Rockwell Automation 22-COMM-C ControlNet Adapter - Manual (Page 77)

Using Multi-Drive Mode 7-9
This example ladder logic program demonstrates using Multi-Drive
mode with five drives. See
Figure 7.2 or Figure 7.3 for a system layout
diagram.
Function of the Example Program
This example program enables you to:
• View status information from the drives such as Ready, Faulted, At
Speed, and Feedback.
• Control the drives using various Logic Command bits (Stop, Start,
etc.) and Reference.
• Perform a single parameter read of drive parameter d003 - [Output
Current] and a single parameter write to drive parameter P039 -
[Accel Time 1].
Main Routine
The Main Routine reads the network Input Image from the scanner,
initiates Drive 0 through Drive 4 control subroutines, and writes the
network Output Image to the scanner. See
Figure 7.9 . The Generic
Controller Module is configured for an Input Size of 12 words and an
Output Size of 10 words. For additional information about I/O
connection sizes, see
Table 4.A .
The following controller tags are used:
ControlLogix I/O Example
Tag Name Type Description
Drive_Input_Image INT [10] Input Image Table
Drive_Output_Image INT [10] Output Image Table