MOOG ANIMATICS Class 6 SmartMotor, Инструкция по установке и запуску

Страница: 17 / 58

Fieldbus Options
Fieldbus Options
This section details the Fieldbus communications protocol options that are available on certain
models of SmartMotors.
EtherCAT Fieldbus Protocol
NOTE: This fieldbus protocol is optionally available on Class 6 M-style motors.
The EtherCAT fieldbus protocol provides the following features:
l
Command/Response Codes for SmartMotor commands
l
CiA 402 Motion Modes: Profile Position (PP), Profile Velocity (PV), Torque (TQ), Cyclic
Sync Position (CSP), Cyclic Sync Velocity (CSV), Cyclic Sync Torque (CST)
l
Dynamic PDO mapping
l
Configurable Sync Manager 2 and 3 assignment
l
DC-Sync Subordinate Mode with SYNC0 and SYNC1
l
DC-Sync Slave
l
Selectable Homing modes (with or without index pulse)
l
Selectable Interpolation modes (spline or linear)
l
Touch Probe function allows the motor's position to be captured on a specific event
For the EtherCAT connector diagram and pinouts, see Connecting the System on page 30.
For more details on the EtherCAT protocol implementation, see the SmartMotor EtherCAT
Guide .
PROFINET Fieldbus Protocol
NOTE: This fieldbus protocol is optionally available on Class 6 M-style motors.
The PROFINET fieldbus protocol provides the following features:
l
Command/Response Codes for SmartMotor commands
l
Use of on-board I/O through PROFINET, SmartMotor program, or RS-485 commands
l
The Moog Animatics communications profile over PROFINET is intended to integrate well
with a PLC that continuously transmits and receives cyclic data; the command and
response codes achieve this through a handshaking mechanism
l
Certain configuration data is held in nonvolatile storage in the SmartMotor; therefore,
the motor data EEPROM must be correctly initialized before PROFINET operation
For the PROFINET connector diagram and pinouts, see Connecting the System on page 30.
For more details on the PROFINET protocol implementation, see the Class 6 SmartMotor™
PROFINET Guide .
Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY
Page 17 of 58