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EtherNet/IP

Introduction

This section explains how to use the CM1-T Cool Muscle motor with EtherNet/IP. It is assumed there is a basic knowledge of EtherNet/IP and PLC programming. The implementation makes use of the different Direct Control in the motor. It does not use CML logic and bank programming. However, setup (K) and controller gain (H) parameters are used for things like motor resolution, s-curve, software limits, etc. These are all accessible to be setup with Control Room or over explicit messages.

Device Profile

The CM1-T uses a generic device profile. This is to allow it to be flexible and operate in a number of operation modes.

Direct Control Operation

This mode enables the PLC to directly control the motor. See Direct Control on how to use the I/O messages to control the motor. Add on instructions are supplied in the downloads section.

CML Operation

This mode lets to motor control itself through CML programming. The PLC reads and writes to registers to monitor and make changes how the motor operates.

I/O Messages

There are two distinct I/O Assemblies based on the operation mode required.

Direct Control Operation

I/O

Assembly Instance

Size

Input

100

36

Output

112

28

Configuration

1

0

T2O (Input) Message

  • Instance = 100

  • Size = 36 bytes

Byte

Name

Data Type

0-3

us50Counter

DINT

4-7

ActualPosition

DINT

8-11

MotionTarget

DINT

12-15

ActualSpeed

DINT

16-17

MotorStatus

INT

18-19

PercentActualCurrent

INT

20-21

PercentOverloadTorque

INT

22-23

AnalogIN

INT

24-25

DCVoltage

INT

26

DigitalIO

SINT

27

Temperature

SINT

28

ModeOfOperationDisplay

SINT

29

ErrorCode(1)

SINT

30-31

ReadAddress1

INT

32-35

ReadValue1

DINT

(1) - ErrorCode is currently reserved and returns 0. Use MotorStatus to get motor error information

O2T (Output) Message

  • Instance = 112

  • Size = 28

Byte

Name

Data Type

0-3

TargetPosition

DINT

4-7

TargetSpeed

DINT

8-9

TargetTorque

INT

10-11

TargetAccelertion

INT

12-13

TargetDeceleration

INT

14-15

Controlword

INT

16

ModeOfOperation

SINT

17

DigitalOUT

SINT

18-19

WriteAddress1

INT

20-23

WriteValue1

DINT

24-25

ReadAddress1

INT

26-27

PAD

INT

CML Operation

I/O

Assembly Instance

Size

Input

101

60

Output

113

44

Configuration

1

0

T2O (Input) Message

  • Instance = 101

  • Size = 60 bytes

Byte

Name

Data Type

0-3

us50Counter

DINT

4-7

ActualPosition

DINT

8-11

MotionTarget

DINT

12-15

ActualSpeed

DINT

16-17

MotorStatus

INT

18-19

PercentActualCurrent

INT

20-21

PercentOverloadTorque

INT

22-23

AnalogIN

INT

24-25

DCVoltage

INT

26

DigitalIO

SINT

27

Temperature

SINT

28

ModeOfOperationDisplay

SINT

29

ErrorCode(1)

SINT

30-31

ReadAddress1

INT

32-35

ReadValue1

DINT

36-37

ReadAddress2

INT

38-39

ReadAddress3

INT

40-41

ReadAddress4

INT

42-43

ReadAddress5

INT

44-47

ReadValue2

DINT

48-51

RadValue3

DINT

52-55

ReadValue4

DINT

56-59

ReadValue5

DINT

(1) - ErrorCode is currently reserved and returns 0. Use MotorStatus to get motor error information

O2T (Output) Message

  • Instance = 113

  • Size = 44

Byte

Name

Data Type

0-3

WriteValue1

DINT

4-7

WriteValue2

DINT

8-11

WriteValue3

DINT

12-15

WriteValue4

DINT

16-19

WriteValue5

DINT

20-21

WriteAddress1

INT

22-23

WriteAddress2

INT

24-25

WriteAddress3

INT

26-27

WriteAddress4

INT

28-29

WriteAddress5

INT

30-31

ReadAddress1

INT

32-33

ReadAddress2

INT

34-35

ReadAddress3

INT

36-37

ReadAddress4

INT

38-39

ReadAddress5

INT

40

DigitalOUT

SINT

41

PAD

SINT

42-43

PAD

INT

Read/Write Motor Registers

In the I/O messages there is the ability to read and write to internal motor registers. These registers could be configured as flags, input counters, or other custom operations.

  1. Direct Operation has

    • 1 x read register

    • 1 x write register

  2. CML Operation has

    • 5 x read registers

    • 5 x write registers

The register addresses can be changed after a cycle to read/write to more than 1 register.

