Getting Started with AKD EtherCAT Drives and the LabVIEW NI SoftMotion Module
Contents
What You Need to Get Started
Hardware
Software
Figure 1. AKD EtherCAT Servo Drive Connection Diagram
Related Documentation
NI SoftMotion Module Overview
Figure 2. NI SoftMotion and AKD EtherCAT Servo Drive Architecture
Hardware and Software Configuration
Step 1: Set Up the CompactRIO System
Figure 3. Installing the Controller on the Chassis (Eight-Slot Chassis Shown)
Figure 4. Connecting the AKD EtherCAT Drive to the Network
Figure 5. AKD X5 and X6 Motion Bus Connectors
Step 2: Connect the AKD EtherCAT Drive
Figure 6. AKD EtherCAT Servo Drive Connectors
Mount the Drive and Connect the Protective Earth
Connect the Logic Power Supply to the X1 Connector
Figure 7. AKD X1 Connector
Connect the Hardware Enable on the X8 Connector
Connect the Motor and Encoder to the AKD Drive
Figure 8. Motor and Encoder Connections
Connect Additional I/O On the X7 and X8 Connectors
Figure 9. AKD X7 and X8 Connectors
Table 1. AKD to NI SoftMotion Signal Mapping
Connect the AC Input Power
Figure 10. AKD EtherCAT Servo Drive X3 Connector
Figure 11. AC Input Power Three-Phase Connection
Figure 12. AC Input Power Single-Phase Connection
Confirm Drive Connections
Step 3: Install Software on and Configure the NI RT Controller
Figure 13. Network Settings Tab
Step 4: Creating a Project and Adding an NI SoftMotion Axis
Figure 14. Adding the EtherCAT Master
Figure 15. Axis Manager Dialog Box
Figure 16. Project Explorer Window with AKD EtherCAT Servo Drive Axis
Step 5: Install Kollmorgen WorkBench and Configure the Drive
Figure 17. Kollmorgen WorkBench Start Page
Figure 18. Kollmorgen WorkBench Overview Page
Step 6: Tune the System using Kollmorgen WorkBench
Step 7: Configure the AKD EtherCAT Servo Drive Axis
Figure 19. Axis Configuration Dialog Box for AKD EtherCAT Servo Drives
Step 8: Enable and Test the Drive using LabVIEW
Configuring a PXI or Industrial Controller Master
Figure 20. Connecting the AKD EtherCAT Drive to the Network
Figure 21. AKD X5 and X6 Motion Bus Connectors
Tips and Troubleshooting
The Drive Does Not Enable
The Axis Does Not Appear To Move
The Drive Is Not Automatically Added to the LabVIEW Project
The Drive Returns a Synchronization Fault or Warning
Wiring Diagram
Figure 22. AKD Wiring Diagram
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