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Kollmorgen AKD Basic User Manual
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AKD
BAS
IC™
User
Gu
id
e
Edit
ion
Ma
r
ch
30
,
20
12,
Revis
ion
A
Valid
for
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ar
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war
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C
Pate
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Pen
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Par
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1
4
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Keep
al
l
manua
ls
as
a
pr
odu
ct
componen
t
dur
ing
the
li
fe
span
of
the
pr
o
duct.
Pas
s
all
manu
als
to
futur
e
user
s/owne
r
s
of
th
e
pr
od
uct.
2
Table of Contents
Default Chapter
4
Table of Contents
4
1 About this User Guide
16
2 Program View
17
Toolbar Options
17
New
17
Save / Save as
17
Open
18
Edit Parameters Section
18
Compile / Download / Run
18
Continue / Pause / Stop
18
Debug
18
View
19
Format Document
19
Insert Code Snippet
19
Upload
19
Lock
19
3 AKD BASIC Language
20
AKD BASIC Program Structure
20
Local Variables
20
Global Variables
20
Program Sections
21
Program Template
21
Setup Parameter Definitions
21
Global Variables, Constants, and Aliases
22
Variable Definitions
22
Constant Definitions
22
Alias Definitions
23
Main Program, Subroutines, Functions & Interrupt Handlers
23
Main Definitions
23
Subroutine Definition
24
Function Definition
25
Interrupt Handler Definition
25
Language Definition
26
Lexical Conventions
26
Identifiers
26
Data Types
26
Literal Constants
27
Decimal Integer Constants
27
Hexadecimal Constants
27
Floating-Point Constants
27
Statements
28
Alias
28
Call
28
Cls
28
Const
28
DIM
29
Exit
29
For
29
Function
30
Goto
30
Include
31
Input
31
Interrupt
31
Move.abort
31
Move.goabs
31
Move.gohome
31
Move.gorel
32
Move.goupdate
32
Move.govel
32
On Error Goto
32
Pause( )
33
Print
33
Example
33
VM.restart
33
Select Case
33
Static
34
Stop
34
Sub
34
Swap
35
When
35
Built-In Functions
35
Parameters and Commands
36
Expressions
37
Arithmetic Expressions
37
Numeric Operators
37
Logical Operators
37
String Operators
38
Example
38
Function Invocation
38
Include
38
Arrays and Function Parameter Lists
39
Optimizations
39
Modbus TCP/IP
41
Modbus Parameter Table
41
Modbus Register and Data Types
41
User Created Variables with Assigned Modbus Address Numbers
41
Drive Fault Table
42
Drive Parameter Scaling over Modbus
42
Special Modbus AKD Parameters
42
Modbus Dynamic Mapping
43
Cam Profiling
43
Procedure
43
Related Variables
43
Cam Wizard
44
Example
45
Program
45
Virtual Encoder (Virtual Master)
46
Move Parameters
47
Move Statements
47
Other Variables
47
4 Quick Reference: Parameters, Functions, Operators
48
AKD Parameters and Commands
48
AKD BASIC Parameters and Commands
55
5 AKD BASIC Functions
63
Abs()
64
Asc()
65
Atan()
66
Chr$()
67
Cint()
68
Cos()
69
Exp()
70
Fix()
71
Hex$()
72
Inkey$()
73
Instr()
74
Int()
75
Lcase$()
76
Left$()
77
Len()
78
Log()
79
Log10()
80
Ltrim$()
81
MID
82
Oct$()
83
Right$()
84
Rtrim$()
85
Sgn()
86
Sin()
87
Space$()
88
Sqr()
89
Str$()
90
Exit
104
For...next
105
Function
106
Goto
107
If...then...else