Register Address

The register address is coded into a 2 byte (UINT16) format as follows

B1

B0

Register Type (P, S, A, V, etc)

Register Number (0 to max)

Register Address = Register Type Register Number

The following list maps the register type and the applicable number range

B1 Value (hex)

Register

Register No. Range

Example

Register

Address

Hex

Decimal

16#00

N/A

N/A

-

-

-

16#01

reserved

reserved

-

-

-

16#02

reserved

reserved

-

-

-

16#03

P

0-25

P0

16#0300

768

16#04

S

0-15

S1

16#0x0401

1025

16#05

A

0-8

A5

16#0x0505 

1285

16#06

T

0-8

T2

16#0x0602

1538

16#07

M

0-8

M0

16#0x0700

1792

16#08

R

0-25

R16

16#0x0810

2064

16#09

N

0-25

N15

16#0x090F

2319

16#0A

V

0-15

V10

16#0x0A0A

2570

For a complete list go to EtherNet/IP#Complete Register Address Map

Explicit Messages

K Parameters - Setup Parameters

  • Get Attribute Single  - Service Code 0x0E

  • Set Attribute Single  - Service Code 0x10

Class

0x64

Instance

1

Attribute

The attribute represents the K number.

example: K37 → 37d → 0x25

H Parameters - Gain Parameters

  • Get Attribute Single  - Service Code 0x0E

  • Set Attribute Single  - Service Code 0x10

Class

0x65

Instance

1

Attribute

H0 → 0x01
H1 → 0x02
H2 → 0x03
H3 → 0x04
H4 → 0x05
H5 → 0x06
H6 → 0x07
H7 → 0x08

Direct Control Operation

Control Modes

This section focuses on controlling the motor with the provided Add on Instructions (AOIs). These will satisfy most applications, however, if required, the motor can be controlled by setting the CM1-T objects directly (see I/O Messages). Understanding the Direct Control will be important in this case.

There are currently 3 main control modes available while running the motor over EtherNet/IP. 

  1. Position - this mode sets the motor to run to a target position. The position could be absolute or relative

  2. Speed - this mode allows the motors speed to be controlled for continuous motion

  3. Torque - this mode allows the motors torque to be controlled.

The control modes are mapped to the ModeOfOperation value from the CM1T_ControlMode  AOI:

Control Mode

CM1T_ControlMode AOI value

O2T ModeOfOperation Value

Position

0

3

Speed

1

3

Torque

2

11

In addition:

  • Homing is an additional mode that can be executed at any point. Homing should start from a known safe state to avoid unexpected changes in motion

  • All modes can be switched to during motion. It is recommended the state is switched during a known safe state.

  • Torque can be limited in all modes. Running in torque mode will disable errors such as position error which can still occur in other modes if the set torque is too low. The torque is set in 0.1% of rated torque. The range is [0,1100]. By default the torque is set to 1100 when using the AOIs supplied.

All modes use common objects such as position, speed, torque, acceleration and controlword. Switching parameters in another mode will change the value in the existing mode.

Setting the Start bit to 0 will NOT halt motion. The HALT bit must be used to interrupt motion.

Position Mode

Absolute position and relative position both use the position mode. The key difference in operation between the two is the usage of the start bit in the CM1T_Controlword. An absolute move will accept a new position immediately if the start bit is 1.

Start Bit Usage

BIT

Name

Value

Description

B0

Start/New Set Point

0

  • Do not execute any changes in profile registers

  • Do not start a new profile

  • Any profile currently in motion will be completed

0 → 1

  • Start a profile move defined by the profile registers

  • 0 → 1 transition is required to start a profile after

    • an error has been cleared

    • a home has been completed

    • a stop command has been given from CML or an input.

  • In relative mode transition is required to start the next incremental move.

    • The move is incremented from the current 1ms target position not the actual position.

      • This will be the same if there is no position error

      • This is to account for possible drift in a repetitive motion.

1

Execute any changes in any of the profile registers immediately.

Motion Parameters

Position moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

Name

Unit

Data Type

Access

PositionTarget

counts

DINT

AOI(2) or Axis tag

SpeedTarget

counts/s

DINT

AOI or Axis tag

AccelerationTarget

1000 counts/s2

INT

AOI or Axis tag

DecelerationTarget(1)

1000 counts/s2

INT

AOI or Axis tag

TorqueTarget

0.1% rated torque

INT

Axis Tag

(1) If the deceleration is set to 0 the acceleration value will be used
(2) MoveAbsolute or MoveRelative AOI

Speed Mode

A speed move has no target position and will continue to run at the target speed. Setting a -ve speed value will reverse direction.

