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The attached KAS projects are blank templates for users that want to start completely from scratch. They do not have sample code, control panels, and KVB projects that other template programs built into the KAS IDE software have. They only contain calls to subprograms that are available at this KDN page (https://www.kollmorgen.com/en-us/developer-network/initialize-ethercat-communication-and-motion-engine/) and will call initialization code to build any cam profiles, PLCopen axis, and Pipenetwork blocks setup in the Project Explorer of the KAS IDE software.

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:

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Motion Engine PipeNetwork:

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Below is a video showing the steps to create a new PLCopen axis in the KAS IDE. First you will add an axis by right clicking the PLCopen section in the Project Explorer. After giving the new axis a name, you can open a pop-up window to modify the default axis settings. First, you can select if it is a servo axis that will be mapped to an AKD drive, a virtual axis, or a digitizing axis mapped to an external encoder. Then, you can setup the user units per rev for the axis with the ratio formed between the User Units and Drive Interface Unis parameters.

The following are the steps to recover from  EtherCAT error E30 and enable the drives for motion.

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.

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.

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:

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The attached KAS project contains a Registration example used on a real machine. It is a two axis program that uses PLCopen motion functions. It will not work with the simulator because the MC_TouchProbe function block uses the position capture engine of an AKD drive to provide a latched position. No variables need to be mapped to onboard I/O and everything can be run from the built in Control Panel. For offline reference there is a write-up inside of the KAS project included as comments in the ProgramDescription program.



This KAS project contains a PLCopen program meant to be used with our 2 Axis PDMM Demo hardware.  Inside it also has a KVB project for our 7 in CDA HMI panel to control everything and show off advanced features such as recipe handling, multiple language support, and trending.  Quick way to show users how to program in structured text or ladder logic, along with how easy it is to create an HMI project with automatic modbus address creation.