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File Description: 
KAS Runtime Firmware for PCMM. Note: PCMM Runtime version and KAS IDE version must be identical (e.g. both must have version 2.12.x.zzzz).
Language: 
English
Release: 
2.12
Release Date: 
Monday, February 5, 2018
File Description: 
KAS Runtime Firmware for PCMM. Note: PCMM Runtime version and KAS IDE version must be identical (e.g. both must have version 2.12.x.zzzz).
Language: 
English
Release: 
2.12
Release Date: 
Monday, February 5, 2018
File Description: 
This manual provides information for the safe installation and setup of the PCMM Motion Controller. Includes general information, safety, handling, setup, troubleshooting, mechanical and electrical data.
Language: 
English
French
German
Italian
Portuguese, Brazil
Russian
Spanish
Release: 
Release Date: 
Tuesday, February 6, 2018

Method 1: Add CPS.Control Object 3000 to the PDO mappings

Example:

image

Then map the Object to a Dictionary variable in the project. Example below shows mapping  CPS.Controls to a PLC variable named CPSControl

image

If two or more PCMM networks have to follow the same position set point, it's possible to use the following strategy.

The image below shows a typical configuration where all the AKD drives must follow the same position set point:

image

Orange connection is a physical pin-to-pin cable between X9 ports (encoder like wiring).

The strategy consists to declare one MASTER within the PCMM 1 program and sent its output to X9 port of one AKD (like an encoder emulation), e.g. the AKD 1_3.

Many applications require a number of axis so high that it's not possible to use one PCMM only.

In order to get over this limitation it's possible to use more controllers with the benefits of exchanging data between them.

There are three chances available:

  1. EthernetIP with one PCMM as adapter and others as scanners;
  2. Profinet IO with one PCMM as controller and others as devices;
  3. UDP with one PCMM as server and others as client.

The choice depends on the requested performance.

The PxMM can control the AKD drive in Position, Velocity, or Torque OpMode. The default AKD Drive OpMode in a KAS program is Interpolated Position Mode. This is AKD Opmode 2 as shown on the drive's front LED Display. To precisely control motor torque independent of position or velocity, in some applications it is desired to configure  the drive for Torque Mode operation which is AKD Opmode 0, as shown on the drive's front LED Display.

This raw video shows one way to integrate a stepper motor control into a KAS EtherCAT Network.  It is done by integrating a P6000 stepper driver into a KAS EtherCAT Network via  an EBUS  EL2521 Pulse output slice module.  The  .kas  project file is attached.

Series of three videos showing how to add camming to a PLCopen project in the KAS IDE with a PDMM or PCMM controller. The first video shows how to use the cam creation tool in the KAS IDE to create a cam profile by specifying master and slave points. The second video shows adding the MC_CamTblSelect function block in PLC code and selecting the cyclic, master absolute, and slave absolute options. The third video shows adding the MC_CamIn function block, filling in the inputs and outputs, and finally running your project to see the cam profile run on an axis in the simulator.

There are a number of KDN articles that contain videos, application notes, and demo programs to teach new users or refresh experienced users how certain features work. Below are links to these articles separated into sections based on the type of media they contain.

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