Tech Tip – Updated AOI Example

Add-On Instructions

The Add-On Instructions (AOI) encapsulate the commonly used Tritex™ functions and simplify the setup within Rockwell Automation’s Integrated Architecture control platform, thus reducing errors and development time when configuring a device over the Ethernet IP network.

The AOI provides a simple method for the user to perform operations and retrieve status of the Tritex drive. The AOI works in conjunction with a set of

Tritex II™ drive files which contain the necessary translation tables.

The updated AOI example shows a program designed to allow easier programming and accessibility to the code along with improved function sequencing.

The following functions are available through the AOI:

  • User Units (T2UU)
    • Required for operation, tied to the scaling in the Expert software
  • Control Drive (T2CON)
    • Initiates commands such as enable, home, brake override, fault reset
    • Motion commands such as stop, pause, initiate home move
  • Drive Status (T2STA)
    • Module status options include: enable, homed, ready (enabled and homed), fault, warning
    • Motion status: stopped, paused, jogged, jog positive active, jog negative active, initiate home motion active, EMove, move active, in position
    • Capable of displaying the following parameters: position, velocity, continuous current, actual current, hall battery voltage, bus voltage, drive board temperature, actuator temperature, and a variety of warnings (peak current, continuous current, position tracking, move termination, low dc bus voltage, high dc bus voltage, position following error, board temperature, actuator temperature, loss of signal, communications, hardware over current, absolute hall board battery, user parameters, factory parameters, restart), as well as Drive faults
  • Jog Operation (T2JOG)
    • Command and monitor jog operations
    • Set jog directions (plus or minus)
    • Set jog velocity and acceleration
    • Display jog active, stopped flag active, ready flag set
  • Move Operations (T2MOV)
    • Controls complete move operation
    • Execute Move 0: maintained or momentary
    • Enable secondary motion
    • Set current limit for move
    • Set acceleration and deceleration values
    • Set position values for primary and secondary moves
    • Set velocity for primary and secondary moves
    • Set primary and secondary move options
    • Displays instruction error active and drive fault active
    • Displays status: ready, move 0 in position, move 0 active
  • Host Control (T2HC)
    • Allows direct host control
    • Enable or disable position, velocity or current mode
    • Set target position
    • Set velocity and acceleration limits
    • Set current limit
    • Display drive fault active

The input and output mapping of these functions is included in the code of these AOI function blocks, thus greatly simplifying the task of programming. The manual contains more details for each of these function blocks.

The following 2 screenshots show the Ethernet IP addressing setup in of the Rockwell software and the Expert software programs. The IP address in both of these programs needs to be the same.

AOI 1

AOI 2

The following select screen captures are from the updated AOI example in the Rockwell software and which is available on Exlar’s website.  Download the example code from Exlar’s website to see the complete example and use for a starting point on your program. This updated example improves the ease of use for these AOI function blocks and displays a simple method to utilize these functions. This can easily be expanded or modified.

AOI 3

AOI 4

AOI 5

AOI 6

The screen capture below shows how to implement and control the jog moves.

AOI 7

AOI 8

Several host control functions in screen below:

AOI 9

The code behind the function block can also be modified by the programmer to fit the needs of the application.

AOI 10

The AOI eliminates the need to map each address to the Expert software. This example is one method of utilizing the AOI in the plc while allowing it to be easily modified to fit the programmer’s style and application needs.

Training for use of the AOI can also be covered during our product training classes.

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