Moog Animatics Class 6 SmartMotor Manual Download Page 14

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Additional Resources

Additional Resources

The Moog Animatics website contains useful resources such as product information,
documentation, product support and more. Please refer to the following addresses:

General company information:

http://www.animatics.com

Product information:

http://www.animatics.com/products.html

Product support (Downloads, How To videos, Forums, Knowledge Base, and FAQs):

http://www.animatics.com/support.html

Sales and distributor information:

http://www.animatics.com/sales-offices.html

Application ideas (including videos and sample programs):

http://www.animatics.com/applications.html

PROFINET and PROFIBUS Resources

PROFINET and PROFIBUS are common standard maintained by PROFIBUS and PROFINET
International (PI):

PROFIBUS and PROFINET International (PI) website:

http://www.profibus.com/

Moog Animatics Class 6 PROFINET Guide Rev. D

Page 14 of 76

Summary of Contents for Animatics Class 6 SmartMotor

Page 1: ...Class 6 SmartMotor Technology For the mobile version of this guide see animatics com docs guides html c6_pnet...

Page 2: ...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...

Page 3: ...Other Documents 13 Additional Resources 14 PROFINET and PROFIBUS Resources 14 PROFINET Motor Pinouts Connections and Status LEDs 15 PROFINET Motor Connectors and Pinouts 16 Cables and Diagram 17 Moog...

Page 4: ...nds 31 PLC Memory 31 Disable positive limit command EIGN 2 31 Disable negative limit command EIGN 3 32 Clear fault status command ZS 32 Initiate Mode Torque 33 Commands 33 PLC Memory 33 Set torque val...

Page 5: ...Alternate Communications Channel 52 Reserved Motor Variables 52 Command and Response Codes 53 Command Packet Codes to Motor Commands 54 Extended 16 bit command codes 61 Response Packet Codes to Motor...

Page 6: ...Hardware 9 Software 9 Safety Information 10 Safety Symbols 10 Other Safety Considerations 10 Motor Sizing 10 Environmental Considerations 10 Machine Safety 11 Documentation and Training 12 Additional...

Page 7: ...iew PROFINET is an independent open fieldbus standard that allows different manufacturers of automation products to communicate without special interface adjustments Specifically PROFINET which is opt...

Page 8: ...details see Software on page 9 Document sections include Output and Input data formats PROFINET cargo a list of the Moog Animatics PROFINET command codes explained in terms of the equivalent SmartMot...

Page 9: ...r s industrial Ethernet port for details see PROFINET Motor Connectors and Pinouts on page 16 Software The following software is required l User supplied PLC configuration software l Moog Animatics SM...

Page 10: ...e system and its safeguards comply with the 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...

Page 11: ...nes l Position the control panel so that it is outside the barrier area but located for an unrestricted view of the moving mechanism The control panel must include an E stop mechanism Buttons that sta...

Page 12: ...bed in the documentation and training supplied by the machine system designer Additional Equipment and Considerations The Risk Assessment and the operating company s standard safety policies will dict...

Page 13: ...matics SmartMotor Developer s Guide http www animatics com smartmotor developers guide Other Documents l SmartMotor System Best Practices http www animatics com system best practices application note...

Page 14: ...port 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 includ...

Page 15: ...tions and the status LEDs PROFINET Motor Connectors and Pinouts 16 Cables and Diagram 17 Moog Animatics Industrial Ethernet Cables 17 M style to M style Ethernet Cable 17 M style to RJ45 Ethernet Cabl...

Page 16: ...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 GEN...

Page 17: ...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 MR xM where x denotes the cable lengt...

Page 18: ...ws an example PROFINET network with the SmartMotors daisy chained to the master device An optional ring configuration can be created if it is supported by the selected PROFINET mode and network device...

Page 19: ...th 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 mil...

Page 20: ...r with PC 21 User Program Requirements 21 Required Nonvolatile EEPROM Values 21 Configure PLC with PC 21 Configure SmartMotor to PROFINET 22 PLC Sends Commands to Motor 22 Network Data Format Example...

