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9. Double-click on the R5_EnetIP_ExRef_Mode subroutine to open it.
Explanation of the Logic
Rung 1: Starts the sequence (pushing the Green button DI0/DO1). The sequence will only start if
there are no faults on the drive
Rung 2: Sets the correct drive mode of operation. In this case, Mode 1 corresponds to
EtherNet/IP External Reference. This is done via an Explicit Message instruction to a
parameter location in the K300 drive.
Drive Mode of the General tab in MotionView.
Rung 3: Sets the .ReferenceSource to two (2). In this case (as you can see from the rung
comment), we are doing an Incremental Position motion profile.
Rung 4: Set the parameters for the incremental position move, we set the Distance of the index,
the velocity of the index, and Acceleration/Deceleration limits
Note: Notice that the MOV instruction moves the ‘local’ value into the Output tag of the drive
(K300_N1:O.CommandPosition, for example). This is how we configure the parameters of
the drive via the Add-On Profile.
Rung 5: Enables the drive. Again, this is all done by writing to the Output tag of the AOP.
Rung 6: Starts executing the first motion profile.
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