AMKASYN

AMK Commissioning and

Parameter setting Explorer
AIPEX

Version: 2010/21
Part-No.: 201840
Notes on this document
Name: PDK_201840_Software_AIPEX_en

Version: Version Change Letter symbol

2010/21 AIPEX V2.08 2010/15 release added KoJ

Previous version: 2008/16

Product version: Product Firmware Version (AMK part-no.) Hardware Version

AMK Software AIPEX V2.08

Copyright notice: © AMK GmbH & Co. KG

Any transfer or reproduction of this document, as well as utilisation or communication of its
contents, requires express consent. Offenders are liable to the payment of damages. All
rights are reserved in the event of the grant of a patent or the registration of a utility model or
design.

Reservation: We reserve the right to modify the content of the documentation as well as to the delivery
options for the product.
Publisher: AMK Arnold Müller Antriebs- und Steuerungstechnik GmbH & Co. KG
Gaußstraße 37 – 39,
73230 Kirchheim/Teck
Tel: 07021/5005-0,
Fax: 07021/5005-176
E-Mail: info@amk-antriebe.de
Dr.h.c. Arnold Müller, Eberhard A.Müller, Dr. Günther Vogt
Registration court Stuttgart HRB 231283; HRA 230681

Service: Tel. no. +49/(0)7021 / 5005-191, Fax -193

Office hours: Mo-Fr 7.30 - 16.30, on weekends and holidays, we provide you with our
Emergency Support team telephone number on our answering machine.
For fast and reliable troubleshooting, you can help us by informing our Customer Service
about the following:
Type plate data for each unit
Software version
Device configuration and application
Type of fault/problem and suspected cause
Diagnostic messages (error messages)
Internet address: www.amk-antriebe.de

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Content
1 Drive system requirements 5
2 Program Layout 6
3 First Steps 7
3.1 Choose language / Spracheinstellung 7
3.2 Setting up communication 8
3.2.1 Serial interface cable RS232 (PC-AMK) 10
3.2.2 USB-RS232 communication 10
3.2.3 CANopen communication 11
3.2.4 Ethernet communication 12
3.3 Adaption of communication parameters 13
3.4 Assistant for project management and hardware configuration 14
3.4.1 Project management 14
3.4.2 Device configuration 15
3.4.3 Hardware configuration 16
3.4.4 Function configuration 20
3.5 Creating a project 20
3.6 Creating the device configuration for a project (offline mode) 21
3.7 Drag & drop via device explorer 22
3.8 Establishing a link to the devices (working online) 23
3.9 Display in online operation 24
3.10 Editing parameters 25
3.11 Reading parameters from the devices and saving in the project 26
3.12 Transferring parameters from the project to the connected devices 27
4 Projects 28
4.1 Generation and modification of the structure of an offline project 28
4.2 Retrofit of a option card 30
4.3 CAN-S BUS Interface on option card - PLC 32
4.4 Saving projects 33
4.5 Managing projects 34
4.6 Information module “History” 35
4.7 Information module “Info” 36
4.8 Working with AIPAR files (also APS files) 37
4.8.1 AIPAR (APS) files opening 37
4.8.2 Transfer of an AIPAR parameter set via AIPEX to AZ/AW, KU (with KU-R01) 38
5 Menu view - The device structure 40
5.1 Full network addresses 40
5.2 SBUS addresses 41
5.3 BUS view 41
5.4 Examples Network addresses and Routing 42
5.5 Sort by names 46
5.6 Display and modification of device properties 46
6 Online Work 48
6.1 Logon 48
6.2 Reading parameters from the devices and saving in the project 48
6.3 Transferring parameters from the project to the connected devices 49
6.4 PLC program up /- download 49
7 Displaying and Entering Parameters 50
7.1 Display of the parameters 51
7.1.1 Selection of the parameter set or of the instance to be displayed 51
7.1.2 Modification of the number representation 52

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 7.1.3 Structured list display 52
7.1.4 Displaying list elements 53
7.1.5 Selection of the parameters to be displayed 54
7.1.6 Display of the system-internal parameters 55
7.2 Modifying parameter data 56
7.2.1 Modifying parameters 56
7.2.2 Modifying parameters with special input option 57
7.2.3 Modifying ASCII lists 58
7.2.4 Modifying lists (not ASCII) 58
7.3 Entering comments 58
7.4 Searching for parameters 59
7.5 Comparison of parameter sets 60
7.6 Printing parameter sets 62
8 Displaying and Entering Temporary Parameters 63
9 Oscilloscope Function 64
9.1 Measurement preparation 66
9.1.1 Single drive recording 67
9.2 Trigger options 70
9.2.1 Synchronous multi drive recording 72
9.3 Measurement 76
9.4 Display of the measurement results 78
9.4.1 Basic display 78
9.4.2 Zoom image 81
9.4.3 Measured values views 82
9.5 Measured values views 83
9.6 Measured values export 83
9.7 AIPEX Menu Bar “Startup” Saving and loading scope measurements 85
9.8 Printing measurements 86
10 AIPEX Menu bar 88
10.1 Menu Startup 88
10.2 Menu PLC 93
11 Operating Mode Button “Messages” 95
11.1 Tab Connection 96
11.1.2 Adding receiving variables 97
11.2 Tab CCF Output 100
11.3 Tab Options 104
11.4 SERCOS III Configurator 107
12 Operating Mode “Diagnosis” 109
13 Operating Mode “Network” 110
14 Appendix 112
14.1 File structure of the projects 112
14.2 Information for users who have worked with APS so far 112
15 Your opinion is important! 113

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1 Drive system requirements
The following prerequisites must be accomplished for online working with AIPEX:
Correctly connected and wired drive system
All bus stations (modules) must be correctly linked, e.g. via ACC BUS cables.
The PC must be connected with the AMKASYN master.
The parameter for module communication must be set in the appropriate instance:
ID34023 Bus station address
ID34024 BUS transmission rate
ID34025 BUS mode
ID34026 BUS mode attribute
ID34027 BUS failure characteristic
ID2 SERCOS cycle time (must be equal for all bus stations, e.g.1ms)
For details refer to section “startup” in the KE/KW documentation.
The installation starts automatically after inserting the CD into the drive (Auto run function) or can manually be started by
opening the “start.exe” file. The installation program loads all necessary files and creates a connection to the AIPEX program in
the “AMK” program group.
The product can be uninstalled in the Control Panel (Software - Uninstall).
At least one free COM interface (RS232), an Ethernet connection or a USB interface for a serial or CAN adapter is necessary
for the online connection to the drive.
The following firewall enabled settings on the PC are necessary for the Ethernet connection:
TCP Port 700
UDP Port 40.000
Broadcast on

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2 Program Layout

picture name: ZCH_AIPEX_Programmlayout

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3 First Steps
3.1 Choose language / Spracheinstellung
Options → Language: Define here, in which language the menu and dialog texts should be displayed.
Note: Restart AIPEX after changing the language.

Optionen → Sprache: Wählen Sie, in welcher Landessprache die Menü- und Dialogtexte sowie die Online Hilfe erscheinen
sollen.
Note: Nach dem ändern der Spracheinstellungen muss AIPEX neu gestartet werden.

picture name: ZCH_AIPEX_Spracheinstellung

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3.2 Setting up communication
If AIPEX was installed for the first time, it is necessary to select an interface. This is to be carried out in Communication settings
“SBUS Register” can also be opened with the menu items Options → Setting communication → Settings SBUS
To configure the CANopen communication please see CANopen communication on page 11
Note: This is only necessary if no communication interface has been defined yet.
After modification of the setting, it is absolutely necessary to restart AIPEX.
This button may be hidden by the “Assistant for Project Management and Hardware Configuration” You can close
this assistant with the button Cancel. To reopen the assistant please choose the menu ? and Assistant for project
management …

picture name: ZCH_AIPEX_Kommunikation_einrichten_01

Clicking on the Communication settings field will provide access to the program “SBUS Register” to select the desired interface.

picture name: ZCH_AIPEX_Kommunikation_einrichten_02

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Note: If you use a USB-to-Serial converter the PC creates a virtual COM interface. With the button Insert COM you can
insert this new COM interface

picture name: ZCH_AIPEX_Kommunikation_einrichten_03

All available COM interfaces in the computer can be added with the Add Com... button. It is possible to operate multiple parallel
interfaces.
The predetermined properties may only be changed in connection with the AZ option card CNC.
At the same time you can use up to 8 Com interfaces with AIPEX.
The Window “More Properties ComX” will only be used with a modem. More information about this theme you can read at the
documentation remote maintenance.
To test the communication, connect a device with the PC and restart AIPEX again.
A color change from red to green of the PC symbol indicates correct communication.
A yellow symbol displays more than one active interface at the SbusRegister.

picture name: ZCH_AIPEX_Kommunikation_einrichten_04

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3.2.1 Serial interface cable RS232 (PC-AMK)
The RS232 interface cable connects the serial interface of the AMK-KU-/ KW devices with the serial interface of the PC. The
product is available from AMK under the order number O576.

picture name: ZCH_AIPEX_Verbindungskabel

3.2.2 USB-RS232 communication

The USB-RS232 interface cable connects the serial interface of the AMK-KU-/ KW devices with the USB interface of the PC.
The product is available from AMK under the order number 200770.

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3.2.3 CANopen communication
Communication between PC and drive system via CANopen is only possible if the AMK “USB-to-CAN” interface is installed on
the PC (AMK order number 46789). Activating the Options → Settings communication → CANopen communication menu item
has the connected CAN Bus scanned for devices during logon. Access to the device is done in the same manner as via the
serial interface.

picture name: ZCH_AIPEX_CANopen_01

To start the CANopen communication the checkbox “active” must be activated. After that you can choose the transmitting rate
between 10Kbit and 1Mbit. (Default value 1MBit)

picture name: ZCH_AIPEX_CANopen_02

Note: If you use an external controller as CAN master, AIPEX will generate a virtual master displayed as external
CANopen device.
Condition:
(ID34026 Bus mode attribute Bit 11 “CAN network without NMT master” = 1 / else FM1063 )

KU as CAN master Logon without CAN master

picture name: ZCH_AIPEX_KU_CANMaster

Note: How to create a offline project

To create a CANclient offline structure without master, first insert a EXT “external CANopen device” as pseudo
master.
(Like picture "Logon without CAN master" only as offline project)

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3.2.4 Ethernet communication
In order to establish an Ethernet connection the “Options – Settings communication” is opened and the Ethernet interface is
activated in the “SbusRegister” window. The “Ethernet monitor” is displayed in the Windows task bar. The Ethernet interface is
currently available only for the SYMAC control.

picture name: ZCH_AIPEX_Ethernet_02

The window “Ethernet state” will be opened when you are click the AMK Ethernet icon at the Taskbar. The monitor lists all the
slaves (SYMACs) active in the LAN. The devices marked with yellow backgrounds have already been linked to another master.
The devices with white backgrounds are not used yet. By selecting the “active” column, devices can be activated for the
communication. (A restart of AIPEX is not necessary)
When a connection is active to a device its IP address has a green background. If the communication to a desired participant is
not possible, its IP address is displayed in red.
Additional (i.e. currently not active) devices can be entered by clicking the column head of the “IP address” column.

picture name: ZCH_AIPEX_Ethernet_03

The columns “Computer name” and “Computer IP” are only filled if the connected AMKAMAC AS-PL controller have at least
version 1.07.
The following firewall enabled settings on the PC are necessary for the Ethernet connection:
TCP Port 700
UDP Port 40.000
Broadcast on

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3.3 Adaption of communication parameters
The device explorer immediately translates and indicates changes of communication parameters (e. g. SBUS address or
Ethernet address) on the offline-device. If you change the online parameter set you have to restart the device and to actual the
AIPEX display.
At a slave device it is possible to change the routing addresses (CC, Base or Sub address).
Note: Changes can only be executed in a pure offline or online project. The entry of the address is locked in mixed
projects.

The context menu opens after a device is clicked with the right mouse button.

picture name: ZCH_AIPEX_Kommunikationsparameter_01

picture name: ZCH_AIPEX_Kommunikationsparameter_02

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3.4 Assistant for project management and hardware configuration
After starting AIPEX the assistant for project management and hardware configuration is opened. The assistant guides the user
during the project management, the device and motor selection, up to the configuration of drive functions. If the assistant was
closed, it can be reopened again at any time by the “?” menu item “Assistant project management...”.

3.4.1 Project management

picture name: ZCH_AIPEX_Projektverwaltung

Scan connected drive system (online operation)

AIPEX scans for connected devices and displays them in the device explorer.
Create new project (offline operation)
By clicking on the <Next> button AIPEX inquires whether the currently opened project should be saved and then
generates an “empty project” with the name “Unknown AIPEX”.
Open existing project (offline operation)
By clicking on the <Next> button AIPEX inquires whether the currently opened project should be saved and then opens
the window for opening project or data sets. This way a previously saved project can be opened.
Go ahead with the opened project “<NAME>-AIPEX” (offline operation)
A click on the <Next> button switches the assistant to the page “Insert device”. The <Finish> button closes the assistant
and the project can be edited further.

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3.4.2 Device configuration
The device configuration is opened by selecting “Go ahead with the opened project “<NAME>-AIPEX” (offline operation)” and
clicking the <Next> button or by clicking the right mouse button in the device explorer over the “Insert device...” menu item.

picture name: ZCH_AIPEX_Gerätekonfigurierung

Once the Next > button is pressed an appropriate device with the respective default data set is generated and displayed in the
device explorer and the assistant switches to the page of the hardware configuration in case this is necessary for the device.
The KWF compact u/f double inverter, the IDT motor with integrated servo controller and the KE compact power supply module
can only add to the ACC-BUS.

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3.4.3 Hardware configuration
When inserting a compact inverter KU or an AC inverter KW any existing option cards as well as the motor need to be selected
in the hardware configuration.
When inserting an AMKASYN SYMAC any existing option cards (Slot2, Slot3 and Slot 4) need to be selected.
Hardware configuration AS-PL

picture name: ZCH_AIPEX_Hardwarekonfiguration_AS-PL

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Select your AMKAMAC controller type in the slot 0 /1. Determine the potentially available optional components in slot 2 to slot 4.
Hardware configuration KW / KU / KWZ / KWF

picture name: ZCH_AIPEX_Hardwarekonfiguration_KW

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The selection of the motor is done from the list of the motor database.

picture name: ZCH_AIPEX_Hardwarekonfiguration_Motordatenbank

When motor parameters are adopted from the AMK motor database, parameters can be deselected.
Deselected parameters are not overwritten with values from the motor database.

picture name: ZCH_AIPEX_Hardwarekonfiguration_Parameter

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Using the context menu (right mouse button) new motors can be generated, which can be saved by “Exporting” into a user
database. Each motor is color-coded whether it comes from the AMK motor database or the user database.

picture name: ZCH_AIPEX_Hardwarekonfiguration_Motordatenbank_02

Export
Only generated motor parameters (yellow point) can be export into a user database.
Note: Motor type must be select for exporting

Import
Export motor parameters and AMK Motor Databases can be import.
Additionally it is possible to print the contents of the motor parameters after selecting the motor parameter list.
To print the motor parameters select the item “Parameter” and then “Print”

picture name: ZCH_AIPEX_Hardwarekonfiguration_Motorparameter_03

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3.4.4 Function configuration
Call up the function configuration:
In the assistant for project management and hardware configuration by clicking <Next> on the hardware configuration
page.
From the context menu of the device explorer (right mouse button) over the menu item “Configure functions”

picture name: ZCH_AIPEX_Funktionskonfigurierung

For each function a specific assistant is activated at activation that queries the user for all relevant settings to this function. The
assistant assigns all parameters of the device data set specific to the function.

3.5 Creating a project

AIPEX works project-specific, i.e. before starting work, a project always has to be opened.
In order to create a new project, select “Project → New” from the menu.

picture name: ZCH_AIPEX_neues_Projekt_anlegen

To assign a name to this project, save it with “Project → Save as…” under the new name.

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3.6 Creating the device configuration for a project (offline mode)
This point may be skipped if
only working in online mode
the device configuration is to be taken on directly from the connected drive system.
To insert a device into the project, select the “Insert device…” menu point from the context menu in the device explorer (right
mouse button)

picture name: ZCH_AIPEX_Gerätekonfiguration_Projekt

Selecting the appropriate device from the list.

Depending on the master hardware the following slave addresses are supported:

Master hardware KU-/KW-R03P KU-/KW-PLC1 AS-FCT1 (CAN1) AS-FCT1 (CAN2)

Supported node addresses 1-45 1-64 1-64 1-64

The following table is a recommendation for the system addressing:

Node Address Hardware

1 Master (e.g. KW, SYMAC AS-FCT1)

2…32 Slaves (KW, KWD, KWF, IDT)

33-39 KE Slaves

40… External nodes (e.g. I/O-modules)

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picture name: ZCH_AIPEX_Gerätekonfiguration_Projekt_02

A BUS address is proposed by AIPEX. If necessary it must be adapted to the application by overwriting this address.
To insert of additional devices first click-on the BUS, which is used to address the device,
e. g. “CAN” for KE / KW modules (refert to chapter 3).

3.7 Drag & drop via device explorer

picture name: ZCH_AIPEX_DraguDrop_01

Single devices or complete device structures can be copied (see above), not moved!
Only offline devices can be copied, online devices can not be changed.
Procedure:
Highlight device or device structure and push it on the selected bus. At the example the device structure AS 1 Station is
highlight and pushed on the PC bus (Ethernet).
The relevant parameters (e. g. BUS address, BUS mode, …) in the newly generated data set are automatically adapted.
If a MASTER device is converted into a SLAVE the associated CCB file is deleted.
The MASTER KW module can not be copied directly as a SLAVE to its own CAN BUS.

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picture name: ZCH_AIPEX_DraguDrop_02

3.8 Establishing a link to the devices (working online)

To work online, establish a link to the connected devices using “Online à Logon”.

picture name: ZCH_AIPEX_Einloggen

The duration for logon depends on the number of connected devices in the network.
With “Logon”, the entire network is read in and then the device configuration is depicted.
With “Logon on master” only the master device to which the PC is connected is read in (for lower ACC BUS load).
Access to other devices in the network is not possible.

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3.9 Display in online operation
Parameter sets exist once in the PC memory and in the device memory.
They are displayed with colored symbols in the device explorer.

picture name: ZCH_AIPEX_farbige_Symbole

picture name: ZCH_AIPEX_Anzeige_Online_Betrieb

Please note for this:

The icon PC shows the offline parameter set
The icon motor shows the online parameter set
1.). The icon with connected blue computer and blue motor shows that both data sets existing at the displayed address are
identical in content.
2.) The icon with connected yellow computer and blue motor shows that a project data set as well as a device exist at the
displayed address
In the parameter table, both data sets existing at the selected address are shown simultaneously. Differences in the parameters
are identified through red color.
3.) The icon with the yellow computer identifies an existing project data set for the displayed address (KW 2.0.0.1, KW
2.0.0.2, KW 2.0.0.3).

