National Instruments AKD EtherCAT Manuale utente
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.
Tip If you encounter any problems during setup, refer to the Tips and
Troubleshooting section for assistance.
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 3: Install Software on and Configure the NI RT Controller..................................... 14
Step 4: Creating a Project and Adding an NI SoftMotion Axis ....................................... 16
Step 5: Install Kollmorgen WorkBench and Configure the Drive ................................... 19
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 Is Not Automatically Added to the LabVIEW Project ................................... 27
The Drive Returns a Synchronization Fault or Warning.................................................. 27
Wiring Diagram ........................................................................................................................ 28
Worldwide Support and Services ............................................................................................. 29
®
™
™
2|ni.com |Getting Started with AKD EtherCAT Drives and NI SoftMotion
What You Need to Get Started
Caution Before installing the drive, review Chapter 2, Safety, in the AKD
Installation Manual that shipped with the drive. Failure to follow safety instructions
may result in injury or damage to equipment.
You need the following items to get started.
Hardware
NI Real-Time Controller:
• NI Real-Time CompactRIO controller with two Ethernet ports
• NI Real-Time PXI embedded controller with two ethernet ports. If your controller
does not meet this requirement, install one of the following Ethernet PXI modules for
EtherCAT use:
– NI PXI-8231
– NI PXI-8232
• NI Industrial Controller
+24 VDC power supply for the CompactRIO controller or Industrial Controller
(not applicable for PXI controllers)
+24 VDC power supply for the AKD EtherCAT servo drive
Note Check your hardware documentation for power supply requirements.
Ethernet connection and cable for the RT controller
Ethernet cable and EtherCAT connection for the AKD EtherCAT servo drive
AKD EtherCAT servo drive and associated AKM series servo motor and encoder
Note Refer to ni.com for information about AKD EtherCAT servo drive and
AKM series servo motor compatibility.
Software
LabVIEW 2010 or later
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
Getting Started with AKD EtherCAT Drives and NI SoftMotion |© National Instruments |3
Note For more information about downloading and getting started with EtherCAT
hardware drivers, go to ni.com/info and enter Info Code ecatdriver.
Note Refer to the NI SoftMotion ReadMe to ensure the installed version of
NI-Industrial Communications for EtherCAT is compatible with your installation of
the NI SoftMotion module.
Figure 1 shows a simplified connection diagram.
Figure 1. AKD EtherCAT Servo Drive Connection Diagram
Related Documentation
The following documents contain additional information that you may find helpful. All
referenced documents ship with the product and are available at ni.com/manuals.
•AKD Installation Manual—Use this document to learn additional information about the
electrical and mechanical aspects of the AKD EtherCAT servo drive, including important
safety information.
• Documentation for the CompactRIO or PXI controller (shipped with the hardware and
available at ni.com/manuals).
•LabVIEW NI SoftMotion Module Help—Use this help file to learn about using the
NI SoftMotion Module in LabVIEW including information about programming with and
using the 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.
AKD EtherCAT
Servo Drive
NI RT Controller
(NI cRIO-9074 shown)
+24 V Power Supply
(NI PS-15 Shown)
Additional AKD
Servo Drives
(Optional)
EtherCAT Master
EtherCAT
EtherCAT
+24 V Power
Supply
EthernetEthernet
4|ni.com |Getting Started with AKD EtherCAT Drives and NI SoftMotion
•LabVIEW Help—Use the LabVIEW Help to access information about LabVIEW
programming concepts, step-by-step instructions for using LabVIEW, and reference
information about LabVIEW VIs, functions, palettes, menus, tools, properties, methods,
events, dialog boxes, and so on. The LabVIEW Help also lists the LabVIEW documentation
resources available from National Instruments. Access the LabVIEW Help by selecting
Help»LabVIEW Help.
•Getting Started with the LabVIEW Real-Time Module—Use this document to learn how to
develop a real-time project and VIs, from setting up RT targets to building, debugging, and
deploying real-time applications. Access the Getting Started with the LabVIEW Real-Time
Module PDF by selecting Start»All Programs»National Instruments»LabVIEW»
LabVIEW Manuals»RT_Getting_Started.pdf.
NI SoftMotion Module Overview
The LabVIEW NI SoftMotion Module allows you to create deterministic motion control
applications using the LabVIEW Development System.
The following figure shows the NI SoftMotion Module architecture when you are using
NI SoftMotion with the AKD EtherCAT servo drive.
Figure 2. NI SoftMotion and AKD EtherCAT Servo Drive Architecture
Motion Manager
Trajectory
Generator
Supervisory
Control
Host HMI and
AxisSettings:
LabVIEW Project
Windows RT Target
User VI
NI SoftMotion
APIs
NI SoftMotion
User VI
NI SoftMotion
APIs
EtherCAT
Drive
Communication
Module
EtherCAT
Drive
EtherCAT Drive
Getting Started with AKD EtherCAT Drives and NI SoftMotion |© National Instruments |5
Use the LabVIEW Project to configure all your axis settings and test your configuration. When
your hardware configuration is complete, you use NI SoftMotion to create move profiles. Refer
to the NI SoftMotion Module Help, available by selecting Help»LabVIEW Help, for
information about using the NI SoftMotion Module to create motion applications. Use the
NI Example Finder to browse and search installed NI SoftMotion Module examples. Select
Help»Find Examples to launch the NI Example Finder.
