Device configuration

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Depends on the type of license you have, you will see all or part of the configuration tabs of Configure, Test, Tune, IO and SDO. Click each tab to configure its settings.

Mode: the axis mode. The related control mode will also be changed when changing this axis mode.

Motion: in this mode, both EtherCAT related functions and the built-in motion control functions of KINGSTAR can be used.

NOTE:  To use Motion mode for the axis, a Motion package license is required. If you want to set more than 8 axes in motion mode, you will need an additional axis package license. For more information about license, please see KINGSTAR Runtime components.

Manual: in this mode, only EtherCAT related functions (IO and SDO) can be used.

 

The control modes available for Motion axis includes:

• modeDirectPos, modeDirectVel, modeDirectTor
• modePidVel, modePidTor
• modeMasterIntPos, modeMasterIntVel, modeMasterIntTor
• modeSlaveInt

The control mode available for Manual axis is:

• modeManual.

For more information about each control mode, please see McControlMode.

 

Control Mode: The target control mode when executing the movement of the axis using the Configuration Tool.

Position: the unit is distance (user units). When you select the position mode, the servo drive calculates the velocity based on the commanded position, and then converts the position and velocity to torque.

Velocity: the unit is speed (user units/second). When you select the velocity mode, the servo drive converts the velocity to torque.

Torque: the unit is percent (%). When you select the torque mode, the servo drive sends the corresponding current to the servo motor. If the servo drive doesn't support this mode, or you didn't select Torque, Position (default), velocity and torque, or Velocity (default), position and torque in the Supported access mode list in Axis Settings in Connection Settings, this mode still appears, but Configuration Tool will tell you the torque mode is not supported.

Device: the device you select from the Project Configuration list.

Depends on the axis mode you select, you may see more information as following:

Enable / Disable (only available for Motion mode): enables or disables the axis (servo drive).

When enable(connected), the status icon is shown as OP; when disable (disconnected), the status icon is shown as Non-OP.

Actual position: the actual position of the axis. When modulo axis is enabled, this value will be converted to a modulo value.

Actual velocity: the actual velocity of the axis. By default, the unit is count per second.

Actual torque: the actual torque of the axis. By default, the unit is percent (%).

Reset position (): resets the actual position.