Trio MC4N-ECAT, AKD drive torque control
I have a 4-axis gantry system controlled by a Trio MC4N-ECAT controller and Motion Perfect 4.3. With 4 AKD-x00306/606 servo drivers. I am trying to make a single axis (Z) torque-controlled using an external Force-Torque sensor unit.
The FT sensor has an analog +/- 10V output interface from which I can get one sensing output and connect it to the +/- 10V analog setpoint input of the AKD servo drive unit.
I can see that MP has two Torque control profiles for the AKD drive units, however none of those two include access to the drive unit I/O ports which are necessary for the limit switches and clutch control of the gantry axis. I've attached printouts of a position profile with correct IOs and the torque profile missing the IOs.
And that's about as far as I got. My questions at this point are as follows.
- How can I get access to the I/Os with a Torque-control Ethercat profile for the AKD drive units?
- How can the AKD drive unit be set to use the analog input interface as the torque setpoint?
- Can this setup be done entirely through Motion Perfect or does it require modifications to the AKD drive units using the AKD Servo Drive WorkBench (or some other AKD software)?
- If it can be done through MP, is there some application note or some other documentation for a similar setup?