Rockwell Automation 25-COMM-D PowerFlex 525 DeviceNet Adapter - Manual (Page 81)

Rockwell Automation Publication 520COM-UM002A-EN-E - April 2013 81
Using Multi-Drive Mode Chapter 7
Drive 4 Control Routine
0
5
(End)
Copy File
Source
Dest
Length
Drive_Input_Image[9]
Drive_4_Feedback
1
COP
12
Copy File
Source
Dest
Length
Drive_4_Reference
Drive_Output_Image[9]
1
COP
15 Return from Subroutine
RET
Drive_Input_Image[8].0 Drive_4_Status_Ready
This section takes the data from the input area and moves it to specific tags (Logic Status bits and Feedback) for use
elsewhere in the ladder program.
This section takes the data from specific tags (Logic Command bits and Reference) and moves them to the output
image area for transmission to the scanner.
Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the desired parameter number.
For example, to access parameter P109 an Instance of 21613 (21504 + 109) is used.
1
Drive_Input_Image[8].1 Drive_4_Status_Active
2
Drive_Input_Image[8].3 Drive_4_Status_Forward
3
Drive_Input_Image[8].7 Drive_4_Status_Faulted
4
Drive_Input_Image[8].8 Drive_4_Status_At_Reference
6
Drive_4_Command_Stop Drive_Output_Image[8].0
7
Drive_4_Command_Start Drive_Output_Image[8].1
8
Drive_4_Command_Jog Drive_Output_Image[8].2
9
Drive_4_Command_Clear_Faults Drive_Output_Image[8].3
10
Drive_4_Command_Forward Drive_Output_Image[8].4
13
Perform_Parameter_Read_4
EN
DN
ER
11
Drive_4_Command_Forward Drive_Output_Image[8].5
Type – CIP Generic
Message Control Parameter_RD_Message_4
MSG
14
Perform_Parameter_Write_4
EN
DN
ER
Type – CIP Generic
Message Control Parameter_WR_Message_4
MSG
Explicit Messaging Example
Drive 4 Control Subroutine