4.)The icon with the blue motor identifies an existing device (online) at the displayed address KE2.0.0.33, a offline parameter
set must be generated above menu online upload parameter set

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3.10 Editing parameters
Separate parameter columns are displayed for the two parameter sets (offline) and (online).
Parameter EDIT is only possible in the offline parameter set on the PC (column base colour white). The acceptance of the
new value is prompted by “Change also in the online data record?” is output. If confirmed by “Yes” the new value also is
transferred into the EEPROM on the drive ( online).
Parameter changes on the drive ( online) become effective only after rebooting of the drive system or at least RF (Inverter
ON) must be turned OFF / ON (with modification of drive specific parameters).
Changes at the menu “Temporary Parameters” become immediately active.

picture name: ZCH_AIPEX_Editieren_Parameter

For parameter EDIT button “Parameter select” enables the selection of:

picture name: ZCH_AIPEX_Editieren_Parameter_02

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Short key “F5” can be used to update the reading for the selected online device.
By alternating mouse clicks to the header “ Value” (online) all parameters or only the different parameters are displayed.

picture name: ZCH_AIPEX_Editieren_Parameter_03

3.11 Reading parameters from the devices and saving in the project
To save the device data sets and to transfer them into the project, use the menu point “Online à Parameter take on the project”.
This prompts the selection whether the data set of the selected device (“actual device”) or “from all devices” are to be
incorporated into the project. The existing project data sets are overwritten. If a device does not exist in the project, it is thereby
created.

picture name: ZCH_AIPEX_Parameter_lesen

After successful transfer, the device data can be saved using “Project → Save” or “Project → Save as…”.
This enables the creation of a complete image of the device structure and of the device data, even if an empty project served as
initial basis.
The menu point “Online – Cache all devices” includes retrieving data from all connected devices to the operating memory of the
PC.
This does not translate into a transfer of data and device structure to the project!
Access to the data in the operating memory increases the processing speed during working in online mode.

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3.12 Transferring parameters from the project to the connected devices
To transfer project data sets into the devices, use the menu point “Online à Parameter take on the device”.
Here you also have the option only to transfer the parameter set to the device selected in the device explorer (“to the actual
device”) and to save there, or to consider “all devices” for which a project data set and an online device exists.
Note: The Bus station address ID34023 must be equal at the online parameter set (device) as the offline parameter set
(PC).

picture name: ZCH_AIPEX_Parameter_überspielen

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4 Projects
4.1 Generation and modification of the structure of an offline project
New projects are created through the menu point “Project – New…”:

picture name: ZCH_AIPEX_Projekt_01

New devices are selected through the context menu of the device structure.

picture name: ZCH_AIPEX_Projekt_02

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picture name: ZCH_AIPEX_Projekt_03

A new device (e.g. KW) must be linked to the required internal bus (e. g. CAN BUS for KE / KW / EXTERN). The device must be
selected and the node address must be entered.
Address range: KW (also KWD, KWF, KU):
1…32
KE: 33…39
Address “1” must be assigned to the CAN MASTER.
This work step has to be repeated for each device in the drive system.
For each device within the project, a data set is automatically created.

picture name: ZCH_AIPEX_Projekt_04

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External CAN BUS devices (e. g. decentralized I/O modules / WAGO, ...) are inserted into the network in offline mode by
selecting “EXTERN”.
On Logon external devices are recognized and also displayed as “EXT”.
These external devices also are taken into account during “Messages configuration” (refer to section “Messages configuration”).

4.2 Retrofit of a option card

Option cards will be additional entered in the window device “Properties”.
You have to highlight the desired device with the right mouse button to open the pop-up menu.

picture name: ZCH_AIPEX_einfügen_Optionskarte_01

picture name: ZCH_AIPEX_einfügen_Optionskarte_02

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After you have chosen the option card you can change the BUS configuration in the menu “Network”

picture name: ZCH_AIPEX_einfügen_Optionskarte_03

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4.3 CAN-S BUS Interface on option card - PLC
The PLC CAN-S BUS is displayed in both offline and online mode.

picture name:ZCH_AIPEX_CAN-S

External devices also can be linked to the PLC CAN-S BUS:

Messages also can be configured for this BUS which then are stored as a CCB file in the instance associated with the PLC
option card (refer also to “Messages configuration”).
All devices on this BUS are depicted as EXT “external CANopen devices” (also AMK devices).

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4.4 Saving projects
A new project can be saved under the menu point “Project – Save as…” in the desired target folder.

picture name: ZCH_AIPEX_speichern_Projekt_01

picture name: ZCH_AIPEX_speichern_Projekt_02

Modifications or additions to already existing projects are saved under the menu point “Project – Save” .

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4.5 Managing projects
Complete projects are deleted under the menu point “Project – Admin…”:

picture name: ZCH_AIPEX_verwalten_Projekt_01

This menu point is only active if no project is open (call up “Project – Close”).

picture name: ZCH_AIPEX_verwalten_Projekt_02

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4.6 Information module “History”

picture name: ZCH_AIPEX_Informationsmodul_Historie_01

picture name: ZCH_AIPEX_Informationsmodul_Historie_02

In the menu point “Project – History”, the user can create information about all the modifications in the projects.
Entries that are once saved can no longer be deleted.

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4.7 Information module “Info”

picture name: ZCH_AIPEX_Informationsmodul_Info_01

picture name: ZCH_AIPEX_Informationsmodul_Info_02

After calling up the menu point “Project – Info”, detailed information regarding the device properties is displayed.

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4.8 Working with AIPAR files (also APS files)
4.8.1 AIPAR (APS) files opening
The AIPAR files (also APS files) created with older AMK programs can be opened with the menu point “Project – Open…”.

picture name: ZCH_AIPEX_AIPAR_öffnen_01

In the ensuing file dialog, specify the corresponding file type (for AIPAR files: “.aip” / for APS files “.apu”) and open the desired
file in the appropriate directory.

picture name: ZCH_AIPEX_AIPAR_öffnen_02

This creates a virtual project, i.e. you can continue working as with AIPEX projects. However, this virtual project always only
contains one device.
Under the menu point “Project – Save as…”, a real AIPEX project is created from the virtual one.

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4.8.2 Transfer of an AIPAR parameter set via AIPEX to AZ/AW, KU (with KU-R01)
Click-on “Project”
Click-on “New”
Open selected project “xxxxx.app” (AIPAR parameter set already stored as an AIPEX project) through
“Project” - “Open”.

picture name: ZCH_AIPEX_AIPAR_Parametersatz_01

Connect PC to the serial interface on the controller card (X77 on AZ-R0x through AZ interface cable / X35 on KU-R01 through
KW interface cable).
Turn On drive system. Inverter On RF remains Off.
Wait until serial communication works (PC symbol at the bottom, right hand side changes color from red to green).
Click-on “Online” – “Logon”.
The PC is logged on to the drive system and additionally the online device AZ 2.0.0.0.0 now is depicted on the screen (on
an AZ / AW system AIPEX only can detect the AZ module with totally 10 parameter sets. Its SBUS address is “2”).
Select “Address” via the context menu and enter “2” as the new SBUS address.
By this the SBUS address of the online project is also assigned to the offline project , indicated by the linkage of the two
symbols

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The new SBUS station address “2” for the offline project also can be entered directly into ID32949. After this the offline
project and the online project also are linked together.

picture name: ZCH_AIPEX_AIPAR_Parametersatz_02

picture name: ZCH_AIPEX_AIPAR_Parametersatz_03

Click-on “Online”, select “Download Project Parameter set”, - “all devices”.

The parameters are now transferred into the EEPROM on the controller card in the drive system.
After parameter set down load to the drive system: Power OFF.
The new parameters become effective on the drive system only after Power Up again.

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5 Menu view - The device structure
In the left part of the program AIPEX, all devices of the project are displayed. This goes for projects which are loaded from the
own PC (offline work) as well as for devices connected per field bus (online work).

picture name: ZCH_AIPEX_Menue_Ansicht

In the initial state, the device structure is displayed according to the logical arrangement of the devices. The node address is
displayed as device address in the relevant bus.

5.1 Full network addresses

If not just the simple but complete device address is to be displayed, this can be achieved by selecting the menu point “View –
Full net addresses”.

This prompts the complete device address to be shown at

each device in the drive system.

picture name: ZCH_AIPEX_Netzwerkadresse_01

picture name: ZCH_AIPEX_Netzwerkadresse_02

page 40
5.2 SBUS addresses
The SBUS address is only displayed in front of the network address once the menu point “View – SBUS addresses” has been
activated.
Is the communication between PC and AMKASYN modules above Ethernet, the Ethernet address will be shown by the explorer.

picture name: ZCH_AIPEX_SBUS_Adresse_01 picture name: ZCH_AIPEX_SBUS_Adresse_02

5.3 BUS view

The devices are displayed in their order regarding the field buses.

picture name: ZCH_AIPEX_Busansicht_01

picture name: ZCH_AIPEX_Busansicht_02

page 41
5.4 Examples Network addresses and Routing
The display of the complete network address is done in the form
SBUS/Ethernet - CC.BASE.SUB
ASC Addresss: The ASC AMKASYN SYSTEM COMMUNICATION
is the connection between SYMAC controller and a drive System e.g. ACC-BUS. Die station address
building the “BASE Addresses”
CC Addresss: CC CROSS COMMUNICATION is the connection between several SYMAC controllers via SERCOS. The
station addresses built the “CC Addresses”
SUB Addresss: Several drive networking via ACC BUS without SYMAC controller. The station address building the “SUB
Addresses”.

