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User Guide for AOIs
Product: AZ series EtherNet/IP Compatible driver
Controller: Rockwell Automation, Inc. L18 controller
Software: Studio 5000 V30.11 and V32.11
This document describes the system configuration, set up AOIs and how to use AOIs.
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System Configuration.......................................................................................5
Setting IP address............................................................................................6
Register of EDS File.........................................................................................8
New Module..................................................................................................10
Jog Operation................................................................................................16
Add-On Instructions.......................................................................................21
Add-On Instructions ZHOME............................................................................22
Add-On Instructions WRITE.............................................................................27
Add-On Instructions READ...............................................................................37
Add-On Instructions MOVE..............................................................................41
Add-On Instructions DDO................................................................................46
Add-On Instructions MONITOR.........................................................................52
Table of Contents
Page
5
6
8
10
16
21
22
27
37
41
46
52
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(1) When building an actual system, check the specifications of each device and equipment that make up
the system. For example, for safety reasons such as safety circuits that minimize the danger even if
there is a failure.
(2) In order to use the system safely, consult the operators manual and instruction manuals for each
device and equipment that make up the system. Confirm the contents, including the warning and
safety precaution manual.
(3) Customers are responsible for confirming the standards/regulations that the system should comply
with.
(4) Copy or redistribute of part of all of this document without the permission of Oriental Motor Co., Ltd.
is prohibited.
(5) The information in this document is current as of August 2019. The contents of this document are
subject to change without prior notice.
(6) This document describes the procedure for establishing a communication connection between
devices. The details of the wiring method are not described. For details other than the communication
connection procedure, refer to the instruction manual of the product or contact Oriental Motor.
Cautions
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■Applicable product
・ Scanner： Controller1769-L18ERM-BB1B manufactured by Rockwell Automation, Inc.
・ Adapter： AZ series EtherNet/IP compatible driver AZD-AEP / AZD-CEP
Driver with AZ series motor and motorized actuator equipped with AZ series, can be combined.
■ Preparation
Prepared user manuals which you can download from the
Orientalmotor web site.
EtherNet/IP compatible
AZ driver
Product and manuals
① - Install EIP Support Software (MEXE02 v4)
② HM-60372
AZ series EtherNet/IP Compatible driver
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EtherNet/IP
cable
AZD-AEP.eds
EDS file
Device number
Controller 1769-L18ERM-BB1B (Rockwell Automation)
Software
Studio 5000 V30.11 (Rockwell Automation)
Cable specifications
Shielded twisted pair (STP) cable
straight-through/crossover cable, category 5e
or higher
Driver
AZD-AEP
Stepping motor
AZM46AC
Cable set CC005VZF
Support software EtherNet/IP Compatible Software (MEXE02 ver.4.0)
USB cable
(Type A to Type B)
Studio 5000
Download the correct EDS file
from our website according to
your driver product name.
The system configuration described in this document is shown below.
Scanner
Adapter
System Configuration
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EtherNet/IP communication
Adapter
Scanner
EtherNet/IP compatible
AZ driver
IP address
“192.168.1.21”
Regarding EtherNet/IP communication, the controller is called
“scanner” and the driver is called “adapter”. The scanner sends
“communication command (Implicit Message)” to the IP address of the
target driver.
Adapter
The IP address of the AZ driver is set by “Switch” and “Parameter”. In
this document, we are using the “Switch” selection.
EtherNet/IP compatible
AZ driver
IP address of driver
“192.168.1.2”
IP address of driver
“192.168.1.1”
Setting IP address
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Setting switches on the driver
IP address is set by switches on the driver.
※Refer to the users manuals for other ways.
The switch settings are shown on the figure to the
right.
The IP address of the driver is “192.168.1.2”.
Switch setting
IP address Description
×16 ×1
0 0
Enable by parameter or DHCP
server.
