

The motion item contains the motion-specific items (i.e., the Profiles and Pipe Network items).

Command	Description
Motion Engines	Choose the motion engine for your application between Pipe Network or PLCopen.

Profiles

This item contains all the cam profiles in the project.

Profiles Node - Contextual Menu
Command	Description
New Profile	Create a new cam profile and add it to this device (.csv, .cam). See Adding Cam Profiles for mode details.
Import	Import already existing cam profiles to your project.
Show compiled code	Show the code corresponding to the selected cam profile.

Right-click a cam profile to use these additional commands:

Command	Description
Rename	Change the cam profile to a different name.
Delete	Remove the cam profile from the list.
Export	Save the cam profile in (.CAM) format.
Properties	Opens a dialog to modify the cam profile's Master/Input Slave/Output Offset and Scale values.

See Adding Cam Profiles and Cam Profile Editor for more information on cam profiles.

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Pipe Network

This menu applies to the Pipe Network in the project.

Pipe Network Node - Contextual Menu
Command	Description
Import and replace	This command replaces the existing Pipe Network with a pre-saved Pipe Network. A dialog box opens to locate the pre-saved file. The Pipe Network Editor is opened when the file is imported.
Export	Export the Pipe Network to a file for reuse.
Show compiled code	Show the code corresponding to the Pipe Network.

The existing EtherCAT axis mapping is lost when using Import and replace.
Profiles assigned to Cam blocks are cleared.
1. In the Project View, double-click EtherCAT to open the EtherCAT Devices tab.
2. Use the tab to reassign the axes.
3. Double-click any cam of the blocks and set the Profile_Name parameter.

You can double-click to open the Pipe Network in the workspace.

PLCopen

PLCopen Node - Contextual Menu
Command	Description
New Axis	Add a new axis to your project. See Create a PLCopen Axis for mode details.
Show compiled code	Show the code corresponding to the PLCopen.

Axes

Each axis is listed here, whether it is found via a scan of the EtherCAT network, or added manually.

To add an axis manually, right-click and select New Axis.

For each PLCopen axis, use these commands:

Axis Item - Contextual Menu
Command	Description
Properties	Open a dialog box to Modify PLCopen Axis.
Delete	Delete the selected axis.

Axes Groups

Axes Groups are collections of related axes defined by the data type AXIS_GROUP_REF.

They are typically used by coordinated motion and function blocks such as MC_SetKinTra.
Right-click in this section to create a new Axes Group.
Groups are populated by dragging an existing axis from the above section into the group.

These commands are available by right-clicking on a group.

Command	Description
Delete	Delete the selected Axes Group
Rename	Change the name of the Axes Group.

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Control Panel

This holds the Control Panel item used to provide a basic interface between you and the virtual machine.

See Design the HMI with the Internal Editor for more information.
See KVB Project for a more advanced tool to build HMI.

HMI Control Panel Node - Contextual Menu
Command	Description
Rename	Rename the selected Control panel.
Delete	Delete the selected Control panel.
Export	Export the control panel for use in other projects. See Export a Control Panel.

You can double-click to open the Control Panel in the workspace.

Controller Onboard I/O

Controller Onboard I/O Item - Contextual Menu
Command	Description
Properties	Open the Properties dialog box to configure the local I/O for the AKD PDMM or PCMM controller. See Configure Controller Onboard I/O for more information.

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EtherCAT

This item gives access to all the devices linked to the EtherCAT Motion Bus.

EtherCAT Node - Contextual Menu
Command	Description
Add Device…	Add a Kollmorgen drive, power supply, or coupler, per a third-party EtherCAT device to the EtherCAT node in the Project view.
Scan Devices	TheKAS Runtime sends EtherCAT messages to discover the devices present in the network. See EtherCAT Devices tab for more information.
Enable/Disable Online Configuration Mode	Toggles Online Configuration Mode on and off. See Online Configuration Mode for more information.
Properties	Opens the Properties dialog box. See Configure EtherCAT Motion Bus for more information.

See Add and Configure Third Party Devices for more information.

AKD2G Drive

You can double-click an AKD2G to set its parameters.

See Configure the AKD / AKD2G Drive.

AKD2G Drive Item - Contextual Menu
Command	Description
Rename	Rename the selected drive.
Delete	Delete the selected drive.
Configuration	Opens the Configuration tab for the AKD GUI.
Properties	Select the Properties menu to access the EtherCAT device's configuration views.

AKD Drive

You can double-click an AKD to set its parameters.

See Configure the AKD / AKD2G Drive.

AKD Drive Item - Contextual Menu
Command	Description
Rename	Rename the selected drive.
Delete	Delete the selected drive.
Configuration	Opens the Configuration tab for the AKD GUI.
Properties	Select the Properties menu to access the EtherCAT device's configuration views.

