SmartMotor Theory of Operation
Note that there are special IP-rated cables, which are available from Moog Animatics, that are
designed for use with the IP-rated SmartMotors. The following figure shows the cables, part numbers
and corresponding connections.
NOTE:
LED
operation is the same as standard (non-IP rated) SmartMotors.
SM34165M/MT
PC/RS-232
CBLIP-LIM-FL (5 Pin)
CBLIP-PWR4-FL (4 Pin)
CBLIP-COM-FL (8 Pin)
Separate 24V Control Power
24V - 48V Drive Power
1
2
3
4
RS232485T
CBLIP-IO-FL (12 Pin)
CBLIP-CAN-FL (5 Pin)
IP-Rated Cables and Connections
SmartMotor Theory of Operation
The Moog Animatics SmartMotor is an entire servo control system built inside of a servo motor. It
includes a controller, an amplifier and an encoder. All that is required for it to operate is power and
either an internal program or serial commands from outside (or both). To make the SmartMotor move,
the program or serial host must set a mode of operation, state a target position with/or a maximum
velocity at which to travel to that target, and a maximum acceleration. After these three parameters
are set, the two limit inputs are properly grounded or deactivated, and the Drive Enable input is
satisfied (on M-style motors), a "Go" command starts the motion profile.
The core functional areas of the SmartMotor are:
l
Motion Control Functions (see Motion Details in the
SmartMotor™ Developer's Guide
)
l
System Control Functions (see Program Flow Details in the
SmartMotor™ Developer's Guide
,
also see System Status in the
SmartMotor™ Developer's Guide
)
l
Communication Functions (see Communication Details in the
SmartMotor™ Developer's Guide
)
l
I/O
Functions (see I/O Control in the
SmartMotor™ Developer's Guide
)
Moog Animatics Class 5 SmartMotor™
Installation and Startup Guide,
Rev. I
Page 23 of 76
