Kickstart - ebm
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1. 100 100 options Used with t ype combo This specifies a list of available options and their corresponding values Format options lt value_1 gt lt text _1 gt lt value_2 gt lt text_2 gt etc For example here is a combo box to choose between 4 different values 0 1 3 or 6 type combo options 0 Reset 1 Profile Position 3 Velocity Mode 6 Homing Mode Example Ul Format Definitions type text A simple label or a text box This can be used to display or edit if writable any value typsSr integer range 0 100 A textbox a slider and a dial accepting values between 0 and 100 type combo options 0 Reset A combo box with the specified options Reset Profile Position Velocity Mode ly Prortle Position Homing Mode and corresponding values 0 1 3 6 3 Velocity Mode 6 Homing Mode 6 4 Network Manager Depending on the template different modules module names are available i e the modules do not always have all the functions described here Use the Network Manager to perform a baud rate and node scan for an unknown network and build a Kickstart setup and operation module for every supported drive node found Network Scan Use the following procedure for a successful scan e Connect the CAN Interface to the CANopen network e Connect the CAN Interface to your PC via USB e Switch on power supply for the CANopen nodes e Make sure in the CAN Interface module baud rate is set to either Scan or the actua2. O se EA je ler Project Home Drive K4 Motor Access Kickstart Main Screen Layout 1 Menu and Toolbar Area The menu and toolbar area stays the same for all Kickstart project Main Toolbar Functions p gt lo New Project Opens the Kickstart Home Project template Usually it is a project selector that allows you to pick your specific application gt Open Project Opens an existing Kickstart project kickzip or kickpro or template kicktpl Save Project Saves the currently open project including all configurations and additional files used within the project amp User Level Changes the User Level A password may be required ebmpapst 11 5 Using Kickstart Stop Drives Resets all drive units listed in the module area and communication between the drive and the computer back to the idle state A The Stop Drives function is not an emergency stop device It cannot perform any safety or emergency functionality for your drive application Please ensure that external emergency stop functions are effective according to the safety WARNING regulations and requirements of your drive application Modules Area This area shows the Kickstart Modules available with the currently opened project Greyed out items are modules that require a higher User Level for access With a higher user level you can also editing the Module Tree 3 Content Area Clicking on a module symbol in the modules area 2 wil
3. SDO traffic for object 606c and 6041 for CANopen node 1 Comments Use a to add additional free text comments about your filter e g id 81 ff hide emergency msg Auto Filter Pressing Auto Filter will add a filter condition to suppress the CAN frame type with the most frequent appearance Repeated use of Auto Filter is a convenient way to get an almost steady display where only rare CAN frames e g control PDOs or emergencies are shown Recording Monitored Frames Use the Record button to start recording CAN frames to a text file By default the traced file will be stored in the projects folder with the date time stamp of the beginning of recording Make sure you save the project to have the recorded file accessible in the future To load a recorded file use the Open button this will load all CAN frames from the recorded file into the CAN monitor Optionally use Delete All to clear the monitor before opening the file i Filtering only affects the screen display not the actual CAN frame buffer or trace file recordings After deactivating Find Filter the full CAN traffic is shown again NOTICE i The CAN Monitor display will only hold a limited amount of CAN frames in memory Please use the Record function to record an unlimited amount of CAN frames to a standard text file txt You can re open a CAN trace file using any textual NOTICE editor or by using the Open button This will load all frames into the monitor 6 1 2
4. and are qualified to carry out the respective activities CAN CAN Bus Controller Area Network Field bus design according to ISO 11898 1 CANopen CAN based higher layer protocol designed for use in motion oriented machine control networks as maintained by www can cia org CAN Interface Accessory to connect the PC with the CAN bus network Usually this is a CAN USB interface but other options e g CAN NET via Ethernet TCP can be available Node CANopen device identified by a Node ID in the range of 1 127 CANopen Drive EC position drive that can be configured and operated using Kickstart e g ebm papst ECI series Python A programming and scripting language under OSI Open Source License maintained by www python org Kickstart currently uses the Python 2 6 7 implementation Data Object A device parameter or value that can be read out and or modified using Kickstart For CANopen devices a data object is referenced by the Node ID and the object index and subindex Kickstart uses the following standard format for a Data Object ID 127 1000h 00h here Node ID 127 object index 1000h and subindex Oh CANopen object data values are obtained using SDO or PDO transfer 4 ebmpapst 1 About This Manual SDO Service Data Object CANopen SDO transfers are used for low priority reading and writing of device parameters and objects SDO Upload read from device and SDO Download write to device specifications define di
5. rate scan fails for no obvious reason please power cycle all CAN nodes and then the CAN Interface itself 6 1 1 CAN Monitor Use the CAN Monitor module to display the current communication on the CAN Bus or log it to a text file using the Record function The Find Filter function allows to search for specific CAN telegrams resp display a filtered version of the CAN bus traffic The drop down list in the Find Filter contains some presets for useful filtering options demonstrating how the filter works Filter Conditions id lt MyCobID gt show only CAN frames with a specific COB ID id lt MyCobID gt show only frames that do NOT contain this COB ID dir tx show only frames transmitted by Kickstart index lt ObjIdx gt subindex lt ObjSubIdx gt show only CANopen frames related to a SDO with the specified ObjIdx and ObjSubIdx data 80 show only frames where the CAN data starts with hex 80 Multiple Conditions You can use more than one filter condition in one filter e g dir tx index lt ObjIdx gt subindex lt ObjSubIdx gt show only frames from Kickstart that contain Ob jIdx and Ob j SubIdx Only CAN frames that match ALL filter conditions dir index and subindex will be displayed ebmpapst 15 6 Kickstart Modules Inverting your filter Starting your filter with the keyword exclude will hide anything that matches the filter condition e g exclude id 581h index 606c index 6041 show only
6. the Object Dictionary to the Object Editor table to make them available for reading editing and writing Object Editor Basic Functions t Read Read the selected values from the device CANopen Upload If nothing is selected in the Object Editor table all values are read 2 Edit Use this function or double click on an element in the Value Editor column The values are not written to the device immediately unless 4 Synch Mode is used gt Write Write the selected values to the device CANopen Download If nothing is selected in the Object Editor table all writable values are downloaded i ebmpapst 6 Kickstart Modules Store a Store the written parameters permanently l e the CANopen device will continue to use these values after a voltage reset This function is used after writing modified values using the x Write function fp Reset Reset all device parameters to the factory settings Synch Mode Read read only parameters periodically Writable parameters are read once After that every modification entered by the user will be downloaded to the device immediately Default Copy the value from the dictionary s Default column to the Value column for the selected rows If no rows are selected all objects will be updated to the default values To write these defaults into the device use ag Write Scaling When operating at User Level 2 you can use the Scaling column to define how values should be scaled be
