CIP_Axis_Disable AOI

 

Description

The CIP_Axis_Disable instruction requests to disable the AKD2G-SPI axis via the CIP_Axis_State_Machine AOI.

Compatibility

The CIP_Axis_Disable 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 1 to the corresponding CIP_Axis_State_Machine AOI for the given axis. When the axis status bit Operation Enabled is False then the CIP_Axis_Disable command is successful and the .DN bit is set. If the axis status bit Operation Enabled 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.

When the CIP_Axis_Disable AOI requests the axis to disable it uses the AXIS#.DISMODE as set in WorkBench on the Axis1 or Axis2 Enable/Disable screen.

The CIP_Axis_Disable AOI execution time may require multiple scans (additional 300-350 ms) due to the required fieldbus communication time and time for the drive’s axis output and servo loop to be deactivated.

Operands

These entries are required by the user.

Operand

Data Type

Format

Description

CIP_Axis_Disable

CIP_Axis_Disable

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 disabled response is returned (disable state acknowledged).

Set when the Axis.Status.Operation.Enabled bit turns False (Disable succeeded).

.ER

Output

BOOL

The ER bit is set if Operation Enabled (status bit 2 in the Status Word) is not confirmed OFF in the time set by the Command Timeout preset.

Set if the Axis.Status.Operation_Enabled bit is not confirmed OFF.

Error_Code

Output

SINT
  • 0 = No Error
  • 1 = Command Timeout

Changes to Axis Status Bits and Control Word bits Description

On Enable the axis enters the Switch On Disabled state and the status bits are:

Bit

Name

Status

0

Ready To Switch On

OFF

1

Switched On

OFF

2

Operation Enabled

OFF

6

Switch On Disabled

ON

See the sections "States of the state machine" and "Mode-dependent bites in the statusword" in CIP Sync: State Machine for more information.

Example of Usage/Programming Guidelines

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.

The best practice for the CIP_Axis_Disable AOI is to use a conditional N.O. Contact as a trigger (Ax1_Disable_Toggle in the example below) and then use a One Shot (ONS) to trigger CIP_Axis_Disable 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 enable state in the ladder based on the AXIS_ONE.Status.Operation_Enabled status bit in the axis status word and when it is False (OFF) a coil in the ladder named Axis1_Disabled turns ON.

AXIS_ONE is the name given to Axis1 in the CIP_Drive_Comms in the Sample project as an alias for all other Kollmorgen CIP_Axis AOIs to use for that axis.

Figure 1: Example: Axis1_Routine with CIP_Axis_Disable AOI

Troubleshooting

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

If the Axis.Status_Operation_Enabled 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

1

Set the Axis.RequestedAction to 1 (Disable)

2

Monitor Axis.Status_Operation_Enabled to determine success (DN) or command timeout (ER)

-1

Error (Command Timeout)

Revision History

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