Address Example Use

SBUS-Address Communication between COM interface PC and
AMKASYN module.

picture name: ZCH_AIPEX_Bsp_Netzwerkadresse_01

Ethernet Address Communication between Ethernet interface

network/Pc and AS-PL controller

picture name: ZCH_AIPEX_Bsp_Netzwerkadresse_02

CC- Address Communication above Sercos between two AS-

Cross PL controller
Communication

picture name: ZCH_AIPEX_Bsp_Netzwerkadresse_03

BASE-Address BUS station address ID34023 / ACC BUS

Master is the AS-PL controller

picture name: ZCH_AIPEX_Bsp_Netzwerkadresse_04

SUB Address BUS station address ID34023 / ACC BUS

Master is the KW No.1

picture name: ZCH_AIPEX_Bsp_Netzwerkadresse_05

ACC BUS 1&2 Projection of a second instance of the ACC BUS

AS FCT1 (2/2 → CAN/2 / station address 2)
Projection generally valid for all instances in the
system.

picture name: ZCH_AIPEX_Bsp_Netzwerkadresse_06

page 42
 The following example shows an AMKAMAC AS-PL controller which is a SERCOS master and one other a SERCOS slave.
The AS-PL’s are connected above the option cards AS-FSM1 (SERCOS Master) and AS-FSS1 card (SERCOS Slave).
Each AS-PL is equipped with an AS-FCT1 option card with 2 ACC BUS interfaces.
A group with one KE and 2 KW modules are in circuit with the ACC BUS 1.
One KU module is connected with the AS-PL at ACC BUS 2
At the example, the external CANopen components can be reached over the ACC BUS.
At one part the external CANopen component is directly connected with the ACC BUS 1. At the other part the external CANopen
component is connected to the KW3 – PLC 1 option card
The serial SBUS network connect the PC with two KU modules via ACC BUS.
The KU, which is directly connected with the PC, has the SBUS address 2.
The AS-PL Master and all secondary modules are connected with the PC over Ethernet.
Note: Sercos- standard, Master has the CC-address 255.

page 43
picture name: ZCH_AIPEX_Netzwerkverbindung

Routing table

SBUS/Ethernet CC BASE SUB

AS-PL lokal 172.16.4.17 - - -

AS- FSM1 Sercos Master 172.16.4.17 255 - -

AS- FCT1 ACC 1 Master 172.16.4.17 0 - -

page 44
 172.16.4.17 0 33 0

KW Slave 172.16.4.17 0 2 0

KW Slave 172.16.4.17 0 3 0

AS- FCT 1 ACC 2 Master 172.16.4.17 0 2/- 0

EXT CANopen 172.16.4.17 0 4 0

AS-PL Slave

AS- FSS1 Sercos Slave 172.16.4.17 1 - -

AS- FCT 1 ACC1 Master 172.16.4.17 1 - -

KE Slave 172.16.4.17 1 33 0

KW Slave 172.16.4.17 1 2 0

KW Slave 172.16.4.17 1 3 0

PLC1 Master ACC Master 172.16.4.17 1 1/- -

EXT CANopen 172.16.4.17 1 1/3 0

SBUS 2 - - -

KU ACC Master 2 0 0 1

KU ACC Slave 2 0 0 2

AIPEX offline - project

picture name: ZCH_AIPEX_offline_projekt

page 45
5.5 Sort by names
Under the menu points “View – Sort by names”, an alphabetic arrangement of the devices is carried out, otherwise according to
bus addresses.

picture name. ZCH_AIPEX_sortieren_Name_02

picture name. ZCH_AIPEX_sortieren_Name_01

5.6 Display and modification of device properties

After selecting one of the devices (mouse click), the properties of the device can be called up using the context menu.

picture name: ZCH_AIPEX_Darstellung_01

page 46
picture name: ZCH_AIPEX_Darstellung_02

Under “Station name:” the name of the device can be entered. Please note for this that not all device types can have a station
name (e.g. a station name for the KE is not available).
Under “Motor” you can see the actually selected motor. With the button the AMK motor data base can be opened and a new
motor can be selected.

page 47
6 Online Work
6.1 Logon

picture name: ZCH_AIPEX_OnlineArbeit

Establish a link to the connected devices using “Online – Logon”.

The duration for the logon depends on the number of devices that are connected.
With “Logon”, the entire network is read in; with “Logon on master” only the master device directly connected is read in. This
reduces the BUS load of the internal device bus.
This way access to other network stations is not possible!

6.2 Reading parameters from the devices and saving in the project

picture name: ZCH_AIPEX_Parameter_lesen_online

The data is read from the connected devices and adopted into the project data sets (in the work memory) using the menu point
“Online – Parameter take on the project”. If no project data set exists for a device, it is created here.
The device structure and the project data sets are saved on the PC with “Project – Save” or “Project – Save as…”.
This enables the creation of a complete image of the device structure and of the device data, even if an empty project served as
initial basis.

page 48
6.3 Transferring parameters from the project to the connected devices

picture name: ZCH_AIPEX_Parameter_überspielen_online

Using the menu point “Online – Parameter take on the device”, the data of the project data sets are transferred to the connected
devices and saved there immediately.
All devices are considered for which a project data set and an online device exist.

6.4 PLC program up /- download

Picture name: ZCH_AIPEX_PLC_up_download

The menu „Options -> PLC Program up- / download“ has directly effect to the menus “Online -> Upload parameter set” and
“Online -> Download project parameter set”.
Is the „Options -> PLC Program up- / download“ activated the PLC program will be automatically transfer to the device or rather
form the device into the project.

page 49
7 Displaying and Entering Parameters
In this chapter, the basic procedures for displaying and modifying parameters is explained.
In offline mode only column is shown, in online mode additionally column .
Parameter edit is only possible in the offline parameter set on the PC (white column background). The acceptance of the new
data is prompted by “Change also in the online data record?”. By confirmation with “Yes” the new value also is transferred into
the EEPROM on the drive ( Online).
If only a online data set exists, the changes are written directly into the drive.
The changes only become effective in the drive after the device has been restarted or with the next switch-on of the inverter on
(if drive specific parameters have been changed).
Changes in the menu “temporary parameters” immediately take effect.

picture name: ZCH_AIPEX_Darstellung

Parameter modifications on the drive become only effective after the next system booting or with the next Inverter RF ON (only
for drive specific parameter changes).

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7.1 Display of the parameters

picture name: ZCH_AIPEX_Darstellung_Parameter

ASCII lists are displayed as string (e.g. ID 30)

Non-ASCII lists are marked through an icon in the input field and only their list lengths (current / maximum list length) are
displayed (e.g. ID 17)
Drive-specific and instance-specific parameters are marked through special (yellow or green) icons (e.g. ID 36 or ID 30)
in the “Length” column
Write-protected parameters are displayed with light red background. Read only parameters.
Parameters with red typeface are system internal parameters. They can activate or deactivate above the window
“Parameter Selection”

7.1.1 Selection of the parameter set or of the instance to be displayed

In the table of the parameters, always only one parameter set or one instance is shown. It is to be determined by the operator
using the crystal tab at the lower edge of the table which parameter set or which instance is to be displayed.

picture name: ZCH_AIPEX_Auswahl_Parametersatz

The settings of the two crystal tabs are independent of each other.

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7.1.2 Modification of the number representation
The number format (column “Type”) can be changed for each ID individually.
After pressing the right mouse button (context menu) the desired number representation can be selected in the newly opened
window.

picture name: ZCH_AIPEX_Zahlendarstellung_01

Modified representation is marked through the blue colored text in column “Type”.

picture name: ZCH_AIPEX_Zahlendarstellung_02

7.1.3 Structured list display

picture name: ZCH_AIPEX_Liste_strukturiert_01

If “Show lists with structure” is activated in the context menu, the user can specify “Name”, “Value”, “Unit” or “Length” (e.g. user
lists).

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picture name: ZCH_AIPEX_Liste_strukturiert_02

7.1.4 Displaying list elements

Lists are expanded in the list field with a double-click, i.e. all list elements are displayed individually:

picture name: ZCH_AIPEX_Listenelement

After another double-click, the list elements disappear again.

Note: Lists with a current list length of 0 cannot be expanded and therefore have a crossed-out icon.

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7.1.5 Selection of the parameters to be displayed
With the “ID Select” button, the dialog for selecting the parameters to be displayed can be accessed. It is defined here which
parameters from the entire pool is to be displayed.
The parameters of a parameter group (“Single group”) or a list of parameters, composed by the user (“Own list”), can be
displayed.
Single group:

picture name: ZCH_AIPEX_Parameterauswahl_01

Own list:
Any ID numbers can be summarized in an own list under a name.
Several lists with different names are possible. The user then can select one of these lists.

picture name: ZCH_AIPEX_Parameterauswahl_02

page 54
Lists already predefined as an AIPEX standard can be modified according to the user’s needs.
If a list is no longer required, it can simply be removed by completely canceling its content by “DELETE”.
An automatic extension of the currently valid own list is possible through the context menu of the parameter display, select “ID
set in select list”:

picture name: ZCH_AIPEX_Parameterauswahl_03

7.1.6 Display of the system-internal parameters

In the dialog “ID Select”, display and access to the system-internal parameters is possible (access only possible after entry of
the AMK service password):

picture name: ZCH_AIPEX_SysteminternePara_01

page 55
For the system-internal parameters, the group and value are displayed in red font to signal that they cannot be changed.

picture name: ZCH_AIPEX_SysteminternePara_02

7.2 Modifying parameter data

The following explanations are only valid for parameters which can be modified.
Write-protected parameters (can be recognized due to light red background) as well as all system-internal parameters, as long
as no password was entered for releasing the modifications (can be recognized due to the red font of the values), are not
changeable.

