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Using Multi-Drive Mode 7-9

This example ladder logic program demonstrates using Multi-Drive

mode with five drives. See Figure 7.2 or Figure 7.3 for a system layout

diagram.

Function of the Example Program

This example program enables you to:

• View status information from the drives such as Ready, Faulted, At

Speed, and Feedback.

• Control the drives using various Logic Command bits (Stop, Start,

etc.) and Reference.

• Perform a single parameter read of drive parameter d003 - [Output

Current] and a single parameter write to drive parameter P039 -

[Accel Time 1].

Main Routine

The Main Routine reads the network Input Image from the scanner,

initiates Drive 0 through Drive 4 control subroutines, and writes the

network Output Image to the scanner. See Figure 7.9. The Generic

Controller Module is configured for an Input Size of 12 words and an

Output Size of 10 words. For additional information about I/O

connection sizes, see Table 4.A

The following controller tags are used:

ControlLogix I/O Example

Tag Name Type Description

Drive_Input_Image INT [10] Input Image Table

Drive_Output_Image INT [10] Output Image Table

1 2 ... 72 73 74 75 76 77 78 79 80 81 82 ... 163 164

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Rockwell-automation 22-COMM-C ControlNet Adapter Manual do Utilizador Página 77