108
Input
109
On Error Goto
110
Pause()
112
Print
113
Restart
114
Select Case
115
Static
116
Stop
117
Sub...end Sub
118
Swap
119
While...wend
120
Operators
121
Mod
122
AIN Parameters
123
Ain.cutoff
124
Ain.deadband
125
Ain.deadbandmode
127
Ain.iscale
129
Ain.mode
130
Ain.offset
131
Ain.pscale
132
Ain.value
134
Ain.vscale
135
Ain.zero
137
AOUT Parameters
139
Aout.cutoff
140
Aout.debugaddr
141
Aout.debugdatatype
142
Aout.debugscale
143
Aout.iscale
144
Aout.mode
145
Aout.offset
146
Aout.pscale
147
Aout.value
149
Aout.valueu
150
Aout.vscale
151
CAM Parameters
152
Cam.activate
153
Cam.addpoint
155
Cam.correctdir
157
Cam.create
158
Cam.master
160
Cam.masterpos
161
Cam.slaveoffset
162
Camvm.dir
163
Camvm.freq
164
Camvm.gorel
165
Camvm.goupdate
166
Camvm.govel
167
Camvm.moving
168
Camvm.position
169
Camvm.relativedist
170
Camvm.stop
171
CAP Parameters
172
Cap0.Edge, Cap1.Edge
173
Cap0.En, Cap1.En
174
Cap0.Event, Cap1.Event
175
Cap0.Filter, Cap1.Filter
178
Cap0.Mode, Cap1.Mode
179
Cap0.Plfb, Cap1.Plfb
180
Cap0.Preedge, Cap1.Preedge
181
Cap0.Prefilter, Cap1.Prefilter
182
Cap0.Preselect, Cap1.Preselect
183
Cap0.State, Cap1.State
184
Cap0.T, Cap1.T
185
Cap0.Trigger, Cap1.Trigger
186
CS Parameters
188
Cs.dec
189
Cs.state
190
Cs.to
191
Cs.vthresh
192
DIN Parameters
193
Din.rotary
194
Din.states
195
Din1.Filter to Din7.Filter
196
DIN1.INV to DIN7.INV
197
DIN1.MODE to DIN19.MODE
198
Din1.State to Din7.State
200
DIN9.STATE to DIN11.STATE
201
DIO Parameters
202
DIO9.INV to DIO11.INV
203
DIO9.DIR to DIO11.DIR
204
DOUT Parameters
205
Dout.relaymode
206
Dout.states
207
DOUT8.MODE to DOUT11.MODE
208
Dout1.Param and Dout2.Param
209
Dout1.State and Dout2.State
210
Dout1.Stateu and Dout2.Stateu
211
DOUT9.STATE to DOUT11.STATE
212
DOUT9.STATEU to DOUT11.STATEU
213
DRV Parameters
214
Drv.acc
215
Drv.active
217
Drv.blinkdisplay
218
Drv.clrfaulthist
219
Drv.clrfaults
220
Drv.cmdsource
221
Drv.dbilimit
222
Drv.dec
223
Drv.dir
224
Drv.dis
226
Drv.dissources
227
Drv.disto
228
Drv.emuedir
229
Drv.emuemode
230
Drv.emuemturn
232
Drv.emueres
233
Drv.emuezoffset
234
Drv.en
235
DRV.FAULT1 to DRV.FAULT10
236
Drv.handwheel
237
Drv.handwheelsrc
238
Drv.hwenable
239
Drv.icont
240
Drv.ipeak
241
Drv.name
242
Drv.nvload
243
Drv.nvsave
244
Drv.opmode
245
Drv.rstvar
246
Drv.setupreqbits
247
Drv.stop
248
Drv.swenable
249
Drv.time
250
DRV.WARNING1 to DRV.WARNING10
251
EGEAR Parameters
252
Egear.acclimit
253
Egear.declimit
254
Egear.error
255
Egear.lock
256
Egear.on
257
Egear.pulsesin
258
Egear.pulseout
259
Egear.ratio
260
Egear.type
261
EXTENCODER Parameters
262
Extencoder.freq
263
Extencoder.position
264
Extencoder.posmodulo
265
FAULT Parameters
266
Faultx.action
267
FB1 Parameters
268
Fb1.Bissbits
269
Fb1.Encres
270
Fb1.Hallstate
271
Fb1.Hallstateu
272
Fb1.Hallstatev
273
Fb1.Hallstatew
274
Fb1.Identified
275
Fb1.Initsigned
276
Fb1.Mechpos
277
Fb1.Memdump
278
Fb1.Memver
279
Fb1.Origin
280
Fb1.P
282
Fb1.Pdir
283
Fb1.Poffset
284
Fb1.Poles
285
Fb1.Pscale
286
Fb1.Punit
287
Fb1.Select
288
FB2 Parameters
290
Fb2.Encres
291
Fb2.Mode
292
Fb2.P
293
Fb2P.dir
294
Fb2.Poffset
294
Fb2.Punit
295
Fb2.Source
296
FB3 Parameters
297
Fb3.Mode
298
Fb3.Poffset
299
Fb3.Punit
300
HWLS Parameters