Page 21: ...ation name for PROFINET within a user program see the following code example SNAME mymotor1 a ETH 0 IF a 2 Z Execute reset if Station Name changed ENDIF Configure PLC with PC Use the following procedu...

Page 22: ...s as described below to send the desired commands over PROFINET and communicate with the motor The following are sequences of commands sent which show all the intermediary PROFINET packet output data...

Page 23: ...bit defined by ETHCTL 12 x command see User Program Commands on page 38 13 Command error includes math and array errors 14 Peak overcurrent occurred 15 Drive ready PLC Memory Each byte below is repres...

Page 24: ...mands on page 54 to find response code RCLK and its value hex 7A 007A 0000 0000 0000 0000 0000 0680 0000 0000 0000 Wait for response code acknowledge in the input buffer which is being received contin...

Page 25: ...e motor It changes as the updated clock value is received To create a PROFINET connection to the SmartMotor 1 Install the SMI software For more details see the Moog Animatics Class 6 SmartMotor Instal...

Page 26: ...lick the USB category and select Detect Motors on USB from the menu When detection has completed Motor 1 will be shown under the USB network 5 Double click Motor1 to open the Motor View tool Click Pol...

Page 27: ...total or 63 characters as a name component within the device name e g a character string between two periods may be further limited by your configuration software l Cannot be formatted as an IP addre...

Page 28: ...tMotor 11 Power cycle the SmartMotor to initialize it with the configured values 12 Enter the PROFINET motor response code to report the motor clock in the PLC PROFINET data registers i e in the 3 wor...

Page 29: ...C Memory 31 Disable positive limit command EIGN 2 31 Disable negative limit command EIGN 3 32 Clear fault status command ZS 32 Initiate Mode Torque 33 Commands 33 PLC Memory 33 Set torque value specif...

Page 30: ...ling Limits from Preventing Motion At power up if limit switches are not connected to the motor the electrical state of the limit pins will default to indicate that the motor is at the limits This wil...

Page 31: ...ransmitted continuously i e cyclically by the master to the slave motor 0000 0000 0030 0000 0000 0000 0680 0000 0000 0000 Set command code 0x01 in the output buffer 0100 0000 0030 0000 0000 0000 0680...

Page 32: ...nt of the cleared command code 0000 0000 0033 0000 0000 0000 0080 0000 0000 0000 Clear fault status command ZS Insert command ZS data 0x44 in output buffer which is being transmitted continuously i e...

Page 33: ...in output data 0000 0000 0C00 0000 0000 0000 0080 0000 0000 0000 Insert command code 0x94 and response code 0xA2 94A2 0000 0C00 0000 0000 0000 0080 0000 0000 0000 Wait for acknowledge in input buffer...

Page 34: ...d code acknowledgment in the input buffer 01A2 0000 000C 01A2 0000 0000 0080 0000 0000 0000 Velocity becomes nonzero and it is reported as 0x00 14 00 00 in this example Status changes are reported as...

Page 35: ...000 0000 0080 0000 0000 0000 Insert command code 0x64 and response code 0xA2 64A2 0000 00FF 0000 0000 0000 0080 0000 0000 0000 Wait for acknowledge in input buffer 64A2 0000 00FF 64A2 0000 0000 0080 0...

Page 36: ...0A2 0000 0000 0080 0000 0000 0000 Wait for command code acknowledge in the input buffer 01A2 0001 86A0 01A2 0000 0000 0080 0000 0000 0000 Insert command code 0x00 00A2 0001 86A0 01A2 0000 0000 0080 00...

Page 37: ...ommand code acknowledge 03 response code acknowledge A2 response data current 0001 86AD velocity 100 000 in slew status 0009 Bt 1 Bi 1 measured current position 0000 CA23 measured current position err...

Page 38: ...at the PLC over PROFINET with SMI and a USB connection over channel 8 or RS 485 on channel 0 with a SmartMotor user program NOTE Nonvolatile memory will be read at power up or after the Z reset comma...

Page 39: ...be further limited by your configuration software l Cannot be formatted as an IP address dotted decimal notation l Cannot begin with the characters port nnn where nnn are three numeric characters 0 9...

