CIP_Axis_Quick_Stop AOI

 

Description

The CIP_Axis_Quick_Stop AOI requests to decelerate the AKD2G-SPI axis to a stop using the Quick Stop method via the CIP_Axis_State_Machine where the ramp and behavior used are defined by the AXIS#.EIP.QUICKSTOPACTION parameter setting. The primary usage is to decelerate to a stop while not streaming as in the case of homing (i.e., abort home move).

Compatibility

The CIP_Axis_Quick_Stop 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_Quick_Stop AOI passes a RequestedAction of 4 to the corresponding CIP_Axis_State_Machine AOI for the given axis.

There are four possible AXIS#.EIP.QUICKSTOPACTION values set by the user in WorkBench Terminal or via Explicit Messaging over EtherNet/IP communications.

  • The default value is 2 which uses the axis’ controlled stop and disable method. Values 1 and 2 use different deceleration parameters, but both quick stop actions disable the axis when the decel to stop is complete and the state is then transitioned to Switched On Disabled.

  • Values 5 and 6 use different deceleration parameters, but neither quick stop action disables the axis (stay enabled) when the decel to stop is complete and the state remains in the Quick Stop Active State. For Values 5 and 6 where the axis remains enabled and in the Quick Stop Active State, use the CIP_Axis_Enable AOI to transition from Quick Stop Active (and enabled) to Operation Enabled after executing the CIP_Axis_Quick_Stop AOI.

There are two possible cases in which the CIP_Axis_Quick_Stop is determined to be in process (IP) or process complete (PC).

  1. When AXIS#.EIP.QUICKSTOPACTION = 1 or 2 the Axis.Status.Quick_Stop and Axis.Status.Switch_On_Disabled status bits in the axis’ status word determine when the CIP_Axis_Quick_Stop AOI is in process (IP) or completed (PC).

  2. When AXIS#.EIP.QUICKSTOPACTION = 5 or 6 the Axis.Status.Quick_Stop and Axis.Status.Target_Reached status bits in the axis’ status word determine when the CIP_Axis_Quick_Stop AOI is in process (IP) or completed (PC).

In order to determine which case (and set of status bits to use) it is necessary for the CIP_Axis_Quick_Stop to read the AXIS#.EIP.QUICKSTOPACTION value in the AKD2G drive via the MSG (message) instruction embedded in the CIP_Axis_Quick_Stop AOI. When the CIP_Axis_Quick_Stop is first enabled and executes it also executes the MSG instruction to read the AXIS#.EIP.QUICKSTOPACTION value and then displays the value read in the Quick_Stop_Option_Code field of the CIP_Axis_Quick_Stop AOI as shown in the following figure.

Get_Quick_Stop_Code MSG Setup Guidelines

From the Sample project the following MSGs are configured for Axis 1 and Axis 2 respectively.

Axis 1:

Message Configuration:

Message Type: CIP Generic

Service Type: Get Attribute Single

Service Code: e

Class: 64

Instance: 1 (Axis 1)

Attribute: 1d82 (hex)

Destination Element: Tag that points to CIP_Axis_Quick_Stop instance Name.Quick_Stop_Option_Code_Read (Example: Ax1_Quick_Stop_AOI.Quick_Stop_Option_Code_Read)

ID Instance Attribute Name Data Type Access User Mappable
7554 1 0x1d82 AXIS1.EIP.QUICKSTOPACTION Signed16 Read/Write Yes

Axis 2:

Message Configuration:

Message Type: CIP Generic

Service Type: Get Attribute Single

Service Code: e

Class: 64

Instance: 2 (Axis 2)

Attribute: 1d82 (hex)

Destination Element: Tag that points to CIP_Axis_Quick_Stop instance Name.Quick_Stop_Option_Code_Read (using the example above, Ax2_Quick_Stop_AOI.Quick_Stop_Option_Code_Read)

ID Instance Attribute Name Data Type Access User Mappable
73090 2 0x1d82 AXIS2.EIP.QUICKSTOPACTION Signed16 Read/Write Yes

The CIP_Axis_Quick_Stop AOI has multiple possible error conditions which are described in the Execution and Troubleshooting section of this topic.

The CIP_Axis_Quick_Stop instruction execution time may require multiple scans due to the required fieldbus communication time and is also time dependent on the settings of the controlled stop (set in WorkBench on the Axis 1 or Axis 2 Enable/Disable view) or the AXIS#.FBUS.DEC depending on the AXIS#.EIP.QUICKSTOPACTION value is configured in the AKD2G drive.

