Labview_AKD_EtherCAT_通讯设置

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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.

Tip If you encounter any problems during setup, refer to the Tips and

Troubleshooting section for assistance.

Contents

What You Need to Get Started ................................................................................................. 2

Hardware .......................................................................................................................... 2

Software............................................................................................................................ 2

Related Documentation .................................................................................................... 3

NI SoftMotion Module Overview ............................................................................................ 4

Hardware and Software Configuration..................................................................................... 5

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

™

Getting Started with AKD EtherCAT Drives and NI SoftMotion | © National Instruments | 3

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.

• 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

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

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