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Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B

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Summary of Contents for Smart Motor SM23166MT

Page 1: ...Ethernet Serial Encapsulation Guide Class 6 SmartMotor Technology For the mobile version of this guide see animatics com docs guides html c6_enetse ...

Page 2: ...s in this manual are provided for example purposes only It is the user s responsibility to decide if a particular code sample or program applies to the application being developed and to adjust the values to fit that application Moog Animatics and the Moog Animatics logo SmartMotor and the SmartMotor logo Combitronic and the Combitronic logo are all trademarks of Moog Inc Animatics Other trademark...

Page 3: ...agram 14 Understanding the Status LEDs 15 Using Ethernet Serial Encapsulation 16 Ethernet Serial Encapsulation Description 17 TCP Port 17 UDP Port 17 Detecting the Motors in SMI 18 Setting the IP Address 18 Supported Not Supported Functionality 19 Supported Functionality 19 Not Supported Functionality 20 Ethernet Serial Encapsulation Communications Setup 21 Ethernet Serial Encapsulation Sample Com...

Page 4: ...fety notation related documents and additional resources Purpose 5 Safety Information 6 Safety Symbols 6 Other Safety Considerations 6 Safety Information Resources 8 Additional Documents 9 Related Guides 9 Other Documents 9 Additional Resources 10 Moog Animatics Class 6 SmartMotor Ethernet Serial Encapsulation Guide Rev B Page 4 of 32 ...

Page 5: ...ion 6 0 2 28 and netX firmware NXF version 3 3 0 3 NOTE The keepalive feature to reset broken connections requires firmware 6 0 2 41 or higher with netX firmware NXF version 3 4 0 5 or higher Earlier firmware versions will not activate this feature The Ethernet Serial Encapsulation protocol was developed by Moog Animatics as a means for the Class 6 EtherNet IP EIP motor to receive and send serial ...

Page 6: ...he safety standards specified by the governing authority for example ISO OSHA UL etc for the locale where the machine is being installed and operated For more details see Machine Safety on page 7 Motor Sizing It is the responsibility of the machine system designer to select SmartMotors that are properly sized for the specific application Undersized motors may perform poorly cause excessive downtim...

Page 7: ...rovide E stop mechanisms located at the control panel and at other points around the perimeter of the barrier that will stop all machine movement when tripped l Provide appropriate sensors and interlocks on gates or other points of entry into the protected zone that will stop all machine movement when tripped l Ensure that if a portable control programming device is supplied for example a hand hel...

Page 8: ...ent In general it is the responsibility of the operating company to ensure that l Unauthorized access to the machine is prevented at all times l The personnel are supplied with the proper equipment for the environment and their job functions which may include safety glasses hearing protection safety footwear smocks or aprons gloves hard hats and other protective gear l The work area is equipped wi...

Page 9: ...l startup guide l SmartMotor Developer s Guide http www animatics com smartmotor developers guide Other Documents l SmartMotor Product Certificate of Conformance http www animatics com download Declaration of Conformity pdf l SmartMotor UL Certification http www animatics com download MA_UL_online_listing pdf l SmartMotor Developer s Worksheet interactive tools to assist developer Scale Factor Cal...

Page 10: ...matics com l Product information http www animatics com products html l Product support Downloads How To videos Forums Knowledge Base and FAQs http www animatics com support html l Sales and distributor information http www animatics com sales offices html l Application ideas including videos and sample programs http www animatics com applications html Moog Animatics Class 6 SmartMotor Ethernet Se...

Page 11: ...outs system connections and the status LEDs Connecting the System 12 Class 6 M Style EIP Motors Connectors and Pinouts 12 Moog Animatics Industrial Ethernet Cables 13 Ethernet Custom Cable 13 Cable Diagram 14 Understanding the Status LEDs 15 Moog Animatics Class 6 SmartMotor Ethernet Serial Encapsulation Guide Rev B Page 11 of 32 ...