Initial setting at factory
0 1
XXX.XXX.XXX.1
The
fourth octet of the IP address is “1”
F E
XXX.XXX.XXX.254
※
The
fourth octet of the IP address is “254”
F F
192.168.1.1
The IP address is
fixed regardless of setting
by parameter and DHCP server.
※ The “X” of XXX.XXX.254 can be set by parameters.
Initial value is “192.168.1.254”.
Setting IP address
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New project
Start up Studio5000. In the create wizard, select “New Project.”
Choose your controller from the list and name the project.
※This document assumes that the user has a license of
Studio5000 which has been already activated.
Register EDS file
Select “EDS Hardware Installation Tool” in Tools menu.
Register of EDS file
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Installation of the EDS file
Select the “Register an EDS file”
Registration success screen
Click “Browse” button, select correct EDS file
according to your driver product name.
Register of EDS file
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Register of a New Module
Right click on the “Ethernet” and select “New Module”.
Enter “oriental” in the “filters” section, the researched
results are shown. Select your driver from the catalog
number below.
New Module
Click
“Create”
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Enter a “Name” (our example is OMaxis) and the “Ethernet Address”. In this case, the
fourth octet of Ethernet address is “2” set by the switches. (referred on slide 7). Before
hitting OK we need to change the Module properties.
New Module
Under the General
Tab where it says
Module Definition,
click “Change …”
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Before importing the module: Change Size from “SINT” -> “INT” in Module Definition.
Orientalmotor’s AOIs are designed based on the INT size.
Size of Implicit message has been changed by this setting above.
Click and
Select “INT”
OK
Implicit Message
SINT(Short INT) INT
Input
OMaxis:I.Data
[56]
OMaxis:I.Data
[28]
Output
OMaxis:O.Data
[40]
OMaxis:O.Data
[20]
New Module
Under the General
Tab where it says
Module Definition,
click “Change …”
After you have made
the change to INT,
then be sure to hit
“Apply” so the
changes can become
effective.
Registration success screen
Click “OK”
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New Module
*1: As a note on the previous slide
By changing the size to INT, the Monitor Tags and Watch list will now have a different assignment.
Ex. What used to be Motor O: Data[0] and Data [1] will now be Motor O: Data[0]. Ref: 2 byte = 1 Word
SINT
Integer format.
0
1
2
3
4
5
6
7
8
9
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20
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23
24
25
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27
INT
Word
Ref. Page 90
in manual
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New Module
In addition, when the * is seen at the top of the Studio 5000 file, this means that unsaved changes are on the
program. Usually, you want to save before Downloading to the PLC.
*NOTE: These screen shots come from version 32.11
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Connect EtherNet/IP
Select “Who Active” in “Communications” menu. In this document, the controller and
PC are connected by a USB cable. Select “Controller” in the USB tree, and click on “Go
Online.”
Note：
Switch “REM” setting in
controller. When download,
message is shown as below, you
can select “RUN MODE” remote
from controller.
New Module
Click Download
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Implicit message
After enabling EtherNet/IP communication by downloading, you can see the screen
as shown below.
Jog Operation
Jogging
Let’s begin moving the motor shaft in a forward and reverse direction.
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Select “Quick Watch” from the Pull-
down menu. Next, click pull-down
button on the right of “Quick Watch”
The screen on the right is shown.
Select “OMaxis:I”.
Likewise, select “OMaxis:O” in the “Quick Watch”.
Currently there is no program in the MainRoutine. Monitor the Implicit
Message of the adapter(driver) by “Watch” function.
Jog Operation
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Implicit message format
The list of Implicit message is extracted
from the user-manual.
From the scanner(controller) point of
view, “Input” and “Output” are defined.
OMaxis:I OMaxis:O
“Input”
“Output”
EtherNet/IP
cable
Scanner
Adapter
Jog Operation
0
1
2
3
4
5
6
7
8
9
10
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16
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27
INT
Word
Ref. Page 90
in manual
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FW-JOG, RV-JOG
Fixed I/O(IN)
Implicit Message
Output is 40 bytes changed to 20 Words.
