Rockwell Automation 22-COMM-D DeviceNet Adapter - Manual (Page 81)

Using Multi-Drive Mode 7-9
Figure 7.6 Main Routine
This rung enables the scanner (changes the scanner to RUN mode).
0
Local:3:O.CommandRegister.Run
This rung enables the scanner (changes the scanner to RUN mode).
DriveInputImage[0] and DriveInputImage[1] = Drive 0 Logic Status and Feedback
DriveInputImage[2] and DriveInputImage[3] = Drive 1 Logic Status and Feedback
DriveInputImage[4] and DriveInputImage[5] = Drive 2 Logic Status and Feedback
DriveInputImage[6] and DriveInputImage[7] = Drive 3 Logic Status and Feedback
DriveInputImage[8] and DriveInputImage[9] = Drive 4 Logic Status and Feedback
1 Copy File
Source Local:3:I.Data[0]
Dest DriveInputImage[0]
Length
10
COP
DriveInputImage[0] and DriveInputImage[1] = Drive 0 Logic Status and Feedback
DriveInputImage[2] and DriveInputImage[3] = Drive 1 Logic Status and Feedback
DriveInputImage[4] and DriveInputImage[5] = Drive 2 Logic Status and Feedback
DriveInputImage[6] and DriveInputImage[7] = Drive 3 Logic Status and Feedback
DriveInputImage[8] and DriveInputImage[9] = Drive 4 Logic Status and Feedback
Drive 0 control subroutine.
2 Jump To Subroutine
Routine Name
Drive0
JSR
Drive 0 control subroutine.
Drive 1 control subroutine.
3 Jump To Subroutine
Routine Name
Drive1
JSR
Drive 1 control subroutine.
Drive 2 control subroutine.
4 Jump To Subroutine
Routine Name
Drive2
JSR
Drive 2 control subroutine.
Drive 3 control subroutine.
5 Jump To Subroutine
Routine Name
Drive3
JSR
Drive 3 control subroutine.
Drive 4 control subroutine.
6 Jump To Subroutine
Routine Name
Drive4
JSR
Drive 4 control subroutine.
ControlLogix MultiDrive example program with a PowerFlex 40 at node address 1.
Four PowerFlex 4/40's are daisy-chained to the main PowerFlex 40 via their RJ45
ports (RS-485). In this mode, up to FIVE PowerFlex 4/40's can exist on ONE
DeviceNet node.
This section retrieves the Logic Status and Feedback data for all five drives from
the scanner, and moves it to specific INT tags for use elsewhere in the ladder
program. The input image is as follows: