Project Explorer

The Project Explorer toolbox window displays machine application information in a tree-structure representation.

This window contains all the items used to design, implement, test, and document the application.

Project Explorer

Figure 1: KAS Project Explorer

Item

Description

Hardware

Devices that make up the system such as Controllers, EtherCAT Motion Bus, servo and stepper drives, HMI devices, I/O Terminals, etc.

Motion
  • Pipe Networks or PLCopen
  • Axis objects
  • Cam profiles

PLC (IEC 61131-3)
  • Programs that control the system.
  • User-defined Functions and Function Blocks.

  • Navigate in the project-tree by entering the item's initial letter or using the arrow keys.

A project is made of these items:


  • 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:

Command

Description

Add HMI Device

Add a new HMI device with a KVB panel.

See HMI Device.

Controller

A controller is composed of:

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


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

Controller Node - Context Menu

Command

Description

Add Control Panel

Add a new control panel to the controller.

See Control Panel.

Import Control Panel

Import a pre-configured control panel for use in the project.

See Import a Control Panel.

Add KVB Project

Add a new KVB panel which is embedded into the controller.

See KVB Project.

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 SafePLC2 Projects.

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.

See Access the Web server From the KAS-IDE and Using the KAS Web server.

Properties

Open a dialog box to configure the controller.

See Configure the Controller.

Configure the Controller

Figure 2: 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.
  • A version number is used to ensure both versions of your application on the KAS-IDE and the KAS Runtime 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 Configuration sets what the Modbus connects to.
  • Cycle Time specifies the update rate.

PLC

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

These items can be present in the PLC:

Command

Description

Libraries

Import new libraries

Programs

Command

Description

Cycle

Configure the cycle of the virtual machine.

See Define the PLC Cycle.

Import

Import a saved program.

New Program

Add new program items:


  • 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

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.
  1. Export each program one at a time from the existing project.
  2. Save the program (specify a location and a name, avoiding spaces in the file name).
  3. Close the project.
  4. Open the project to be updated.
  5. Import each saved program in the project tree.
  6. 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.

  • Double-click the program name to open the program in the workspace.

Subprograms

Command

Description

New Function (Subprogram)

Add a new subprogram item:

New UDFB

Add a new UDFB item:

Import

Import a saved program.

Subprogram Item - Context Menu

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

For each of them, use these commands:

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.

  • 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 also see "Use the Defines List" on page 1.


  • 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.

Motion

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

Command

Description

Motion Engines

Choose the motion engine for the application Pipe Network or PLCopen.

Profiles

This item contains all the cam profiles in the project.

Command

Description

New Profile

Create a new cam profile and add it to this device (*.csv, *.cam).

See Adding Cam Profiles.

Import

Import already existing cam profiles to a 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.

Pipe Network

This menu applies to the Pipe Network in the project.

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.


  • Double-click to open the Pipe Network in the workspace.

PLCopen

Command

Description

New Axis

Add a new axis to your project.

See Create a PLCopen Axis.

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:

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.

Control Panel

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

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.


  • Double-click to open the Control Panel in the workspace.

Controller Onboard I/O

Command

Description

Properties

Open the Properties dialog box to configure the local I/O for the AKD PDMM or PCMM controller.

See Controller Onboard I/O.

EtherCAT

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

Command

Description

Add Device…

In the Project view, add a Kollmorgen drive, power supply, or coupler, per a third-party EtherCAT device to the EtherCAT node.

Scan Devices

TheKAS Runtime sends EtherCAT messages to discover the devices present in the network.

See EtherCAT Devices tab.

Enable/Disable Online Configuration Mode

Toggles Online Configuration Mode on and off.

See Online Configuration Mode.

Properties

Opens the Properties dialog box.

See Configure EtherCAT Motion Bus.

See Add and Configure Third Party Devices.

AKD2G Drive

Double-click an AKD2G to set its parameters.

See Configure the AKD / AKD2G Drive.

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

Double-click an AKD to set its parameters.

See Configure the AKD / AKD2G Drive.

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

Double-click an AKD-C to set its parameters.

See Configure the AKD / AKD2G Drive.

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

Double-click an AKD-N to set its parameters.

See Configure the AKD / AKD2G Drive.

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.

AKT (K-Bus) I/O Coupler

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

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 Troubleshooting about diagnosing the coupler LEDs.

AKT2G (EtherCAT) I/O Coupler

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

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.

I/O Slice

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

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.

Device

Double-click a Device to access its EtherCAT device configuration views.

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

Used to insert references into a project.

Each reference is a user-defined reference that links any kind of deliverable to your project.

See Use the Reference Folder.

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.

  • Double-click to open the Reference in the workspace.

Fieldbus

This item holds the Fieldbus Editor to configure the Ethernet/IP or Profinet fieldbuses.

See Fieldbus Editor.

HMI Device

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

Command

Description

Add KVB Project

Add a new KVB panel to the controller.

See HMI.

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

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.

SafePLC2 Project

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 SafePLC2 Projects.

Rename

Rename the SafePLC2 project.

  • Double-click the entry to open SafePLC2.