RSLogix | Myostat Product Documentation

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

It exchanges data between the motor connections and the motor/drive tag.
It places the Controlword bits into the Controlword data type
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	Drive disable bit is set to false (drive is enabled) rung-condition-out is set true - when drive status bit shows drive enabled 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	Drive disable bit is set to true (drive is disabled) rung-condition-out is set true - when drive status bit shows drive disabled 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

Operand

Type

Format

Description

CM1T_Disable

CM1T_ControlMode

Tag

Instance tag for the AOI

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

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

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)
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.

Right click on Data Types → User-Defined and select "Import Data Type..."
Browse to the location where the CM1T_AOI support file was extracted. Select the CM1T_Axis and click import.
On the Import Configuration window click OK
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.

Right click on Add-On Instructions and select "Import Add-On Instruction..."
Browse to the extracted AOI folder and select CM1T_DataExchange. Click Import
On the Configuration Import window click OK.
Repeat steps 1-3 until all required AOIs are imported
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.

Open an existing project or start a new one
In the Controller Organizer expand I/O Configuration and right click on "Ethernet". Select "New Module"
Search "Generic", Select "ETHERNET-MODULE" and click Create
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
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.

Add the CM1T_DataExchange AOI to a rung
Create a CM1T_DataExchange Tag and attached it to this instance. In this example it is called FB_CM1T_DataExchnage
Expand the DriveInput drop down menu and select the CM1T_Drive module input create earlier
Expand the DriveOuput drop down menu and select the CM1T_Drive module output create earlier
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.

Unknown Attachment

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

Name: Give the drive a name. E.g. CM1T_Drive, Axis1, LabelXAxis, etc
Comm Format: Data - SINT
IP Address: Enter the IP Address of the CM1-T you are adding.
Connection Parameters
1. Input: Assembly Instance = 101, Size = 60
2. Output: Assembly Instance = 113, Size = 44
3. Configuration: Assembly Instance = 1, Size = 0
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

Motor indexes continuously by the distance amount defined by PLC
Motor indexes with speed and acceleration defined by PLC
Indexing is started and stopped by PLC
A counter showing number of indexes is read by the PLC