Start Bit Usage

BIT

Name

Value

Description

B0

Start/New Set Point

0

  • Do not execute any changes in profile registers

  • Do not start a new profile

  • Any profile currently in motion will be completed

0 → 1

  • Start a profile move defined by the profile registers

  • 0 → 1 transition is required to start a profile after

    • an error has been cleared

    • a home has been completed

    • a stop command has been given from CML or an input.

1

Execute any changes in any of the profile registers immediately.

Motion Parameters

Speed moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

Name

Unit

Data Type

Access

SpeedTarget

counts/s

DINT

AOI(2) or Axis tag

AccelerationTarget

1000 counts/s2

INT

AOI or Axis tag

DecelerationTarget(1)

1000 counts/s2

INT

AOI or Axis tag

TorqueTarget

0.1% rated torque (1)

INT

Axis Tag

(1) If the deceleration is set to 0 the acceleration value will be used
(2) MoveSpeed AOI

Torque Mode

A torque move only uses a target torque and maximum speed. Acceleration of the motor should be limited by adjusting the target torque or speed.

Setting a -ve torque value will reverse direction.

Start Bit Usage

BIT

Name

Value

Description

B0

Start/New Set Point

0

  • Do not execute any changes in profile registers

  • Do not start a new profile

  • Any profile currently in motion will be completed

0 → 1

  • Start a profile move defined by the profile registers

  • 0 → 1 transition is required to start a profile after

    • an error has been cleared

    • a home has been completed

    • a stop command has been given from CML or an input.

1

Execute any changes in any of the profile registers immediately.

Motion Parameters

Torque moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

Name

Unit

Data Type

Access

SpeedTarget

counts/s

DINT

AOI(1) or Axis tag

TorqueTarget

0.1% rated torque

Range: ± 1100

Where:

  • 1100 = peak torque 

  • 1000 = rated torque

INT

AOI or Axis Tag

(1) MoveTorque AOI

General Resources

EDS File

The CM1-T EtherNet/IP eds file can be found on the Datasheets and Downloads page.

CM1-T Library

The CM1-T Library for use with Codesys, Schneider, Beckhoff, Wago and other IEC 61131-3 PLCs can be found on the Datasheets and Downloads page.

RSLogix Resources

See Datasheets and Downloads to download the UDTs, AOIs and sample program.

User Data Types

Direct Control Operation

CM1T_Axis

The CM1-T_Axis data type defines how the bytes are assigned withing the IO message.

Name

Data Type

Description

Input

SINT[36]

Data coming from the CM1-T

Output

SINT[28]

Data going to the CM1-T

us50Counter

DINT

Motor 50us counter

ModeOfOperation

SINT

Select control mode

ModeOfOperationDisplay

SINT

Current control mode

Controlword

CM1T_Controlword

Control operation

DriveStatus

CM1T_DriveStatus

Drive status

PositionTarget

DINT

Target position for position move

SpeedTarget

DINT

Max speed for target move

TorqueTarget

INT

Max torque for target move

AccelerationTarget

INT

Acceleration for target move

DecelerationTarget

INT

Deceleration for target move

PositionActual

DINT

Actual position of the motor

TargetActual

DINT

1ms target position of the motor

PositionError

DINT

Error between actual and target

SpeedActual

DINT

Actual speed of the motor

CurrentActual

INT

Actual current percentage of the motor (0.1% rated)

OverloadActual

INT

0.1% of overload torque

DCVoltage

INT

24V DC input value at 0.1V

AnalogIN

INT

10bit analog input (0-1023)

DigitalIN

SINT

Read digital inputs

DigitalOUT

SINT

Set digital outputs

Temperature

SINT

Drive temperature in °C

ErrorCode

SINT

ErrorCode is currently reserved and returns 0.
Use MotorStatus to get motor error information

ReadAddress1

INT

Address of register to read

ReadValue1

DINT

Value of read register

ReadValueAddress1

INT

Address of the current read register

WriteValue1

DINT

Register write value

WriteRegister1

INT

Write register address

CM1T_Controlword

Name

Data Type

Description

Start

BOOL

Start/New set point

Halt

BOOL

Halt current motion

Relative_Move

BOOL

Execute position move as relative

Speed_Control

BOOL

Execute move as a speed only move

Disable

BOOL

Disable the drive

Reset_Error

BOOL

Reset error with rising edge

Set_to_Zero

BOOL

Set the current position to zero with rising edge

Home

BOOL

Home the motor with rising edge

CM1T_DriveStatus

Name

Data Type

Description

StatusValue

SINT

Motor status and error type

StatusValue1

SINT

Additional motor status

In_Position

BOOL

Motor is in position and ready to move

Moving

BOOL

Motor is currently moving

Disabled

BOOL

Drive is disabled

Error

BOOL

Drive is in error state

MoveComplete

BOOL

Move is completed

NewStartRequired

BOOL

Rising edge required to restart motion

HomeAchieved

BOOL

Homing has been achieved

CML Operation

CM1T_CMLAxis

The CM1-T_CMLAxis data type defines how the bytes are assigned withing the IO message.

