This may be premature, but I have successfully created a C driver in Epic shell that a Pac Control subroutine passes and receives variables with an S712 Kollmorgen drive. It runs with a 2 ms cyclic connection to the drive via port 1 which is directly connected to port 7 (Ethercat port) of the drive. This is early in development, but seems to be stable. The module starts on bootup. I ran the subroutine and it provides position, current, and other things like CW and SW.
Next step is to provide mains power to drive and see what it can do.
After I get something that is workable, I will move on to mods that allow it to talk to the AKD2G and AKD series.
Although it does operate on a 2 ms cycle, I still intend for this to be used to manage the drive with drive table moves and so on, not really direct control over actual moves.
I need to spend a little more time on it, but Claude also created a set of docs for it’s use as well.
This module allows you to have continuous updates on the position, current, and a few others but also allows you to “get” or “set” any of the 4xx number of parameters/commands in the drive as well as allowing this to be sent/rec for any drive address from 1 to …
I would like to test this more and would like to test on the other two series of drives, akd and akd2g drives for a complete module. Problem is, I do not currently have an akd with EC or a akd2g. Trying to find one on ebay that I can do out-of-pocket.
I have only initially tested this on an S712 Kollmorgen drive without mains power as I do not have 3ph or 480v power, but the commends seem to work fine, it does update on a 500ms basis (base on the strategy loop time) and I have every reason to belief it will run just fine.
You’ll have to change the paths to your respective folders in the shell and so on.
Claude based this on the Simple Open EtherCAT Master Library.
