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): powers the axis on or off (servo drive).

When enable (powered on), the status icon is shown as OP; when disable (powered off), 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.

Alias: the Alias feature appears only when Support index alias is checked in the Options setting. It displays the alias of the device. You can configure an alias by entering an integer value between 0-255 in the input box. If you enter an alias after the EtherCAT connection is established, a Send button appears next to it. Click it to apply and save. Alias values must be unique for each device type (axes or I/Os). Do not assign the same alias to more than one device within the same device type. See Step 2-3 in Display Devices in Alias Order for more details.

NOTE:  After the EtherCAT connection is established, you can only modify aliases when aliases are disabled. To disable aliases, uncheck the Enable axis/IO index aliases option in the EtherCAT Settings field.