Figure 1: Example: Axis 1 Control Stop settings shown.

Operands

These entries are required by the user.

Operand

Data Type

Format

Description

Operand

Data Type

Format

Description

CIP_Axis_Quick_Stop

CIP_Axis_Quick_Stop

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.

Timeout_mS

DINT

Generally a Constant value, but Tag is possible.

Constant value or user tag for a defined user timeout to declare the CIP_Axis_Quick_Stop AOI took too long to complete. A

Get_Quick_Stop_Code

MESSAGE

Tag

See From the Sample project .

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
  • 1 then Error_Description is Command Timeout
  • 2 then Error_Description is Axis Faulted
  • 3 then Error_Description is Get Quick Stop MSG Error

  • 4 then Error_Description is Axis Quick Stop Code Not 1, 2, 5, or 6

  • 5 then Error_Description is Quick Stop Timeout_mS Exceeded

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

Set when Axis.Status.Quick_Stop bit turns OFF (Quick Stop in progress).

.ER

Output

BOOL

The .ER bit is set when any of the 6 error conditions are present.
.IP Output BOOL See IP and PC Bit Behavior table.
.PC Output BOOL See IP and PC Bit Behavior table.

Quick_Stop_Option_Code

Input

INT

Displays the value of the AXIS#.EIP.QUICKSTOPACTION parameter in the AKD2G drive for the given axis. Read by the internal MSG of the CIP_Axis_Quick_Stop AOI. See AXIS#.EIP.QUICKSTOPACTION for more details.

Error_Code

Output

SINT

If Error_Code is:

  • 0 then Error_Description is No Error
  • 1 then Error_Description is Command Timeout
  • 2 then Error_Description is Axis Faulted
  • 3 then Error_Description is Get Quick Stop MSG Error

  • 4 then Error_Description is Axis Quick Stop Code Not 1, 2, 5, or 6

  • 5 then Error_Description is Quick Stop Timeout_mS Exceeded

IP and PC Bit Behavior

Quick Stop
Option Code Read		 Axis.Status.Quick_Stop Axis.Status.Switched_On_Disabled IP bit PC bit

1 or 2

0

0

ON

OFF

1 or 2

0

1

OFF

ON

 

Quick Stop
Option Code Read		 Axis.Status.Quick_Stop Axis.Status.Target_Reached IP bit PC bit

5 or 6

0

0

ON

OFF

5 or 6

0

1

OFF

ON

Changes to Axis Status Bits and Control Word Bits Description

On Quick Stop success, depending on the AXIS#.EIP.QUICKSTOPACTION setting, the status bits are as follows:

  • Quick Stop Action Code = 1 or 2
    After Quick Stop axis state machine goes to Switched On Disabled

    • While Quick Stop Active:

      Bit Name Status
      5 Quick Stop OFF
    • When Quick Stop deceleration completes and axis state machine transitions to Switched On Disabled state:
      BitNameStatus
      0Ready To Switch OnOFF
      1Switched OnOFF
      2Operation EnabledOFF
      6Switched on DisabledON
  • Quick Stop Action Code = 5 or 6
    After Quick Stop axis state machine stays in Quick Stop Active State and axis remains enabled

    •  While Quick Stop Active:

      BitNameStatus
      5Quick StopOFF

    • When Quick Stop deceleration completes the axis stays enabled and in the Quick Stop Active State.

      • No changes to the following bit states:
        BitNameStatus
        0Ready To Switch OnON
        1Switched OnON
        2Operation EnabledON

Example of Usage/Programming Guidelines

In the Sample project the CIP_Axis_Quick_StopAOI 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_Quick_Stop AOI is to use a conditional N.O. Contact as a trigger (Ax1_Quick_Stop_Toggle in the example) and then use a One Shot (ONS) to trigger the CIP_Axis_Quick_Stop 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 (.PC; Success) or fails (.ER; Error). The AXIS_ONE.Status.Quick_Stop status bit as a N.O. Contact is used as an interlock to ensure the CIP_Axis_Quick_Stop AOI cannot be triggered if the axis is already in the Quick Stop Active State.

Depending on the AXIS#.EIP.QUICKSTOPACTION setting, the deceleration or controlled stop ramp and settings selected by the user will affect how long the quick stop takes to complete. The CIP_Axis_Quick_Stop AOI’s TimeOut_mS field allows the user to set a time limit on how long the CIP_Axis_Quick_Stop AOI takes to complete (success) before timing out and declaring a timeout error.

An additional rung provides a way to monitor the Quick Stop Active state in the ladder based on the Quick Stop Active State using status bits in the Status Word. See table States of the State Machine in CIP Sync: State Machine.

