Verifying Additional Settings in WorkBench After PLC Connection

After Verifying CIP Sync Mode and Synchronized/Locked State, verify additional settings in WorkBench after PLC connection.

After downloading the project and going to run mode, it is recommended that you verify your settings in WorkBench.

  1. Check the toolbar at the top of WorkBench and verify the Axis Control for KED1 and KED2 are set to:

    2. KED1

    KED2

    • Command Source: 1 - Fieldbus
    • OpMode: 2 - Position
    • These settings are changed automatically when the CIP Sync connection is made from the PLC to the AKD2G-SPI drive, but it is recommended to verify the settings.
  2. Select KED1 > Device Settings > Communication > EtherNet/IP > Axis 1 > CIP Sync tab.
  • The drive is Connected and Synchronized.
    • This is indicated by green LEDs in the GUI.
  • The Cycle Time is shown in microseconds.
    • This is the Requested Packet Interval (RPI) of the KED1 Module in Studio 5000.
    • The Sample project uses a 3 msec RPI (i.e., the Motion Group Base Update Rate + 1 msec).

  • Period: The Motion Group’s Base Update Period is:
    • Read from the MotionGroup Properties (by the CIP_Axis_State_Machine AOI on the first scan).
    • Written to the AXIS#.EIP.STREAMPERIOD parameter via the embedded UpdatePeriodMsg instruction in the CIP_Axis_State_Machine AOI for Axis 1.
    • The Sample project uses a 2 msec Motion Group Base (Coarse) Update Rate.

  • Position Unwind is read from the MotionGroup Axis properties. 
    • In the Sample project, Axis 1 is a Rotary Axis.
      • The Position Unwind is set to 360000.
    • The Positioning Mode (Rotary) and Unwind value is:
      • Read from the Motion Group Axis Properties (by the CIP_Axis_State_Machine AOI on the first scan).
      • Written to the AXIS#.EIP.UNWIND parameter via the embedded UnwindMsg instruction in the CIP_Axis_State_Machine AOI for Axis 1.

  • The drive is Connected and Synchronized.
    • This is indicated by green LEDs in the GUI.
  • The Cycle Time is shown in microseconds.
    • This is the Requested Packet Interval (RPI) of the KED1 Module in Studio 5000.
    • The Sample project uses a 3 msec RPI (i.e., the Motion Group Base Update Rate + 1 msec).

  • Period: The Motion Group’s Base Update Period is:
    • Read from the MotionGroup Properties (by the CIP_Axis_State_Machine AOI on the first scan).
    • Written to the AXIS#.EIP.STREAMPERIOD parameter via the embedded UpdatePeriodMsg instruction in the CIP_Axis_State_Machine AOI for Axis 2.
    • The Sample project uses a 2 msec Motion Group Base (Coarse) Update Rate.

  • Position Unwind: Set by the CIP_Axis_State_Machine AOI on first scan.
    • Reading the Positioning Mode (Linear) from the Motion Group Axis Properties.
      • If Linear, setting the Unwind value in the KED2 drive for Axis 2 to 2,000,000,000 by the CIP_Axis_State_Machine AOI.
    • Written to the AXIS#.EIP.UNWIND parameter via the embedded UnwindMsg instruction in the CIP_Axis_State_Machine AOI for Axis 2.

      • Axis Wizard Axis2_Linear Conversion showing Position Mode Linear and Conversion Constant of 1.0