Page 12: ... MOTOR COMMON GROUND INPUT OR OUTPUT INPUT DISCRETE OR ANALOG POSSIBLE SELECTABLE FUNCTIONS INPUT DISCRETE OR ANALOG INPUT INPUT INPUT OUTPUT INPUT OUTPUT INPUT INPUT OUTPUT OUTPUT POWER OUTPUT N A GENERAL PURPOSE GENERAL PURPOSE POSITIVE LIMIT OR GENERAL PURPOSE NEGATIVE LIMIT OR GENERAL PURPOSE GENERAL PURPOSE OR EXTERNAL ENCODER INDEX CAPTURE GENERAL PURPOSE OR INTERNAL ENCODER INDEX CAPTURE GE...

Page 13: ...mber CBLIP ETH MM xMRA M style to RJ45 Ethernet Cable This cable has an M12 male threaded connector at one end and an RJ45 male connector at the opposite end It is available in 1 3 5 and 10 meter lengths For the standard cable use part number CBLIP ETH MRJ xM where x denotes the cable length A right angle version is also available use part number CBLIP ETH MRJ xMRA Ethernet Custom Cable The follow...

Page 14: ... EIP NOTE Either Ethernet port can be used to daisy chain the motors Example Daisy Chain Configuration NOTE Unlike other fieldbus protocols this configuration does not require terminators at each end of the network Ethernet TCP IP Network Other Ethernet device I O block Servo drive etc TCP IP Master PC PLC etc Moog Animatics SmartMotor EIP Moog Animatics SmartMotor EIP NOTE Either Ethernet port ca...

Page 15: ...twork Status LED LED 4 EtherNet IP Link 1 Input LED LED Status on Power up With no program and the travel limit inputs are low LED 0 solid red motor is in fault state due to travel limit fault LED 1 off With no program and the travel limits are high LED 0 solid red for 500 milliseconds then flashing green LED 1 off With a program that only disables travel limits LED 0 red for 500 milliseconds then...

Page 16: ...on Description 17 TCP Port 17 UDP Port 17 Detecting the Motors in SMI 18 Setting the IP Address 18 Supported Not Supported Functionality 19 Supported Functionality 19 Not Supported Functionality 20 Ethernet Serial Encapsulation Communications Setup 21 Ethernet Serial Encapsulation Sample Command Sequences 21 UDP User Datagram Protocol Discovery Example 23 TCP Transmission Control Protocol Command ...

Page 17: ...nd concurrent attempt to connect will be rejected However if the first connection is closed by the client then the motor will accept another connection CAUTION There is no security check or other method available to disable the TCP port Therefore the network is assumed to be friendly i e secure ready and safe to connect to TCP Port 10001 The TCP port uses ASCII commands to create a pipeline to the...

Page 18: ...l The SmartMotor webpage feature also used to set the IP address will not function Therefore the IP address must be set through either l The IP Control command IPCTL or l The SmartMotor s USB port For details refer to the following section Setting the IP Address As mentioned previously for Ethernet Serial Encapsulation on the SmartMotor the IP address can be either static or dynamic DHCP The defau...

Page 19: ...c SmartMotor operations l Report commands RPA RSP etc Report commands are shown in the SmartMotor Developer s Guide They can be identified by looking at the command lists near the end of the guide for commands that begin with a superscript R character for example R PA R SP R PC etc Commands that begin with an R character that is not superscript are not report commands for example RANDOM RESUME RET...

Page 20: ...ted l Serial data mode is not supported for example RGETCHR Report commands specific to the serial port like RGETCHR RGETCHR1 etc reporting the state of the actual serial ports will report a value without problem However commands like RGETCHR2 RLEN2 are not supported specific to the state of the serial encapsulation channel itself i e you can t put the serial encapsulation into data mode Any comma...

Page 21: ... TCP port 10001 Therefore no special program is needed l There is no need for a node ID the IP address serves as the motor s identification Note that the Node ID is typically assumed to be 0 in Ethernet Serial Encapsulation Command Purpose Value Non Volatile Setting ETHCTL 100 value Enable disable ports 1 default 0 disable TCP communications port and UDP discovery port 1 enable TCP communications ...