7. A standard project template for PERG 8 Bae b m1 001 607 00H Actual u testing and service of fullmo ebm 10 000 een Pier Dee I OT A a E a N capone ERW papst CANopen drives A s 1 3 5 H g t H f d Faas S Data L SREE REED LO EI WARNING This project uses active bus Tri Tri Confi y scan to obtain baud rate and node id of ngge ngger connguration the drive DO NOT use this in a running network WARNUNG Dieses Projekt f hrt einen Drive01 fullmo ebm papst CA Setup Initial Setup and Test aktiven Bus Scan durch Nicht in einer 4 laufenden CANopen Installation Object Editor Read Edit Write Drive P benutzen B Script Python Script Host How to Use Firmware Firmware Update Project Scope Trigger Scope Network CAN Interface CAN Monitor EX 0o amp a a 55 Pause Scroll Trace Find Filter Copy Paste Delete All Trace file tracefile_ DATETIME txt hi Frame t msec ID Data Dir bP oR Tas eS ae Beige 58 5 ee ee ae 2 5 DE ee 6016 us 581h 43 6c 60 00 00 00 00 00 40 000 FSS Sag LEM TR SSUES ST eS TP RSA RT RT 10 16 19 000 10 16 20 000 10 16 21 000 10 16 22 000 10 16 23 000 6017 24076 581h 43 64 60 00 80 26 0000 a CEP lt 1 4 lt I 1 gt ebmpapst 4 Installation The Kickstart application software is usually distributed in a exe self extracting archive file Double click the exe file to copy the application to a dir
8. CAN Sender The CAN Sender module can be used for simple CAN testing applications which require sending one or several fixed CAN frames It is not a full scripting engine but a simple macro sequence for quick and easy testing Available commands send lt ID gt lt data Size gt lt data Hex gt delay lt milliseconds gt wait lt ID gt lt data size gt lt data Hex gt lt timeoutMillisec gt ID and data size can be provided as hex expressions send 0x7e5 2 04 01 or send 7e5h 0x2 04 01 wait supports string wildcards and for the lt data hex gt parts An additional timeout can be specified M ebmpapst 6 Kickstart Modules Example wait 581h 8 4b 41 60 00 4 1000 waits for a status word where the highest four bits are 4 gives up after one second The following macros are supported inside the send and wait commands canid lt expression gt Calculates the expression and returns a CAN ID in hex format canunsigned32 lt expression gt or caninteger32 lt expression gt calculates the expression and returns a 4 byte CAN data block canunsigned16 lt expression gt or canintegerl 6 lt expression gt as above but 2 byte canunsigned lt expression gt or caninteger8 lt expression gt as above but 1 byte Example nodeld 1 velocity 1000 send canid 0x600 nodeld 8 23 ff 60 OO canunsigned32 velocity A simple do Loop syntax can be used for endless loops Or use do l
9. Kickstart ebm papst Setup and control software for motors with integrated drive The engineer s choice electronics Kickstart User Manual Status Kickstart V1 9 40 Doc Rev 1 0 12 31 01 2014 Copyright 2013 ebm papst All rights reserved No parts of this work may be reproduced in any form or by any means graphic electronic or mechanical including photocopying recording taping or information storage and retrieval systems without the written permission of the publisher Trademarks Products that are referred to in this document may be either trademarks and or registered trademarks of the respective owners The publisher and the author make no claim to these trademarks Disclaimer While every precaution has been taken in the preparation of this document the publisher and the author assume no responsibility for errors or omissions or for damages resulting from the use of information contained in this document or from the use of programs and source code that may accompany it In no event shall the publisher and the author be liable for any loss of profit or any other commercial damage caused or alleged to have been caused directly or indirectly by this document Subject to change without notice The respective current version of this operating manual is available on the ebm papst internet site www ebmpapst com 2 ebmpapst About This Manual 1 1 Symbols Used 1 2 Terms Used Safety 2 1 Intended Use 2 2 S
10. a location and name of the new project which will be saved as a kickzip file i You can create your own templates by using a kickzip file and simply changing its extension to kicktpl NOTICE 5 5 Editing the Module Tree To edit the modules tree in the Kickstart Main Screen right click on a module tile and choose an action from the displayed context menu i User Level 2 is required for making the context menu accessible NOTICE You can e Cut Copy or Paste a module within the modules tree To copy modules between different projects open a second Kickstart instance with the second project e Delete a module and its children from the project tree e Rename a module The different Kickstart modules have master slave relations that are not visible in the modules tree E g a CANopen Drive module always uses a CAN Interface module for CAN bus communication When you rename such a slave module e g from CAN Interface to CANUSB the master slave connections are automatically updated However when you Paste a module into a project Kickstart might not be able to automatically choose the correct slave s for this module In this case it is required to look at the original uncompressed project file kickpro file and edit the related lt slave gt information manually i Additional developer guides about the kickpro file structure are available on request Please contact your Application Support NOTICE A The module tree edi
11. afety Notices Overview Installation Using Kickstart 5 1 Getting started 5 2 Main Screen and Toolbar 5 3 User Level 5 4 Projects and Templates 5 5 Editing the Module Tree Kickstart Modules 6 1 CAN Interface 6 1 1 CAN Monitor 6 1 2 CAN Sender 6 2 Drive01 CANopen Drive 6 2 1 Setup 6 2 2 Object Editor 6 2 3 Script 6 2 4 Firmware 6 3 Motor Access CANopen Node 20 6 3 1 CANopen Node Edit Mode 6 3 2 CANopen Node UI Format 6 4 Network Manager 6 5 Scope 6 5 1 The Scope Getting Started 6 5 2 Configuration 6 5 3 Recording Data 6 5 4 Plot 6 5 5 Trigger ebmpapst Table of Gontents 4 6 6 Ul Panel 4 6 6 1 4 6 6 2 6 6 6 3 6 6 6 4 10 10 11 12 13 14 15 19 15 16 17 18 18 19 19 21 21 22 23 23 24 25 25 26 UI Panel Getting Started Ul Format Definition Node IDs and Multi Node Panels Project and Ul Files Advanced User Interfaces 21 21 21 31 1 About This Manual 1 1 Symbols Used The following symbols are used in this document N As defined by these operating instructions and the danger notices on the products death severe bodily injury or considerable damage to property could result if the appropriate safety measures are not taken WARNING iX Important information about the product or part of the operating instructions NOTICE 1 2 Terms Used Qualified personnel Personnel who are familiar with the installation assembly commissioning and operation of the product
