Getting Started with AKD EtherCAT Drives and NI SoftMotion
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© National Instruments
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27
The Axis Does Not Appear To Move
The AKD will scale the EtherCAT feedback to 2^20 (or 1,048,576) counts per revolution. If a
linear permanent magnet motor is used, the units will be 2^20 counts per magnetic pole pitch.
Ensure that the move parameters in the
Interactive Test Panel
and encoder feedback scaling in
the
Axis Configuration
dialog box are consistent.
NI SoftMotion features multiple
Axis Control Modes
(position, velocity, torque, or automatic
mode). An axis will not respond to commands from the interactive test panel if it is not in the
corresponding mode. If your axis does not appear to move, use the Axis Control Mode property
to change the control mode. For more information, refer to the
NI SoftMotion Help
.
The Drive Is Not Automatically Added to the
LabVIEW Project
The NI Scan Engine must be in Configuration mode to detect and add EtherCAT slave devices
to the EtherCAT bus. Complete the following steps to check and switch the NI Scan Engine
mode:
1.
Right-click the EtherCAT master and select
View in System Manager
from the shortcut
menu.
2.
In the
Scan Engine Mode
section, check the Scan Engine mode.
•
If the Scan Engine mode is
Active
, click the
Change to Configuration
button and
attempt to add the AKD EtherCAT servo drive again.
•
If the Scan Engine mode is
Fault
, click the
Clear All Faults
button in the
Faults
section, then click the
Change to Configuration
button and attempt to add the AKD
EtherCAT servo drive again.
The Drive Returns a Synchronization Fault or Warning
Verify the following settings if the AKD EtherCAT drive returns fault or warning code 125
(Synchronization Lost):
•
Check the EtherCAT input connection (X5).
•
Use a shielded ethernet cable (FTP/STP) for the EtherCAT master to AKD drive
connection.
•
Confirm that the NI Scan Engine scan period is 8 ms or lower.
