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Sometimes in a KAS Application Analog IO is required. Analog IO is available through the EtherCat Network and can can come from the AKD, PDMM, or ATI remote IO. Scaling of the signal is as follows:

  1. The attached kUDFB named MLFB_AKDFAULT_5 will report up to 5 errors when called with an AKD servo axis using PipeNetwork Motion.

The following code shows calling the kUDFB then reading the  present drive faults of 2 different AKD drives:

The outputs to a function block call can also be looked at in the IDE watch window:




The KAS IDE includes a series of basic starter templates:


Templates are accessible in the IDE as follows:

Then select a controller type:

The attached documents ,  including the application program, detail using the PDMM controller/amplifier in a label application.

In a KAS project, the following outlines reading a thermocouple temperature in units of 0.1 Degrees C from a AKT-AN-200 or AKT-AN-400 slice I/O module. Note: Reading this note will help you get started working through other AKT thermocouple setups.

First set up the thermocouple including linking to a parameter in the project dictionary, using this screen in the IDE:

Typically in many applications, homing motion is done first, and  then addition motion related to manual or automatic modes of operation.

In the pipe network homing is typically done at the axis level with Axis block function calls before a pipe is connected to the axis block. Once a pipe is connected to the axis then the axis motion is a sum of the Axis motion plus the motion that comes through the as shown here:



The attached sample .kas project contains a program (SaveVarsToFlash) that stores application variables into a .csv file located on the PCMM/PDMM's internal FLASH memory or removable SD card.

Steps to accomplish this wih FLASH memory  are:

1. Create a text file  (Example: ListOfVariablesToRead.txt) containing the names of the variables having their values stored. Store this file on the  same PC containing the IDE.  Example:

The attached sample .kas project contains a program (SaveVarsToSDcard) that stores application variables in a .csv file on the PDMM SD card:

//Load variable names (VAR1,VAR2,VAR3, and VAR4) from file on development PC
ON FileConnect DO
   ID_LogFile := VLID ('c:\MyFileTest.txt');

//Store variable values to a csv file on the PDMM SD card

Attached is a demo program that contains two subprograms to import data from a file on a PDMM SD card, or export data from an array to the SD card. This data can then be used to build a cam profile in the program and update the motion on the slave axis while everything is running. I also like to note that the file import/export functions can be a large burden on the PDMM processor and we do not recommend to have axes moving while using the functions. Best that you do all of your reading/writing before starting machine processes.

Is it possible to map an instance of a structure to any hard I/O point in KAS?  There doesn't appear to be a way but thought I would ask.

If not, is there a reason why?  I would like to post this as a feature request but wasn't sure if there was a good reason behind it.