CIP_Axis_State_Machine AOI

• Each AKD2G Axis requires a corresponding CIP_Axis_State_Machine AOI to receive requested actions (commands) from the supplementary Kollmorgen CIP Axis AOIs.
• This generates operations such as Enable, Disable, Home, Fault Reset, Quick Stop, Enable Streaming, and Disable Streaming.

Use the CIP_Axis_State_Machine instruction to:

• Synchronize the AKD2G axis’ AXIS#.EIP.STREAMPERIOD with the Motion Group’s CoarseUpdatePeriod.
• Synchronize the AKD2G axis’ AXIS#.EIP.UNWIND where:
  • If the Virtual Axis is rotary, AXIS#.EIP.UNWIND = Position Unwind value of the Virtual Axis.
  • If the Virtual Axis is linear, the Position Unwind of the Virtual Axis is not used and the AXIS#.EIP.UNWIND is set to 2,000,000,000.
• Monitor the axis’ State Machine including:
  • CIP_Axis_State_Machine AOI’s IP, DN, and ER bits
  • Axis status bits
  • AxisControlWord bits
  • RequestedAction
  • StateMachineErrorCode (if State Machine Error is present)
  • StateMachineErrorDescription (if State Machine Error is present)
  • StateMachineCurrentState and StateMachineCurrentStateDescription

Compatibility

The CIP_Axis_State_Machine 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_State_Machine AOI is always enabled in the Ladder routine under MainTask > MainProgram by the AOI’s EnableIn being tied to the left rail.

• The Sample project includes a CIP_Axis_State_Machine AOI for each axis in a routine under the MainTask > MainProgram called MainRoutine_with_CIP_State_Machines.

The CIP_Axis_State_Machine provides this functionality:

• Sets the Stream Period of the Axis in the AKD2G drive (on prescan) via internal MSG instructions inside the CIP_Axis_State_Machine AOI.
• Receives a Request Action from the supplemental KollmorgenAOIs to move within the CIP Sync: State Machine from one state to another to generate certain operations (i.e., fault reset).
• Monitors and displays the Status bits for the axis based on the current state.
• Displays the:
  • AxisControlWord bits.
  • Requested Action.
  • StateMachineErrorCode and StateMachineErrorDescription (if state machine error present).
    • See State Machine Current States and Descriptions.
  • StateMachineCurrentState and StateMachineCurrentStateDescription.
    • See State Machine Current States and Descriptions.

Operands

These entries are required by the user.

Operand	Data Type	Format	Description
CIP_Axis_State_Machine	CIP_Axis_State_Machine	Tag	Tag name for this instance of the AOI.
Axis	CIP_Axis	Tag	User tag for AKD2G drive’s axis defined in the CIP_Drive_Comms AOI fields Axis1 or Axis2.
VirtualAxis	AXIS_VIRTUAL	Tag	User tag defining the name of the Virtual Axis declared in the MotionGroup. This generates the motion trajectory of the corresponding AKD2G drive’s axis or if unused in the Ungrouped Axes.
MotionGroup	MOTION_GROUP	Tag	User tag defining the name of the MotionGroup controlling the given AKD2G drive.
UpdatePeriodMsg	MESSAGE	Tag	User tag defining the name of the UpdatePeriod MSG internal to the CIP_Axis_State_Machine AOI.
UnwindMsg	MESSAGE	Tag	User tag defining the name of the Unwind MSG internal to the CIP_Axis_State_Machine AOI.
StateMachineErrorDescription	STRING	Tag	User tag for reporting the State Machine Error Description in the CIP_Axis_State_Machine AOI. See State Machine Current States and Descriptions.
StateMachineCurrentStateDescription	STRING	Tag	User tag for reporting the State Machine Current Description in the CIP_Axis_State_Machine AOI. See State Machine Current States and Descriptions.

Structure

These 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/Usage	Data Type	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.
.IP	Output	BOOL	In Process bit.
.DN	Output	BOOL	Done bit.
.ER	Output	BOOL	Error bit.
RequestedAction	Output	INT	Displays Requested Action. See State Machine Requested Actions.
StateMachineErrorCode	Output	INT	Displays State Machine Error Code. See State Machine Current States and Descriptions.
StateMachineCurrentState	Output	INT	Displays State Machine Current State. See State Machine Current States and Descriptions.
AxisControlWord	Output	INT	Displays Control Word bits. See the Control Word section of CIP Sync Command Assembly Data Structure (105).
.AxisReadyToSwitchOn	Output	BOOL	Displays the status bit of the CIP Axis status word. See CIP Sync: State Machine.
.AxisSwitchedOn	Output	BOOL
.AxisOperationEnabled	Output	BOOL
.AxisFaulted	Output	BOOL
.AxisVoltageEnabled	Output	BOOL
.AxisQuickStop	Output	BOOL
.AxisSwitchedOnDisabled	Output	BOOL
.AxisWarning	Output	BOOL
.AxisSTO	Output	BOOL
.AxisRemote	Output	BOOL
.AxisTargetReached	Output	BOOL
.AxisInternalLimitActive	Output	BOOL
.AxisHomeAttained	Output	BOOL
.AxisHomingError	Output	BOOL
.AxisMotionModeHoming	Output	BOOL
.AxisMotionModeCyclicPosition	Output	BOOL
.AxisFollowingError	Output	BOOL
.AxisStreamingActive	Output	BOOL