(Ref. New module section, SINT to INT.)
Second word in 20
words
FW-JOG, RV-JOG
0bit and 1bit
in “Fixed I/O(IN)“
You can specify assigned memory
as below.
“FW-JOG” is OMaxis:O.Data[2].0
“RV-JOG” is OMaxis:O.Data[2].1
Set “1” to FW-JOG or RV-JOG, “Jog operation” will be started. Check
assigned memory of “FW-JOG” and “RV-JOG” in Implicit Message.
Jog Operation
Word
Ref. Page 96
in manual
Ref. Page 90
in manual
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“Quick Watch” is displayed as below. Click + on the right of “OMaxis:O”.
On the previous page, “FW-JOG” is assigned in OMaxis:O.Data[2].0.
FW-JOG
RV-JOG
Enter “1” in the value of “FW-JOG”, and
the motor will rotate clockwise.
Then enter “0” in the value field.
Confirm motor stops.
Similarly, you can confirm “RV-JOG,”
which will rotate the motor counterclockwise.
Jog Operation
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Orientalmotor has created the following Add-On Instructions (AOIs) for the AZ Drives:
1. Direct Data Operation (DDO)
2. Data Select Operation (MOVE)
3. Read Data
4. Write Data
5. Home Operation without position sensor (ZHOME)
6. Monitoring
• Each AOI has parameter fields which the user can enter while referring to the users manual of the AZ
EIP driver.
• The AOIs will only be enabled if the AZ series EtherNet/IP compatible driver has been registered using
the Orientalmotor EDS file.
Ensure the AOI is selected for the appropriate AZ series driver.
Where # (hashsign) is the designated letter of the AZ series driver.
Ex. A = AZD-AEP (Single-Phase 100-120 VAC)
C = AZD-CEP (Single-Phase/Three-Phase 200-240 VAC)
Add-On Instructions (AOIs)
OM_AZ_#_DDO.L5X
OM_AZ_#_MOVE.L5X
OM_AZ_#_READ.L5X
OM_AZ_#_WRITE.L5X
OM_AZ_#_ZHOME.L5X
OM_AZ_#_MONITOR.L5X
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The OM_AZ_ZHOME example shows how to import AOI and set up AOI.
[OM_AZ_ZHOME] This AOI is used to execute high-speed return-to-home operation.
Note: In advance, set the position coordinate by P-PRESET input or HOME PRESET Switch. Otherwise home position
is not fixed, return-to-home operation is not performed.
STEP1. Right click on “Add-On Instructions” in the Organizer tree. Then select “Import Add-On-Instructions”.
STEP2. Select AOI (*.L5X) file and open. The imported AOI must be displayed in Controller Organizer.
Add-On Instructions (AOIs): ZHOME
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STEP3. Open “MainRoutine”.
Add Rung. You can either Drag and Drop the AOI from the Controller Organizer tree, or select the AOI
from the “Add-On” tab.
Add-On Instructions (AOIs): ZHOME
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STEP4. Set parameters and Local tag in AOI.
Right click on the tag (in this example, we are using “STEP1”). Create New Tag ”STEP1”.
STEP5. Set “ImplicitMSGinput” in AOI. In this case, select “OMaxis:I” which is defined as a new module.
As well, set “ImplicitMSGoutput”.
Click
Double Click
Add-On Instructions (AOIs): ZHOME
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STEP6. Save project and Download.
After Done-downloading, this screen is displayed.
Add-On Instructions (AOIs): ZHOME
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STEP7. Set “1” to “Set_Exe” in AOI while Online of Run Mode. AOI has 3 status of Sts_Busy, Sts_Err and Sts_Done.
Set “1”
Set “0”
Set “1” to “Set_Exe”, then
AOI execution starts.
During execution AOI,
“Sts_Busy” is set ON.