12. also possible to enter your own custom scale configuration Possible configuration modes Auto The scale changes automatically to display the current range of values Min Max The scale will is defined by the min max boundaries entered Units Div Offset The scale starts at the entered offset The units div value will define the number of units between each div which is a minor tick on the scale The minor ticks are those without a value to the side of them e There are two possible formats for the configuration standard and shorthand While typing a label just beside the input control will display the normalized standard version of your scale A message is displayed if your current input is invalid ebmpapst 25 6 Kickstart Modules Examples for the Value Div Scale Normalized Standart Shorthand Scaling Methode Sammer ame Description Auto automatic a Scale will be automatically adjusted based on the current values displayed min 0 max 100 Om100 The displayed scale will be between 0 and 100 Min Max min 0 25 max 0 75 2 gt 5max0 75 The displayed scale will be between 0 25 and 0 75 100 div offset 0 100 The displayed scale will start at offset 0 with 100 units between each div Units Div Offset 0 1 div offset 20 0 1lo0 20 The displayed range will start at offset 20 with 0 1 units between each div 6 5 5 Trigger window frame called Trigger Event Window will be forwarded When no triggers are defin
13. ameters Open Sex more parameteris from me Oner Eana to the Scope area and press Start for sampling Dounie click on the oarameter use me stove the sampled Gata mo a fiie The file 4 Dy default stored along with the eimpapst Kickstart project date Use from the Scope tooide te load and v nach de a recording Use Save Project trom the mam toolbar to store D eean wazo poet te Eng o YOu can define hoger events to reCO d n y Measurements mmesiatery DOE and after a DJG event N m BDA Mate DAG Node ICAN for an unkaaam Network and make all GCM aaost ECUVDC anver oun Manager to parton pars eke areg ae y Click on Scan Network to fi aD0ut a emrting Noe IDE anc wach of these are enm pant ECIVOC are unas 108 Click Bulle tyes wait B EDMCAOR Kickstart Droge Dee Pat Bows you to COMTO all POM 98PR ECYVDC Crive unti witha urmork a wie vee toe chen ae een Kickstart is a modular PC software platform that can be used for a variety of configuration commissioning and service tasks It is highly flexible and uses application specific project and template files to present the user with exactly the functions and controls needed for a specific task For example a field engineer could work with a Kickstart project that performs exclusively application specific service tasks e g a drive firmware update Meanwhile developers and application engineers could work with a scalable fully flexible interface making use of the full range of Kickstart s funct
14. ape has been created on the canvas e g by using Drag amp Drop its type cannot be modified by changing the shape definition The shape definition only applies to creating new elements To change the type of an existing control on the canvas you need to modify the text in the Instances column at the right end of the Data Objects table Defines how the UI control communicates with the actual data object Its value defines if the data object s value can be modified by the user and also how the value is read from the device Examples NOTICE 28 the value is read from the device only once upon initialization the value is read from the device periodically in this case every 1000 milliseconds the initial value is read from the device upon initialization and can then be modified by the user User modified values will be sent to the device You cannot combine periodical reading with the control being user modifiable E g updates r100 w is nota valid ebmpapst 6 Kickstart Modules range Defines the allowed range for input controls It is only used by the slider and dial controls Examples range 0 100 range 100 100 i When dragging an object from the Object Dictionary Device Description of the Object Editor module the range is calculated from the original xdd xdc device description file if available If no value range was specified in the device NOTICE description file a default range value is chosen step Def
15. ata objects defines the appearance and behavior of the created control Its value is a list of key value attribute pairs delimited by semi colons describing the control s appearance and behavior The following is a description of all available attributes ebmpapst 27 shape 6 Kickstart Modules Defines the type of control will be created when the Data Object is dropped on the UI Panel canvas Available standard shapes SS Deme label text slider dial radio bitfield NOTICE NOTICE updates simple control used to display a read only value text box control to display or edit a value vertical slider control used to display or modify a value within a given range dial control used to display or modify a value within a given range a list of options displayed as radio buttons each one representing a certain data object value e g 3 and a matching description e g Velocity Mode See the options description for more details a list of bit signals Each signal corresponds to one bit of the control s integer value See the options and fieldsize descriptions for more details Every shape corresponds to one qml file from the QML folder of your Kickstart Project e g KickLabel qml KickTextinput qml You can design and use your own QML Qt Quick elements by defining e g shape MyOwnQmiControl qml with MyOwnQmiControl qml being a modified version of one of the Kick qml files Once a sh
16. can use a simple factor or more complex formulas including offsets or even non linear transformations Examples 0 25 Scale the value by 0 25 i e the displayed value is four times smaller than the raw data value 100 Scale the value by 100 i e the displayed value is multiplied by 100 x 65536 10 Divide raw data value by 65536 then add 10 24 7 x Non linear expressions like this are possible too However watch out for invalid results e g division by zero Kickstart will display these values as 0 i The scaling is only applied to the displayed value not to the recorded raw data This means you can apply a different scaling expression at a later point when loading the data using Open or to rescale all data on the fly NOTICE 24 ebmpapst 6 Kickstart Modules 6 5 3 Recording Data Use the Record toolbar button to start and stop recording of all monitored data into a csv file To make the filename contain the date and time of the recording s start use the placeholder DATETIME which will be replaced with the proper timestamp For example the filename measurements_DATETIME csv Will be stored as measurements_2012 02 16T15 01 32 csv To view the recorded data use Open i Only data objects that were configured for sampling in the Scope configuration table will be recorded If Triggers are active only data within the trigger event window will be recorded NOTICE i The recorded data csv file is ac
17. companied by an xml file containing information about the recorded data objects When copying the csv file to a different location make sure the xml file is included to ensure the data can be viewed NOTICE 6 5 4 Plot A Plot panel displays scoped data in a scalable plot Multiple data objects can be represented by multiple curves in the same plot window You can change the Value Div scale Y axis and Time Div scale X axis to zoom in or out By default the plot displays the latest data available To display earlier data use the scrollbar below the plot i All plot panels created are stored within the Kickstart project file When re opening the project the panel is re created automatically but it will only display data once you Start the Scope or load a matching recording NOTICE m Reading a value at a specific time The value cursor is a thin black vertical line with a time stamp For each data object a color mark and a black text label shows the actual value at this specific point in time You can move the cursor to a different position by clicking on the plot window You can also move the time range and the time marked by the cursor in small steps by using the lt I and gt buttons located next to the scrollbar m Configuring the Value Div scale The Value Div combo box configures the displayed range on the values scale which is the Y axis of the scoped data plot Choose from any of the available presets It is
