Rockwell Automation 22-COMM-D DeviceNet Adapter - Manual (Page 83)

Using Multi-Drive Mode 7-11
Figure 7.7 Drive 0 Control Routine
Drive 0 Control Subroutine
0
DriveInputImage[0].0 Drive0StatusReady
Drive 0 Control Subroutine
1
DriveInputImage[0].1 Drive0StatusActive
2
DriveInputImage[0].3 Drive0StatusForward
3
DriveInputImage[0].7 Drive0StatusFaulted
4
DriveInputImage[0].8 Drive0StatusAtReference
5 Copy File
Source DriveInputImage[1]
Dest
Drive0Feedback
Length 1
COP
6
Drive0CommandStop DriveOutputImage[0].0
7
Drive0CommandStart DriveOutputImage[0].1
8
Drive0CommandJog DriveOutputImage[0].2
9
Drive0CommandClearFaults DriveOutputImage[0].3
10
Drive0CommandForward DriveOutputImage[0].4
11 /
Drive0CommandForward DriveOutputImage[0].5
12 Copy File
Source
Drive0Reference
Dest DriveOutputImage[1]
Length
1
COP
This section takes the data from the input area and moves it to specific tags
(Logic Status bits and Feedback) for use elsewhere in the ladder program.
This section takes the data from specific tags (Logic Command bits and
Reference) and moves them to the output image area for transmission to the
scanner.