Page 22: ...es NOTE A table is provided to illustrate the parts of the byte sequence only The byte sequence must be transmitted as a stream of bytes shown in the Output Input strings above the table i e no pause or null for the blank cells These items unique to the UDP Discovery Example l Operation Code Bytes 0 3 specifies the operation being performed l Reserved Bytes 4 23 reserved bytes l MAC address Bytes ...

Page 23: ...s 4 23 MAC address Bytes 24 29 Output 00 00 00 f6 Input 00 00 00 f7 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 a2 2b 41 ff A table is provided to illustrate the parts of the byte sequence only The byte sequence must be transmitted as a stream of bytes shown in the Output Input strings above the table i e no pause or null for the blank cells Output Input Moog Animatics Class ...

Page 24: ...2e 32 2e 33 30 0d TCP Stream Prefix Command Response Terminator Output 80 52 53 50 RSP 20 Input 30 36 32 35 30 2f 36 2e 30 2e 32 2e 33 30 06250 6 0 2 30 0d A table is provided to illustrate the parts of the byte sequence only The byte sequence must be transmitted as a stream of bytes shown in the Output Input strings above the table i e no pause or null for the blank cells Output Input Moog Animat...

Page 25: ...d TCP Stream Prefix Command Response Terminator Output 80 52 50 41 RPA 20 Input 31 31 30 35 1105 0d A table is provided to illustrate the parts of the byte sequence only The byte sequence must be transmitted as a stream of bytes shown in the Output Input strings above the table i e no pause or null for the blank cells Output Input Moog Animatics Class 6 SmartMotor Ethernet Serial Encapsulation Gui...

Page 26: ...gure below A table is provided to illustrate the parts of the byte sequence only The byte sequence must be transmitted as a stream of bytes shown in the Output Input strings above the table i e no pause or null for the blank cells Output Input The following figure shows the SmartMotor ACKnowledgement back to the PC master However it doesn t contain any data to respond to it is just to keep the TCP...

Page 27: ... 45 74 68 65 72 6E 65 74 20 32 character block of program download Input 06 ACK from motor Output 68 6F 73 74 22 2C 23 31 33 29 0A 57 41 49 54 3D 31 30 30 30 0A 24 4C 30 30 30 30 50 0A 45 4E 44 32 character block of program download Input 06 ACK from motor Output 0A FF 24 74 65 73 74 20 65 74 68 65 72 6E 65 74 2E 73 6D 78 00 20 20 20 20 20 20 10 0B 16 13 07 32 character block of program download I...

Page 28: ...9 4E 54 32 28 22 16 character block of upload from motor Output 06 ACK from host Input 48 69 20 74 68 65 72 65 16 character block of upload from motor Output 06 ACK from host Input 20 45 74 68 65 72 6E 65 16 character block of upload from motor Output 06 ACK from host Input 74 20 68 6F 73 74 22 2C 16 character block of upload from motor Output 06 ACK from host Input 23 31 33 29 0A 57 41 49 16 char...

Page 29: ...r net mask not set See IPCTL command or check DHCP server Feature disabled See ETHCTL 100 value command Motor disconnects from SMI sporadically COM port buffer settings are too high Adjust the COM port buffer settings to their lowest values Poor connection on serial cable Check the serial cable connections and or replace it Power supply unit PSU brownout PSU may be too high precision and or unders...

Page 30: ...hes attached Configure the motor to be used without limit switches by setting their inputs as general use Programming and SMI Issues Several commands not recognized during compiling Compiler default firmware version set incorrectly Use the Compiler default firmware version option in the SMI software Compile menu to select a default firmware version closest to the motor s firmware version In the SM...

Page 31: ......

Page 32: ...PN SC80100017 001 Rev B Ethernet Serial Encapsulation ...

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