18. ct Files kickzip files are compressed file archives that contain e One kickpro file of the same name as the kickzip archive e Additional helper files css py bin as described above When opening a kickzip project Kickstart creates a temporary folder and extracts all files to this location When saving a kickzip project Kickstart first creates an updated kickpro file in the temporary folder and then creates the compressed kickzip file containing all files from the temporary folder including sub directories i You can extract the kickpro file and all helper files by using menu File gt E Save As and choosing Kickstart Uncompressed Project kickpro instead of the default kickzip file format NOTICE i To create a kickzip compressed file archive first create a standard zip file archive that contains the kickpro file and all required helper files Then change the file extension from zip to kickzip NOTICE ebmpapst 13 5 Using Kickstart kicktpl Template Files A Kickstart installation comes with a number of predefined projects for specific tasks stored as kicktpl template files The Project Selector and the projects defined in Getting started are examples for such templates Opening a kicktpl file is no different to opening a kickzip file except that no file name for saving the project is chosen If you are saving the project for the first time using a Save Project you are prompted to provide
19. dienoberfl che ced Network Setup include WARNING The abov re for isolated testing and configuration Do not use within runnin ig CANopen networl Waie ge Be ind f r isolierte Test und Konfiguration bestimmt Benutzen Sie die projekt erk taulendein n CANopen Netzwi Gy k4 R5485 Drive Setup Setup and test of o eed pa EVE K ECI VDC USB2Drive Conny me Einrichten und Test ei ebm paj om TON K4 Antriebs in RS485 Betriebsmodus ber ebm papst ECYVDC en re Schnittstellenwandler RS485 operation mode via ebm papst ated 2013 12 16721 34 44 ebmpapst Kickstart v1 9 70 heg CAN Bus Kickstart K5 Start interface me Hale E amp ema Meo D ed CAM retose Krone esences eemeeeteasi Ang epmeecr tenaa LAT lt Mew Preject OpenPreject Immehreiec Unetnet fepmas obeon We We ba hepa none x CANopen Drives Advanced Network Setup A project tempimte for sup anc service of eom papit ECL VOC CANopen arves ARNG tua proyect ones active Bus sco to etae Daud rate and node nd cf Me deve DO NOT USE me m a running appbcatin A MARIANO Deres Proekt f hrt enen skeen bul icon durch Naot in emer Benden adispenhitalsben Benutzer How to Use i were Connect me CAN Intertace with your CANopen Gre Connect the CAN Interface to your PC vis USE Swen on pupgty for me CANODeN drive Go to Ur Setup ane chek Start Onve eu Ober 1 10 wem OF modify specie CANopen crve par
20. drive in R5485 operation mode via ebm papst ECI VDC USB2Drive gateway interface Einrichten und Test eines ebm papst ECI VDC K4 Antriebs in RS485 Betriebsmodus ber ebm papst ECI VDC USB2Drive Schnittstellenwandler KIC created 2013 12 16T21 34 44 ebmpapst Kickstart v1 9 70 heg Kickstart Main Screen and Project Selector e Pick a project or an application from the Project Selector list on the right e Alternatively use Open Project to load a Kickstart Project File kickzip or kickpro that you received for your specific application m ebmpapst 5 Using Kickstart 5 2 Main Screen and Toolbar The Kickstart main screen is divided into three sections _ebmpapst_k4 kicktp Running ebmpapst Kickstart v1 9 70 gt a Z amp oe a ebmpapst New Project a In IR User Level A ed Updates Ext Drive K4 Motor Access ax Sr aa n Store Reset Edit Mode 0 Standard a Drove K4 idle Status EEE EJ su AccessKey Customer SINE se on Motor Access p ter Edit rejal Name Value Editor Status Editor um un sn Bo rn 2 mooh o 12 i i 3 3400h 03h ot la 30n osh 02 1 1S 3400n 05 03 1 1 6 3400h 06h Wiederaniaut 7 3400h Obh FE_Drehzahl_xX1 Digits e 3400h loch FE_Deehastt_32 Digits 2023 9 34004 oan FE_Drehzahi_X3 Digits 1023 BEE Der FE_Drehzahi_YO rpm o u 3400h Ofh FE Drehzahl YI ipm O 2 3400h 300 FE Drehzahl Y2 pm 3663 Sa
21. dule names are available i e the modules do not always have all the functions described here The CANopen Node module offers a basic configuration screen for any type of CANopen node e g a third party servo drive 1 0 module or sensor device The Parameter Editor table contains a list of CANopen objects and their values similar to the Object Editor For the selected object additional display and editing controls are shown below the table These elements are configurable by changing the UI Format column in Design Mode i The appearance and behavior of the Parameter Editor depends on the Edit Mode setting Some of the functionality described below is only relevant to specific Edit Mode settings NOTICE Parameter Editor functions T Read Read the value of a parameter or of the entire list depending on the Edit Mode Write Write to the device the value of a selected parameter or of the entire list depending on the Edit Mode Store a Store the written parameters permanently l e the CANopen device will continue to use these values after a voltage reset This function is used after writing modified values using the Write function f Reset Reset all device parameters to the factory settings Design Mode Allows adding and removing parameters from the list as well as editing the UI Format and Comment columns to modify the display and editing controls used for this element In Design Mode you can e Add more ob
22. e them accordingly e To convert your modified project file back into a kickzip or kicktpl file please follow the instructions in _ ebmpapst 5 Using Kickstart 5 4 Projects and Templates Everything you see in the modules and content area of Kickstart is defined in a Kickstart template or project file The following file formats are used kickpro Uncompressed Project Files A Kickstart kickpro file defines everything you can see in the Modules and Content area of Kickstart CAN Interfaces CANopen Drive units Scope modules a s 0 The kickpro file is a standard XML file that can be edited by experienced users to build specific applications e g work with three drive units instead of one modify the user levels required for each module create additional HTML documentation i When manually editing kickpro files make sure you keep a copy of the original files Check carefully that your modified file is a valid xml file A good XML editor can help validate the XML format and prevent invalid changes that could break NOTICE the structure The kickpro file is often accompanied by additional files that are necessary to run the projects predefined tasks These files can include e css files for documentation formatting e py files for Python script code that is executed by Kickstart or is compiled and loaded into a drive unit e bin firmware files for updating drive unit application firmware kickzip Compressed Proje
23. e uncompressed files stored inside the kickzip file archive For that e Save the project using menu File gt jea Save As and choose Kickstart Uncompressed Project kickpro not the default kickzip file format e Now you can manually edit the original kickpro file if necessary using a standard text or XML editor e The QML sub directory contains all Qt Quick QML files that define your Ul Panel application You can use standard text editors or the Qt Quick development tools to work with these files e g create modified versions with a different look or functions i Additional developer guides about Qt Quick QML within Kickstart are available on request Please contact your Applica tion Support NOTICE ebmpapst 31 ebm papst St Georgen GmbH amp Co KG Hermann Papst Stra e 1 78112 St Georgen Germany Phone 49 7724 81 0 Fax 49 7724 81 1309 info2 de ebmpapst com
