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National Instruments AKD EtherCAT Getting Started

How to install and configure the akd ethercat servo drive using the labview ni softmotion module
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Getting Started with AKD
EtherCAT Drives and the
LabVIEW NI SoftMotion
Module
This document describes how to install and configure the AKD EtherCAT servo drive using the
LabVIEW NI SoftMotion Module. The system uses either a CompactRIO Reconfigurable
Embedded system, a PXI system, or an NI Industrial Controller as the EtherCAT master, one or
more AKD EtherCAT servo drives, and the LabVIEW Development System.
If you encounter any problems during setup, refer to the
Tip
Troubleshooting
Contents
What You Need to Get Started ................................................................................................. 1
Hardware .......................................................................................................................... 1
Software............................................................................................................................ 2
Related Documentation .................................................................................................... 3
NI SoftMotion Module Overview ............................................................................................ 4
Hardware and Software Configuration..................................................................................... 4
Step 1: Set Up the CompactRIO System .......................................................................... 5
Step 2: Connect the AKD EtherCAT Drive ..................................................................... 8
Step 4: Creating a Project and Adding an NI SoftMotion Axis ....................................... 16
Step 6: Tune the System using Kollmorgen WorkBench................................................. 22
Step 7: Configure the AKD EtherCAT Servo Drive Axis................................................ 22
Step 8: Enable and Test the Drive using LabVIEW......................................................... 24
Configuring a PXI or Industrial Controller Master .................................................................. 25
Tips and Troubleshooting ......................................................................................................... 26
The Drive Does Not Enable.............................................................................................. 26
The Axis Does Not Appear To Move............................................................................... 27
The Drive Returns a Synchronization Fault or Warning.................................................. 27
Wiring Diagram ........................................................................................................................ 28
Worldwide Support and Services ............................................................................................. 29
®
™
section for assistance.
™
Tips and

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Related Manuals for National Instruments AKD EtherCAT

Summary of Contents for National Instruments AKD EtherCAT

  • Page 1: Table Of Contents

    ™ Module This document describes how to install and configure the AKD EtherCAT servo drive using the LabVIEW NI SoftMotion Module. The system uses either a CompactRIO Reconfigurable Embedded system, a PXI system, or an NI Industrial Controller as the EtherCAT master, one or more AKD EtherCAT servo drives, and the LabVIEW Development System.

  • Page 2: What You Need To Get Started

    LabVIEW 2010 Real-Time Module or later  LabVIEW 2010 NI SoftMotion Module or later  NI-RIO 3.5.0 or later  NI-Industrial Communications for EtherCAT 2.0 or later 2 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...

  • Page 3: Related Documentation

    NI SoftMotion Module with LabVIEW. To access this help file from LabVIEW, select Help»LabVIEW Help, then expand the LabVIEW NI SoftMotion Module book on the Contents tab. • NI Industrial Communications for EtherCAT software documentation. Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 3...

  • Page 4: Ni Softmotion Module Overview

    Host HMI and Axis Settings: NI SoftMotion LabVIEW Project APIs User VI NI SoftMotion NI SoftMotion APIs Motion Manager EtherCAT Supervisory EtherCAT Drive Control Drive Communication Module Trajectory Generator 4 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...

  • Page 5: Hardware And Software Configuration

    Refer to the Parameter Load/Save topic in the Using Parameters and the Terminal Screen section of the Kollmorgen WorkBench help for more information. Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 5...

  • Page 6: Step 1: Set Up The Compactrio System

    Slide the controller onto the controller slot on the chassis. Press firmly to ensure the chassis connector and the controller connector are mated. Using a number 2 Phillips screwdriver, tighten the two captive screws on the front of the controller. 6 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...
  • Page 7 Connect the secondary port of your EtherCAT Master directly to the X5 Motion Bus IN port (top port) on the AKD EtherCAT servo drive using a standard Category 5 Ethernet cable. The secondary port is the top port (LAN PORT #2). You may expand the deterministic Ethernet network by connecting an additional AKD EtherCAT drive or other slave devices to the X6 Motion Bus OUT port (bottom port) on the first AKD EtherCAT drive.

  • Page 8: Step 2: Connect The Akd Ethercat Drive

    Step 2: Connect the AKD EtherCAT Drive Figure 6 shows an overview of the connectors on the AKD EtherCAT servo drive. Figure 6. AKD EtherCAT Servo Drive Connectors 24 V Supply, STO (X1) Feedback (X10) Motor, Brake (X2) I/O Connector (X7)
  • Page 9 Connect the Logic Power Supply to the X1 Connector The +24 V power supply provides the logic power to the AKD EtherCAT servo drive. Complete the following steps to connect the +24 V power supply to the drive. Do not plug in or turn on the +24 V power supply until all required hardware Note connections are made.
  • Page 10 Connect the Motor and Encoder to the AKD Drive All AKM series servo motors available from NI come pre-wired for direct connection to the AKD EtherCAT servo drive X2 Motor connector and X10 Feedback connector. Figure 8 shows the location of the connectors.
  • Page 11 NI SoftMotion digital inputs and outputs are 0-based, while the digital inputs and outputs on the AKD EtherCAT servo drive are 1-based. This means that Digital Input 1 on the AKD corresponds to DI0 in the NI SoftMotion software. Table 1 shows the preset signal mapping for the AKD EtherCAT servo drive in the NI SoftMotion software.
  • Page 12 AKD Installation Manual for information about filter and fuse requirements. Figure 11 shows three-phase connection. Figure 11. AC Input Power Three-Phase Connection AKD Servo Drive Protective Protective Earth Earth User-Provided Filter (optional) 12 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...
  • Page 13 Interactive Test Panel dialog box or the Clear Faults method to clear the drive faults. AKD drive warnings are only displayed on the drive LED indicators and are not available through NI SoftMotion. Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 13...

