Part 18: Test Enable and Disable of Axes

Use this procedure to test the Enable and Disable for the axes.

• This demonstrates control over each axis using the PLC and CIP Sync connection.
• In WorkBench, the status bar indicates all conditions are met to enable each axis:

Procedure

1. In the Controller Organizer, navigate to MainTask > MainProgram > Axis1_Routine.
2. On Rung 0, right-click on the Ax1_Enable_Toggle normally open contact.
3. Select Toggle Bit.



A successful CIP_Axis_Enable AOI .DN (Done) shows:

•  
• The output bit turns ON.
• AOI’s Error_Code = 0.
• Error_Description = No Error.



In WorkBench, the Status Bar a the bottom of the screen indicates Axis 1 is Active (and Enabled):



4. Right-click the Ax1_Enable_Toggle normally open contact.
5. Select Toggle Bit.
   This turns the contact OFF before continuing.
6. On Rung 1 of the Axis1_Routine, right-click the Ax1_Disable_Toggle normally open contact.
7. Select Toggle Bit.



A successful CIP_Axis_Disable AOI .DN (Done) shows:

• The output bit turns ON.
• AOI’s Error_Code = 0.
• Error_Description = No Error.



In WorkBench, the Status Bar at the bottom of the screen displays Axis 1 is Inactive (Disabled):



8. Right-click the Ax1_Disable_Toggle normally open contact.
9. Select Toggle Bit.
   This turns the contact OFF before continuing.

It is left up to the user to repeat this procedure for Axis2 in the Axis2_Routine.

Notes

• The Getting Started using the CIP Sync Sample Project section demonstrates other AOIs and ladder logic.
• The AOI Library, Definitions, & Functionality (CIP Sync) reference provides an Example of Usage/Programming Guidelines in each Kollmorgen supplementary AOI.
  • They also demonstrate using some basic Studio 5000 motion instructions (i.e., MAS, MAJ, MAM, etc).
• A foreword on Studio 5000 instructions versus the Kollmorgen supplemental CIP Axis Add-On Instructions:
  • The Kollmorgen supplemental CIP Axis Add-On Instructions use the tag name for the CIP_Axis declared in the CIP_Drive_Comms add on instruction.
  • Example: In the Sample Project (or New Project) in the CIP_Drive_Comms AOI, Axis1 and Axis2 were declared as AXIS_ONE and AXIS_TWO respectively.

  

• Compare the entries for VirtualAxis1 and VirtualAxis2.
  • Axis1_Rotary and Axis2_Linear respectively from the virtual axes declared in the Motion Group.



• Kollmorgen Supplementary AOIs ALWAYS use the Axis1 and Axis2 tags in the CIP_Drive_Comms for their “Axis” entry (shown above as AXIS_ONE and AXIS_TWO).
  Example:



• Compare to a Studio 5000 motion instruction such as the MAJ or MAG.
  • In these cases the Axis is ALWAYS a virtual axis declared in the Motion Group.
  • 
• Compare to a Studio 5000 motion instruction such as the MAJ or MAG.