24. ectory on your computer or a removable media e g a disk on key USB memory stick Then start the Kickstart software by double clicking on Kickstart exe i No installation setup is required but please make sure you extracted all files and folders from the original zip archive to a location on your PC or removable media NOTICE i Additional device driver installation can be required for hardware accessories like the CAN Interface USB CAN Driver installation on Windows Vista Windows 7 and other recent Windows versions is fully automatic when connecting the NOTICE device for the first time Please follow the Windows instructions i The respective most up to date version of the Kickstart exe file is available to download from the ebm papst website www ebmpapst com NOTICE o Compressed files must be decompressed using appropriate software Information on this is available on www winzip de NOTICE ebmpapst 9 5 Using Kickstart 5 1 Getting started A Do not operate Kickstart within an automation network where any of the Kickstart CAN or CANopen communication could possibly disrupt the normal operation WARNING A Incorrect wiring or wrong cabling can damage electronic components including the USB CAN RS485 adapter the CAN RS485 interface and the PC connected with the CAN Interface WARNING i The USB CAN RS485 adapter is required as an accessory for the ebm papst Kickstart software in order to connect the PC with
25. ed all data is forwarded directly as soon as it is monitored Trigger Event Window Time period before and after a trigger event has been fired When triggers are defined only data within the event windows is monitored All data that did not fire a trigger or is outside a trigger event window is ignored it will not appear on plots and it will not be saved to a file when recording Trigger Configuration Use the Pre Trigger Time and Post Trigger Time fields to define the size of the trigger event window Switch between triggered and non triggered mode using the Trigger On Off button Enter the trigger definitions in the definition table using the format described below A validation indicator next to the data shows if the entered trigger is valid To remove a trigger from the table enter an empty string Trigger Definition Format data_object_id trigger on any change in the data object value data_object_id lt gt trigger level trigger on rising gt or falling lt slope Examples 002 6041h 00h trigger on any change in the value of the specified data object 001 60ffh 00h lt 200 trigger when the value of the specified data object drops below 200 001 58f fh 00h gt 100 trigger when the value of the specified data object rises above 200 i Even when using a Scaling factor the trigger always works on the raw data value not the scaled result NOTICE i You can use triggers as a post processing and data analy
26. equired ORG replug the usbZdrive from the PC ster update HOME Cuin Got der Seuumuniiutien ab die usblar e Firmaare vernon berpr ft und be Sedart akzuakmert Falls Sie wh De Windows USE GeratelD nach dem Update andern und Sie mussen das usb cne am PX aus und meder How to Use Connect the US820nve with your anve Connect the USB2Drive 10 your PC via USB Santen on power suppty for me anve Go to Drive K4 Motor Access for moter access Use the Access Key fieid for setting Customer or Provider Zur Verwendung Verbinden Sie das USB2Drive mit Bwem Antrieb Verdingen Se cas USB2Drive uber USE mit Prem PC ee eee Gehen Sie zu fur direkten Zugriff auf cie K4 Motorparametec Benutzen Sie cas Access Key Feld fernen ee be iat ne a 4h sj crested 3013 06 11717 3210 ebmeape Hicksten DA heg 3 Overview Kickstart software Start screen File Help E New T Fe ct Save Project User Level and Exit ebmpapst Project Selector Bx Module E Project Stet Basic Applications Grundanwendungen Ro CANopen Drive Easy Setup Easy setup for CANopen drive with unknown baud rate and node ID Einfache Inbetriebnahme eines Antriebs mit unbekannter ee und Node ID AB CANopen n Driv nced configurat r one or several CANopen drives Additional featur scilloscope Netwo rise pte ustom UL Pan el Peer irri oder mehreren CANopen Antrieben Zus tzliche Funktiongs wie Oszil aon Lea ee sspezifische Be
27. examples provided are set to Node ID 001 Resp if you drag Data Objects from the Object Editor as described previously they will use the Node ID from the Object Editor settings Using L Design Mode and with E Show Data Objects activated you can change Node IDs or duplicate a set of UI controls for a different Node ID or a second CANopen Device Use the following functions available from the toolbar 2 Clone After selecting one or several rows of the Data Objects table use Clone to duplicate these elements and paste them into the UI Panel canvas using a different Node ID i The cloned elements will receive the same Name text as the original elements You can edit the text of the Name column in the Data Objects table so your Ul elements show to which Node ID they belong You can also use an application NOTIGE specific name e g print format adjustment 1 af Change ID Select one or several rows in the Data Objects table then use Change ID to change the Node ID to a different value 30 ebmpapst 6 6 4 Project and Ul Files Advanced User Interfaces After composing your UI Panel you can store the user interface created using the el Save Project function from the Kickstart main toolbar If you created your UI Panel by starting with one of the Kickstart templates provided the saved file is a Kickstart Compressed Project file kickzip by default For many advanced applications it is necessary to directly work on th
28. fferent standard methods of reading and writing different types of data including optimized transfers for large blocks of data PDO Process Data Object CANopen devices produce or consume PDO CAN frames They are used for fast data transfer of critical process data Before using PDO transfer the CANopen device must be configured i e the content of the PDO object must be defined PDO Mapping Two types of PDOs are defined for CANopen Transmit PDO TPDO process data produced by the device node e g status and position information Receive PDO RPDO process data consumed by the device node e g control command XDD XDC XXML Device Description File xdd XML Device Configuration File xdc XDD files contain a dictionary of device functions and parameters and supersede the classic eds files Electronic DataSheet XDC file in addition contain parameter values for device configuration and supersede the dcf file format Device Configuration File Qt Quick QML Qt Quick is a new user interface Ul technology and development kit for creating rich attractive user interfaces in minimum time QML is a declarative user interface language based on Javascript It describes how user interface elements look and how they behave Kickstart projects can make use of Qt Quick technology to build custom designed screens and attractive end user applications RS485 interface The RS485 interface is a wired bus system for serial data transmi
