User manual

7-20 Using Multi-Drive Mode
Parameter addressing for Explicit messaging is different in Multi-Drive
than with Single mode. In Single mode, the Instance value in the
message equals the desired parameter number in the drive. In
Multi-Drive mode, an Instance table is used to account for the
parameters in the adapter and up to 5 drives. The parameters in the
adapter and each of the drives are offset by 400 hex (1024 decimal):
For example, to access Parameter P39 - [Accel Time 1] in each of the
drives, the following Instances would be used:
Drive 0 Instance = 17447 (17408 + 39)
Drive 1 Instance = 18471 (18432 + 39)
Drive 2 Instance = 19495 (19456 + 39)
Drive 3 Instance = 20519 (20480 + 39)
Drive 4 Instance = 21543 (21504 + 39)
Figure 7.11 Drive 4 Control Routine (Continued)
Explicit Messaging Example
13
PerformParameterRead4
EN
DN
ER
Type - CIP Generic
Message Control ParameterRDMessage4
...
MS
G
Explicit Messaging Example
14
PerformParameterWrite4
EN
DN
ER
Type - CIP Generic
Message Control ParameterWRMessage4
...
MS
G
15
Return
RET
(End)
Drive 4 parameters are accessed by adding 21504 decimal (5400 hex) to the
desired parameter number. For example, to access Parameter 39 an Instance of
21543 (21504 + 39) is used.
Multi-Drive Mode Explicit Messaging
Instance Device Parameter
4000h (16384 dec) - 43FFh 22-COMM-D 0 - 1023
4400h (17408 dec) - 47FFh Drive 0 0 - 1023
4800h (18432 dec) - 4BFFh Drive 1 0 - 1023
4000h (19456 dec) - 4FFFh Drive 2 0 - 1023
5000h (20480 dec) - 53FFh Drive 3 0 - 1023
5400h (21504 dec) - 57FFh Drive 4 0 - 1023