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Not so long ago I bought Programmable Controller, Multi-axis Master (PCMM) and now I'm starting to learn it.

I have a task to simultaneously control two axes in real time. 

How can PCMM help me with this? How should I use it?

I think about EtherCAT multi-axis master and motion controller but I never worked with it. Should i use this?

I do not need stand-alone control. I want to control the axes using a PC.

I have two linear axes: the x-axis and the y-axis. For example, how can I draw a circle?

The touch probe feature of EtherCAT is simply a position capture.  In fact, it uses the position capture feature in the AKD.  When touch probe is set up and enabled, it automatically configures and arms the AKD’s position capture.  There are two touch probes available, corresponding to CAP0 and CAP1 in the AKD.  Each touch probe is configurable to use the positive edge, negative edge, or both.  There is a status word indicating the enable status of each Touch Probe and whether each edge has been triggered.

Any ideas why this doesn't work?  PCMM, AKD on EtherCAT, v3 of KAS IDE.


AKD2G Firmware AKD2G_01-90-13-000



Help setup the AKD2G in DS402 Profile Velocity mode. 

File Description 
This manual describes the installation, setup, range of functions and software protocol of the EtherCAT interface for SERVOSTAR 300 (S300), SERVOSTAR 400 (S400), SERVOSTAR 600 (S600) and S700 servo amplifiers and a reference for all commands which are used by these servo amplifiers.
Release Date 
Wednesday, December 5, 2018

A new KAS project can be built starting from the available templates.

However the user can decide to build an empty project: in this case, it's possible to add the following functions for ETC and Motion Engine initialization.

Motion Engine PLCOpen:


Motion Engine PipeNetwork:


With this EtherCAT Opmode, the trajectory generator is located in the control device, not in the AKD drive. In cyclic synchronous manner, the EtherCAT master provides a target velocity to the drive, which performs velocity control and torque control. If desired, the position control loop may be closed over EtherCAT.  Optionally, additive velocity and torque values may be provided by the control system in order to allow a second source for velocity and/or a torque feed forward. Measured by sensors, the drive device may provide actual values for position, velocity and torque to the control device.

The attached paper reviews options that are available for Ethernet and non-Ethernet connections within a motion controller. It begin with a summary of what information can be transferred in and out of the motion controller followed by network and non-network examples for communicating data. Finally, the factors that need to be considered to choose the right one. Through the paper details on KAS PxMM controller setup and implementation are included.

The following link points to an example from the KAS Online Help which shows how to add a physical I/O slice to an existing project.

EtherCAT Scan & Association - Adding Physical I/O Slices