State Bit 6 Switch on Disabled Bit 5 Quick Stop Bit 3 Fault Bit 2 Operation Enabled Bit 1 Switched On Bit 0 Ready to Switch On

Quick stop active

0

0

0

1

1

1

Quick Stop Active is True and the Ax1_Quick_Stop_Active coil turns ON when the following criteria are met:

  • AXIS_ONE.Status.Ready_To_Switch_On is ON

  • AXIS_ONE.Status.Switched_On is ON

  • AXIS_ONE.Status.Operation_Enabled is ON

  • AXIS_ONE.Status.Fault is OFF

  • AXIS_ONE.Status.Quick_Stop is OFF

  • AXIS_ONE.Status.Switch_On_Disabled is OFF

AXIS_ONE is the name given to Axis1 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_Quick_Stop AOI

As previously noted, for AXIS#.EIP.QUICKSTOPACTION values 5 and 6 where the axis remains enabled and in the Quick Stop Active State use the CIP_Axis_Enable AOI to transition from bit 5 Quick Stop Active (and enabled) to bit 2 Operation Enabled.

Troubleshooting

The possible conditions for the Error (.ER) bit to be set for the CIP_Axis_Home AOI:

  • Axis.Status.Fault is ON (Axis Faulted).
    • Set the Error_Code = 2
    • Set Error_Description = Axis Faulted
  • Axis.Status.Fault is OFF (Axis not Faulted) but Get_Quick_Stop_Code MSG instruction errored (failed to read).
    • Set the Error_Code = 3
    • Set the Error_Description = Get Quick Stop MSG Error
  • Axis.Status.Fault is OFF (Axis not Faulted), but the Command_Timeout timer expired before the Axis.Status.Quick_Stop status bit turned OFF (indicating the command to quick stop was not acknowledged and failed).
    • Set the Error_Code = 1
    • Set the Error_Description = Command Timeout
  • Step Number = 3 (IP, in process) TimeOut timer timed out indicating the required status bit states did not confirm the Quick Stop successfully completed before the TimeOut in msec.
    • Set the Error_Code = 5
    • Set the Error_Description = Quick Stop Timeout_mS Exceeded
  • Axis.Status.Fault is OFF (Axis not Faulted) and the Get_Quick_Stop_Code MSG is DN (read successful) but the value read is not equal to 1, 2, 5, or 6.
    • Set the Error_Code = 4
    • Set the Error_Description = Axis Quick Stop Code Not 1, 2, 5, or 6

Step Summary

Step Number

Operation/Result

0

  • Clear bits and error codes, reset timers, set TimeOut.PRE to user TimeOut_mS, read the AXIS#.EIP.QUICKSTOPACTION value via the MSG instruction.

  • When the Get_Quick_Stop_Code MSG is DN (Done) set the Quick_Stop_Option_Code for display in the AOI to the Quick Stop Option Code Read. Set the Step Number to 1.

1

Set the Axis.RequestedAction to 4 (Quick Stop) and set the Step Number to 2.

2

After Command_Delay, check for Axis.Status.Quick_Stop (to turn OFF via the CIP_Axis_State_Machine AOI). If success turn ON the .DN bit of the CIP_Axis_Quick_Stop AOI and set Step Number to 3. If Axis.Status.Quick_Stop does not turn OFF by the Command_Timeout (5000 msec) an error will be declared.

3

  • If the Quick Stop Option Code Read = 1 or 2 then while the Axis.Status.Quick_Stop and Axis.Status.Switched_On_Disabled are False turn ON the .IP bit of the CIP_Axis_Quick_Stop AOI.

  • If the Quick Stop Option Code Read = 5 or 6 then while the Axis.Status.Quick_Stop and Axis.Status.Target_Reached are False then turn ON the .IP bit of the CIP_Axis_Quick_Stop AOI. While in process run the TimeOut timer.

  • If the Quick Stop Option Code Read = 1 or 2 then when the Axis.Status.Quick_Stop is False and Axis.Status.Switched_On_Disabled is True then turn ON the .PC bit of the CIP_Axis_Quick_Stop AOI.

  • If the Quick Stop Option Code Read = 5 or 6 then when the Axis.Status.Quick_Stop is False and Axis.Status.Target_Reached is True then turn ON the .PC bit of the CIP_Axis_Quick_Stop AOI.

  • In either case when the .PC bit is set, set the Axis.RequestedAction to 0 and set the Step Number to 4.

-1

Error (See Troubleshooting above for details.)

Revision History

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