Name

Data Type

Description

Input

SINT[60]

Data coming from the CM1-T

Output

SINT[44]

Data going to the CM1-T

us50Counter

DINT

Motor 50us counter

DriveStatus

CM1T_DriveStatus

Drive status

PositionActual

DINT

Actual position of the motor

TargetActual

DINT

1ms target position of the motor

PositionError

DINT

Error between actual and target

SpeedActual

DINT

Actual speed of the motor

CurrentActual

INT

Actual current percentage of the motor (0.1% rated)

OverloadActual

INT

0.1% of overload torque

DCVoltage

INT

24V DC input value at 0.1V

AnalogIN

INT

10bit analog input (0-1023)

DigitalIN

SINT

Read digital inputs

DigitalOUT

SINT

Set digital outputs

Temperature

SINT

Drive temperature in °C

ErrorCode

SINT

(1) - ErrorCode is currently unused and returns 0. Use MotorStatus to get motor error information

WriteValue

DINT[5]

Register write value (array)

Address of register to read

ReadValue

DINT[5]

Value of read register (array)

WriteAddress

INT[5]

Write register address (array)

ReadAddress

INT[5]

Read address register (array)

ReadValueAddress

INT[5]

Address of the current returned read register (array)

CM1T_CMLDriveStatus

Name

Data Type

Description

StatusValue

SINT

Motor status and error type

StatusValue1

SINT

Additional motor status

In_Position

BOOL

Motor is in position and ready to move

Moving

BOOL

Motor is currently moving

Disabled

BOOL

Drive is disabled

Error

BOOL

Drive is in error state

HomeAchieved

BOOL

Homing has been achieved

Add-On Instructions

Direct Control Operation

The following tables outlines the available add-on instructions

Name

Description

Required

CM1T_DataExchange

Exchanges data between the drive and the drive variable

Yes

CM1T_Enable

Enables the motor

No

CM1T_Disable

Disables the motor

No

CM1T_ClearFault

Clears any faults on the drive

No

CM1_TControlMode

Set the type of control mode required

No

CM1T_MoveAbsolute

Executes an absolute position move

No

CM1T_MoveRelative

Executes a relative position move

No

CM1T_MoveSpeed

Executes a speed move

No

CM1T_MoveTorque

Executes a torque move

No

CM1T_MoveHome

Executes a home routine

No

CM1T_ReadRegister

Read a motor register value

No

CM1T_WriteRegister

Write a value to a motor register

No

CM1T_DataExchange

This AOI is required if any other AOIs are used. One instance is required for each CM1-T axis being controlled.

It has a number of functions

  1. It exchanges data between the motor connections and the motor/drive tag.

  2. It places the Controlword bits into the Controlword data type

  3. It retrieves the drive status and places it into the DriveStatus variable.

Parameters

Operand

Type

Format

Description

CM1T_DataExchange

CM1T_DataExchange

Tag

Instance tag for the AOI

DriveInput

AB:ETHERNET_MODULE_SINT_32Bytes:I:0

Tag

Module defined connection input for the CM1-T

DriveOutput

AB:ETHERNET_MODULE_SINT_20Bytes:O:0

Tag

Module defined connection output for the CM1-T

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Execution

Condition

Action

Prescan

  • Initialize tag and local variables

  • rung-condition-out is set to false

Rung Condition - TRUE

  • Process DataExchange

  • rung-condition-out is set to true

Rung Condition - FALSE

N/A - rung-condition-out is set to false

CM1T_Enable

This AOI enables the motor and drive. Torque will be present.

Parameters

Operand

Type

Format

Description

CM1T_Enable

CM1T_Enable

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  1. Drive disable bit is set to false (drive is enabled)

  2. rung-condition-out is set

    1. true - when drive status bit shows drive enabled

    2. false - when drive status bit show drive disabled

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_Disable

This AOI disables the motor and drive. Torque will not be present

Parameters

Operand

Type

Format

Description

CM1T_Disable

CM1T_Disable

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  1. Drive disable bit is set to true (drive is disabled)

  2. rung-condition-out is set

    1. true - when drive status bit shows drive disabled

    2. false - when drive status bit show drive enabled

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_ClearFault

This AOI clears any drive fault/error condition. This will also enable the motor. The rung-out-condition indicates the drive error state (true or false).

