SM6_Drive - Drive Data Exchange
Operation
Scan Mode
Description
Prescan
Initialize axis variables.
Rung-condition-in is FALSE
N/A
Rung-condition-in is TRUE
Copies any response data from the input connection to the
Drive Store response buffer.
Extracts the data from the response.
Builds and Copies a Command from the Drive Store Command
buffer to the output connection.
NOTE:
An instance of this AOI will need to be included in the ladder logic for each
drive being controlled. Each instance of this AOI is usually placed at the top of the
main loop. For example, in the following figure, this AOI is included twice for a two-
drive system.
Error Handling
If the response from the drive is an error response, the error information will be extracted
from the message and stored in one of two structures within DriveStore:
l
Drivestore.Error_Info: Standard 8-byte message errors
l
DriveStore.Error_Info_Ext: Extended attribute to get errors
There are four fields within the Error_Info structures:
l
Error_Code: Main error code being returned
l
Additional_Code: Additional error code information
l
Copy_Cmd: Copy of the Command Message Type that caused the error
l
Copy_Att_Num: Attribute number of the command that caused the error
For information on the error information, see bytes 4–7 in Error Response Message Type
(0x14) on page 51.
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 109 of 160
