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Attached are a number of template programs for the KAS IDE for 1, 4, and 6 axes. They are extensions of the 2 Axis demo projects for the Structured Text, Ladder Diagram, and Sequential Function Chart programming languages that are included in the KAS IDE development software. They also contain a base Kollmorgen Visualization Builder program for a 7" HMI panel, as well as built in control panels to command single axis jog/relative/absolute move commands or do gearing functions at set ratios with axis 1 acting as a master axis.

Attached is the :

- Getting Started Sheet

- Demo Manual

for the KAS 2 axis demo trainer.


The following procedure outlines setting up Modbus RTU communications between the AKI HMI and a third party device.  With a Modbus TCP/IP connection between the PxMM and the same AKI HMI this configuration allows data to be transferred between the ModBus RTU device and the PxMM


Select “Other Modbus Devices” check box in the IDE Controller Configuration

The following document outlines the EtherCAT based networks that KAS supports and key parameters that define each of the  network.

The udpSendToVar and udpRcvFromVar functions  (starting in soon to be released KAS version 2.11)can be use to read and write variables via UDP to and from a PxMM.  The other device can be a PDMM or a third party device. In this example, for ease of testing, data was sent back to the same PDMM with Address using UDP port # 20.

The attached project can be run in a single PDMM and shows the 2 way communications.

Send Program in the project: UDP_Send

This article and attached sample KAS project show how to use PLCopen function blocks to teach a position so that an axis with an absolute feedback device will not need to run a home routine to move to a sensor or hard stop each time you power up a machine. In this example, Axis1 does not have rollover turned on so it would be a good example for a motor with a multi-turn absolute feedback device with linear mechanics connected to it.

The following pertains to applications using the KAS PxMM controller with AKD drives. It contains relevant information you may need to know when setting up position capture with the PLCopen motion engine

KAS can use 1 or both capture engines inside the AKD drive to full fill the needs of an application. There is information on this in the KAS IDE manual. To access the information do a word search on capture.

Key concepts to remember when setting up the position capture with PLCopen Motion:

Often it is useful to store or send multiple values to the PxMM organized into one string. The following program takes the string (DataLine) with values separated by commas and place them in the  array ( Values):



The program is attached. To test the program import into a .kas project and run the project in the  KAS simulator or KAS controller.

This document details a KAS 2 axis simulated rotary knife application with virtual master and registration operation.

The axes are as follows:

  • Axis 1: Feed Conveyor
  • Axis 2: Rotary Knife
  • Axis 3: Virtual Master (Simulated)


The following mechanics was used to create the simulated rotary knife application:



Attached is a sample program showing basic UDP communications between two KAS PxMM controllers. The concepts here can easily be applied to communicating between a PxMM controller and a PC or other non-Kollmorgen product.

With PxMM UDP communications: