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Kollmorgen Automation Suite
KAS v2.6 30 Minutes to Motion
Edition December 2012, Built on Tuesday, December 18, 2012
Valid for Software Revision 2.6
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users / owners of the product.
30 Minutes to Motion | Trademarks and Copyrights
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Trademarks and Copyrights
Copyrights
Copyright © 2009-12 Kollmorgen™
Information in this document is subject to change without notice. The software package described in this document is furnished under a license agreement or nondisclosure agreement. The software may be used or copied only in accordance with the terms of those agreements.
This document is the intellectual property of Kollmorgen™ and contains proprietary and confidential information. The reproduction, modification, translation or disclosure to third parties of this document (in whole or in part) is strictly prohibited without the prior written permission of Kollmorgen™.
Trademarks
KAS and AKD are registered trademarks of Kollmorgen™.
SERVOSTAR is a registered trademark of Kollmorgen™.
Kollmorgen™ is part of the Danaher Motion company.
Windows® is a registered trademark of Microsoft Corporation
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH.
EtherCAT® is registered trademark of Ethercat Technology Group.
PLCopen is an independent association providing efficiency in industrial automation.
INtime® is a registered trademark of TenAsys® Corporation.
Codemeter is a registered trademark of WIBU-Systems AG.
Kollmorgen Automation Suite is based on the work of: l l l l l l l l l l l l l
Apache log4net library for output logging (distributed under the Apache License).
bsdtar and libarchive2, a utility and library to create and read several different archive formats (distributed under the terms of the BSD License).
bzip2.dll, a data compression library (distributed under the terms of the BSD
License).
Curl software library
DockPanel Suite, a docking library for .Net Windows Forms (distributed under the MIT
License).
FileHelpers library to import/export data from fixed length or delimited files.
GNU gzip
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(www.gnu.org) is used by the PDMM (distributed under the terms of the
GNU General Public License http://www.gnu.org/licenses/gpl-2.0.html).
GNU Tar
2
(www.gnu.org) is used by the PDMM (distributed under the terms of the
GNU General Public License http://www.gnu.org/licenses/gpl-2.0.html).
jQuery File Tree, a file browser plugin (distributed under the MIT License).
JsonCpp software (distributed under the MIT License – see http://jsoncpp.sourceforge.net/LICENSE for terms)
Mongoose software (distributed under the MIT License)
MVVM Light Toolkit components for Model – View –ViewModel patterns with Windows Presentation Foundation (distributed under the MIT License).
Qwt project (distributed under the terms of the GNU Lesser General Public License)
1
Copyright (C) 2007 Free Software Foundation, Inc. Copyright (C) 1993 Jean-loup Gailly. This is free software. You may redistribute copies of it under the terms of the GNU General Public License <http://www.gnu.org/licenses/gpl.html>. There is NO WARRANTY, to the extent permitted by law. Written by Jean-loup Gailly.
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Copyright (C) 2007 Free Software Foundation, Inc. License GPLv2+: GNU GPL version 2 or later
<http://gnu.org/licenses/gpl.html> This is free software: you are free to change and redistribute it. There is NO
WARRANTY, to the extent permitted by law. Written by John Gilmore and Jay Fenlason.
Kollmorgen™ | January 2012
30 Minutes to Motion | Disclaimer l l l
U-Boot, a universal boot loader is used by the AKD-PDMM (distributed under the terms of the GNU General Public License, http://www.gnu.org/licenses/gpl-2.0.html).
The U-Boot source files, copyright notice, and readme are available on the distribution disk that is included with the AKD-PDMM.
ZedGraph class library, user control, and web control for .NET (distributed under the
LGPL License).
Zlib software library l
Zlib1.dll, a data compression library (distributed under the terms of the BSD License).
All other product and brand names listed in this document may be trademarks or registered trademarks of their respective owners.
Disclaimer
The information in this document (Version 2.6 published on 12/18/2012) is believed to be accurate and reliable at the time of its release. Notwithstanding the foregoing,
Kollmorgen assumes no responsibility for any damage or loss resulting from the use of this help, and expressly disclaims any liability or damages for loss of data, loss of use, and property damage of any kind, direct, incidental or consequential, in regard to or arising out of the performance or form of the materials presented herein or in any software programs that accompany this document.
All timing diagrams, whether produced by Kollmorgen or included by courtesy of the
PLCopen organization, are provided with accuracy on a best-effort basis with no warranty, explicit or implied, by Kollmorgen. The user releases Kollmorgen from any liability arising out of the use of these timing diagrams.
