AKD Drive Configuration

Connection Modes

The AKD drive parameters can be configured when the KAS-IDE is connected to the controller and operating in one of these functional modes:

• Online Configuration Mode
• Project Running on the Controller

Disconnected

If the controller is not operating in one of these modes, then the AKD configurations are not accessible.

The Configuration tab indicates the AKD is Disconnected.

Online Configuration Mode

In Online Configuration mode, parameters are updated directly to the AKD or AKD2G through TelNet commands with EtherCAT in Pre-Operational mode.

When you modify the value of a parameter, a command is sent to the drive and the corresponding parameter is updated.

Project Running on the Controller

When a project is running on the controller, parameters are updated directly to the AKD with EtherCAT in Operational mode.

• When the value of a parameter is modified, a command is sent to the drive and the corresponding parameter is updated.
• Beware that your PLC application is running and can also read or write parameters to the AKD.

• 
  

• An AKD drive cannot be deleted while it is connected.
  The AKD drive leaves Online Configuration mode and starts the application if you start an application while the drive is in that mode.

• 
  Before leaving Online Configuration mode (either by clicking the Online Configuration button or the Start button when the device is in Online Configuration mode), verify these conditions exist:
  1. The drive is not enabled.
  2. The service motion is not enabled.
  3. Auto-tuning is not enabled.
• Recommendation: Click the Disable button to force this scenario.
  

AKD Configuration According to EtherCAT State

The drive configuration can only take place when the EtherCAT is in the Op or Pre-Op state.

Figure 1: AKD Configuration According to EtherCAT State

Action	Name	Description
1	Online Configuration Mode ON	Online Configuration Mode Sets the EtherCAT fieldbus to the Pre-Op state and allows AKD configuration. See Online Configuration Mode to access this button in the KAS-IDE. See Configure the AKD / AKD2G Drive) for the procedure.
2	Online Configuration Mode OFF	Sets the EtherCAT fieldbus to the Init state. Does not allow AKD configuration. All AKD drives are disconnected from the KAS-IDE.
3	Start the Project	Sets the EtherCAT fieldbus to the Operational state 1 Depending on the number of AKD drives physically present in the EtherCAT network, the KAS-IDE can slow down when getting data. The KAS Runtime is not concerned with this limitation.. See Menus and Toolbar Overview to access this button. This starts the application program running and allows AKD configuration (with some restrictions for the views: Service Motion and Performance Servo Tuner). See AKD Drive.
4	Stop the Project	This step stops the application from running. Sets the EtherCAT fieldbus to the Init state. Does not allow AKD configuration. All AKD drives are disconnected from the KAS-IDE.

See Also