7.2.1 Modifying parameters

If the input focus lies on one value (i.e. the value is marked), a new value can be directly entered:

picture name: ZCH_AIPEX_VeränderungPara

Another possibility is a double-click in the field or pushing the “ENTER” key. The same is accomplished by two single clicks:
The entry is terminated with the “ENTER” key, with a CURSOR key (up or down) or through a mouse click in a different field.

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7.2.2 Modifying parameters with special input option
Parameters with special input options are marked through a keypad symbol in front of the value:

picture name: ZCH_AIPEX_VeränderungPara_spez_01

After a double-click or after clicking on the “ENTER” button, a special dialog opens in which certain bits or bit groups can be set
per selection:

picture name: ZCH_AIPEX_VeränderungPara_spez_02

The selection of the bit assignment is carried out through the arrow keys in this dialog.
Direct input is also possible the traditional way:

picture name: ZCH_AIPEX_VeränderungPara_spez_03

page 57
7.2.3 Modifying ASCII lists

picture name: ZCH_AiPEX_Veränderung_ASCII

ASCII lists can be edited directly, as all simple parameters. The current list length is automatically adjusted to the entered string
after completion of the input.

7.2.4 Modifying lists (not ASCII)

Entering a value into the table field of a list changes its current list length. The content of the list remains unchanged:

picture name: ZCH_AIPEX_Veränderung_nichtASCII_01

Double-click on the table field to expand the list. The list elements are then accessible and can be modified individually:

picture name: ZCH_AIPEX_Veränderung_nichtASCII_02

7.3 Entering comments

In the last column of the table, any comments can be edited. However, this is only possible if an offline data set is available; i.e.
not for pure online work.
Comments are not just possible for each ID but also for each list element in an expanded list.

picture name: ZCH_AIPEX_Eingabe_Kommentar

page 58
7.4 Searching for parameters
In the title line of the table, two symbols refer to a search function.

ZCH_AIPEX_Suche_Parameter_01

A click in the ID table field calls up a dialog for entering an ID number to be searched for:

ZCH_AIPEX_Suche_Parameter_02

After hitting OK, the entered ID number is searched for in the entire table.
A click in the table field with the title name calls up a dialog for entering a text to be searched for:

ZCH_AIPEX_Suche_Parameter_03

After hitting OK, all ID names of the entire table are searched for the entered text. For this, it is sufficient if the entered text is but
a fragment of the ID name. Capital and small letters are also ignored.
The search always begins with the ID following the current table line and automatically jumps to the beginning at the end of the
table. Each aditional call-up of this search function with unchanged text is a “Search Next” function.
Please note for these two search functions that only the current table is searched. All parameters currently not
selected with “ID Select” can therefore also not be found.

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7.5 Comparison of parameter sets
A function for comparing parameter sets can be called up through the context menu of the parameter table.

picture name: ZCH_AIPEX_Vergleich_Parametersatz_01

It opens a dialog in which a parameter file is selected and opened which is used as comparison data set.
After selecting a file, another dialog opens for the determination of the device.

picture name: ZCH_AIPEX_Vergleich_Parametersatz_02

After selecting a device, another dialog opens for the determination of the reference parameter set or the reference instance:

picture name: ZCH_AIPEX_Vergleich_Parametersatz_03

If you select the upper option, the same parameter set or the same instance of the reference file is used as for the original data
set; i.e. the register cards underneath the table are also valid for the comparison data set.
The lower option selects a set value for the parameter set and the instance of the reference file. The register cards underneath
the table have no effect on the reference file in this case.

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picture name: ZCH_AIPEX_Vergleich_Parametersatz_04

The data of the reference file are displayed in an additional column but cannot be modified. All data of the reference file differing
from the original data set are marked in color.
A click in the title field of the reference file changes between the display of all parameters and a display of the differentiating
parameters.

picture name: ZCH_AIPEX_Vergleich_Parametersatz_05

page 61
Removing the selection “Data compare” ends the comparison.

picture name: ZCH_AIPEX_Vergleich_Parametersatz_06

Selecting the “Close” button in the “File” selection dialog.

picture name: ZCH_AIPEX_Vergleich_Parametersatz_07

7.6 Printing parameter sets

The parameter table is always printed in its currently activated state.
All parameters selected with “ID Select” are printed
All expanded lists are also printed expanded
The values of the currently specified parameter set or the currently set instance are printed
If a comparison data set is activated, it is also printed

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8 Displaying and Entering Temporary Parameters
Temporary parameters are treated very similar to remanent parameters. Therefore, this chapter only treats the differences
between the two.
Modification of temporary parameters is only possible during online mode.
Only those parameters are displayed which can be modified temporarily. The restrictions set through “Selection”, however, are
also valid in this case as well.

picture name: ZCH_AIPEX_tempParameter

A modified value immediately is transferred to the drive and directly becomes effective there!
All modified values are displayed in blue font.
If the input of the temporary parameters is completed (e.g. through changing the operating mode), the operator has to decide
whether the temporary changes are also to be stored permanently in the EEPROM on the drive.

picture name: ZCH_AIPEX_temParameteer_speichern

page 63
9 Oscilloscope Function
Specific drive
The oscilloscope records the signals of the drive marked in the device
explorer.
Multi axis scope
For multi axis scope measurements there exists the possibility to
record signals from all connected drives simultaneously. The
measurement is started on all drives by a common trigger signal.

picture name: ZCH_AIPEX_Oszilloskop_01

The following basic window appears when selecting the AIPEX register card “Scope”:
If you click the menu “SCOPE” following user interface you will see.

picture name: ZCH_AIPEX_Oszilloskop_02

page 64
1 Control Oscilloscope (Start, Stop and Trigger Button)
Representation Status
Offline (grey)
Ready (green)
Started (yellow)
Triggered (yellow)
Invalid (red)
Error (red)

2 Configuration field

3 Field for drive selection and parameter selection

4 Display

5 Each display has his own channel selection

6 Scale time axis

7 Grid at the display (on / off)

picture name: ZCH_AIPEX_Oszilloskop_03

1 Input field for the scan period of the following measurements (0.5 ms to 20 ms)

2 Input field for the trigger position (start position of the measurement) within the display

3 If multiple trigger signals are used, you can select between a “and” or “or” – connection of the trigger signals

4 Button for opening the configuration field

5 Display of the date and the time after a measurement

6 Button for opening and entering information about the measurement

(Button with a yellow background means text information entered)

One line from the “Field for channel selection and signal parameters”

page 65
picture name: ZCH_AIPEX_Oszilloskop_04

9.1 Measurement preparation

Prerequisite for a measurement is that AIPEX is working online and that a valid device for the specific drive recording or the
CAN (ACC BUS) for synchronous multi drive recording have been selected.

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9.1.1 Single drive recording
The drive specific scope function records the drive which is selected in the device explorer.

picture name: ZCH_AIPEX_Signalaufzeichnung_01

To configure the channels, click one the button configuration to call up the configuration dialog:

page 67
picture name: ZCH_AIPEX_Signalaufzeichnung_02

page 68
picture name: ZCH_AIPEX_Signalaufzeichnung_03

8 channels for different signals are available.

If a signal is assigned to the selected channel, the channel automatically is activated.

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9.2 Trigger options

picture name: ZCH_AIPEX_TriggerEinst

The signal can also be set as trigger condition, if so desired:

Trigger options
1. Positive edge in combination with a positive level.

picture name: ZCH_AIPEX_TriggerVarianten_01

page 70
The scope will be triggered as soon as the speed will be higher than 10 1/min.

2. Negative edge in combination with a negative level.

3. Short pulse above trigger level in combination with a positive level and a time factor.

picture name: ZCH_AIPEX_TriggerVarianten_02

The scope will be triggered as soon as the speed will be higher than 10 1/min and not later than 2 sec. (200*10ms) lower than
10 1/min.

4. Long pulse above trigger level in combination with a positive level and a time factor.

picture name: ZCH_AIPEX_TriggerVarianten_03

The scope will be triggered as soon as the speed will be longer than 2 sec. (200* 10ms) higher than 10 1/min.

5. Short pulse below trigger level in combination with a negative level and a time factor.

6. Long pulse below trigger level in combination with a negative level and a time factor.

7. Snapshot

picture name: ZCH_AIPEX_Schnappschuss

The scope will be triggered automatically after initialization.

To validate the settings, the channel has to be active and the “OK” button has to be pressed.

page 71
picture name: ZCH_AIPEX_Triggerverknüpfung_01

The configured channels can be selected in the column “CH – ID Parametername”:

picture name: ZCH_AIPEX_Triggerverknüpfung_02

Two channels are activated in the example.

