CIP Sync User-Defined Data Types

The data types used with AKD2G-SPI drives and CIP Sync have different definitions than those used with the Standard Assembly. The tables below define the data types for CIP Sync.

CIP_Axis

The CIP_Axis data type is the AKD2G CIP Sync Axis Object.


  • CIP_Axis is not for Studio 5000 Motion Instructions Axis field entries. The Studio 5000 Motion Instructions Axis field entries use the Virtual Axis name of the given axis in the MotionGroup.

The CIP_Axis data type is used in the following:

  • CIP_Axis_State_Machine AOI- Axis field entry
  • CIP_Drive_Comms AOI-Axis 1 and Axis 2 field entries
  • Kollmorgen Supplementary AOIs Axis field entry
    • CIP_Axis_Disable
    • CIP_Axis_Disable_Streaming
    • CIP_Axis_Enable
    • CIP_Axis_Enable_Streaming
    • CIP_Axis_Fault_Reset
    • CIP_Axis_Home
    • CIP_Axis_Quick_Stop

  • Size: 64 Bytes

CIP_Axis Members
Name Data Type Description

Control

CIP_Control

Control bits to send to the drive

Status

CIP_Status

Status bits received from drive

Input

CIP_AxisInputData

Data from the drive

Output

CIP_AxisOutputData

Data to the drive

PositionFeedback

DINT

Actual Position Value

PositionCommand

DINT

Drive’s commanded position

ResponseTimeStamp

LINT

Drive’s timestamp of response

RequestedAction

INT

State Machine requested action

CIP_AxisInputData

This data type is a member of the CIP_Axis data type and structure.

  • Size: 12 Bytes

  • Description:

CIP_AxisInputData Members
Name Data Type Description

Data

SINT[10]

 

CIP_AxisOutputData

This data type is a member of the CIP_Axis data type and structure.

  • Size: 16 bytes

  • Description:

CIP_AxisOutputData Members
Name Data Type Description

Data

SINT[14]

 

CIP_Control

This data type is a member of the CIP_Axis data type and structure.

  • Size: 4 Bytes

  • Description:

CIP_Control Members
Name Data Type Description Reference

Switch_On

BOOL

 

 CIP Sync Command Assembly Data Structure (105)

Disable_Voltage

BOOL

 

Quick_Stop

BOOL

 

Enable_Operation

BOOL

 

Op_Mode_Specific_4

BOOL

Home Start or Follow Position bit, depending on whether bit 11 (Mode Home) or bit 12 (Mode Cyclic Position) is active.

Op_Mode_Specific_5

BOOL

Unused

Op_Mode_Specific_6

BOOL

Unused

Reset_Fault

BOOL

 

Pause_Halt

BOOL

 

Op_Mode_Specific_9

BOOL

Unused

Reserved_10

BOOL

 

Manu_Specific_11

BOOL

Mode Home bit

Manu_Specific_12

BOOL

Mode Cyclic Position bit

Manu_Specific_13

BOOL

Unused

Manu_Specific_14

BOOL

Unused

Manu_Specific_15

BOOL

Unused

CIP_DynamicMap

CIP_Drive_Comms AOI-DynamicMap field entry

  • Size: 72 Bytes

  • Description:

  • Usage: CIP_Drive_Comms AOI-DynamicMap field entry
CIP_DynamicMap Members
Name Data Type Description
Input CIP_MapInputData Maps data from the drive
Output CIP_MapOutputData Maps data to the drive

CIP_MapInputData

This data type is a member of the CIP_DynamicMap data type.

  • Size: 40 Bytes

  • Description: Map data received from the drive

CIP_MapInputData Members
Name Data Type Description
Data SINT[40] Map data received from the drive

CIP_MapOutputData

This data type is a member of the CIP_DynamicMap data type.

  • Size: 32 Bytes

  • Description: Map data sent to the drive

CIP_MapOutputData Members
Name Data Type Description
Data SINT[32] Map data sent to the drive

CIP_Status

  • This data type is a member of the CIP_Axis data type.

    • Size: 4 Bytes

    • Description: All connections to the drive Ethernet module are established and data is successfully transferring.

    Name Data Type Description Reference

    Ready_To_Switch_On

    BOOL

     

     

     

     

     

     

     

     

     

     

    		 See Status Word in CIP Sync Response Assembly Data Structure (106)

    Switched_On

    BOOL

    Operation_Enabled

    BOOL

    Fault

    BOOL

    Voltage_Enabled

    BOOL

    Quick_Stop

    BOOL

    Switch_On_Disabled

    BOOL

    Warning

    BOOL

    STO_Active

    BOOL

    Remote

    BOOL

    Target_Reached

    BOOL

    Internal_Limit_Active

    BOOL

    Op_Mode_Specific_12

    BOOL

    Home Attained bit

    Op_Mode_Specific_13

    BOOL

    Homing/Cyclic Position Error bit

    Manu_Specific_14

    BOOL

    Motion Mode bit (0 for Homing, 1 for Cyclic Position)

    Manu_Specific_15

    BOOL

    Following Position bit (for Cyclic Position mode)