Kollmorgen™ | January 2012 3
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30 Minutes to Motion | Table of Contents
Table of Contents
Kollmorgen Automation Suite
Trademarks and Copyrights
Table of Contents
1 Key Features
2 Installing KAS IDE
3 Exploring KAS Workspace
4 Creating Application
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30 Minutes to Motion | Table of Contents
Global Support Contacts
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30 Minutes to Motion | 1 Key Features
1 Key Features
Kollmorgen Automation Suite is Kollmorgen an all-in-one solution for designing, developing and maintaining automation systems. It integrates the three main functionalities of a machine: l l l
Interface with machine operators (HMI)
Logic handling of the machine (IEC 61131-3 Soft PLC)
Precise control of all moving parts (Motion control)
1.1 KAS IDE
KAS comes with a powerful Integrated Development Environment (IDE) which allows you to: l l l l l
Create new application project using KAS predefined or custom application tem- plates
Define the machine hardware architecture as well as the machine program
Develop PLC programs using the five IEC 61131-3 programming languages (ST, IL,
FFLD, FBD and SFC) and KAS function block libraries dedicated to motion
Centrally manage all IEC 61131-3 variables with KAS variable dictionary and map logical variables to physical inputs and outputs
Easily set up HMI panels and map graphical object to IEC 61131-3 variables
1.2 Main Tools
Tool
Pipe Network Editor
Cam profile Editor
Softscope
Simulator
Description
Graphical tool describing the mechanical System into the logical world based on an one to one translation
Allows you to create or modify a profile definition that describes the position evolution of the cam in a 2D graphical format
Allows to view in a two-dimensional graph one or more variables' evolution (vertical axis) across the time (horizontal axis)
Allows you to develop your application without any hardware available
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30 Minutes to Motion | 2 Installing KAS IDE
2 Installing KAS IDE
2.1 System Requirements
KAS IDE minimum system requirements:
Requirement
Operating System
Processor type
Memory
Storage
Display
Connectivity
Description
Microsoft Windows XP (32-bit XP pro SP3 or above), Windows 7 (32 and 64-bit)
Intel® Pentium® M or equivalent processor 1.5 GHz
512 MB RAM
1 GB hard drive or compact flash space
WXGA+ (1440 x 900) or higher-resolution monitor with 24-bit color
1 Ethernet port 100Mbits/s or 1Gbits/s
1 RS-232 serial port is needed for some target devices
KAS IDE and KAS Simulator should not be installed on a Kollmorgen PAC. The
IDE and Simulator are for use on PCs only.
2.2 Download
The latest version of the Kollmorgen Automation Suite is available at www.kollmorgen.com.
2.3 Installation Procedure
How to proceed if you have a CD?
After inserting the installation CD, a web browser automatically displays the installation start page.
If the installation start page does not automatically display, double-click on the file Index.html file.
To start the installation of Kollmorgen Automation Suite, click the corresponding link and confirm that you want to execute KAS-Setup.exe.
Follow the procedure below to proceed with the KAS IDE software installation.
Installation of the KAS IDE can require you to change your firewall setting. If you do not have sufficient privileges to configure your firewall, you must stop the relevant Windows Service.
Once KAS has finished downloading, complete the following installation steps:
1. Double-click the KAS-Setup.exe file to run the installation Wizard.
A Security Warning dialog displays as a result of security certification. Do not be alarmed.
2. Click Run to start the installation Wizard.
3. While the setup is loading, wait for the setup splash screen to vanish after being displayed.
Kollmorgen™ | January 2012 9
30 Minutes to Motion | 2.3.1 User Data
4. If a previous version of the KAS IDE is installed then an uninstall notice is displayed. The previous version must be uninstalled before the installation can continue. All content of the previous repository is deleted during the uninstall.
5. The following Welcome Wizard displays with the version and build number of the
KAS IDE. Click Next to continue.
6. Review the License Agreement and click "I Agree" to continue the installation.
You must accept the agreement to install Kollmorgen
Automation Suite.
Installation type
Development
Environment
7. Select the Development Environment installation type from the drop-down menu.
Description
Run-time
Industrial PC
Custom
This kind of installation is typically used for creating and developing a new application.
When you need to install the KAS IDE and the KAS Runtime Simulator, you can select
Development Environment as the type of installation.
This installation is typically used when you have an industrial PC (IPC).
You are able to view and run your application. You need to install Kollmorgen
Visualization Builder and the KAS Runtime.
Kollmorgen Visualization Builder is specially designed to view and control your application.
The KAS Runtime only executes the application.
You can manually select the specific KAS components to install.
8. Click Next to access the destination folder.
9. Click Browse to specify a custom install directory or accept the recommended default location. When finished, click Install to continue.