Use the buttons “+ (Insert channel)” or “- (Remove channel)” to insert or remove table lines (scope channels).
Start the measurement ( see Measurement on page 76)

9.2.1 Synchronous multi drive recording

Note: For the device-spanning oscilloscope function with external triggering the following software version is necessary
for the KU/KW controller card:
R03: 3.08
R03P:5.08

The hardware synchronization signal of the ACC bus must be active. The synchronous multi drive recording will be activated, if
the ACC bus is selected in the device explorer. All drives are available now in the column “Drive” of the scope.

picture name: ZCH_AIPEX_synchrSignalaufzeichnung_01

page 72
If the drive is selected, the window to set trigger and scope signal can be opened with the configuration button. The
configuration window acts device and channel interoperable.

picture name: ZCH_AIPEX_synchrSignalaufzeichnung_02

One of the drives have to be the “source for external triggering” and triggers all drives for the synchronous multi device
recording.
Note: KE device can not be the source for external triggering.

page 73
picture name: ZCH_AIPEX_synchrSignalaufzeichnung_03

In the configuration window 8 signals (8 channels) can be assigned to every drive.

The signal configuration is drive specific.

page 74
picture name: ZCH_AIPEX_synchrSignalaufzeichnung_04

In the last step the CH- ID Parameters will allocate to the drives.
When starting the device-spanning oscilloscope function all configured drives are started one after the other with the trigger
source starting last. When the trigger event occurs in the drive there is a delay until all drives are finished with the recording and
then afterwards all the data is transferred to the PC. The recording length of the signal depends on the number of configured
channels per drive.

page 75
9.3 Measurement
The measurement considers all channels which are activated in the configuration dialog.

picture name: ZCH_AIPEX_Messung

1. Set sampling time: The sampling time is the period between two measuring points. The time base value can be selected
between 0.5 ms and 20 ms (steps 0.1 ms). When recording the measurement results, the time axis shows the entire
time from 0 ms up to the maximum time. The maximum time depends on the number of activated channels and the time
base setting. The maximum time then can be between 64 ms and 40960 ms.
Additional special times can choose for the IDT (0.03125ms, 0.0625ms, 0.125ms, 0.25ms)

picture name: ZCH_AIPEX_Abtastzeit

2. Set trigger position: The trigger position is set to the desired position by entering a value. Trigger position 30 % means,
e.g., that the trigger instant is set to 30 % of the maximum time. During the measurement 30 % of the data are recorded
before and 70 % of the data after the trigger point.

picture name: ZCH_AIPEX_Triggerposition

picture name: ZCH_AIPEX_Triggerposition_2

shows the position of the trigger in the window.

page 76
 3. Trigger link: Combines all trigger sources activated in the configuration dialog. For the scope to be triggered, all trigger
signals have to be reached for the logical “And”, one trigger signal is sufficient for the logical “Or”.

picture name: ZCH_AIPEX_Triggerverknüpfung_Messung

4. Start measurement:
Press “Start”. The set and activated channel configuration is transmitted to the drive and then the measurement is
started in the drive.
The status display shows “started” with a yellow background color (see also “Status display”).
For a running measurement, the actual values of the activated signals are displayed in the “Y-value” column:

picture name: ZCH_AIPEX_Messung_starten

5. Triggering: Once the trigger condition is reached, the status display “triggered” shows temporarily. The data for the
signal curves are then automatically retrieved from the drive. This may take up to 20 seconds, depending on the pre-set
time basis. The status display then changes to “Complete”.
It is also possible to initiate the measurement manually with the “Trigger” button. Further proceedings are identical to
when reaching the trigger condition.
To abort a measurement, press the “Stop” button.

page 77
9.4 Display of the measurement results
9.4.1 Basic display

picture name: ZCH_AIPEX_Messergebnisse_01

Each measured signal is represented as a curve. The colors are assigned to the channels (the red color always is assigned to
channel 1, etc.).
If the menu point “Automatic scale” is active, the curves are automatically scaled in the Yaxis during measurement and the
Yoffset is set to 0.

picture name: ZCH_AIPEX_Messergebnisse_02

If “Automatic scale” is inactive, the values remain or the Yscale is set to 1 and the Yoffset is set to 0 during the measurement.

page 78
In the vertical axis, each signal is evaluated with a factor that can be set individually. In the example, a scale division on the Y
axis for channel 2 (actual speed) corresponds to 20 rpm.
If the value for channel 2 is changed to 50 in the “Y-Scale” column, the displayed curve for signal 2 changes accordingly while
curve 1 remains unchanged:

picture name: ZCH_AIPEX_Messergebnisse_03

To mask out a signal from the display field, remove the “check” from the corresponding check box in the first column, e. g. for
Channel 2 below.

page 79
picture name: ZCH_AIPEX_Messergebnisse_04

page 80
picture name: ZCH_AIPEX_Messergebnisse_05

In the “Math” column, it is possible to combine all active channels by adding and subtracting.

9.4.2 Zoom image

An area of the diagram can be zoomed by clicking on it with the left mouse button.
The image can be reduced to the original size again by double-clicking it or through “Original size” in the context menu.

picture name: ZCH_AIPEX_Bildzoom

page 81
9.4.3 Measured values views
The representation of the configured and measured channels is possible in several ways. In each view, the signals can be
displayed and evaluated in a different way.
The examples up to now were displayed in view 1:

picture name: ZCH_AIPEX_Ansicht_Messung

In a different view, other settings can be made for the recorded channels, e.g. adding the signals in view 2:
The settings for time basis, trigger positions and trigger link are valid for all views.

9.4.4 Absolute unit [Nm] for torque

picture name: ZCH_AIPEX_Einheit_absolut_01

If “Unit moment absolute [Nm]” is activated in the context menu, a conversion of the torque value from % of nominal motor
torque to Nm takes place in the “Unit” column.

picture name: ZCH_AIPEX_Einheit_absolut_02

9.4.5 Preparing further measurements

Activating the “Hold” column makes it possible to retain the created curve in the image for the following measurement. However,
in this case it is not possible to change the time basis.
A maximum of two curves can be held.

picture name: ZCH_AIPEX_Vorbereitung_Messung

page 82
The held curves are deleted by using “LET”.
In preparation of another measurement, time base or trigger link can be changed. The current curves become invalid through
this (resettings are possible, however). The same holds true when settings for the channels are modified in the configuration
dialog.
Refer to “Saving and Loading Measurements” so that settings and measuring results do not get lost.

9.5 Measured values views

The representation of the configured and measured channels is possible in several ways. In each view, the signals can be
displayed and evaluated in a different way.
The examples up to now were displayed in view 1:

picture name: ZCH_AIPEX_Ansicht_Messung

In a different view, other settings can be made for the recorded channels, e.g. adding the signals in view 2:
The settings for time basis, trigger positions and trigger link are valid for all views.

9.6 Measured values export

In the context menu (right mouse button), one of the three entries can be selected under “Copy”.

picture name: ZCH_AIPEX_Export_Messwerte_01

The entire scope application range is copied to the clipboard when selecting “Copy all”.

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picture name: ZCH_AIPEX_Export_Messwerte_02

“Copy picture” only produces a copy of the image (display field).

picture name: ZCH_AIPEX_Export_Messwerte_03

The data are copied to the clipboard as table when selecting “Copy data”. They can then be inserted into an Excel table, for
example:

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picture name: ZCH_AIPEX_Export_Messwerte_04

Converted to an Excel graph:

picture name: ZCH_AIPEX_Export_Messwerte_05

9.7 AIPEX Menu Bar “Startup” Saving and loading scope measurements
You will be asked whether the settings and the measurement results should be saved to another register card when changing
the AIPEX register card “Scope”. They are automatically loaded when changing back. The same holds true for a change from
one drive to the other. That means, the user does not have to bother with saving the results for single measurements.
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The data can also be saved under a self selected file name. By this different measurements can be saved for archiving
purposes and be loaded at a later time again.
Menu item “Startup” in the menu bar is used for this.

picture name: ZCH_AIPEX_Menueleiste

The file name of the currently loaded file is displayed in the right upper corner of the display field. If no special file name is given,
a name of the type “Scope_L_C_R_B_S.osc” is defined.

9.8 Printing measurements

The current view of the measurement is printed under “Project - Print”.

picture name: ZCH_AIPEX_Drucken

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9.9 Status display

picture name: ZCH_AIPEX_Statusanzeige_grau

Status display “grey” – no valid device is selected or offline mode is used.

picture name: ZCH_AIPEX_Statusanzeige_bereit

Status “ready” – oscilloscope is ready for start.

picture name: ZCH_AIPEX_Statusanzeige_gestartet

Status “started” – configuration of the channels is valid, oscilloscope started. The current values are shown.

picture name: ZCH_AIPEX_Statusanzeige_getriggert

Status “triggered” – trigger condition fulfilled or manually activated with the “Trigger” button. The data is retrieved from the drive.

picture name: ZCH_AIPEX_Statusanzeige_bereit

Status “ready” – measurement is complete and the curves are recorded.

picture name: ZCH_AIPEX_Statusanzeige_invalid

Status “INVALID” – configuration of the channels is invalid.

The oscilloscope does not support a signal on a configured channel, i.e. this signal is to be corrected or deactivated .

picture name: ZCH_AIPEX_Statusanzeige_Fehler

Status “ERROR” – can be an error of the oscilloscope as well as any other error. The exact cause can be determined through
the AIPEX register card “Diagnosis”.

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10 AIPEX Menu bar
10.1 Menu Startup
10.1.1 Oscilloscope open
see AIPEX Menu Bar “Startup” Saving and loading scope measurements on page 85

10.1.2 Oscilloscope Save as

see AIPEX Menu Bar “Startup” Saving and loading scope measurements on page 85

10.1.3 Initial Program Loading

picture name: ZCH_AIPEX_Urladen

By means of the Startup → Initial Program Loading buttons the KW modules can be reset to their initial status (delivery status).
Prerequisites:
A direct connection between AIPEX and the controller card by means of RS232.