29. finitions shape label updates r shape label updates r200 shape text updates r w shape slider range 0 100 updates r w shape dial range 200 200 step 10 updates r w shape radio Options U Ori On updates r w shape bitfield fieldsize 8 updates rw shape bitfield options 2 2 Limit Switch Left 55 Limit switch Right 1 3 Start updates r1000 6 6 3 Node IDs and Multi Node Panels A read only label The control s value will be read from the device only upon initialization A read only label The control s value will be read from the device upon initialization and then periodically every 200 milliseconds A user modifiable textbox value is read from the device upon initialization Once the user edits the value it will be written to the device A user modifiable slider with the range between 0 and 100 and the step size 1 A user modifiable dial with the range between 200 and 200 all selectable values being multiples of 10 Two user selectable radio buttons Off and On corresponding to the values 0 and 1 A list of 8 digital output bits that can be toggled by clicking on them For a data object that has the Name Digital Output the elements would be labeled Digital Output 0 Digital Output 1 Digital Output 7 A list of input bits where only three bit indexes 2 5 and 7 are shown used 2 Limit Switch Left 5 Limit Switch Right 7 Start The basic Ul Panel
30. fore showing them in the Value column The same formats as used in Scaling for the Scope are supported i For Read Write values only simple scaling factors like 0 25 are permitted On Write the entered value will be transformed back to the original raw unscaled value When using scaling expressions like x 20 10 the object value NOTICE becomes read only and cannot be edited or written to the device 6 2 3 Script The Script Module is used to edit compile and download Embedded Python scripts into a drive unit that supports it i For details on the Embedded Python engine sample code and applications please refer to the documentation available for your CANopen drive unit or contact Applications Support NOTICE 6 2 4 Firmware Using the Firmware module you can update your device s application firmware with a new software version provided in a bin file format i Before starting a Firmware download make sure the Node ID is correct and the device is accessible e g using the Drive Setup panel NOTICE A Please make sure that you are using a correct bin file intended for your specific device Kickstart does not perform additional checks before downloading the file Using a wrong or mismatching bin file can damage your drive unit and WARNING make it impossible to download a correct bin file in a second attempt ebmpapst 19 6 Kickstart Modules 6 3 Motor Access CANopen Node Depending on the template different modules mo
31. iggers to filter the recorded data e To go back to live scope and data logging use the Live Mode button i When opening a csv recording file make sure that the matching xml file is present in the same folder NOTICE ebmpapst 23 6 Kickstart Modules 6 5 2 Configuration After dragging a Data Object from the Object Editor and dropping it on the configuration table you can use the following fields to configure the data processing within the Scope module Sampling and Rate This defines how the values for the data logging and scope are obtained OLE Sampling is disabled or inactive Kickstart sends out SDO Upload requests to the node ID Software using the fixed time interval of Rate milliseconds The object is available through Transmit PDO lt no gt 1 4 Within the PDO frame the data required starts at byte position lt byteStart gt 0 7 and is lt size gt 1 2 or 4 bytes TPDO lt no gt lt byteStart gt lt size gt large Example TPDO3 0 2 The value is a 16 bit value obtained from the first two bytes of Transmit PDO 3 RPDO lt no gt lt byteStart gt lt size gt Same as TPDO but for Receive PDO i The TPDO and RPDO methods are passive sampling methods They do not perform the actual device PDO configuration PDO mapping and do change the CAN node state using NMT They are safe to use within a running CANopen applica NOTICE tion Scaling Allows scaling and processing the raw data values You
32. ines a valid positive step size for some of the range based controls such as the slider or the dial The default step size is 1 Change the value to configure the control to round selected values to the specified step size Examples step 1 the default behavior step 10 only values that are multiples of 10 will be available fieldsize Only used by bitfield shapes Defines the number of bit signals used for this integer value Example fieldsize 8 This value is displayed as eight individual bit signals with a running numeric value bit index ranging from 0 to 7 If fieldsize is zero or not defined the bitfield shape will only show the bit indexes defined in options see below options Used by the radio and bitfield shapes It specifies a list of available options and their corresponding values resp bit indexes for bitfield shapes The options are selectable clickable if the updates attribute specifies write updates r w and not read only updates r1000 Format options lt value_1 gt lt text _1 gt lt value_2 gt lt text_2 gt etc Example for a radio button control to choose between 4 different values 0 1 3 or 6 shape radio options 0 Reset 1 Profile Position 3 Velocity Mode 6 Homing Mode Example for a bit field representing 3 digital input signals shape bitfield options 0 Limit Switch Left l1 Limit Switch Sight 2 Start ebmpapst 29 6 Kickstart Modules Example Ul Format De
33. ionality For example Commissioning and configuring field bus nodes like drive units or controllers Field bus monitoring e g generating a CAN Bus trace file CAN BUS monitor with Find and Filter functions Communication via the RS485 takes place in the background The user only has to concentrate on the defined objects The protocol is implemented in the external converter box the USB CAN RS485 adapter as described in the manual predefined sliders and dials using simple drag and drop ebmpapst Scope data display Live display of data from one or several drive parameters logging to a file trigger on specific events Custom UI Panels create display and control elements for a specific application e g machine control Build a simple panel from 3 Overview Kickstart projects are made up of standard modules which are used as blocks For example the CAN USB Interface or Drive01 CANopen Drive modules Additional project templates containing other modules are available for specialised applications scope UI panels eic di s 2 CAN Interface catiMenter 63 7 w1 1 271 Project ex Scope Plot mx Module Description a Gi Project Project Overview Time Div 200 nerds E ae amp 5 CAN Interface CAN Interface for USB CANopen Drive Sca n re 20 000 m sits Mare er i R EASA Eu a REES we ers CAN Monitor CAN Bus Monitor Autod etect E cANnsender CAN Bus Frame Sender
34. jects Drag data objects from the Object Editor and drop them on the Parameter Editor Alternatively Copy data objects from the Object Editor and Paste them into the parameter table e Modify the parameter s Name UI Format and Comment The UI Format configures the UI elements that are displayed for the parameter as described in the Ul Format documentation The Comment defines the additional description text shown below the name in the Ul elements section e Apply Scaling factors and formulas in the same way as for the Object Editor e Modify the Edit Mode i User Level 2 is required for accessing Design Mode NOTICE 20 ebmpapst 6 Kickstart Modules 6 3 1 CANopen Node Edit Mode The Edit Mode affects the appearance and behavior of the CANopen Node module It can be modified from Design Mode i User Level 2 is required to switch to Design Mode NOTICE SO The read write behavior is similar to the Object Editor Read Write works on the Currently selected object only 0 Standard No Write Edit functionality Read always reads the entire list of parameters 1 List Read not only a single object No Store Reset functionality Read Write always affect the entire list of parameters 2 List Read Write Same as the EditMode 2 but Write will always execute a Store action after 2 AUCO OCOTE u writing the values to make the parameter change permanent 6 3 2 CANopen Node Ul Format i User Level 2 is re