Kollmorgen strongly recommends accepting the default destination folder under C:\Program
Files\Kollmorgen\Kollmorgen Automation
Suite\Kollmorgen Automation Suite.
10. The software installation begins. Wait until the installation process is complete.
11. You are done; click Finish.
Adding the KAS IDE application as an exception in your firewall settings is recommended to avoid security issues
2.3.1 User Data
User-generated data such as log files, project sources, field bus configurations, function blocks, etc. are stored in the Windows User directory and are maintained between installations. This applies to files on PACs, AKD PDMMs, as well as
Simulator files.
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30 Minutes to Motion | 3 Exploring KAS Workspace
3 Exploring KAS Workspace
This chapter intends to make you become familiar with the KAS IDE.
3.1 Windows and Panels Overview
The KAS IDE interface provides an all-in-one-window integrated workspace.
Figure 3-1: KAS IDEMain Window
The main view in the Integrated Development Environment (IDE) is a Multiple
Document Interface (MDI) environment. This provides an easy-to-use and customizable view; including the capability to hide, enlarge or overlap windows in order to optimize visibility.
The main view is saved when you exit the application. This ensures that your workspace remains the same each time you open and use the KAS IDE.
The KAS IDE main window contains the following items: l Menu bar (see call out l Workspace
) l Toolbar A toolbar is a little bar with icons which is usually located under the menu bar of a window.
which contains: l A specific area dedicated to displaying the workspace children windows l
Several toolboxes A toolbox is a child window that provides you with some functions to perform specific tasks.
l Status bar at the bottom displaying the current state of the target
3.1.0.1 About toolboxes
The available toolboxes include:
Kollmorgen™ | January 2012 11
30 Minutes to Motion | 3.1.1 Project Explorer l l l l
Project Explorer
"Information and Logs" (see page 15)
3.1.1 Project Explorer
The Project Explorer toolbox is a window that displays machine application information in a tree-structure representation. This window contains all the following items used to design, implement, test, and document the application.
Figure 3-2: Project Explorer
3.1.2 Libraries
This toolbox contains several tabs to access all the functions of the available libraries.
12 Kollmorgen™ | January 2012
30 Minutes to Motion | 3.1.3 Dictionary
Figure 3-3: Libraries Toolbox
3.1.2.1 Function Blocks
This tab displays all the available libraries shown in a tree-structure representation and gathered by categories. You can expand a library to access all its functions. A short description of each function is also available.
l l l l l l l
PLC Standard
PLC Advanced
Motion/Pipe Network
Motion/PLCopen
Field Bus
System
Kollmorgen UDFBs
3.1.2.2 Controls
This tab displays all the controls available for the HMI design.
3.1.2.3 Properties
This tab displays all the properties of an HMI control.
3.1.3 Dictionary
The Dictionary toolbox is used to show all the variables defined within the project. All the variable details are displayed in order to show the variable types, dimensions, attributes, etc.
Figure 3-4: Dictionary Toolbox
The list of variables is split into two parts: l
All the Variables at the top l All the Structures at the bottom
About the Dictionary's contextual menu.
Command Description
Undo Undo the last action performed on the Dictionary
Redo Redo the last undone action
Kollmorgen™ | January 2012 13
30 Minutes to Motion | 3.1.3 Dictionary
Command Description
Add Variable Add a new variable in the selected level (Global, Retain, program). This automatically creates a new variable called NewVar with type BOOL
Add Structure
Rename
Structure
Copy
Paste
Delete
For a Function or UDFB, you can specify input and output parameters
Used to have a new complex type. A structure named NewStructure is created and variables can be dragged into it
Rename the selected structure
Copy a variable
Paste the copied variable to the selected level
Delete the selected variable. A deletion can also be performed by pressing the Delete key on the keyboard
Open the selected UDFB instance Open UDFB
Instance
Plug On
Channel ...
Plug the selected variable on a channel. This command opens a dialog used to configure the variable plug operation.
This command is enable when your application is connected and running, and if the type of variable is eligible for the softscope (i.e. BOOL, INT, SINT, DINT,
LINT, UINT, USINT, UDINT, ULINT, BYTE, WORD, DWORD, LWORD,
TIME and LREAL, as long as they are not in a UDFB instance)
Unplug all plugged probes from the softscope Unplug All
Channels
Variable I/O mapping
Print Dictionary ...
Connect a variable to an I/O.
Print all the variables displayed in the Dictionary and sorted by programs. The columns display the
Name, Type, Dimension, Initial Value, and Attributes
What is the purpose of the Track Selection check box?
About the two editing modes for editing a variable.
