CIP_Axis_Disable_Streaming AOI

screen capture of the CIP_Axis_Disable_Streaming AOI ladder

Description

The CIP_Axis_Disable_Streaming AOI requests to disable position following (streaming data points from the Virtual Axis’ trajectory) via the CIP_Axis_State_Machine in the AKD2G-SPI axis. When streaming is not active (disabled) the AKD2G drive does not follow the Virtual Axis’ command.

Compatibility

The CIP_Axis_Disable_Streaming AOI is only compatible with AKD2G-SPI drives when used with Motion Supported PLCs with Studio 5000 and the CIP Sync connection.

Required Command Source and Operation Mode

AXIS#.CMDSOURCE = Fieldbus

AXIS#.OPMODE = Position

The CIP_Axis_Disable AOI passes a RequestedAction of 0 (IDLE) to the corresponding CIP_Axis_State_Machine AOI for the given axis. When the AXIS.Status.Manu_Specific_15 (Streaming Active) is False then the CIP_Axis_Disable_Streaming command is successful and the .DN bit is set. If the AXIS.Status.Manu_Specific_15 (Streaming Active) does not transition to False in a timely manner then a command timeout for the CIP_Axis_Disable AOI is declared and its .ER bit is set.

Operands

These entries are required by the user.

Operand	Data Type	Format	Description
CIP_Axis_Disable_Streaming	CIP_Axis_Disable_Streaming	Tag	Tag name for instance of the AOI.
Axis	CIP_Axis	Tag	User tag defined in the Axis1 or Axis2 field of the CIP_Drive_Comms AOI.
Error_Description	STRING	Tag	User tag to display the string error code description. In run-time when the mouse cursor is hovered over the tag the string can be monitored. If Error_Code is 0 then Error_Description is No Error. If Error_Code is 1 then Error_Description is Command Timeout.

Operand

Data Type

Format

Description

CIP_Axis_Disable_Streaming

Tag

Tag name for instance of the AOI.

Axis

CIP_Axis

Tag

User tag defined in the Axis1 or Axis2 field of the CIP_Drive_Comms AOI.

Error_Description

STRING

Tag

User tag to display the string error code description. In run-time when the mouse cursor is hovered over the tag the string can be monitored.

If Error_Code is 0 then Error_Description is No Error.
If Error_Code is 1 then Error_Description is Command Timeout.

Structure

The following fields are not entered by the user and are populated automatically with Read Only data once the Operands (in the Operand table for this AOI) are entered or presented as output data (bits).

Mnemonic	Type	Format	Description
.EnableIn	Input	BOOL	The Enable Input bit indicates the instruction is Enabled.
.EnableOut	Output	BOOL	The Enable Output bit is the output of the Enable Input (.EnableIn) bit.
.DN	Output	BOOL	Turns on when the Streaming Active status bit transitions to OFF (command to disable streaming successful).
.ER	Output	BOOL	The .ER bit is set if the Streaming Active status bit is not confirmed OFF in the time set by the Command Timeout preset.
Error_Code	Output	SINT	If Error_Code is: 0 then Error_Description is No Error. 1 then Error_Description is Command Timeout.

Changes to Axis Status Bits and Control Word bits Description

All status bits are updated from the drive. See Status Word in CIP Sync Response Assembly Data Structure (106) for more information.
Control Word bits descriptions and functions are described under Control Word in CIP Sync Command Assembly Data Structure (105).
CIP Sync: State Machine

On Disable Streaming the status bit is as follows:

Bit	Name	Status
15	Streaming Active	OFF

In the Sample project the CIP_Axis_Disable AOI is used in the subroutine for the given axis under MainTask → MainProgram → Axis1_Routine or Axis2_Routine.

Subroutines are called in the MainRoutine_with_CIP_State_Machines routine under MainTask → Main Program.

Figure 1: Example: Axis1_Routine with CIP_Axis_Disable_Streaming AOI

As demonstrated below the best practice for the CIP_Axis_Disable AOI is to use a conditional N.O. Contact as a trigger (ax1_cyclic_position_off_request in the example) and then use a One Shot (ONS) to trigger the CIP_Axis_Disable_Streaming AOI .EnableIn. A parallel branch is implemented around the N.O. Contact and One Shot to seal-in the .EnableIn of the AOI until execution completes (.DN; Done) or fails (.ER; Error).

An additional rung provides a way to monitor the streaming state in the ladder based on the AXIS_ONE.Status.Manu_Specific_15 (streaming active) status bit in the axis status word and when it is False (OFF) a coil in the ladder named Axs1_Streaming_Active turns OFF. Note AXIS_ONE is the name given to Axis1 in the Sample project in the CIP_Drive_Comms as an alias for all other Kollmorgen CIP_Axis AOIs to use for that axis.

Figure 2: Example: Axis1_Routine with CIP_Axis_Disable AOI

Troubleshooting

The condition for the Error (.ER) bit to be set for the CIP_Axis_Disable_Streaming AOI:

If the AXIS.Status.Manu_Specific_15 (streaming active) bit does not turn OFF in 2000 msec then declare a command timeout error.

Step Summary

Step Number	Operation/Result
0	Clear bits and error codes and description and reset the CommandTimeout timer. Set the Step Number to 1.
1	Set the Axis.RequestedAction to 0 (Idle) and set the Step Number to 2.
2	Monitor AXIS.Status.Manu_Specific_15 (streaming active to determine success (DN) or command timeout (ER). If DN then set the Step Number to 3.
3	Operation Complete
-1	Error (CommandTimeout)

Revision History

Revision Number	Description/Notes	Date of Revision
v1.5	Initial release	03-14-2024