10.1.4 Displaying the event trace

picture name: ZCH_AIPEX_Ereignisspeicher

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The Startup → Event trace buttons can be used to read the contents of ID34088 “Event trace” and view it as text in the text
editor.
This function can also be called up in offline mode if a project data set exists.
The parameter serves the central event and error evaluation for an AMKASYN system. Errors in the system are written to the
ID34088 parameter of the master via the ACC bus
and can be read, for example, by AIPEX or the AMK PLC.
The parameter lies in the service range and remanently records the last 20 events (SYMAC 500 events) in the SEEP of the
parameter module. (Using the ERROR_STRUCT structure)

Examples: Event trace

Hours Min. Sec. Error code Additional Node address

info

BSTD1) 02) 0 30 System booting

BSTD 20133) 5 38 System booting

BSTD 2013 12 43 Err: 2311 Info: 2 Adr: 0 Encoder signal

1)
Operating hours counter
2)
System restart
3)
System reset during operation, for example “Delete error”
The list is created in LIFO mode (last in, first out) so that the last entry is seen first.

Prerequisites:
KW/KU-R03 from version 3.11
KW/KU-R03P from version 5.11
AC from version 1.10

10.1.5 Online monitor

The online monitor cyclically displays the current values for the device selected in the device explorer.

picture name: ZCH_AIPEX_OnlineMonitor_01

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By clicking the right mouse button on the online monitor a context menu opens that allows further display values to be taken into
the online monitor.

picture name: ZCH_AIPEX_OnlineMonitor_02

10.1.6 Startup
Assistance for speed controller tuning is provided by the menu item “Startup” in the AIPEX menu bar. Various curve shapes are
available as test signals as of controller card software R03 3.08 and R03P5.08: Special for the IDT a speed step and the
possibility of jogging mode.
Note: Controller card software R03 <3.08 and R03P <5.08
Presently the PC with active AIPEX software must be connected directly to the serial interface of the KW module
on which the speed controller has to be tuned.

For optimizing the controller AIPEX sends a test signal as the set point to the drive. Safety
blocks that function under normal conditions remain ineffective for the most part here! Danger
of collision! The commissioner is responsible that movements caused by the set points do not
cause a collision!

After logon at the KW / KU:

Click-on menu item “Startup” → “Startup ...”.

picture name: ZCH_AIPEX_Inbetriebnahme_01

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picture name: ZCH_AIPEX_Inbetriebnahme_02

After entering “500591” as the password access is free to use this function.
IDT start up

picture name: ZCH_AIPEX_Inbetriebnahme_IDT

KU/KW – R03(P)

picture name: ZCH_AIPEX_Inbetriebnahme_KUKW

It is possible to configurate four different kinds of signals (Button “Test Signal”) and also the main operation mode (speed,
torque and position control).
The LED symbols show the status of the drive. (Green indicates active)
SBM: System Ready
UE: DC Bus Enable
RF: Controller Enable

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picture name: ZCH_AIPEX_Signalformen

Put the button OK after configuration.

Note: (RF) Controller Enable must be deactivated to transfer the configuration into the drive.

Start measuring
1. Open the with selecting the AIPEX register card “Scope” an configurate the channels and set the trigger conditions ( see
Measurement preparation on page 66 ).
2. Activate DC Bus Enable (UE) and Controller Enable (RF)

3. Start the Scope with the button Start

4. Activate the startup function with the Start button

5. The measuring will start after the trigger signal.

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picture name: ZCH_AIPEX_Messung_durchführen_02

By adapting integral action time TN (ID101) and proportional gain KP (ID100) the speed controller is tuned to get the required
step response suitable for the application.
For parameter changes select operating mode button “Temp. parameter”.

10.2 Menu PLC

Prerequisite:
KW/KU-R03P from version 5.11

picture name: ZCH_AIPEX_MenuePLC

10.2.1 Upload program

Select the device. The PLC program is uploading from device to the offline project (AIPEX).

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10.2.2 Download program
The PLC program is downloading to the selected device.

10.2.3 Clear program

The PLC program is deleted in the selected device.

10.2.4 Export program (from device)

The PLC program of the selected device is exported to the PC hard disc. A file with the ending *.bin will be generated.

10.2.5 Import program (to the device)

A PLC program saved on the PC hard disc can be upload to the selected device.
Note: Only files who are exported from AIPEX *.bin PLC-files can be imported.

10.2.6 PLC info

By means of the PLC → PLC Info buttons, the PLC project information, which is saved in ID34172 “PLC project info”, can be
read.
In the PLC project info, the following data can be called up, in the following sequence:
Date
Project name
Title
Version
Author
Comment

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11 Operating Mode Button “Messages”
The message configurator is used for the data exchange between AMK drives and controllers.
AMK drives which are linked to each other through a field bus, can exchange drive data with each other using the API variables.
AMK PLC controllers (PLC option cards, controller cards with integrated PLC, AS-PL) have reading and writing access on the
API variables of the Bus device.Fieldbus variables are used by the PLC to exchange data through the fieldbus with other PLC
components or drives. The PLC program enters values in the send variables and interprets receive data.
(Further information about the variables of the API group and fieldbus can be found in the documentation “API” AMK part
number 200335”)

picture name: ZCH_AIPEX_Bedienmodus_Nachr

Note: The ACC-Bus configuration is only executable in connection with an offline project data set. Pure online projects
are not supported.

Subsequent configuration:
A synchronisation between two axes is described. The actual value from drive1 (master) is transferred with the ACC bus onto
drive2 (slave) as a setpoint value.
Actual value = diActPosition
Setpoint = diMainSetpoint

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11.1 Tab Connection
11.1.1 Insert transmit variable

picture name: ZCH_AIPEX_Sendevariablen_01

Select the sending device in the device explorer. Then click in the variable array with the right mouse button. Select “insert
transmit variable” to open the “edit transmit variable” dialog box. Proceed with the following variable in the same manner.

picture name: ZCH_AIPEX_Sendevariablen_02

Variable name: Drop-down list for the transmit variable (further information about the variables can be found in the
documentation “API - AMK part number 200335)Data type:Data type of the selected transmit variable
Station name:Customer based designation of the drives (refer to properties dialog box)
Transmission:The transmission type of the transmit variable is set in the input field. SYNC for cyclic transmit variables (cycle =
ID2). EVENT for event guided transmit variables
Cycles/inhibit time:The input value describes in which cycle the variable value is sent. If the value is 1, it is sent in each cycle, if
it is 2, then it is sent in each second cycle.
If the transfer type is event guided, the input field serves as inhibit time. In this case the default value is 0. The inhibit time sets
the minimal waiting period until the message is sent again. It is indicated in “ms”.

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11.1.2 Adding receiving variables
A receiving variable is entered in the “RECEIVED” field in the respective device. A double-click into the white field displays a list
of all existing variables which can be linked with the corresponding transmit variables.

picture name: ZCH_AIPEX_Empfangsvariablen

11.1.3 Creating a configuration file (ID34036 CCB file)

After the transmit and receiving variables are entered, the configuration has to be converted into a format comprehensible to the
drive. This file is called a CCB file (Concise Config Binary file). For this, click in the variable array with the right mouse button.
Select “create configuration” in the opened context menu.

picture name: ZCH_AIPEX_KonfigDatei_01

After the conversion the status dialog “summary” is displayed.

For stability reasons the ACC Bus may not be operated at 100% capacity. Time reserves have to be provided for system and
guarding messages as well as SDO's and DSDO's.
During the generation of the CCB file the ACC Bus burden is determined. Warnings are displayed as soon as the SYNC PDO's

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are more than 50% or if the SYNC and EVENT PDO's are more than 75% of the ACC Bus cycle time.
If the system recognises a Bus overload, a warning messages follows with the specification of a sufficiently designed Bus cycle
time (The Bus cycle time has to be entered into the ID2 by the user).

picture name: ZCH_AIPEX_KonfigDatei_02

An error-free generated CCB file is saved in the ACC Bus master. The file is saved in the ID34036 parameter. The instance is
automatically allocated correctly.
Note: You have to restart the system for the configuration to take effect. The ID34036 can be found in the group of
system internal parameters.

11.1.4 Deleting variables

Select the transmit variable with the right mouse button. Select “delete transmit variable” in the opened context menu. The
receiving variable is automatically removed.

picture name: ZCH_AIPEX_Löschen_Variable

Receiving variables can be deleted with the DELETE button after selection.

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11.1.5 Changing transmit variables
Select the transmit variable with the right mouse button. Select “change transmit variable” in the opened context menu.
You can now change the transmit variable and the properties in the dialog box “edit transmit variable”.

picture name: ZCH_Ändern_Sendevariable_01

picture name: ZCH_Ändern_Sendevariable_02

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11.2 Tab CCF Output

picture name: ZCH_AIPEX_Registerkarte

The PDO's are displayed sorted by transmit (TPDO) and receive (RPDO) in the tab “CCF output”.
CCF = Concise Config File
The window of the CCF output shows:

page 100
picture name: ZCH_AIPEX_CCF-Ausgabe

Note: Changes in the tab “CCF output” can only be executed after activation. Refer to chapter „general options - control”
see General Options on page 106

11.2.1 Editing
Editing is carried out as with any editor. The functions “Copy”, “Cut” and “Paste” are available as with the standard combinations
of the keyboard or with the context menu.

picture name: ZCH_AIPEX_Editieren_CCF

page 101
The elements which can be determined have a special symbol at the beginning of the line [ . Already fixed elements have the
symbol at the beginning of their line.
If this is the fixed PDO, the first command is marked with the symbol and the rest with a grey rectangle at the beginning of
the line.
Fixed elements cannot be edited.
The determination is carried out with a double-click in the image .
Manually edited elements are to be fixed through clicking on the symbol of the beginning of the line so that they are not
overwritten during another conversion.
Undo and Redo operations are also supported.

