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With KVB, recipe data will get lost when adding/removing tags or changing data types on tags (variables). The following procedure outlines how to save the data for use with the changed layout:

Connecting to the PDMM

When connecting to a device for the first time, it is often confusing how to set up the initial communications.  Well, the PDMM and the IDE software for KAS make this task relatively simple.  There is nothing difficult about it once you know where to start.

1. Rotary Switch

Start with a pre-configured static IP address using the rotary switch (S1) positions 2 through 9.  These give IP addresses of 192.168.0.(100+S1).  So for switch position 3, the IP address is 192.168.0.103.

File Description: 
KAS Runtime Firmware for AKD PDMM. Note: PDMM 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: 
Tuesday, February 6, 2018
File Description: 
KAS Runtime Firmware for AKD PDMM. Note: PDMM 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: 
Tuesday, February 6, 2018

A crash can occur when creating a new project and there is no default printer selected on the PC. The workaround is  to set a default printer. Here is the procedure for selecting a default printer:

1. Click on the Start button and type Printers.

2. Click on the Printers & scanners system settings item.

3. Click on a printer, such as Microsoft Print to PDF.

4. Click on the Manage button.

5. Click on the Set as Default button.

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

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.

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