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Review the Ladder Logic Structure
The Simple Motion Control CCBB consists of four core ladder routines (Main, Power-up, Machine Control,
and STI Control) that are specific to CCBB functionality as well as an additional four ladder routines (Axis
Calculation, Axis Command, Axis Monitor, and Axis User Program) for each Ultra1500 drive axis. These
routines are briefly described below. Consult the ladder logic comments for further information.
Routine
Main Routine (Main)
Power-Up Routine (Power Up)
Machine Control Routine (MCHN CNTRL)
STI Control Routine (STI CNTRL)
AX1 Calculation Routine (AX# CALC)
AX1 Command Routine (AX# CMD)
AX1 Monitor Routine (AX# MNTR)
AX1 User Program Routine (AX# PROG)
Publication CC-QS008B-EN-P - December 2009
Description
Calls all other routines.
Clears Axis Command, Axis Data, and Axis Status values and sets program constant values.
Use this to set initial program values for all axes.
Executes the custom user machine control code.
Use this routine to control all of the axes in the system at the same time. This control can be
done by using the Broadcast command functionality or by controlling each axis
independently with separate Axis commands.
Controls the Selectable Timed Interrupt (STI) for each axis. The STI functionality forces the
scanning of the PTO instruction at a 1 ms frequency during the acceleration and
deceleration portions of Axis Moves, avoiding any scan dependent acceleration and
deceleration variations that could occur.
Calculates the necessary User Unit to PTO Unit to Motor Unit conversions needed for the
status and command values used by the Simple Motion Control CCBB.
Executes the commands requested in Operator mode by using the HMI and in Program
mode by using the Axis User Program routine or the Machine Control routine.
Monitors the Axis status as well as the HMI status. The Axis status is used throughout the
CCBB for axis and drive control. The HMI Status is used for HMI screen control by using
visibility functionality.
Executes the custom user axis control code.
Use this routine to control an axis by using Axis commands.
This routine scans when the axis is in Program mode and the axis User Program Execute
command is active. It continues to scan until the Axis Stop command is executed.
If the use of a sequencer/state machine is desired (recommended), the
AX#_CMD_PROG_SEQ value (B246:2) can be used as your sequencer value. It is cleared
(set to zero) when the Axis Stop command is executed or when the Axis is in Operator
mode. Verify that your initial state in your sequencer is set to execute when
AX#_CMD_PROG_SEQ = 0 and your sequencer will execute every time the Axis Start
command is executed.
Control Program Integration
Chapter 3
37
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