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IPA Add-On Instructions

The Add-On Instructions for the IPA reply on data structures in the PLC and two programs on the IPA. Program1 in the IPA is designated to run on start-up (PBOOT) and must be running in order for the AOI commands from the PLC to execute properly. To verify Program1 is running, check the Watchdog bit of the Axis.Status data on the PLC or check the Common Status panel in ACR-View.
At start-up, Program1 will define the configuration data that is exchanged by the IPA and PLC on a cyclic basis. Use the CIP command in the IPA to check the status of the data configuration.

On the PLC, an IPA_Axis data type consists of 3 underlying data types: IPA_DataIn, IPA_DataOut and IPA_Status. The IPA_AxisManager AOI is required to populate the structures. DataIn and DataOut gives usable names to the cyclic data from the configuration data. Below are the Names and DataTypes used in the PLC, along with corresponding parameter and bits number from the IPA.

DataIn
Name DataType Parameter Bit# ConfigurationGroup Start Parameter
1 iCoordinatePosition DINT 12288 0 12288
2 iTargetPosition DINT 12289
3 iActualPosition DINT 12290
4 iFollowing_Error DINT 12291
5 iHardware_Capture DINT 12292
6 iSoftware_Capture DINT 12293
7 iPrimary_Setpoint DINT 12294
8 iCommandedPosition DINT 12295
9 Not_In_Position BOOL 768 1 4120
10 InErrorWindow BOOL 769
11 NA770 BOOL 770
12 NA771 BOOL 771
13 InTorqLimit BOOL 772
14 Not_InTorq_Band BOOL 773
15 NA774 BOOL 774
16 NA775 BOOL 775
17 Not_RefMarker BOOL 776
18 CaptureComplete BOOL 777
19 HSINTRegistered BOOL 778
20 HSINTAborted BOOL 779
21 SineMode BOOL 780
22 GearLock BOOL 781
23 GearAtSpeed BOOL 782
24 GearStopping BOOL 783
25 ClampOutputSignal BOOL 784
26 OpenServoLoop BOOL 785
27 FilterActivate BOOL 786
28 RENRequest BOOL 787
29 GearActivate BOOL 788
30 GearActive BOOL 789
31 CamActivate BOOL 790
32 BallscrewActivate BOOL 791
33 JogActive BOOL 792
34 JogDirection BOOL 793
35 JogAtSpeed BOOL 794
36 JogStopping BOOL 795
37 JogForward BOOL 796
38 JogReverse BOOL 797
39 JogLimitCheck BOOL 798
40 JogLockout BOOL 799
41 QAFlags INT 8448 2 4360
42 BIt8464 BOOL 8464
43 DriveEnable BOOL 8465
44 DriveReset BOOL 8466
45 KillAllMotion BOOL 8467
46 NA8468 BOOL 8468
47 ExcessErrorCheck BOOL 8469
48 NA8470 BOOL 8470
49 NA8471 BOOL 8471
50 DriveFault BOOL 8472
51 NA8473 BOOL 8473
52 NA8474 BOOL 8474
53 Completing_Drive_Reset BOOL 8475
54 DriveEnableState BOOL 8476
55 DriveFaultLatch BOOL 8477
56 NA8478 BOOL 8478
57 ExcessPositionError BOOL 8479
58 PositiveEOTState BOOL 16128 3 4600
59 NegativeEOTState BOOL 16129
60 HomeState BOOL 16130
61 NA16131 BOOL 16131
62 PositiveEOTEncountered BOOL 16132
63 NegativeEOTEncountered BOOL 16133
64 HomingSuccess BOOL 16134
65 HomingFailed BOOL 16135
66 PositiveSoftLimitState BOOL 16136
67 NegativeSoftLimitState BOOL 16137
68 NA16138 BOOL 16138
69 NA16139 BOOL 16139
70 PositiveSoftLimitEncountered BOOL 16140
71 NegativeSoftLimtEncountered BOOL 16141
72 NA16142 BOOL 16142
73 NA16143 BOOL 16143
74 PositiveEOTLimitLevelInvert BOOL 16144
75 NegativeEOTLimitLevelInvert BOOL 16145
76 HomeLevelInvert BOOL 16146
77 JogMoveInterrupt BOOL 16147
78 PositiveEOTEnable BOOL 16148
79 NegativeEOTLimitEnable BOOL 16149
80 PositiveSoftLimitEnable BOOL 16150
81 NegativeSoftLimitEnable BOOL 16151
82 HomeBackupEnable BOOL 16152
83 HomeNegativeEdgeSelect BOOL 16153
84 HomeNegativeFinalDirection BOOL 16154
85 NA16155 BOOL 16155
86 NA16156 BOOL 16156
87 NA16157 BOOL 16157
88 NA16158 BOOL 16158
89 NA16159 BOOL 16159
90 Input0 BOOL 4096 0 4 4096
91 Input1 BOOL 4096 1
92 Input2 BOOL 4096 2
93 Input3 BOOL 4096 3
94 Input4 BOOL 4096 4
95 Input5 BOOL 4096 5
96 Input6 BOOL 4096 6
97 NA7 BOOL 4096 7
98 NA831 SINT 4096
99 Outputs DINT 4097
100 MiscIn DINT 4098
101 MiscOut DINT 4099
102 StatusWord DINT 4100
103 Stat1 DINT 4101
104 Stat2 DINT 4102
105 Stat3 DINT 4103
106 MotorConfigWarning BOOL 9472 5 4392
107 MotorConfigError BOOL 9473
108 FirmwareError BOOL 9474
109 MotorConfigError9475 BOOL 9475
110 MotorConfigError9476 BOOL 9476
111 MotorConfigError9477 BOOL 9477
112 MotorConfigError9478 BOOL 9478
113 MotorConfigError9479 BOOL 9479
114 MotorConfigError9480 BOOL 9480
115 MotorConfigError9481 BOOL 9481
116 NA9482 BOOL 9482
117 NA9483 BOOL 9483
118 NA9484 BOOL 9484
119 MotorConfigError9485 BOOL 9485
120 MotorConfigError9486 BOOL 9486
121 NA9487 BOOL 9487
122 NA9488 BOOL 9488
123 NA9489 BOOL 9489
124 NA9490 BOOL 9490
125 NA9491 BOOL 9491
126 NA9492 BOOL 9492
127 NA9493 BOOL 9493
128 NA9494 BOOL 9494
129 NA9495 BOOL 9495
130 NA9496 BOOL 9496
131 NA9497 BOOL 9497
132 DriveFaulted BOOL 9498
133 BridgeFault BOOL 9499
134 BridgeTempFault BOOL 9500
135 OvervoltageFault BOOL 9501
136 UnderVoltageFault BOOL 9502
137 FoldBackWarning BOOL 9503
138 RegenFault BOOL 9984 6 4408
139 NA9985 BOOL 9985
140 DriveTempFault BOOL 9986
141 MotorThermalModelFault BOOL 9987
142 MotorTempFault BOOL 9988
143 BadHallState BOOL 9989
144 FeedbackFailure BOOL 9990
145 DriveDisabled BOOL 9991
146 OverCurrentFault BOOL 9992
147 RegenWarning BOOL 9993
148 NA9994 BOOL 9994
149 NA9995 BOOL 9995
150 NA9996 BOOL 9996
151 NA9997 BOOL 9997
152 NA9998 BOOL 9998
153 NA9999 BOOL 9999
154 NA10000 BOOL 10000
155 NA10001 BOOL 10001
156 HardwareError BOOL 10002
157 InternalError BOOL 10003
158 EncoderReadFault BOOL 10004
159 NA10005 BOOL 10005
160 EncoderLossFault BOOL 10006
161 NA10007 BOOL 10007
162 NA10008 BOOL 10008
163 PowerStageDisabled BOOL 10009
164 PowerStageInputOpen BOOL 10010
165 PowerStageInputMismatch BOOL 10011
166 NA10012 BOOL 10012
167 NA10013 BOOL 10013
168 NA10014 BOOL 10014
169 NA10015 BOOL 10015
170 Velocity REAL 12315 7 12315
171 Acceleration REAL 12316
172 SummationPoint REAL 12317
173 FilterOutput REAL 12318
174 TorqueOut REAL 12319
175 RPMFactor REAL 12370 8 12370
176 RPM REAL 12371
177 SmoothEncVel REAL 12372
178 StartRad REAL 12373
179 EndRad REAL 12374
180 PPU REAL 12375
181 ProgramFlags0 DINT 4128 9 4128
182 ProgramFlags1 DINT 4129
183 ProgramFlags2 DINT 4130
184 ProgramFlags3 DINT 4131
185 ProgramFlags4 DINT 4132
186 ProgramFlags5 DINT 4133
187 ProgramFlags6 DINT 4134
188 ProgramFlags7 DINT 4135
189 User0 DINT 38912 10 38912
190 User1 DINT 38913
191 User2 DINT 38914
192 User3 DINT 38915
193 User4 DINT 38916
194 User5 DINT 38917
195 User6 DINT 38918
196 User7 DINT 38919