Page 40: ...TH 6 RETH 6 The current Network Lost program label number For details see ETHCTL function value on page 42 ETH 7 RETH 7 Processor type 1 Failed 0 Unknown 1 netX 10 2 netX 50 3 netX 51 52 4 netX 100 ET...

Page 41: ...00 hex this command reports 65536 it reports as a 32 bit signed value ETH 47 RETH 47 IP gateway as integer e g for an IP gateway of 192 168 1 1 C0 A8 01 01 hex this command reports 1062731519 it repo...

Page 42: ...otor soft stop 3 Send S command to motor immediate stop 4 Send GOSUB x command where x is the value of the user program label 5 Send GOTO x command where x is the value of the user pro gram label NOTE...

Page 43: ...50 the value argument is ignored ETHCTL 51 value Resets the internal error register RETH 51 the value argument is ignored ETHCTL 58 value Clears the real time Ethernet sync count Program Example The f...

Page 44: ...PROFINET Output and Input packet format It also provides notes for the Command Output packets and Response Input Packets Output and Input Packet Format 45 Command Output Packet Notes 50 Response Inpu...

Page 45: ...placing them into the 2 available slots in the motor NOTE Only the two combinations of specific in out sizes are allowed For example 3 words out cannot be used with 28 words in Output 3 Words Data For...

Page 46: ...ent commanded trajectory position less the current measured position Extended format 12 words 24 bytes out 28 words 56 bytes in This format was created for the purpose of easier access to reading data...

Page 47: ...12 Response code 2 request 16 bits 2 Yes 13 7 14 Response code 3 request 16 bits 2 Yes 15 8 16 Response code 4 request 16 bits 2 Yes 17 9 18 Response code 5 request 16 bits 2 Yes 19 10 20 Response cod...

Page 48: ...ack 16 bits 2 Yes 11 6 12 Response code 2 ack 16 bits 2 Yes 13 7 14 Response code 3 ack 16 bits 2 Yes 15 8 16 Response code 4 ack 16 bits 2 Yes 17 9 18 Response code 5 ack 16 bits 2 Yes 19 10 20 Respo...

Page 49: ...wed to use attributes request codes 214 225 an error code 255 will result These request code locations 1 7 are recommended for information that must be read every cycle like a variable position veloci...

Page 50: ...for Command Code Acknowledge Command Code l For value insert the Command Data Value l For the variables a to zzz l a to z u8VarIndexSet 0 25 l aa to zz u8VarIndexSet 26 51 l aaa to zzz u8VarIndexSet...

Page 51: ...zz l a to z u8VarIndexGet 0 25 l aa to zz u8VarIndexGet 26 51 l aaa to zzz u8VarIndexGet 52 77 l For index insert the array index stored in u8ArrIndexGetActual l For length insert the length stored in...

Page 52: ...not the case in the PROFINET interface these variables are freely available for the user l Require the reservation of any serial channels Therefore all other ports and associated channels are freely a...

Page 53: ...acket command and response codes and their corresponding SmartMotor commands Command Packet Codes to Motor Commands 54 Extended 16 bit command codes 61 Response Packet Codes to Motor Commands 64 Exten...

Page 54: ...1 x01 2 x02 C D Direct brake to output number 8 EOBK 8 1 x01 3 x03 N A Reserved 1 x01 4 x04 C D Release brake BRKRLS 1 x01 5 x05 C D Brake while servo inactive BRKSRV 1 x01 6 x06 C D Brake while traje...

Page 55: ...a right limit input EILP 1 x01 51 x33 C D Make I O 3 an input disable left limit function EIGN 3 1 x01 52 x34 N A Obsolete Use CMD_OUT x 1 x01 53 x35 C D Set I O 3 to be a left limit input EILN 1 x01...

Page 56: ...lling then rising edge Aji 1 1 x01 83 x53 N A Reserved MDT not supported in Class 6 1 x01 84 x54 C D Request enhanced trapezoidal commutation mode entered as soon as angle is satisfied MDE 1 x01 85 x5...

Page 57: ...PID derivative compensation KD value 131 x83 value C D PID gravity compensation for limits see the Moog Animatics SmartMotor User s Guide KG value 132 x84 value C D PID integral compensation KI value...