Hardware and Software Configuration
This section covers the hardware and software setup for the EtherCAT master and
AKD EtherCAT servo drive, and contains instructions about using the NI SoftMotion Module
to configure and test your system.
Note This document uses a CompactRIO controller as the EtherCAT master. Refer
to Configuring a PXI or Industrial Controller Master for setup instructions for those
devices.
The following procedure assumes the device is configured with the factory default settings it
shipped with. If the device has been previously configured, use Kollmorgen WorkBench
software to restore it to the default settings before proceeding. Refer to the Parameter Load/Save
topic in the Using Parameters and the Terminal Screen section of the Kollmorgen WorkBench
help for more information.
6|ni.com |Getting Started with AKD EtherCAT Drives and NI SoftMotion
Step 1: Set Up the CompactRIO System
Complete the following steps to set up the CompactRIO hardware.
1. Install the real-time CompactRIO controller on the chassis if you are not using an integrated
controller and chassis.
Note Write down the controller serial number before installing the controller onto
the chassis. You will be unable to read the serial number after you have mounted the
controller.
a. Make sure that no power is connected to the controller or the chassis.
b. Align the controller with the chassis as shown in Figure 3.
Figure 3. Installing the Controller on the Chassis (Eight-Slot Chassis Shown)
c. Slide the controller onto the controller slot on the chassis. Press firmly to ensure the
chassis connector and the controller connector are mated.
d. Using a number 2 Phillips screwdriver, tighten the two captive screws on the front of
the controller.
1 Controller
2CaptiveScrews
3 Controller Slot
4 Reconfigurable Embedded Chassis
5 Grounding Screw
1
4
3
5
2
Getting Started with AKD EtherCAT Drives and NI SoftMotion |© National Instruments |7
2. Connect the controller to a power supply and an Ethernet network on the same subnet as
the development computer. Refer to the controller operating instructions for information
about connecting the controller to the power supply and Ethernet network.
Note Do not plug in or turn on any power to the system until after all required
hardware connections are made.
3. 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.
Figure 4. Connecting the AKD EtherCAT Drive to the Network
The LED indicators on the AKD Motion Bus IN and Motion Bus OUT ports display the
communication status. Figure 5 shows the LED indicators on the X5 and X6 connectors.
Figure 5. AKD X5 and X6 Motion Bus Connectors
Additional
AKD EtherCAT Drive/Slave Devices
AKD EtherCAT Drive
NI Master Controller
Host
Computer
Secondary
Primary
IN (X5)
OUT (X6)
EtherCAT
Ethernet
Not currently used
X5
X6
IN port link
(on = active, off = inactive)
Run
(on = running, off= not running)
OUT port link
(on = active, off = inactive)
8|ni.com |Getting Started with AKD EtherCAT Drives and NI SoftMotion
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
Mount the Drive and Connect the Protective Earth
1. Mount the drive to a conductive metal plate. Refer to the AKD Installation Manual for
dimensions and additional information specific to the drive model.
2. Connect the protective earth (PE) to either ground screw on the drive grounding lug.
Figure 6 shows the location of the grounding lug on the drive.
1 24 V Supply, STO (X1)
2 Motor, Brake (X2)
3 AC Input Power (X3)
4 Encoder Emulation (X9)
5 Drive Grounding Lug
6 Feedback (X10)
7 I/O Connector (X7)
8 I/O Connector (X8)
9 Motion Bus OUT (X6)
10 Motion Bus IN (X5)
1
2
36
10
8
5
7
9
4
Getting Started with AKD EtherCAT Drives and NI SoftMotion |© National Instruments |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.
Note Do not plug in or turn on the +24 V power supply until all required hardware
connections are made.
1. Connect the +24 V power supply (+) terminal to the +24 terminal on the AKD X1
connector.
2. Connect the +24 V power supply return (-) terminal to the GND terminal on the AKD X1
connector.
3. Connect the STO terminal and GND terminal to the output of a safety relay or security
control. The safety relay must comply with the requirements of the SIL 2 according to
IEC 61800-5-2, PL d according to ISO 13849-1, or Category 3 according to EN-954. Refer
to the AKD Installation Manual for more information.
Note If the STO functionality is not required, connect the STO terminal directly to
the +24 terminal on the AKD X1 connector to bypass any external safety circuitry.
Figure 7 shows the AKD EtherCAT servo drive X1 connector pinout.
Figure 7. AKD X1 Connector
Connect the Hardware Enable on the X8 Connector
The Enable input (X8, pin 4) requires external connection to enable the output stage on the drive.
The enable signal allows either a sinking or sourcing configuration. Refer to Figure 9 for the X8
connector pinout. Refer to Chapter 8, Electrical Installation, in the AKD Installation Manual for
connection information.
1
2
3
+24
GND
STO
Safety Relay
or
Security Control
Interlock
10 |ni.com |Getting Started with AKD EtherCAT Drives and NI SoftMotion
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.
1. Connect the motor 6-pin connector to the AKD EtherCAT servo drive X2 Motor connector.
Note The X2 connector also provides connection for the drive to control the +24 V
holding brake for motors that have a brake. Refer to the AKD Installation Manual for
information about the holding brake if your motor contains an internal brake.
2. Connect the motor DSUB feedback connector to the AKD EtherCAT servo drive X10
Feedback connector.
Figure 8. Motor and Encoder Connections
1 Motor Connector (X2) 2 Feedback Connector (X10)
1
2
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