Parameters

Operand

Type

Format

Description

CM1T_ClearFault

CM1T_ClearFault

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Execution

Condition

Action

Prescan

N/A

rung-condition-in is true

  • Assert clear error bit

  • rung-condition-out is set

    • true - when drive status bit shows drive error

    • false - when drive status bit shows no drive error

rung-condition-in is false

  • Deassert clear error bit

  • rung-condition-out is set

    • true - when drive status bit shows drive error

    • false - when drive status bit shows no drive error

CM1T_ControlMode

This AOI set the motion control mode.

Parameters

Operand

Type

Format

Description

CM1T_Disable

CM1T_ControlMode

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

ControlMode_Value

DINT

Immediate/Tag

A value that sets the type of control mode required

0 - POSITION
1 - SPEED
2 - TORQUE

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Sets ModeOfOperation value and Controlword bits to set the control mode required

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_MoveAbsolute

This AOI will execute an absolute position move.

Parameters

Operand

Type

Format

Description

CM1T_MoveAbsolute

CM1T_MoveAbsolute

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Position

DINT

Immediate/
Tag

Target absolute position

Speed

DINT

Immediate/
Tag

Target speed

Acceleration

INT

Immediate/
Tag

Target acceleration

Deceleration (optional)

INT

Immediate/
Tag

Target deceleration
(uses acceleration if set to 0)

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Processes values and sets start bit

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_MoveRelative

This AOI will execute a relative position move.

Parameters

Operand

Type

Format

Description

CM1T_MoveRelative

CM1T_MoveRelative

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Position

DINT

Immediate/
Tag

Target absolute position

Speed

DINT

Immediate/
Tag

Target speed

Acceleration

INT

Immediate/
Tag

Target acceleration

Deceleration (optional)

INT

Immediate/
Tag

Target deceleration
(uses acceleration if set to 0)

Start

BOOL

Immediate/
Tag

0 → 1 transition will execute a new relative move.

If a motion is currently in process it will increment relative to the current position

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Processes values and sets start bit as per Start input variable

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_MoveSpeed

This AOI will execute a speed move.

Parameters

Operand

Type

Format

Description

CM1T_MoveSpeed

CM1T_MoveSpeed

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Speed

DINT

Immediate/
Tag

Target speed

Acceleration

INT

Immediate/
Tag

Target acceleration

Deceleration (optional)

INT

Immediate/
Tag

Target deceleration
(uses acceleration if set to 0)

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Processes values and start the speed move

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_MoveTorque

This AOI will execute a torque move.

Parameters

Operand

Type

Format

Description

CM1T_MoveSpeed

CM1T_MoveSpeed

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Torque

INT

Immediate/
Tag

Target torque

MaxSpeed

DINT

Immediate/
Tag

Target speed

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Processes values and start the torque move

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_ReadRegister

This AOI loads a register address to read. It returns the register value. The value is returned when the ReadRegister (output) address and the ReadValueAddress (input) address are equal.

Parameters

Operand

Type

Format

Description

CM1T_ReadRegister

CM1T_ReadRegister

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Address

INT

Immediate/
Tag

Address of register to read

Value

DINT

Tag

Tag to load the returned value

Done

BOOL

Tag

Optional output indicating the value has been returned.

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Processes values and start the torque move

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_WriteRegister

This AOI loads a register address and value to write. Once the write cycle is complete the done output is set.

Parameters

Operand

Type

Format

Description

CM1TWriteRegister

CM1T_WriteRegister

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Address

INT

Immediate/
Tag

Address of register to write

Value

DINT

Immediate/
Tag

Tag/value to load into the write value

Done

BOOL

Tag

Optional output indicating the value has been written.

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Processes values and start the torque move

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

CML Operation

The following tables outlines the available add-on instructions

Name

Description

Required

CM1T_CMLDataExchange

Exchanges data between the drive and the drive variable

Yes

CM1T_CMLReadRegister

Reads a motor register

No

CM1T_CMLWriteRegister

Writes to a motor register

No

CM1T_CMLDataExchange

This AOI is required if any other CML AOIs are used. One instance is required for each CM1-T axis being controlled.