301
Hwls.negstate
302
Hwls.posstate
303
IL Parameters
304
Il.busff
305
Il.CMD
306
Il.cmdu
307
Il.dfoldt
308
Il.difold
309
Il.fb
310
Il.ff
311
Il.foldfthresh
312
Il.foldwthresh
313
Il.ifold
314
Il.iufb
315
Il.ivfb
316
Il.kp
317
Il.kpdratio
318
Il.limitn
319
Il.limitp
320
Il.mfoldd
321
Il.mfoldr
322
Il.mfoldt
323
Il.mifold
324
Il.VCMD
325
Il.vufb
326
Il.vvfb
327
INTR Parameters
328
Interrupt {Source
329
Interrupt
332
LOAD Parameters
333
Load.inertia
334
MODBUS Paramters
335
Modbus.readfloat
336
Modbus.writefloat
337
MOTOR Parameters
338
Motor.brake
339
Motor.brakeimm
340
Motor.brakerls
341
Motor.icont
342
Motor.inertia
343
Motor.ipeak
344
Motor.ke
345
Motor.kt
346
Motor.lqll
347
Motor.name
348
Motor.phase
349
Motor.pitch
350
Motor.poles
351
Motor.r
352
Motor.tbrakeapp
353
Motor.tbrakerls
354
Motor.temp
355
Motor.tempfault
356
Motor.tempwarn
357
Motor.type
358
Motor.voltmax
359
MOVE Parameters
360
Move.abort
361
Move.acc
362
Move.dec
364
Move.dir
366
Move.dwelltime
367
Move.goabs
368
Move.gohome
369
Move.gorel
370
Move.goupdate
371
Move.govel
372
Move.inposition
373
Move.inposlimit
374
Move.moving
375
Move.poscommand
376
Move.relativedist
377
Move.runspeed
378
Move.scurvetime
379
Move.targetpos
380
PL Parameters
381
Pl.CMD
382
Pl.err
383
Pl.errfthresh
384
Pl.errmode
386
Pl.errwthresh
388
Pl.fb
390
Pl.fbsource
391
Pl.intinmax
392
Pl.intoutmax
394
Pl.ki
396
Pl.kp
397
Pl.modp1
398
Pl.modp2
399
Pl.modpdir
400
Pl.modpen
401
PLS Parameters
402
Pls.en
403
Pls.mode
404
Pls.p1 to Pls.p8
405
Pls.reset
406
Pls.state
407
Pls.t1 to Pls.t8
408
Pls.units
409
Pls.width1 to Pls.width8
411
REC Parameters
413
Rec.active
413
Rec.done
414
Rec.off
415
Rec.trig
416
REGEN Parameters
417
Regen.power
418
Regen.rext
419
Regen.text
420
Regen.type
421
Regen.wattext
422
STO Parameters
423
Sto.state
424
SWLS Parameters
425
Swls.en
426
Swls.limit0
427
Swls.limit1
428
Swls.state
429
UNIT Parameters
430
Unit.acclinear
431
Unit.accrotary
432
Unit.label
433
Unit.pin
434
Unit.plinear
435
Unit.pout
436
Unit.protary
437
Unit.vlinear
438
Unit.vrotary
439
VBUS Parameters
440
Vbus.ovfthresh
441
Vbus.ovwthresh
442
Vbus.rmslimit
443
Vbus.uvfthresh
444
Vbus.uvmode
445
Vbus.uvwthresh
446
Vbus.value
447
VL Parameters
448
Vl.arpf1 to Vl.arpf4
449
Vl.arpq1 to Vl.arpq4
451
Vl.artype1 to Vl.artype4
453
Vl.arzf1 to Vl.arzf4
454
Vl.arzq1 to Vl.arzq4
456
Vl.busff
458
Vl.CMD
459
Vl.cmdu
460
Vl.err
461
Vl.fb
462
Vl.fbfilter
463
Vl.fbsource
464
Vl.fbunfiltered
465
Vl.ff
466
Vl.genmode
467
Vl.kbusff
468
Vl.ki
469
Vl.kp
470
Vl.kvff
471
Vl.limitn
472
Vl.limitp
473
Vl.lmjr
474
Vl.thresh
475
VM Parameters
477
VM.autostart
478
VM.err
479
VM.intrtimer
481
VM.restart
482
WHEN Parameters
483
When
484
When.drvhandwheel
486
When.drvtime
487
When.fb1Mechpos
488
When.plcmd
489
When.plfb
490
WS Parameters
491
Ws.arm
492
Ws.disarm
493
Ws.distmax
494
Ws.distmin
495
Ws.imax
496
Ws.mode
497
Ws.numloops
498
Ws.state
499
Ws.t
500
Ws.tdelay1
501
Ws.tdelay2
502
Ws.tdelay3
503
Ws.vthresh
504
5
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Kollmorgen AKD Basic Specifications
General
Brand
Kollmorgen
Model
AKD Basic
Category
Controller
Language
English
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