AKD-C Central Power Supply

You can double-click an AKD-C to set its parameters.

See Configure the AKD / AKD2G Drive.

AKD-C Drive Item - Contextual Menu
Command	Description
Rename	Rename the selected device
Delete	Delete the selected device
Properties	Select the Properties menu to access the EtherCAT device's configuration views.
Configuration	Opens the Configuration tab for the AKD GUI.

AKD-N Drive

You can double-click an AKD-N to set its parameters.

See Configure the AKD / AKD2G Drive.

AKD-N Drive Item - Contextual Menu
Command	Description
Rename	Rename the selected drive
Delete	Delete the selected drive
Properties	Select the Properties menu to access the EtherCAT device's configuration views.
Configuration	Opens the Configuration tab for the AKD GUI.

AKT2G (EtherCAT) I/O Coupler

The Coupler node acts as a gateway for E-Bus I/O slices.

AKT2G I/O Coupler Node - Contextual Menu
Command	Description
Rename	Rename the selected coupler
Delete	Delete the selected coupler
Properties	Select the Properties menu to access the EtherCAT device's configuration views.

These commands are disabled when the controller is running.
See Remote Input/Output Terminals for links to detailed documentation for each device.

AKT (K-Bus) I/O Coupler

The Standard I/O Coupler node gives access to its I/O slices.

Standard I/O Coupler Node - Contextual Menu
Command	Description
Add I/O Slice	Add a new slice (Digital or Analog Input and Output) to the selected Standard I/O Coupler
Rename	Rename the selected coupler
Delete	Delete the selected coupler
Properties	Select the Properties menu to access the EtherCAT device's configuration views.

These commands are disabled when the controller is running.
See EtherCAT Coupler Error Handling And Diagnosis in the Troubleshooting section for information about diagnosing the coupler LEDs.

I/O Slice

AKT2G (E-Bus) slices are children of the EtherCAT node.
AKT (K-Bus) slices are children of the AKT I/O Coupler.

I/O Slice - Contextual Menu
Command	Description
Rename	Rename the selected slice.
Delete	Delete the selected slice.
Properties	Open the Properties dialog box to configure the I/O slice. See Map Input and Output to Variables.

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Device

Double-clicking a Device accesses its EtherCAT device configuration views.

Device - Contextual Menu
Command	Description
Rename	Rename the selected device
Delete	Delete the selected device
Add Module…	Add a module to an MDP device. See Add Modules to Third Party EtherCAT Devices.
Properties	Access the EtherCAT device's configuration views.

Module

Command	Description
Rename	Rename the selected module.
Delete	Delete the selected module.

References

This item allows you to insert references into your project. Each reference is a user-defined reference that links any kind of deliverable to your project (for more details, see Use the Reference Folder).

Reference Node - Contextual Menu
Command	Description
Insert Reference	Link any kind of deliverable to your current project.
Delete	Delete the reference.
Properties	Open the referenced file in the workspace.

You can double-click to open the Reference in the workspace.

Fieldbus

This item holds the Fieldbus Editor to configure the Ethernet Ethernet is a large, diverse family of frame-based computer networking technologies that operate at many speeds for local area networks (LANs)/IP or Profinet fieldbuses A Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design. For mode details see Fieldbus Editor.

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HMI Device

This item holds the HMI (Human Machine Interface) item used to provide an advanced interface between you and the virtual machine.

HMI Device Node - Contextual Menu
Command	Description
Add KVB Project	Add a new KVB panel to the controller. See Add an HMI Device for mode details. This command is disabled when a KVB panel already exists.
Import KVB Project	Import a compressed ("zipped") KVB project, which may be created in KAS or KVB. The system validates the compressed KVB project and adds the panel.
Rename	Rename the selected HMI device.
Delete	Delete the selected HMI device.

KVB Project

KVB Panel Node - Contextual Menu
Command	Description
Open KVB	Opens the associated KVB project.
Rename	Rename the selected KVB panel.
Delete	Delete the selected KVB panel.
Export	Save a copy of the panel in a compressed (.ZIP) file.

You can double-click the entry to open the KVB panel in Kollmorgen Visualization Builder

SafePLC2 Project

SafePLC2 Project Node - Contextual Menu
Command	Description
Delete	Delete the SafePLC2 project.
Export	Select a location and name to export / create a SafePLC2 file.
Open SafePLC2	Creates or opens a synchronized SafePLC2 project. See Working with SafePLC2 Projects for more information.
Rename	Rename the SafePLC2 project.

You can double-click the entry to open SafePLC2.

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