Read Position: This method will return the position setpoint and feedback value from the EtherCAT drive. Click on the Invoke Node and choose Read. The AKD will display o0 on its digital display when in position mode, o1 when in velocity mode, and o2 when in torque mode as shown in the image below.Īdditional InformationYou can also know the setpoints in memory using the Read method. Check the Axis Settings: Axis Control Mode Property help page for more details. There are four options: Automatic, Position, Velocity, and Torque. Click on the Property Node and choose Axis Settings > Axis Control Mode. This property can be used to change the control mode by which the drive is currently operating. ( Functions pallete > Vision and Motion > NI SoftMotion > Property Node (NI SoftMotion)). It can be accessed using a SoftMotion Axis Property Node. These additional features can be accessed through new SoftMotion properties and methods. These properties and methods are available only for EtherCAT AKD and EtherCAT Plugin Axis types and only for SoftMotion 2013 SP1 and later.

Starting in SoftMotion 2013 SP1, support has been added to write velocity and torque setpoints to the EtherCAT AKD's internal control loops. Using the AKD in Fieldbus mode allows the drive to receive position and velocity commands over EtherCAT from an EtherCAT master. While the AKD can act as a simple amplifier, its advantage over analog control drives is that it can run its own position and velocity control loops. SolutionThe Advanced Kollmorgen Driver (AKD) Servo Drive is a smart servo drive that has many advanced control features.

Pid velocity control labview