How can variables be sorted?
Mode
One Parameter
All the parameters are at the same time
How to modify parameters of a variable?
Description
Assuming you are in the cell edition mode, double-click on the parameter
Assuming you are in the row edition mode, double-click in any parameter to open the dialog box for variable configuration as shown below.
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30 Minutes to Motion | 3.1.4 Information and Logs
3.1.4 Information and Logs
The Information and Log window is used to identify current state status and can be used to identify operational errors, compilation errors, and also to quickly assist you in finding areas of the workspace or program variables.
This window contains different tabs that provide: l l l l
Log messages (Local or Controller) including Log Messages Settings
A system search function
A list of breakpoints
A state report on the program compiler
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30 Minutes to Motion | 4 Creating Application
4 Creating Application
This exercise helps you become familiar with KAS application environment. The
Control Panel is used to create a simulated motion on two axes.
In this exercise, you will perform the following steps: l l l
Create a new KAS project
Compile the project
Start the KAS Simulator and download the project to it l
Start the application via the Control Panels and observe the functions in the KAS Simulator
To create the simulated motion, follow this chapter step by step.
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4.1 Creating a Project
Step
1
Description
To start your project, you have to add a controller, choose which motion engine your application is based on (Pipe Network or PLCopen), and set the properties of the controller
Add all AKD drives being part of your EtherCAT network and define all their parameters
Add all the IO couplers and slices being part of your EtherCAT network
Configure EtherCAT motion bus by mapping all the devices and setting the cycle time
Create programs with the five programming languages that comply with the IEC 61131-3 standard
Create variables, which can also be arrays or complex structures, and monitor them with the Dictionary, or the variable editor
Create functions and function blocks that can be called from your programs
Use constant definitions to ease the maintenance of your code
Use the functions available in the pre-defined libraries
Create your custom libraries containing your PLC code that you can use afterwards in different projects
Map digital or analog inputs and outputs, that are on the EtherCAT motion bus, to PLC variables
Design motion with pipe blocks in the pipe network or with PLCopen axis
Create Cam Profiles that you can associate to a cam pipe block
Define the number of cycles between successive executions of the PLC programs, and configure the programs priority
Add an HMI Device, design the KVB Panel, and map the variables
Warning
Each time you modify your project, you have to recompile and download the new version to save your modifications on the target.
4.1.1 Add a Controller
4.1.1.1 Add the Controller
To add a controller to your project: l l
Click the New command in the File menu to start the Controller Creation Wizard
Select the controller name within the list and click the Next button
Kollmorgen™ | January 2012 17
30 Minutes to Motion | 4.1.2 Configure the Controller
Figure 4-1: Select a Controller l Choose the motion engine option (Pipe Network or PLCopen) and select the application template
18
Figure 4-2: Select an Application Template l l l l
Click the Finish button
Click the Save As command in the File menu
Define the Project Name and its Location
Click OK
4.1.2 Configure the Controller
To set-up the controller:
Kollmorgen™ | January 2012
30 Minutes to Motion | 4.2 Compile the Application
1. In the Project Explorer, right-click on the new controller to open the contextual menu
2. Select the Properties command
3. Define the IP Address
4. Choose the controller type
5. (Optional) Choose whether the project's source code should be downloaded to the controller. This is enabled by default and your preference is saved with the project.
Disabling this option means a comparison of source on the controller and in the
IDE will not be available.
6. Click OK
You must compile your project before trying to connect to a Controller!
The following error message displays if you do not compile your project!
4.2 Compile the Application
After creating all the elements of your project, you are ready to compile it. The project must be compiled before it is simulated or downloaded to the target.
You can compile your project with the compile icon shortcut).
in the toolbar (Ctrl+B
The compiler reports messages in the Information and Logs toolbox (see Compiler
Output tab).
No other actions are possible when the compilation is in progress.
Kollmorgen™ | January 2012 19
30 Minutes to Motion | 4.2 Compile the Application
Figure 4-3: Compiler Output
Errors are easily located using the information and logs window as shown below.
Double-click on an error in the list to open the program and jump directly to the relevant location in the editor.
Figure 4-4: Error Location when Compiling
To locate source code, you can also use the Find and replace feature (for more
information, refer to paragraph "Information and Logs" on page 15)
In FFLD, when a function, function block or UDFB is not connected on the left, then it is ignored (removed at compiling time).
This case only applies for functions - not for function blocks.
20 Kollmorgen™ | January 2012
30 Minutes to Motion | 4.3 Launch KAS Simulator
4.3 Launch KAS Simulator
If you want to simulate your application, open All Programs on your computer and start the KAS Simulator application located under the Kollmorgen folder and the
Kollmorgen Automation Suite subfolder.