DataOut

Name DataType Parameter ConfigurationGroup Start Parameter
1 ControlWord0 DINT 4156 11 4156
2 ControlWord1 DINT 4157
3 ControlWord2 DINT 4158
4 ControlWord3 DINT 4159
5 JogVel REAL 12348 12 12348
6 JogAcc REAL 12349
7 JogDec REAL 12350
8 JogJrk REAL 12351
9 iData0 DINT 39000 13 39000
10 iData1 DINT 39001
11 iData2 DINT 39002
12 iData3 DINT 39003
13 iData4 DINT 39004
14 iData5 DINT 39005
15 iData6 DINT 39006
16 iData7 DINT 39007
17 fpData0 REAL 39200 14 39200
18 fpData1 REAL 39201
19 fpData2 REAL 39202
20 fpData3 REAL 39203
21 fpData4 REAL 39204
22 fpData5 REAL 39205
23 fpData6 REAL 39206
24 fpData7 REAL 39207
25 fpData8 REAL 39208 15 39208
26 fpData9 REAL 39209
27 fpData10 REAL 39210
28 fpData11 REAL 39211
29 fpData12 REAL 39212
30 fpData13 REAL 39213
31 fpData14 REAL 39214
32 fpData15 REAL 39215

Status

Name DataType Logic Bit or Parameter
Enabled BOOL DriveEnable Bit 8465
Faulted BOOL DriveFaulted BIT9498
Ready BOOL DriveEnable and NOT KillAllMotion BIT8465 and NOT BIT 8467
Watchdog BOOL ProgramFlags1.0 BIT1056
Moving BOOL Jog Active or Gear Active or Cam Active BIT792 or BIT789 or BIT790
Homing BOOL IPA_Home FB is active
DiscreteMotion BOOL not used
ContinuousMotion BOOL not used
SyncMotion BOOL not used
FBActive BOOL AOI command is in progress
FBDone BOOL AOI command is complete
FBRunning BOOL IPA_Move command in progress
FBActiveCommand DINT Designates which AOI is in progress
FBLastCommand DINT Designates which AOI was called last
FBNextCommand DINT Designates new AOI to be called
FBCurrentMove DINT Count of the AOIs called
ActualPosiiton REAL Actual Motor position in scaled units P12290/P12375




jw-2015-08-27