It has a number of functions

  1. It exchanges data between the motor connections and the motor/drive tag.

  2. It retrieves the drive status and places it into the DriveStatus variable.

Parameters

Operand

Type

Format

Description

CM1T_DataExchange

CM1T_DataExchange

Tag

Instance tag for the AOI

DriveInput

AB:ETHERNET_MODULE_SINT_32Bytes:I:0

Tag

Module defined connection input for the CM1-T

DriveOutput

AB:ETHERNET_MODULE_SINT_20Bytes:O:0

Tag

Module defined connection output for the CM1-T

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Execution

Condition

Action

Prescan

N/A - rung-condition-out is set to false

Rung Condition - TRUE

  • Process DataExchange

  • rung-condition-out is set to true

Rung Condition - FALSE

N/A - rung-condition-out is set to false

CM1T_CMLReadRegister

This AOI loads a register address to read. It returns the register value. The value is returned when the ReadRegister (output) address and the ReadValueAddress (input) address are equal.

Parameters

Operand

Type

Format

Description

CM1T_ReadRegister

CM1T_ReadRegister

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Slot

SINT

Immediate/
Tag

There are 5 slots available. Enter 1-5.

Address

INT

Immediate/
Tag

Address of register to read

Value

DINT

Tag

Tag to load the returned value

Done

BOOL

Tag

Optional output indicating the value has been returned.

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Processes values and start the torque move

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

CM1T_CMLWriteRegister

This AOI loads a register address and value to write. Once the write cycle is complete the done output is set.

Parameters

Operand

Type

Format

Description

CM1TWriteRegister

CM1T_WriteRegister

Tag

Instance tag for the AOI

CM1T_Axis

CM1T_Axis

Tag

Working tag for the CM1-T axis

Slot

SINT

Immediate/
Tag

There are 5 slots available. Enter 1-5.

Address

INT

Immediate/
Tag

Address of register to write

Value

DINT

Immediate/
Tag

Tag/value to load into the write value

Done

BOOL

Tag

Optional output indicating the value has been written.

Execution

Condition

Action

prescan

N/A - rung-condition-out is set to false

rung-condition-in is true

  • Processes values and start the torque move

  • rung-condition-out is true

rung-condition-in is false

N/A - rung-condition-out is set to false

Adding CM1-T and AOIs to Project

Download and extract the EtherNet/IP support file.

The file includes the following

  1. Direct Control Operation

    1. CM1T_SampleApplication.ACD - This a sample application built RSLogix. It shows how to

      1. Run the motors in each of the modes

      2. Reset from faults

      3. Enable/Disable the motor

    2. User Data Types (UDT)

    3. Add-On Instructions (AOI)

  2. CML Operation

    1. CM1T_CMLSampleApplication.ACD - RSLogix application to read/write motor registers

    2. CM1T_CMLSampleApplication.crp - Control Room project with CML sample program.

      1. Executes incremental move if variable is set (Run, distance, speed and acceleration set from PLC)

      2. Increments counter variable (Variable read in PLC)

    3. User Data Types (UDT)

    4. Add-On Instructions (AOI)

Direct Control Operation

Import User Data Types (UDTs)

The following steps show how to import the UDTs used by the CM1-T module.

  1. Right click on Data Types → User-Defined and select "Import Data Type..."

  2. Browse to the location where the CM1T_AOI support file was extracted. Select the CM1T_Axis and click import. 

  3. On the Import Configuration window click OK

  4. The CM1T_Axis, CM1T_Controlword and CM1T_DriveStatus should all have been import as shown below. If they were not repeat steps 1-3 with the CM1T_Controlword and CM1T_DriveStatus.

Import Add-On Instructions (AOIs)

The following steps show how to import the CM1-T modules AOIs. The only required AOI is CM1T_DataExchange. All the other AOIs depend on this one to populate the data type.

  1. Right click on Add-On Instructions and select "Import Add-On Instruction..."

  2. Browse to the extracted AOI folder and select CM1T_DataExchange. Click Import

  3. On the Configuration Import window click OK.

  4. Repeat steps 1-3 until all required AOIs are imported

  5. The Add-On Instruction tree will look as follows once all AOIs are imported

Add CM1-T Module

The following steps show how to add an CM1-T module in RSLogix. At present the EtheNet/IP is in testing and the CM1-T is added a a generic module.