Page 58: ...riable is referred to in the next variable write operation a is 0 b is 1 zzz is 77 Range is 0 77 201 xC9 N A Reserved 202 xCA value C D u8VarLenSet value Where value represents quantity of variables t...

Page 59: ...YES 214 xD6 value C D Set variable a to zzzz a u8VarIndexSetActual if u8AutoIncSet then u8VarIndexSetActual 1 a to zzz value 215 xD7 value C D Set byte array variable index u8ArrIndexSetActual if u8Au...

Page 60: ...x length does not affect EPTR 224 xE0 N A C D Store word array variables to EEPROM index u8ArrIndexSetActual length u8ArrLenSet u32EptrActual length 2 if u8AutoIncSet then u8ArrIndexSetActual length T...

Page 61: ...ian ness is determined by the byte swap configuration parameter Extended 16 bit command codes Below are additional 16 bit codes Therefore they require the extended data format with its 16 bit fields f...

Page 62: ...alue C D Set variable kk kk value 293 x0125 value C D Set variable ll ll value 294 x0126 value C D Set variable mm mm value 295 x0127 value C D Set variable nn nn value 296 x0128 value C D Set variabl...

Page 63: ...iable zzz zzz value 334 511 x014E x01FF N A N A Reserved 512 x0200 value C D Set float 0 32 bit IEEE af 0 value 513 x0201 value C D Set float 1 32 bit IEEE af 1 value 514 x0202 value C D Set float 2 3...

Page 64: ...otor serial address RADDR 102 x66 cyclic value assigned PWM limit RAMPS 103 x67 cyclic value overcurrent status RBa 104 x68 N A 0 Obsolete 105 x69 cyclic value serial communications error bit 106 x6A...

Page 65: ...value follow mode divisor RMFDIV 138 x8A cyclic value follow mode multiplier RMFMUL 139 x8B N A 0 Reserved 140 x8C cyclic value current mode of operation RMODE 141 x8D cyclic value present position RP...

Page 66: ...word 5 RW 5 176 xB0 cyclic value status word 6 RW 6 177 xB1 cyclic value status word 7 RW 7 178 xB2 cyclic value status word 8 RW 8 179 xB3 cyclic value status word 9 RW 9 180 181 xB4 xB5 N A 0 Reser...

Page 67: ...t does not affect EPTR or variables 219 xDB Response 0 only RC value Get word from EEPROM value EE 2 bytes at u32EptrActual u32EptrActual 2 NOTE This u32EptrActual is not the same as the program EPTR...

Page 68: ...rray variables index u8ArrIndexGetActual length u8ArrLenGet u32EptrActual length 4 if u8AutoIncGet then u8ArrIndexGetActual length NOTE This u32EptrActual is not the same as the program EPTR command V...

Page 69: ...g these in the extended packet which has 16 bit fields for the command and reponse codes For example reponse code 122 returns CLK clock As an 8 bit hex value 122 is x7A as a 16 bit value that is x007A...

Page 70: ...clic value variable hh Rhh 290 x0122 cyclic value variable ii Rii 291 x0123 cyclic value variable jj Rjj 292 x0124 cyclic value variable kk Rkk 293 x0125 cyclic value variable ll Rll 294 x0126 cyclic...

Page 71: ...e variable uuu Ruuu 329 x0149 cyclic value variable vvv Rvvv 330 x014A cyclic value variable www Rwww 331 x014B cyclic value variable xxx Rxxx 332 x014C cyclic value variable yyy Ryyy 333 x014D cyclic...

Page 72: ...Cables and Diagram on page 17 Wrong GSDML file Verify that the correct GSDML file was used to configure the master and connect the slave motor as part of the PROFINET network Command code Ack and or R...

Page 73: ...is off or reset Use the SADDR or ADDR command within the program to set the motor address Red PWR SERVO light illuminated Critical fault To discover the source of the fault use the Motor View tool loc...

Page 74: ...menu to select the default firmware version closest to the motor firmware version In the SMI software view the motor firmware version by right clicking the motor and selecting Properties Unsupported c...

Page 75: ......

Page 76: ...PN SC80100007 001 Rev D...

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