External Encoder with KAS (PDMM) Project
In a PLCopen project you can create a new axis for an Encoder master. In the axis setup popup screen, change the type to Digitizing, change the interface to EtherCAT, and the address to be 1001 if the encoder is going to be connected to the PDMM which is the first EtherCAT device (or 1002 for the second, 1003 for third, and so on)
You can then create a new Axis_ref variable in your dictionary and assign the axis number to the same as the digitizing axis (from the above setup screen it would be 3). You can then use many of the built in PLCopen functions with this encoder axis. MC_ReadActPos and MC_ReadActVel will work, and you can use the MC_GearIn function with your servo axis as the slave and the encoder axis as the master to have it follow at a set gearing ratio. You can use a MC_CamIn as well with the encoder axis being the master and the a servo slave axis following a cam profile.
You will also have to setup the encoder settings through workbench in the Feedback 2 screen to set the resolution of the encoder.
Also, if there is no Z-channel in your encoder you might get some drive faults associated with the secondary feedback signal. Instead of having to modify your cable to jumper Z channel wires, you can instead go to the terminal screen of AKD workbench and modify the setting for FAULT130.ACTION (or fault 131, 132, etc.) and change the setting to 1 in order to ignore this fault.