35. l baud rate of your network e Choose Scan Network to find out about Scanned Node IDs all existing node IDs within this network Configurable Node IDs supported drive nodes available for setup and operation through Kickstart e Choose Re Build Project to create a Kickstart module for each of the IDs listed in the Configurable Node IDs text field A Never use baud rate scan or similar configuration tasks in running machinery or in a CANopen application in normal operation See also the additional information in the CAN Interface module description WARNING 22 ebmpapst 6 Kickstart Modules Node Monitor You can use the Node Monitor for a simple network overview which displays some basic information on every Node ID that is listed in the Scanned Node IDs text field e Make sure the Scanned Node IDs list is the list of nodes you want to monitor e Click the Node Mon Config to display a list of parameters that should be read for every node You can drag additional Data Objects from the Object Editor module and drop them on the Node Monitoring Configuration table e n the Ul Format column use the updates keyword to specify how the values should be obtained e g updates r read only once when starting the Node Monitor updates r2000 read every 2000 milliseconds See Ul Panel UI Format Definition section for additional details on the updates specifier e Click on Oo Node Monitor to start the network overview node
36. l open a detailed view of this module or a specific function e g CAN Monitor in the content 3 area The content area allows docking and stacking of several module views When saving a project the layout of the content area is remembered and restored when re opening the project 5 3 User Level User levels can be used in Kickstart projects to limit access to modules that are not needed for standard operation or that need to be used with extra precautions The password protection is not intended to prohibit access to certain users but rather as an indication that you are now operating on a more advanced level The default user levels and passwords are User Level Password 0 Monitoring 1 Running 2 Running With Precaution expert i Different versions of the Kickstart software may use different user levels and passwords NOTICE A The highest User level tasks can require additional expert knowledge about the controlled devices or could possibly render a device unusable or cause other damage WARNING Changing the required User Level for a module The minimum User Level required for a specific module is stored in the Kickstart project file To modify these settings perform the following steps e Store your project as a kickpro Uncompressed Project File as described in e You can edit the kickpro file with a standard text editor or an appropriate XML editor Look for the userLevel attributes and chang
37. monitoring i Node Monitor uses SDO transfer for reading out the values from the network nodes Please make sure this is not conflicting with other operations on the CANopen network e g service operation tasks such as Firmware downloads NOTICE 6 5 Scope Depending on the template different modules module names are available i e the modules do not always have all the functions described here The Scope module allows the user to display data in scalable plots Data can be recorded to a file and reviewed later 6 5 1 The Scope Getting Started e Drag one or several Data Objects from the Object Editor and drop them on the Scope configuration table e Make sure the Sampling field is set to Software mode Use the Rate field to adjust the sampling rate samples msec Use the Scaling field to modify the values using a factor or a basic mathematical expression e Use the Start and Stop toolbar buttons to enable or disable sampling e To create a Plot Panel for a monitored data object double click its row in the configuration table The plot will display the latest available data To create a plot for multiple data objects use Create Plot and choose the data object or multiple objects to include in the plot e To configure and toggle triggers use the Triggers module e Click Record to start a Recording and store all sampled data to a file e To load an existing recording use the Open button and select a csv file You can define Tr
38. oop until found in combination with await macro Example do do request status send canid 0x600 nodelId 8 40 41 60 00 00 00 OO OO wait for target reached status word upper four bits 4 using 0 5 seconds timeout wait canid 0x580 node Id 8 4b 41 60 00 4 500 loop until found target has been reached wait until drive moves again do send canid 0x600 nodeld 8 40 41 60 00 00 00 OO OO wait canid 0x580 nodeld 8 4b 41 60 00 0 500 loop until found loop 6 2 DriveO1 CANopen Drive Depending on the template different modules module names are available i e the modules do not always have all the functions described here The E Drive 01 CANopen Drive module offers basic configuration testing and service tasks for CANopen positioning drives supported by this Kickstart application Details on the actual drive models supported can be found in the Kickstart Projects Templates included in your specific Kickstart software version i The following sections on CANopen Drive panels provide a basic overview of the available functions Details can depend on the actual drive model used and are documented in the Kickstart Projects Templates section of the application itself NOTICE ebmpapst 17 6 Kickstart Modules 6 2 1 Setup The Setup panel is used for various configuration and simple testing tasks i Use initial setup functions with care It is strongly recommended to perform initial setup functions
39. quired to switch to Design Mode which makes the UI Format column available for editing NOTICE The UI Format column in the Parameter Editor table configures the editing control available for each data object Custom UI Format settings for each object allow a clean and intuitive on the fly visualization of its value For example a dial and a slider for integer data within a well defined min max range or a combo box for multiple choice parameters i The UI Format settings described below are not identical to the ones used for the UI Panel However if you drag a data object from the UI Panel or the Object Editor and drop it on the CANopen Node panel appropriate conversions and NOTICE additions are applied The UI Format value is a list of key value attribute pairs delimited by semi colons The following is a description of the available attributes type Defines the type of data to be visualized Integer values are displayed as a textbox a dial and a slider See the range integer attribute to define min max values text Texts are displayed using a textbox only A combo box This is useful for objects that accept a limited set of different values combo with different meanings The values available and their descriptions are defined using the options attribute See below for more information and an example ebmpapst 21 6 Kickstart Modules range Defines the minimum and maximum values For example range 0 100 range
40. r User Interface by clicking on the L Design Mode toolbar button i User Level 2 is required for accessing Design Mode NOTICE e inthe Object Editor edit the Ul Format column of the parameters Data Objects you want to use for the UI Panel to define their appearance and behavior See UI Format Definition for syntax and examples e After the Ul Format value is set create your visual control by dragging the data object row from the Object Editor table onto the Ul Panel s white canvas area e Show Data Objects will display a table with the current data objects and their controls configuration To modify the behavior of a created control edit the Ul Format column in the objects table The UI will be refreshed with the latest changes Appearance and positions are defined by the Instances column e Use the Scaling column to scale the raw data object values in the same way scaling is available in the Object Editor and Scope modules You may need to adjust the behavior of your UI controls based on the scaling For example adjustment of the value range for a slider to match the possible minimum and maximum values after scaling Or adjusting the step size for a dial control e To create multiple instances of the same data object drag the data object from the table onto the canvas again 6 6 2 Ul Format Definition i User Level 2 is required for accessing the UI Format definitions in the Object Editor NOTICE The UI Format column of d