  • Page 14: Step 3: Install Software On And Configure The Ni Rt Controller

    13. Select a recommended software set that includes NI-RIO 3.5.0 or later with NI Scan Engine Support and the following add-ons enabled: • LabVIEW NI SoftMotion Module • NI-Industrial Communication for Ethercat 14 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...
  • Page 15 When you have completed these steps the Network Settings tab will look similar to Figure 13. Figure 13. Network Settings Tab 19. Click Save. 20. Reboot the controller when prompted. 21. Close MAX. Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 15...

  • Page 16: Step 4: Creating A Project And Adding An Ni Softmotion Axis

    Project Explorer window and select Properties from the shortcut menu to display this dialog box. Click Continue. 11. In the LabVIEW Project Explorer window, right-click the master controller and select New»Targets and Devices. 16 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...
  • Page 17 Cycle time and Cycle exp settings, ignoring any values in the EtherCAT: Advanced:Initial Commands dialog box in the LabVIEW Project. These settings must match for proper communication between the drive and the EtherCAT master. Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 17...
  • Page 18 Figure 15. Figure 15. Axis Manager Dialog Box 16. Click Add New Axis to create an NI SoftMotion axis associated with the AKD EtherCAT drive. Axes are automatically bound to an available drive. You can double-click the axis name to rename the axis and give it a descriptive name.

  • Page 19: Step 5: Install Kollmorgen Workbench And Configure The Drive

    If the drive is not in the list, refer to the Configuring a PXI or Industrial Note Controller Master section of this document for possible solutions. Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 19...
  • Page 20 Figure 17 shows the Kollmorgen WorkBench Start page. Figure 17. Kollmorgen WorkBench Start Page Available Drives Specify Address Connect to Drive 20 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...
  • Page 21 Command Source Drive Active Indicator Operation Mode Software Enable Status Indicator Clear Faults Hardware Enable Status Indicator Save Configuration Settings to Drive 10 Fault Indicator Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 21...

  • Page 22: Step 6: Tune The System Using Kollmorgen Workbench

    Step 6: Tune the System using Kollmorgen WorkBench In this section you will tune the axis associated with your AKD EtherCAT servo drive using the Kollmorgen WorkBench. Kollmorgen WorkBench is software provided by Kollmorgen that allows you to configure your AKD servo drive, such as maximum motor current, encoder resolution, and I/O scaling.
  • Page 23 The Position Error Limit, set on the Position Loop page, will always be Note deployed to the drive regardless of your deployment selection. Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 23...

  • Page 24: Step 8: Enable And Test The Drive Using Labview

    If the motor is already connected to a mechanical system, ensure that moving the motor shaft for 10 revolutions at 1 revolution per second will not damage any components. 24 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...

  • Page 25: Configuring A Pxi Or Industrial Controller Master

    AKD EtherCAT servo drive using a standard Category 5 Ethernet cable. You may expand the deterministic Ethernet network by connecting an additional AKD EtherCAT drive or other slave devices to the OUT port (bottom port) on the first AKD EtherCAT drive.

  • Page 26: Tips And Troubleshooting

    Disable Legacy USB Support in the PXI master PC BIOS, if it is enabled. Tips and Troubleshooting The Drive Does Not Enable If, after going through all steps in this document, the AKD EtherCAT servo drive does not enable, verify the following settings: •...

  • Page 27: The Axis Does Not Appear To Move

    Change to Configuration button and attempt to add the AKD EtherCAT servo drive again. The Drive Returns a Synchronization Fault or Warning Verify the following settings if the AKD EtherCAT drive returns fault or warning code 125 (Synchronization Lost): •...

  • Page 28: Wiring Diagram

    Participant Motion Bus Out Mains Contactor Encoder Encoder Evaluation Emulation Service TCP/IP PE–Connection (Protective Earth) L1 L2 L3 PE Chassis Ground Connection (Panel) Shield Connection Via Plug 28 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion...

  • Page 29: Worldwide Support And Services

    For telephone support outside the United States, visit the Worldwide Offices section of to access the branch office websites, which provide up-to-date contact ni.com/niglobal information, support phone numbers, email addresses, and current events. Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 29...
  • Page 30 For patents covering NI products/technology, refer to the appropriate location: Help»Patents in your software, the patents.txt file on your media, or the National Instruments Patents Notice at ni.com/patents. You can find information about end-user license agreements (EULAs) and third-party legal notices in the readme file for your NI product.

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