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Contents
Appendix C — Peer Cop Example
The Global Input Data from Node 6, starting with offset 1 for a length of
9 words, will be assigned to PLC registers 40200 through 40209. These
are mapped as follows:
PLC RefOffset
Description
40200 Offset 1
Drive Feedback
40201 Offset 2
Datalink Input Word A1 (Configurable in Drive)
40202 Offset 3
Datalink Input Word A2 (Configurable in Drive)
40203 Offset 4
Datalink Input Word B1 (Configurable in Drive)
40204 Offset 5
Datalink Input Word B2 (Configurable in Drive)
40205 Offset 6
Datalink Input Word C1 (Configurable in Drive)
40206 Offset 7
Datalink Input Word C2 (Configurable in Drive)
40207 Offset 8
Datalink Input Word D1 (Configurable in Drive)
40208 Offset 9
Datalink Input Word D2 (Configurable in Drive)
Ladder Logic Programming
Finally, a small amount of programming is added to simplify drive
control. A group of 16 coils, 00001-00016, are block moved into the
word that is mapped to the Drive Control word, 40100.
In our example, coils 00001-00016 are assigned the specific name and
function as shown below:
PLC Ref
PLC Name
Description
000001
MOP DECREMENT
1 = Decrement, 0=Not
000002
REF SEL1
Binary Reference Source Selection 2
0
000003
REF SEL2
Binary Reference Source Selection 2
1
000004
REF SEL3
Binary Reference Source Selection 2
2
000005
DEC SEL1
Decellaration Rate Selection
000006
DEC SEL2
Decellaration Rate Selection
000007
ACC SEL1
Accelaration Rate Selection
000008
ACC SEL2
Accelaration Rate Selection
000009
MOP INCREMENT
1 = Increment, 0=NOT
000010
LOCAL LOCKOUT
1 = Local Lockout, 0 = Not Local
000011
DIR SEL1
Direction Selection
000012
DIR SEL2
Direction Selection
000013
DRV RESET
1 = Clear Faults, 0 = Not Clear Faults
000014
DRV JOG
1 = Jog, 0 = Not Jog
000015
DRV START
1 = Start, 0 = Not Start
000016
DRV STOP
1 = Stop, 0 = Not Stop
