National Instruments AKD EtherCAT Getting Started

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.

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

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

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Note For more information about downloading and getting started with EtherCAT

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

+24 V Power

Supply

EthernetEthernet

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

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

4 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion

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 th e 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

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)

1 Controller 2Captive Screws 3 Controller Slot

4 Reconfigurable Embedded Chassis 5 Grounding Screw

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.

6 | ni.com | Getting Started with AKD EtherCAT Drives and NI SoftMotion

2. Connect the controller to a power supply and an Ethernet network on the same subnet as

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

IN port link (on = active, off = inactive)

Run (on = running, off= not running)

OUT port link (on = active, off = inactive)

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

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

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)

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.

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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

+24

Interlock

Safety Relay

Security Control

1 2

GND

STO

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.

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