State Machine Requested Actions

Requested Action #	Requested Action	Used By AOI	State Machine AOI Internal Mode
0	Idle	CIP_Axis_Disable_Streaming	Mode 0
1	Disable	CIP_Axis_Disable	Mode 1
2	Enable	CIP_Axis_Enable	Mode 2
3	Reset Faults	CIP_Axis_Fault_Reset	Mode 3
4	Quick Stop	CIP_Axis_Quick_Stop	Mode 4
5	Start Home Move	CIP_Axis_Home	Mode 5
6	Enable Cyclic Position Streaming	CIP_Axis_Enable_Streaming	Mode 6

In most cases after the Requested Action is completed, the reported RequestedAction is 0 (Idle).

Figure 1: State Machine RequestedAction shown in the field highlighted in the AOI.

State Machine Current States and Descriptions

Current State #	State Description
0	Not Ready To Switch On
1	Switch On Disabled
2	Ready To Switch On
3	Switched On
4	Operation Enabled
5	Quick Stop Active
6	Fault Reaction Active
7	Faulted

Hover the mouse cursor over the tag for StateMachineCurrentStateDescription to view the Current State Description.

Execution

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).
• Control Word bits descriptions and functions are described under Control Word in CIP Sync Command Assembly Data Structure (105).
• See CIP Sync: State Machine.

Example of Usage/Programming Guidelines

From the Sample project under MainTask > MainProgram, a routine named MainRoutine_with_CIP_State_Machines contains the CIP_Axis_State_Machine AOIs for each axis (only Axis1 shown below).

There are JSR (Jump To Subroutines) where each subroutine is the ladder logic for each respective axis ( i.e., Axis1_Routine, Axis2_Routine, etc.)

The CIP_Axis_State_Machine AOI(s) are tied unconditionally to the left rail and execute on every scan.

The UpdatePeriodMSG and UnwindMsg messages inside the CIP_Axis_State_Machine AOI must be configured correctly to point to the correct:

• Attribute IDs (of the parameters for the axis in the AKD2G drive).
• Module path for the CIP_Axis_State_Machine to operate without error (.ER).

Troubleshooting

• State Machine Error Codes are found in the StateMachineErrorCode and StateMachineErrorDescription fields.
• Hover the mouse cursor over the StateMachineErrorDescription tag to view the error description.

Error Code Syntax: XYY

• X = Mode the Fault occurs in

• YY = Error ID

State Machine Error Codes and Error Descriptions

Error Code	Error Description	Additional Description	Mode
0	No Error		N/A
101	In Fault Reaction Active state while trying to disable.		1 - Disable Axis
102	In Fault state while trying to disable.		1 - Disable Axis
201	In Fault Reaction Active state while trying to enable.		2-Enable Axis
202	In Fault state while trying to enable.		2-Enable Axis
401	Not in Operation Enable or Quick Stop state after requesting Quick Stop State.		4-Quick Stop
501	Homing Error status bit is set.	Indicates the home routine failed.	5-Home
601	Not In Operation Enabled state.	Attempt to stream when axis is not enabled.	6-Cyclic Position
602	Home Attained status bit is cleared.	Attempt to enable streaming when not homed.	6-Cyclic Position
603	Cyclic Position Following Error bit is set.	Status bit 13 indicates a following error occurred.	6-Cyclic Position
604	Update Period MSG error.	UpdatePeriodMsg attempt to write the stream period failed and is in error. Attempt to stream failed.	6-Cyclic Position
605	Unwind MSG error.	UnwindMsg attempt to write the position unwind value failed and is in error. Attempt to stream failed.	6-Cyclic Position
701	Error in MRP instruction used to synch drive axis with virtual axis, (while) not streaming.	Error in the internal MRP (Motion Redefine Position) instruction that synchronizes the AKD2G drive axis with the virtual axis when not streaming. The MRP is used to set the virtual axis command to the AKD2G drive axis’ position feedback when not streaming. Most common cause of error is both: The rotary axis’ modulo is not turned on. The virtual axis command is synchronized to a drive axis position feedback outside the position unwind range.	N/A

Step Summary

• None

Revision History

Revision Number	Description/Notes	Date of Revision
v1.5	Initial release	March 2024