Successfully done AOI, then
“Sts_Done” is set ON.
Driver disables AOI execution,
then Sts_Err is set ON.
Set “0” to “Set_Exe”, then
AOI resets.
Sts_Busy
Name
Data
Type
Usage
Description
Set_Exe
BOOL
Input
1:Execution AOI, 0: No execution
Sts_Busy
BOOL
Output
1:Executing AOI
Sts_Err
BOOL
Output
1: No executing AOI due to unacceptable driver
-status
Sts_Done
BOOL
Output
1:Successfully done AOI
Add-On Instructions (AOIs): ZHOME
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We will now add on the OM_AZ_Write AOI to modify our operation data no 0.
STEP1. Right click on “Add-On Instructions” in the Organizer tree. Then select “Import Add-On-Instructions”.
STEP2. Select AOI (*.L5X) file and open. The imported AOI must be displayed in the Controller Organizer.
Add-On Instructions (AOIs): WRITE
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STEP3. Open “MainRoutine”.
Add Rung. You can either Drag and Drop the AOI from the Controller Organizer tree, or select the AOI
from the “Add-On” tab.
Add-On Instructions (AOIs): WRITE
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STEP4. Set parameters and Local tag in AOI. Right click on the tag (in this example, we are using “STEP2”).
Create New Tag ”STEP2”.
STEP5. Set “ImplicitMSGinput” in AOI. In this case, select “OMaxis:I” which is defined as a new module.
As well, set “ImplicitMSGoutput”.
Click
Double Click
Add-On Instructions (AOIs): WRITE
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STEP6. Write position and speed parameter to Operation data no. 0. (ref. page 118 in the manual).
3072 decimal
0C00 hex is the base address
Add-On Instructions (AOIs): WRITE
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STEP6 (cont).
Desired position will be 5000 steps.
Enter Base address +1 for position parameter = 3072 +1 = 3073dec = 0C01h
+1 =
Position
Parameter
Specified
value
Add-On Instructions (AOIs): WRITE
*2: The AOI has
base 16 as the default
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*2 As a note, we are using register address 0C00 as the default setting for the AOI is base 16, however this setting
can be changed by right clicking on the AOI and selecting properties.
From there, click on the parameters tab and click on the “Style” pull-down selection menu for the WritePRMID. Here,
you can set the preferred input type. Once selected be sure to hit OK or Apply before leaving this screen.
Click and
Select Style
OK
Click
Parameters
Right Click.
Select
“Properties”
Add-On Instructions (AOIs): WRITE
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STEP6 (cont). To set the desired speed, copy OM_AZ_Write on the main program and create a new tag
(in this example, we are using “STEP3”)
Right click on the tag “STEP3”. Create New Tag ”STEP3”.
Add-On Instructions (AOIs): WRITE
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STEP6 (cont).
Desired position speed will be 2000Hz for tag STEP3.
Enter Base address +2 for Operation speed parameter = 3072 +2 = 3074dec = 0C02h
+2 =
Operation
Speed
Parameter
Specified
value
Add-On Instructions (AOIs): WRITE
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STEP7. Save project and Download.
After Done-downloading,
this screen is displayed.
Add-On Instructions (AOIs): WRITE
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STEP8. Set “1” to “Set_Exe” in AOI while Online of Run Mode. AOI has 3 status of Sts_Busy, Sts_Err and Sts_Done.
Set “1”
Set “1” to “Set_Exe”, then
AOI execution starts.
During execution AOI,
“Sts_Busy” is set ON.
Sts_Busy
Name
Data
Type
Usage
Description
Set_Exe
BOOL
Input
1:Execution AOI, 0: No execution
Sts_Busy
BOOL
Output
1:Executing AOI
Sts_Err
BOOL
Output
1: No executing AOI due to unacceptable driver
-status
Sts_Done
BOOL
Output
1:Successfully done AOI
Set “1”
Successfully done AOI, then
“Sts_Done” is set ON.
