IPA Software - 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

	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

	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

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