CIP_Axis_Enable AOI

Description

The CIP_Axis_Enable instruction requests to enable the AKD2G-SPI axis via the CIP_Axis_State_Machine AOI.

Compatibility

The CIP_Axis_Enable 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_Enable AOI passes a RequestedAction of 2 to the corresponding CIP_Axis_State_Machine AOI for the given axis. When the axis status bit Operation Enabled and Quick Stop status bits are True then the CIP_Axis_Enable command is successful and the .DN bit is set. If the axis status bit Operation Enabled does not transition to True in a timely manner, then a command timeout for the CIP_Axis_Enable AOI is declared and its .ER bit is set.

The CIP_Axis_Enable instruction 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 activated.

Operands

These entries are required by the user.

Operand	Data Type	Format	Description
CIP_Axis_Enable	CIP_Axis_Enable	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". If Error_Code is 2 then Error_Description is "Axis Faulted".

Operand

Data Type

Format

Description

CIP_Axis_Enable

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".
If Error_Code is 2 then Error_Description is "Axis Faulted".

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 enabled response is returned (enabled state acknowledged). Set when the status bits Axis.Status.Operation_Enabled and Axis.Status.Quick_Stop bits are both ON.
.ER	Output	BOOL	The .ER bit is set if the Operation Enabled status bit 2 in the Status Word is not confirmed ON in the time set by the Command Timeout preset.
Error_Code	Output	SINT	0 = No Error, 1 = Command Timeout, 2 = Axis Faulted

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 Enable the axis enters the Operation Enabled state and the status bits are as follows:

Bit	Name	Status
0	Ready To Switch On	ON
1	Switched On	ON
2	Operation Enabled	ON
5	Quick Stop	ON
6	Switch On Disabled	OFF

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_Enable 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.

As demonstrated below, the best practice for the CIP_Axis_Enable AOI is to use a conditional N.O. Contact as a trigger (Ax1_Enable_Toggle in the example below) and then use a One Shot (ONS) to trigger the CIP_Axis_Enable 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 interlock is shown using the AXIS_ONE.Status.Fault status bit as a N.C. Contact so the CIP_Axis_Enable cannot be triggered if the axis is faulted.

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 True (ON) a coil in the ladder named Axis1_Enabled turns ON. Note, AXIS_ONE is the name given to Axis1 in the CIP_Drive_Comms as an alias in the Sample project for all other Kollmorgen CIP_Axis AOIs to use for that axis.

Figure 1: Example: Axis1_Routine with CIP_Axis_Enable AOI

Troubleshooting

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

If the Axis.Status.Operation_Enabled bit does not turn ON in 2000 msec then declares a command timeout error.

Step Summary

Step Number	Operation/Result
0	Clear bits and error codes
1	Set the Axis.RequestedAction to 2 (Enable)
2	Monitor Axis.Status.Operation_Enabled and Axis.Status.Quick_Stop to determine success (DN) or command timeout (ER)
-1	Error (Command Timeout or Axis Faulted)

Revision History

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