Add-On Instructions (AOIs): WRITE
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We will now add on the OM_AZ_Read AOI to view our operation data no 0.
STEP1. Follow similar add on procedures as OM_AZ_Write AOI except using OM_AZ_Read.
Add-On Instructions (AOIs): READ
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STEP2. Add two OM_AZ_READ AOI after the OM_AZ_WRITE AOI.
Step 3. Add new tags, (In this example we
used “Step 4” and “Step 5.”)
Add-On Instructions (AOIs): READ
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STEP4. Set “ImplicitMSGinput” in AOI. In this case, select “OMaxis:I” which is defined as a new module.
As well, set “ImplicitMSGoutput”.
STEP5. Read position and operation speed parameter for Operation data no. 0. (ref. page 118 in the manual).
Position parameter address = 0C01h, Speed parameter address = 0C02h (referred on slides 31 and 34).
Position
Parameter
Operation
Speed
Parameter
Add-On Instructions (AOIs): READ
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STEP6. Set “1” to “Set_Exe” in AOI while Online of Run Mode. AOI has 3 status of Sts_Busy, Sts_Err and Sts_Done.
Set “1”
Set “1” to “Set_Exe”, then
AOI execution starts.
During execution AOI,
“Sts_Busy” is set ON.
Sts_Busy
Name
Data
Type
Usage
Description
Set_Exe
BOOL
Input
1:Execution AOI, 0: No execution
Sts_Busy
BOOL
Output
1:Executing AOI
Sts_Err
BOOL
Output
1: No executing AOI due to unacceptable driver
-status
Sts_Done
BOOL
Output
1:Successfully done AOI
Set “1”
Successfully done AOI, then
“Sts_Done” is set ON.
We now see our position and speed are
set correctly at 5000 steps and 2000Hz.
Add-On Instructions (AOIs): READ
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How do I move operation data No. 0? This is possible with the OM_AZ_MOVE AOI.
STEP1. Right click on “Add-On Instructions” in the Organizer tree. Then select “Import Add-On-Instructions”.
STEP2. Select AOI (*.L5X) file and open. The imported AOI must be displayed in Controller Organizer.
Add-On Instructions (AOIs): MOVE
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STEP3. Open “MainRoutine”.
Add Rung. You can either Drag and Drop the AOI from the Controller Organizer tree, or select the AOI
from the “Add-On” tab.
Add-On Instructions (AOIs): MOVE
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STEP4. Set parameters and Local tag in AOI. Right click on the tag
(in this example, we use “STEP6”). Create New Tag ”STEP6”.
Add-On Instructions (AOIs): MOVE
STEP5. Set “ImplicitMSGinput” in AOI. In this case, select “OMaxis:I” which is defined as a new module.
As well, set “ImplicitMSGoutput”.
Click
Double Click
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STEP6. Save project and Download.
After Done-downloading, this screen is displayed.
We will now run Operation data no. 0
Add-On Instructions (AOIs): MOVE
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STEP7. Set “1” to “Set_Exe” in AOI while Online of Run Mode. AOI has 3 status of Sts_Busy, Sts_Err and Sts_Done.
Set “1”
Set “0”
Set “1” to “Set_Exe”, then
AOI execution starts.
During execution AOI,
“Sts_Busy” is set ON.
Successfully done AOI, then
“Sts_Done” is set ON.
Driver disables AOI execution,
then Sts_Err is set ON.
Set “0” to “Set_Exe”, then
AOI resets.
Name
Data
Type
Usage
Description
Set_Exe
BOOL
Input
1:Execution AOI, 0: No execution
Sts_Busy
BOOL
Output
1:Executing AOI
Sts_Err
BOOL
Output
1: No executing AOI due to unacceptable driver
-status
Sts_Done
BOOL
Output
1:Successfully done AOI
Set “0”
Operation
Data no. 0
will now
move 5000
steps at
2000 Hz
Add-On Instructions (AOIs): MOVE
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How do I change data on the fly? This is possible with the OM_AZ_DDO AOI.
