Lenze AC Tech MotionView OnBoard PositionServo ETHERNET/IP Reference Manual page 28

5.6 Example Ladder Logic Program
The example Ladder Logic program illustrated in this section works with the CompactLogix controller and
PositionServo drives.
5.6.1 Function of Example Program
This example program allows the user to:
1. Obtain status information from the drive.
2. Use the Logic Command to control the drive (for example enable/disable).
3. Send a Reference to the drive and receive Feedback from the drive.
5.6.2 RSLogix 5000 Configuration
Controller Tags
When the adapter and drive are added to the I/O configuration (Section 4.4 Fig. 21), the RSLogix 5000 controller
automatically creates the controller tags for these devices. This example program uses the controller tags
shown in Figure 22.
+ - SimpleServo:I
+ - SimpleServo:O
+ - SimpleServo:S
P94ETH01D
Cyclic Data Access
Table 20: Assembly #106 PositionServo Basic Control
32-bit Word Variable ID Type
0 52 F32
1 139 F32
Table 21: Assembly #108: PositionServo Extended Control.
32-bit Word Variable ID Type
0 52 F32
1 139 F32
2 mapped F32
3 mapped F32
4 mapped F32
5 mapped F32
NOTE:
The Variable ID is the PositionServo variable's index number. Refer to the PositionServo Programming Manual (PM94H201)
NOTE:
Refer to section 5.4, Using DataLinks, for details on DataLinks A-D
{. . .}
{. . .}
{. . .}
Figure 22: Controller Tags
Name
DRIVE ENABLE: Non 0 = enabled, 0 = disabled
REFERENCE: Velocity mode = velocity in RPS;
Current mode = current in phase A(rms)
Name
DRIVE ENABLE: Non 0 = enabled, 0 = disabled
REFERENCE: Velocity mode = velocity in RPS;
Current mode = current in phase A(rms)
DataLink_A_out
DataLink_B_out
DataLink_C_out
DataLink_D_out
{. . .} AB:ETHERNET_MODULE_REAL_36Bytes:I:0
{. . .} AB:ETHERNET_MODULE_REAL_8Bytes:O:0
{. . .} AB:ETHERNET_MODULE_DINT_8Bytes:S:0
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