  1. Open an existing project or start a new one

  2. In the Controller Organizer expand I/O Configuration and right click on "Ethernet". Select "New Module"

  3. Search "Generic", Select "ETHERNET-MODULE" and click Create

  4. Fill in the following properties shown below

    1. Name: Give the drive a name. E.g. CM1T_Drive, Axis1, LabelXAxis, etc

    2. Comm Format: Data - SINT

    3. IP Address: Enter the IP Address of the CM1-T you are adding.

    4. Connection Parameters

      1. Input: Assembly Instance = 100, Size = 36

      2. Output: Assembly Instance = 112, Size = 28

      3. Configuration: Assembly Instance = 1, Size = 0

    5. Click OK

  5. The Module Properties window should open. If it does not double click on the newly created module inside the Ethernet heading.
    Select the Connection Tab

    1. Set the packet interval as required. Typically this would be 10ms.

    2. Check the boxes as shown in the picture above

The final set of steps below shows how to add the CM1T_DataExchange AOI and configure it to exchange data between the tag created for the CM1-T and the CM1-T module. A single instance of the CM1T_DataExchange should be created per module. There should never be more than one per module.

  1. Add the CM1T_DataExchange AOI to a rung

  2. Create a CM1T_DataExchange Tag and attached it to this instance. In this example it is called FB_CM1T_DataExchnage

  3. Expand the DriveInput drop down menu and select the CM1T_Drive module input create earlier

  4. Expand the DriveOuput drop down menu and select the CM1T_Drive module output create earlier

  5. Create a new CM1T_Axis tag and attach it to the instruction. This is the tag that will be used in all other AOIs

All CM1-T AOIs are now ready to be used. See the example application for more details on running the motor.

Example Logic - Direct Control Operation Sample

The following logic is from the Direct operation sample application. The example shows how to run the motor in each of the modes, enable, disable, halt, and recover from an error.

CML Operation

Import User Data Types (UDTs)

Following the instructions for Direct Control Operation except import 

  • CM1T_CMLAxis

  • CM1T_CMLDriveStatus

Import Add-On Instructions (AOIs)

Follow the instructions for Direct Control Operation except import

  • CM1T_CMLDataExchange

  • CM1T_CMLReadRegister

  • CM1T_CMLWriteRegister

Add CM1-T Module

Follow the instructions for Direct Control Operation except on step 4 enter the following configuration data

  1. Name: Give the drive a name. E.g. CM1T_Drive, Axis1, LabelXAxis, etc

  2. Comm Format: Data - SINT

  3. IP Address: Enter the IP Address of the CM1-T you are adding.

  4. Connection Parameters

    1. Input: Assembly Instance = 101, Size = 60

    2. Output: Assembly Instance = 113, Size = 44

    3. Configuration: Assembly Instance = 1, Size = 0

  5. Click OK

Example Logic - CML Operation Sample

The following sample logic is supplied with the AOIs. It requires the motor to be programmed with a CML program. The program does the following

  1. Motor indexes continuously by the distance amount defined by PLC

  2. Motor indexes with speed and acceleration defined by PLC

  3. Indexing is started and stopped by PLC

  4. A counter showing number of indexes is read by the PLC

Appendix

A - Support Files

See Datasheets and Downloads.

