CAM profile on torque

We have an application note on KDN here http://kdn.kollmorgen.com/content/torque-mode-control-axis-kas-controller that details how to setup a servo axis to run in Torque mode in a KAS program. This KDN post also contains a demo program that you can use, but it uses a feature to freely map PDO parameters to an AKD drive that was recently added in KAS 2.9 that should be released next month but is currently only available in beta form. If you need this feature now, please contact your local distributor to obtain an installer for a beta version of KAS 2.9

The built in motion functions with KAS (including the cam functions) will only work with an axis in position mode. You cannot map a slave axis that is in torque mode to be a part of a cam move as our motion functions adjust the command position parameter to AKD drives, which will not cause motion when it is in torque mode. You can manually write to the command torque while in torque mode or command velocity when a drive is in velocity mode, but you cannot directly use the built in motion functions of the KAS IDE software. A potential solution would be to have a virtual axis be the slave for a cam move, and then take the reported position of the virtual axis and tie it to the command torque of your real axis (can have an equation to convert from a position to a torque value). I prefer to use the PLCopen motion engine over the Pipenetwork, as I find it easier to use. You can have a virtual axis be the slave axis input to an MC_CamIn function and use the MC_ReadActPos function to read the position value of the virtual axis.