STEP1. Right click on “Add-On Instructions” in the Organizer tree. Then select “Import Add-On-Instructions”.
STEP2. Select AOI (*.L5X) file and open. The imported AOI must be displayed in Controller Organizer.
Add-On Instructions (AOIs): DDO
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STEP3. Open “MainRoutine”.
Add Rung. You can either Drag and Drop the AOI from the Controller Organizer tree, or select the AOI
from the “Add-On” tab.
Add-On Instructions (AOIs): DDO
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STEP4. Set parameters and Local tag in AOI.
Right click on the tag (in this example, we are using “STEP7”). Create New Tag ”STEP7”.
Add-On Instructions (AOIs): DDO
STEP5. Set “ImplicitMSGinput” in AOI. In this case, select “OMaxis:I” which is defined as a new module.
As well, set “ImplicitMSGoutput”.
Click
Double Click
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STEP6. Enter desired parameter values (Reference Direct Data Operation starting on page 104 of the manual)
Example:
Set Operation type = 2 (incremental position)
Set_Position = 10000 (steps)
Set_Velocity = 1000 (Hz)
Set_Acceleration = 1,000,000 (1000 kHz/s)
Set_Deceleration = 1,000,000 (1000 kHz/s)
Set_Current = 1000 (100%)
Set_Send = 0 (Execution memory)
Add-On Instructions (AOIs): DDO
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STEP7. Save project and Download. After Done-downloading, this screen is displayed.
Add-On Instructions (AOIs): DDO
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STEP8. Set “1” to “Set_Exe” in AOI while Online of Run Mode. AOI has 3 status of Sts_Busy, Sts_Err and Sts_Done.
Set “1”
Set “0”
Set “1” to “Set_Exe”, then
AOI execution starts.
During execution AOI,
“Sts_Busy” is set ON.
Successfully done AOI, then
“Sts_Done” is set ON.
Driver disables AOI execution,
then Sts_Err is set ON.
Set “0” to “Set_Exe”, then
AOI resets.
Sts_Busy
Name
Data
Type
Usage
Description
Set_Exe
BOOL
Input
1:Execution AOI, 0: No execution
Sts_Busy
BOOL
Output
1:Executing AOI
Sts_Err
BOOL
Output
1: No executing AOI due to unacceptable driver
-status
Sts_Done
BOOL
Output
1:Successfully done AOI
Add-On Instructions (AOIs): DDO
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How do I monitor my speed or position, etc? This is possible with the OM_AZ_MONITOR AOI.
STEP1. Right click on “Add-On Instructions” in the Organizer tree. Then select “Import Add-On-Instructions”.
STEP2. Select AOI (*.L5X) file and open. The imported AOI must be displayed in the Controller Organizer.
Add-On Instructions (AOIs): MONITOR
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STEP3. Open “MainRoutine”.
Add Rung. You can either Drag and Drop the AOI from the Controller Organizer tree, or select the AOI
from the “Add-On” tab.
Add-On Instructions (AOIs): MONITOR
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STEP4. Set parameters and Local tag in AOI. Right click on the tag
(in this example, we use “STEP8”). Create New Tag ”STEP8”.
Add-On Instructions (AOIs): MONITOR
STEP5. Set “ImplicitMSGinput” in AOI. In this case, select “OMaxis:I” which is defined as a new module.
Click
Double Click
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STEP6. Save project and Download. After Done-downloading, this screen is displayed.
Add-On Instructions (AOIs): MONITOR
We can now view the position, speed, alarms, temperature and current etc.
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Version History
Version
Description
Date
1
Initial Release
08/09/2019
2
Added Monitor AOI. Fixed
formatting. Added note INT
format for new module creation. EIP software naming.
Added 2 byte = 1 Word, manual pages, AOI #, and jogging
section.
09/24/2019
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