B - Complete Register Address Map 

K Registers

Register

Address

Hex

Decimal

K21

16#0115

277

K22

16#0116

278

K23

16#0117

279

K24

16#0118

280

K25

16#0119

281

K26

16#011A

282

K27

16#011B

283

K28

16#011C

284

K29

16#011D

285

K30

16#011E

286

K31

16#011F

287

K32

16#0120

288

K33

16#0121

289

K34

16#0122

290

K35

16#0123

291

K36

16#0124

292

K37

16#0125

293

K38

16#0126

294

K39

16#0127

295

K40

16#0128

296

K41

16#0129

297

K42

16#012A

298

K43

16#012B

299

K44

16#012C

300

K45

16#012D

301

K46

16#012E

302

Register

Address

Hex

Decimal

K47

16#012F

303

K48

16#0130

304

K49

16#0131

305

K50

16#0132

306

K51

16#0133

307

K52

16#0134

308

K53

16#0135

309

K54

16#0136

310

K55

16#0137

311

K56

16#0138

312

K57

16#0139

313

K58

16#013A

314

K59

16#013B

315

K60

16#013C

316

K61

16#013D

317

K62

16#013E

318

K63

16#013F

319

K64

16#0140

320

K65

16#0141

321

K66

16#0142

322

K67

16#0143

323

K68

16#0144

324

K69

16#0145

325

K70

16#0146

326

K71

16#0147

327

K72

16#0148

328

Register

Address

Hex

Decimal

K73

16#0149

329

K74

16#014A

330

K75

16#014B

331

K76

16#014C

332

K77

16#014D

333

K78

16#014E

334

K79

16#014F

335

K80

16#0150

336

K81

16#0151

337

K82

16#0152

338

K83

16#0153

339

K84

16#0154

340

K85

16#0155

341

K86

16#0156

342

K87

16#0157

343

K88

16#0158

344

K89

16#0159

345

K90

16#015A

346

H Registers

Register

Address

Hex

Decimal

H0

16#0200

512

H1

16#0201

513

H2

16#0202

514

H3

16#0203

515

H4

16#0204

516

H5

16#0205

517

H6

16#0206

518

H7

16#0207

519

P Registers

Register

Address

Hex

Decimal

P0

16#0300

768

P1

16#0301

769

P2

16#0302

770

P3

16#0303

771

P4

16#0304

772

P5

16#0305

773

P6

16#0306

774

P7

16#0307

775

P8

16#0308

776

P9

16#0309

777

P10

16#030A

778

P11

16#030B

779

P12

16#030C

780

P13

16#030D

781

P14

16#030E

782

P15

16#030F

783

P16

16#0310

784

P17

16#0311

785

P18

16#0312

786

P19

16#0313

787

P20

16#0314

788

P21

16#0315

789

P22

16#0316

790

P23

16#0317

791

P24

16#0318

792

P25

16#0319

793

S Registers

Register

Address

Hex

Decimal

S0

16#0400

1024

S1

16#0401

1025

S2

16#0402

1026

S3

16#0403

1027

S4

16#0404

1028

S5

16#0405

1029

S6

16#0406

1030

S7

16#0407

1031

S8

16#0408

1032

S9

16#0409

1033

S10

16#040A

1034

S11

16#040B

1035

S12

16#040C

1036

S13

16#040D

1037

S14

16#040E

1038

S15

16#040F

1039

A Registers

Register

Address

Hex

Decimal

A0

16#0500

1280

A1

16#0501

1281

A2

16#0502

1282

A3

16#0503

1283

A4

16#0504

1284

A5

16#0505

1285

A6

16#0506

1286

A7

16#0507

1287

A8

16#0508

1288

T Registers

Register

Address

Hex

Decimal

T1

16#0601

1537

T2

16#0602

1538

T3

16#0603

1539

T4

16#0604

1540

T5

16#0605

1541

T6

16#0606

1542

T7

16#0607

1543

T8

16#0608

1544

M Registers

Register

Address

Hex

Decimal

M0

16#0700

1792

M1

16#0701

1793

M2

16#0702

1794

M3

16#0703

1795

M4

16#0704

1796

M5

16#0705

1797

M6

16#0706

1798

M7

16#0707

1799

R Registers

Register

Address

Hex

Decimal

R0

16#0800

2048

R1

16#0801

2049

R2

16#0802

2050

R3

16#0803

2051

R4

16#0804

2052

R5

16#0805

2053

R6

16#0806

2054

R7

16#0807

2055

R8

16#0808

2056

R9

16#0809

2057

R10

16#080A

2058

R11

16#080B

2059

R12

16#080C

2060

R13

16#080D

2061

R14

16#080E

2062

R15

16#080F

2063

R16

16#0810

2064

R17

16#0811

2065

R18

16#0812

2066

R19

16#0813

2067

R20

16#0814

2068

R21

16#0815

2069

R22

16#0816

2070

R23

16#0817

2071

R24

16#0818

2072

R25

16#0819

2073

N Registers

Register

Address

Hex

Decimal

N0

16#0900

2304

N1

16#0901

2305

N2

16#0902

2306

N3

16#0903

2307

N4

16#0904

2308

N5

16#0905

2309

N6

16#0906

2310

N7

16#0907

2311

N8

16#0908

2312

N9

16#0909

2313

N10

16#090A

2314

N11

16#090B

2315

N12

16#090C

2316

N13

16#090D

2317

N14

16#090E

2318

N15

16#090F

2319

N16

16#0910

2320

N17

16#0911

2321

N18

16#0912

2322

N19

16#0913

2323

N20

16#0914

2324

N21

16#0915

2325

N22

16#0916

2326

N23

16#0917

2327

N24

16#0918

2328

N25

16#0919

2329

V Registers

Register

Address

Hex

Decimal

V0

16#0A00

2560

V1

16#0A01

2561

V2

16#0A02

2562

V3

16#0A03

2563

V4

16#0A04

2564

V5

16#0A05

2565

V6

16#0A06

2566

V7

16#0A07

2567

V8

16#0A08

2568

V9

16#0A09

2569

V10

16#0A0A

2570

V11

16#0A0B

2571

V12

16#0A0C

2572

V13

16#0A0D

2573

V14

16#0A0E

2574

V15

16#0A0F

2575

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