Once the program opens, adjust your desktop preferences (position, size, etc.)
If you want to run your project on a physical device, start the KAS Runtime on the target controller.
4.3.1 Connect to the Controller
Figure 4-5: The Device Toolbar
Ensure the Simulated device mode is active (the icon must be selected)
To establish the connection with the target controller, click the Connect Device icon
.
4.3.1.1 Actions to Prevent Compatibility Issues
The software versions of the KAS IDE and the KAS Runtime have to match to avoid compatibility problems. The version consists of a series of four numbers (e.g.
2.1.1.87).
The software versions of the KAS IDE and the KAS Runtime are also available in the local log messages (the level for this message is INFO).
When another KAS IDE is already connected to the controller, a warning is displayed and the connection is discarded to prevent any conflict.
4.3.2 Download the Application
l Click the Compile and Download or the Download button.
The application is compiled and downloaded or just downloaded to the controller.
l l
If you enabled the "Download Project Source in the controller" option in the
Controller Properties dialog box (see "Configure the Controller" (see page
18)) then the source code is also copied to the controller.
If you disabled the "Download Project Source in the controller" option and the controller has project source loaded you will be prompted with a message.
The message presented will vary, based on whether your current project and the project on the controller have the same name or not.
Kollmorgen™ | January 2012 21
30 Minutes to Motion | 4.3.3 Device Control
Project
Names
Same name
Different name
Message Actions
OK: Source on controller is deleted.
Save: Source on controller is overwritten and is also saved to "My Documents".
If that source file already exists in My Documents you will be prompted to rename the source file, overwrite that file or not. If you do not rename or overwrite the file then the download to the controller will be canceled.
Cancel: Download is stopped.
OK: Source on the controller will be replaced.
Save: Source on the controller will be saved to "My
Documents" as above.
Cancel: Download is stopped.
The versions between the KAS IDE and the KAS Runtime must be the same if you want to be able to debug your application (for example to display the animated values in the editors).
If the IDE version differs from the runtime after compiling an application, the function blocks defined in the IDE and those implemented in the virtual machine of the runtime can possibly be different. To prevent this potential mismatch, you must compile and download your application again.
In addition to downloading the application to the controller's flash memory, you can download the project's source code, allowing you to store the project.
4.3.3 Device Control
You can start / stop the device with the buttons and
4.4 Operate the Control Panel
The Example program has a default control panel built-in to make it easy to start an application.
Perform the following steps to operate the control panel:
1. Double-click on Control Panel in the Project Explorer to open the form
22 Kollmorgen™ | January 2012
30 Minutes to Motion | 4.4.1 About KAS Simulator Display
Figure 4-6: Control Panel
2. Start by moving the vertical slider bar to select the Machine STATE as Manual
Mode
3. In the Manual Mode Functions area, double-click the text box for the Travel Speed
4. Enter the numeric value for the Travel Speed and press Enter
4.4.1 About KAS Simulator Display
The KAS Simulator displays the status and position of the axes.
It also displays the log messages.
Figure 4-7: Display of KAS Simulator
You can continue to use the Control Panel to: l l l
Experiment with the controls and observe the simulated output
Perform an absolute move by entering a position in the text box
Perform a relative move
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30 Minutes to Motion | 4.5 Exiting Simulation Mode
4.5 Exiting Simulation Mode
To exit Simulation mode, do as follows:
1. Click the Stop Device button
2. Click the Disconnect Device button
This concludes the 30 minutes to motion tutorial.
For additional information about Kollmorgen Automation Suite, see the following documentation: l l l l l
Getting Started
User Manual
Technical Reference - PLC Library
Technical Reference - Motion Library
Online Help
24 Kollmorgen™ | January 2012
Global Support Contacts
North America
KOLLMORGEN
203A West Rock Road
Radford, VA 24141 USA
Europe
KOLLMORGEN Europe GmbH
Pempelfurtstraße 1
40880 Ratingen, Germany
Web:
Mail:
Tel.:
Fax: www.kollmorgen.com
+1 - 540 - 633 - 3545
+1 - 540 - 639 - 4162
Web:
Mail:
Tel.:
Fax: www.kollmorgen.com
+49 - 2102 - 9394 - 0
+49 - 2102 - 9394 - 3155
Asia
KOLLMORGEN
Rm 2205, Scitech Tower, China
22 Jianguomen Wai Street
Web:
Mail:
Tel.:
Fax: www.kollmorgen.com
+86 - 400 666 1802
+86 - 10 6515 0263
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