11.2.2 CCF command list

11.2.2.1 CONF command
Use the “CONF” command to have a value of an index exactly given by the CAN dictionary.
Syntax:

picture name: ZCH_AIPEX_CONF_Kommando

11.2.2.2 Description of a PDO

TPDO command:
Each sent PDO begins with this command. It gives the number of the PDO.

picture name: ZCH_AIPEX_TPDO

The number of the transferred PDO may only be present once in the device.

RPDO command:
Each received PDO begins with this command. It gives the number of the PDO.

picture name: ZCH_AIPEX_RPDO

The number of the transferred PDO may only be present once in the device.

COBID command:
This command describes the Cob ID of the PDO.

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picture name: ZCH_AIPEX_COBID

TRANSTYP command:
This command describes the transfer type of the PDO.

picture name: ZCH_AIPEX_TRANSTYP

The possible values for this command are periodical (SYNC) and not periodical (EVENT).

FACTOR command for SYNC PDOs:

This command informs in which period the PDO is transferred. If the value is 1, it is sent each period. This command has to be
used for the PDO with a cyclical transfer only.

picture name: ZCH_AIPEX_FACTOR_sync

FACTOR command for EVENT PDOs:

The inhibition time gives the minimum time in ms after which the next PDO can be sent. If the value is 0, the PDO is sent if
some of its variables were modified. This command only has to be used for PDO with a non-periodical transfer type.

picture name: ZCH_AIPEX_FACTOR_event

Mapping command:
This command shows the input or output variables of the PDO.

picture name: ZCH_AIPEX_Mapping

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11.3 Tab Options

picture name: ZCH_AIPEX_Register_Option

11.3.1 Node specific options

picture name: ZCH_AIPEX_Knoten

11.3.1.1 Node name – Node address – Device Type

The first three fields (“Node name”, “Node address” and “Device Type”) only serve information purposes and cannot be
changed.

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11.3.1.2 Node EDS File
In the “Node EDS File” field, the name of the EDS file of the selected device can be found. For the AMK devices AS, KW and
KE, the EDS file is automatically selected. For all other devices, the selection has to be carried out manually.
When selecting the EDS file, the standard window for file selection is shown:

picture name: ZCH_AIPEX_Knoten_EDS-Datei

11.3.1.3 Load CCB to instance

The “Load CCB to instance” field informs on which instance of the ID34036 the created CCB file is loaded. This field is only
active for the CAN main device since it loads the configuration for the entire network. The preset value for KW is 0 and for AS it
is 1.

11.3.1.4 Slave Nodes optional

Slaves nodes can be mark as “optional”. This means nodes must not be present all time. No error message will be generated.

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11.3.2 General Options

picture name: ZCH_AIPEX_Allgemeine_OP

11.3.2.1 General Options - Control

The first option “Editing in CCF window” enables direct output of the CCF file. When this options has been checked, it is
possible for the user to edit the CCF file and to determine parts of it. This is only recommended for advanced users.
If the option “Using of Input variables as Output” is active, it is possible to have the selection of the variables displayed in the
first register card which were written as input variables in the EDS file.
If the option “Overlapping of variable arrays” is active, overlapping variables in the register cards “Output variables” and “Links”
are not filtered.
Allocate CCB to all nodes. Activate this option if you want to implement a CANclient structure without master.
Activate node guarding (master) and life guarding (slave) monitoring.
The presence of master and slave on the Bus is monitored reciprocative. If a node is missing (master or slave), an error
message is generated.
The necessary values “Guard Time” and “Life Time Factor” are automatically generated by AIPEX.

11.3.2.2 Loading an external CCB file to a device of the CAN network

This step can be carried out through the register card “General Options” and with the button “Loading of CCB in parameter”.
After clicking on this button, the following window is displayed:

picture name: ZCH_AIPEX_CCB_Laden_01

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The “CCB File” field contains the name of the selected CCB file, this cannot be changed. The selection of the CCB file has to be
carried out through the button on the right side of the field. For the selection of the CCB file, a standard window for opening the
file appears:

picture name: ZCH_AIPEX_CCB_Laden_02

An error message is displayed if the CCB file was not loaded successfully.

picture name: ZCH_AIPEX_CCB_Laden_03

11.4 SERCOS III Configurator

The following SERCOS III variables are used for cross communication between 2 PLC controllers (AS-PL14 with SERCOS III
options).
The operation is the same like the CAN configuration ( see Operating Mode Button “Messages” on page 95 up to see Changing
transmit variables on page 99)

SERCOS III variables:

Syntax Data Size consistent

transmit
Asynchronous wOut 2 Byte yes
Output
Variables dwOut 4 Byte yes

lwOut 8 Byte 2 X 4 Byte

dlwOut 16 Byte 4 X 4 Byte

llwOut 32 Byte 8 X 4 Byte

dllOut 64 Byte 16 X 4 Byte

Synchronous wSyncOut 2 Byte yes

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 Syntax Data Size consistent
transmit
Output dwSyncOut 4 Byte yes
Variables
lwSyncOut 8 Byte yes

dlwSyncOut 16 Byte yes

llwSyncOut 32 Byte yes

dllwSyncOut 64 Byte yes

Asynchronous wIn 2 Byte yes

Input
Variables dwIn 4 Byte yes

lwIn 8 Byte 2 X 4 Byte

dlwIn 16 Byte 4 X 4 Byte

llwIn 32 Byte 8 X 4 Byte

dllIn 64 Byte 16 X 4 Byte

Synchronous wSyncIn 2 Byte yes

Output
Variables dwSyncIn 4 Byte yes

lwSyncIn 8 Byte yes

dlwSyncIn 16 Byte yes

lwSyncIn 32 Byte yes

dllSyncIn 64 Byte yes

Note: The SERCOS III Variables are using the same address range as the CAN variables. Overlapping between
SERCOS III and CAN variables is not allowed.
An error-free generated SERCOS III XML configuration file is saved in the AMKAMAC PLC Controller. The file is saved in the
parameter ID1204 “XML-File” and ID1205 “XML-File”. The instance is automatically allocated correctly.
Note: You have to restart the system for the configuration to take effect. The ID1204 and 1205 can be found in the group
of system internal parameters.

Forward input data with the SERCOS III master

Receive data from a higher ranking bus can be forwarded by the SERCOS III master without reading the data into a plc program
and send out again. Do to this dead time and processor runtime is minimized. The message configuration (mapping) for
SERCOS III will be done by the software AIPEX.

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12 Operating Mode “Diagnosis”
In the “Diagnosis” operating mode, the error list (error stack) for online devices can be read out.

picture name: ZCH_AIPEX_Bedienmodus_Diagnose

Click on each error to receive an explanation for it.

For further information click AMK Service Info: (Important number see Info(I))
The errors can be deleted individually through “Error reset”. The errors of all devices of a bus line can be deleted through “Error
reset – all in the bus”.

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13 Operating Mode “Network”

picture name: ZCH_AIPEX_Bedienmodus_Netzwerk

In the “Network” operating mode, all relevant ID numbers for the network communication are displayed and can in part be
modified.
The individual instances of the system can be configured here.
Example KW with KW-Controller card:
Instance 0: ACC-Bus (KU/KW Controller card)
Instance 1: possible field bus option card in slot 1
Instance 2: possible field bus option card in slot 2
Instance 3: Reserved
For some parameters (e.g. “BUS mode attribut”) a more detailed specification exists – acquire it by clicking on .

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13.1 BUS adjustment
The BUS adjustment is active inside the highlight BUS at the device explorer.
Orange colored fields shown differences between the master and the slaves.
At the white colored fields of the master the values can be changed.
If you start the BUS adjustment with the button all shown parameters will be adjusted to the master. (Exception the ID34023
BUS address)

picture name: ZCH_AIPEX_Busabgleich

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14 Appendix
14.1 File structure of the projects
Each project consists of the central project file “Project.app” and a directory “Project.app.dev” which contains:
Data sets of all devices contained in the project in APS format “Device_L_C_R_B_S.apu”
Oscilloscope file “Scope_L_C_R_B_S.osc”
Directories for the bus files “Bus_L_C_R_B_S” with the configuration data and the results from the message
configuration (*.ccf)

14.2 Information for users who have worked with APS so far
The AIPEX project is not to be confused with an APS project. A project in APS only contains one data set each of one
device as well as the corresponding additional information. IN AIPEX, all devices of one configuration (i.e. of one
application) are administered in a project. Therefore, both are not compatible with each other. However, AIPEX can edit
the data sets from APS projects.
It is not necessary in AIPEX to load the entire data set from the device to work on it. Normally only the data is loaded
which is required in the concrete working field, e.g. only the content of the visible area of the parameter table.

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15 Your opinion is important!

With our documentation we want to support you best in handling the AMK products.
Therefore we are ready to optimize our documentations.
Your comments or suggestions are always interesting for us.
We would be please if you take a bit time and answer our questions. Please return a copy of this page to us.
e-mail: dokumentation@amk-antriebe.de
or
fax-No.: +49 (0) 70 21 / 50 05-199

Thank you for your assistance.

Your AMK documentation team

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phone : +49 (0) 70 21 / 50 05-0, fax: +49 (0) 70 21 / 50 05-199, info@amk-antriebe.de

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