41. sis tool for Recorded Data Set up and activate the triggers before opening the csv file After modifying the trigger settings the recording data must be re loaded using the Reload NOTICE toolbar button 26 ebmpapst 6 Kickstart Modules 6 6 Ul Panel Depending on the template different modules module names are available i e the modules do not always have all the functions described here The fay UI Panel module can display data objects in configurable dynamic user interfaces making use of Qt Quick QML technology You can build personalized interfaces suitable for different users and scenarios Data Objects can be represented by graphic controls dial Slider option box on a canvas You can change the look and behavior of any element and create a smartphone like user interface for your individual application i The instructions in the Getting started section show how to compose a panel of a basic set of predefined UI controls each communicating via a single Data Object and SDO communication requests similar to the Object Editor Read and NOTICE Write functions For more advanced user interfaces with graphics and animations please contact your Application Support 6 6 1 Ul Panel Getting Started e The Start Stop buttons control whether the interface is live meaning whether it is communicating with the actual network nodes e g CANopen devices and reading or writing the specified data objects e Start designing or modifying you
42. ssions The transmission takes place via 2 wires The digital signal is transmitted via these wires in differential form In this way common mode interference is suppressed effectively RS485 Communication Communication between users and the drive software takes place via so called telegrams Each program contains specified data which has to be received or sent The drive software ignores telegrams that are not addressed to it ebmpapst 5 2 Safety 2 1 Intended Use This software is intended for the commissioning and service of position drives and other motionoriented machine control units This software accesses the devices via a multi layer application protocol such as the CANopen application or the RS485 protocol 2 2 Safety Notices A For all commissioning and service tasks please refer to the technical documentation of your drive unit or automation device controlled by this software All works must be performed by Qualified Personnel familiar with the drive units or WARNING devices 6 ebmpapst KA motor Kickstart KA Start interface 1 tempiate ees eterpepst k hicktpl Runnag etempagat Kickstart 1970 File Hep a 090 980 0 Men Project Open Project SeveProject Weles SopOmes Hep Updates bit Mae nome eme _ ebmpapst K4 USB2Drive ebmp 4 USB2Drive A projec tempiate for setup and service of eDmpapst K4 drives using USB2Orwe ublame checked ches vegas you use tomen mu wr earned nee mer 9 r
43. the K4 drive The adapter can be ordered under Material No 9140000 400 NOTICE e Connect the USB CAN RS485 Interface to your equipment first before connecting it to the PC e Switch on power supply for the CAN nodes e Connect the CAN Interface to your PC using the USB cable supplied e Start the Kickstart software application Kickstart presents a home screen that allows you to pick your specific application or project File Help New Project Open Project SaveProject UserLevel Stop Drives Help Updates Exit Project Selector ox Module K Project Sector Basic Applications Grundanwendungen a CANopen Drive Easy Setup Easy setup for CANopen drive with unknown baud rate and node ID Einfache Inbetriebnahme eines Antriebs mit unbekannter Baudrate und Node 1D a CANopen Drives Advanced Network Setup Advanced configuration for one or several CANopen drives Additional features include Oscilloscope Network Scan and custom UI Panel Erweiterte Konfiguration von einem oder mehreren CANopen Antrieben Zus tzliche Funktionen wie Oszilloskop Modul Netzwerk Scan und applikationsspezifische Bedienoberfl che WARNING The above projects are for isolated testing and configuration Do not use within a running CANopen A WARNUNG Obige Projekte sind f r isolierte Test und Konfiguration bestimmt Benutzen Sie die L Projekt Dateien nicht in einem laufenden CANopen Netzwerk CR Ka RS485 Drive Setup Setup and test of one ebm papst ECI VDC K4
44. ting actions are not reversible Make sure you have a backup version of your project before modifying its contents WARNING a ebmpapst 6 Kickstart Modules 6 1 CAN Interface Depending on the template different modules module names are available i e the modules do not always have all the functions described here The CAN Interface module controls the communication interface to the CAN network This is usually a CAN USB interface with the following parameters e Communication Port The default setting first found should work fine for most applications If you need to choose a COM port manually e g COM6 open the Windows Device Manager to find out the correct COM port number to be used with the CAN USB interface e Baud Rate The scan setting is used when you are connecting to a CAN network or device with an unknown baud rate The baud rate scan will actively reset the nodes and try to access any existing CAN node A The baud rate scan uses a CANopen NMT communication reset which will might will interfere with any running application Never use baud rate scan in an automation network or in a drive application which is in normal operation WARNING mode i The baud rate scan or any previous access attempt with mismatching baud rate can render the network inaccessible l e one or all CAN nodes or the CAN interface s controller itself have entered a bus off state and are no longer communi NOTICE cating If the baud
45. with only one drive unit connected to Kickstart and not within a full CANopen installation with several drive nodes NOTICE Initial Setup Assign or change the CAN Node ID or CAN Baud Rate The following panels are available after starting a drive node using the Start Drive button e Test Velocity Switch the drive to operation mode Profile Velocity Mode and perform basic velocity control settarget velocity acceleration and deceleration e Test Position Switch the drive to operation mode Profile Position Mode and perform basic positioning control Set target position and enable positioning set additional profile position parameters like velocity e Homing Test basic homing methods including Homing Mode 35 to reset the actual position to zero new reference position without moving the drive 6 2 2 Object Editor The Object Editor module is used for reading editing and writing device parameters It is also where you can define any Data Object that can be used in other modules like the CANopen Node Scope or the UI Panel modules The Object Editor panel consists of two parts e Object Dictionary Device Description The upper part of the Object Editor panel is used to display a dictionary of parameters available for a device The parameter descriptions are defined by a XDD XDC configuration file Use the u Open Dict function to load a different new configuration file e Object Editor Drag one or several parameters from
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