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Commands Not Currently Supported

Commands Not Currently Supported

The following commands are

not

currently supported in the Class 6 SmartMotor:

CAN related:

CADDR=, CANCTL, CBAUD=, RCADDR, RCAN, RCBAUD

Sync motion commands (require Combitronic):

ADTS, ATS, DTS, GS, PRTS, PRTSS,

PTS, PTSS, RPTSD, RPTST, TSWAIT, VTS

Commands associated with the second serial port or other hardware that is not
available in the M-style motors:

BAUD(1)=, CCHN on channel 1, ECHO1, ECHO_OFF1,

OCHN on channel 1, PRINT1, RBAUD(1), RGETCHR1, RLEN1, ROC, ROF, SILENT1, SLEEP1,
TALK1, WAKE1,

Other:

ENCCTL, MDT, PID

For Further Information...

For further information on SMI software features, SmartMotor programming details, com-
munication details, motion details, a complete command reference and more, see the

SmartMotor™ Developer's Guide

Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY

Page 53 of 58

Содержание Class 6 SmartMotor

Страница 1: ...Installation Startup Guide Class 6 SmartMotor Technology...

Страница 2: ...e prior written permission of Moog Inc Animatics The programs and code samples in this manual are provided for example purposes only It is the user s responsibility to decide if a particular code samp...

Страница 3: ...Options 17 EtherCAT Fieldbus Protocol 17 PROFINET Fieldbus Protocol 17 SmartMotor Theory of Operation 18 Getting Started 21 Unpacking and Verifying Your Shipment 23 Installing the SMI Software 23 Ins...

Страница 4: ...Motor 44 Clearing the Overtravel Limits and Fault Bits 45 Moving the SmartMotor 46 Making the Motor Move 46 Setting and Reporting Torque 47 Checking the Motor Position 48 Viewing the Motor Position w...

Страница 5: ...nformation 6 Safety Symbols 6 Other Safety Considerations 6 Motor Sizing 6 Environmental Considerations 7 Machine Safety 7 Documentation and Training 8 Additional Equipment and Considerations 8 Safety...

Страница 6: ...o fol low the instructions could result in slight injury to the operator or minor dam age to the equipment NOTE Notes are used to emphasize non safety concepts or related information Other Safety Cons...

Страница 7: ...rces of Risk Assess ment information available in print and on the internet NOTE The following list is an example of items that would be evaluated when per forming the Risk Assessment Additional items...

Страница 8: ...of the operating company to ensure that l All operators maintenance technicians programmers and other personnel are tested and qualified before acquiring access to the machine or system l The above p...

Страница 9: ...botic safety information can be found at http www robotics org robotic content cfm Robotics Safety Compliance id 23 UL standards information can be found at http www ul com global eng pages solutions...

Страница 10: ...s RMODE Decoder and Syntax Error Codes http www animatics com support download center html l Moog Animatics Product Catalog http www animatics com support moog animatics catalog html Additional Resour...

Страница 11: ...l EtherCAT Technology Group website http www ethercat org PROFINET is a common standard maintained by PROFIBUS PROFINET International PI l PROFIBUS PROFINET International website http www profinet com...

Страница 12: ......

Страница 13: ...rtMotor features and options and where to find related documents and additional resources SmartMotor Introduction 14 SmartMotor Features and Options 15 Class 6 M Style Motors 15 Fieldbus Options 17 Et...

Страница 14: ...ine machine build and support Class 6 M Style SmartMotor The SmartMotor is powerful and unique because of its ability to control an entire machine The combination of programmability networking I O and...

Страница 15: ...at describe the motor number frame style and options For details on decoding the SmartMotor part number refer the Moog Animatics Product Catalog at this address http www animatics com support moog ani...

Страница 16: ...lowing figure shows the connector and LED location for the Class 6 M style SmartMotor For details on the motor connectors see Connecting the System on page 30 For details on the LED functions see Unde...

Страница 17: ...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 availab...

Страница 18: ...et and a maximum acceleration After these three parameters are set and the two limit inputs are properly grounded or deactivated a Go command starts the motion profile The core functional areas of the...

Страница 19: ...le 1 Null 1 RCTR 1 RCTR 0 1 MFMUL and MFDIV commands do not have an effect on dwell time or distance Dwell is strictly based on raw master encoder counts selected by the SRC command specifying interna...

Страница 20: ......

Страница 21: ...29 Drive Enable Power 29 Connecting the System 30 Minimum Requirements 30 Motor Connectors and Pinouts 31 Power and RS 485 Com Multidrop 32 USB Connector and Cable 32 Industrial Ethernet Cable Diagra...

Страница 22: ...imits and Fault Bits 45 Moving the SmartMotor 46 Making the Motor Move 46 Setting and Reporting Torque 47 Checking the Motor Position 48 Viewing the Motor Position with a Report Command 48 Viewing the...

Страница 23: ...are The SmartMotor Interface software SMI software provides a convenient user interface for programming the SmartMotor Before you can use the SMI software it must be installed on a Microsoft Windows P...

Страница 24: ...instructions to remove the existing software from your PC After removing the existing software restart the installation process NOTE All personal settings and user files will be retained 2 Click Next...

Страница 25: ...ructions to complete the SMI software installation 5 When the installation has completed the installation status message page opens as shown in the following figure Click Finish to complete the instal...

Страница 26: ...u to write programs and download them into the SmartMotor s long term memory NOTE Every SmartMotor has an ASCII interpreter built in Therefore it is not necessary to use the SMI software to operate a...

Страница 27: ...rently active window some toolbar buttons may be disabled l Configuration Window far left window This window is used to display the current com munication and detected motor configuration when no proj...

Страница 28: ...based During hard fast decelerations a SmartMotor can pull up supply voltages to the point of dam age if a shunt resistor pack is not used Protective shunts are available from Moog Animatics Special c...

Страница 29: ...supply voltage is 32 VDC Voltages greater than the maximum value will damage the motor Input Pins Electrical Specification l Input Voltage Low Level Threshold 3 6 Volts maximum l Input Voltage High L...

Страница 30: ...e SmartMotor 2 A computer running Microsoft Windows and the SMI software 3 A DC power supply and power cable for the SmartMotor 4 A data cable to connect from the computer to the SmartMotor using one...

Страница 31: ...T OR OUTPUT INPUT DIGITAL OR ANALOG POSSIBLE SELECTABLE FUNCTIONS INPUT DIGITAL OR ANALOG INPUT DIGITAL OR ANALOG INPUT DIGITAL OR ANALOG INPUT DIGITAL OR ANALOG INPUT DIGITAL OR ANALOG INPUT DIGITAL...

Страница 32: ...h ends of the network cable This follows RS 485 standards for biasing to ensure reli able performance The termination can be created by adding the resistor to CBLIP COM FL Flying Lead cables or to off...

Страница 33: ...micro B USB cable is a standard type of USB cable that can be obtained from most com puter or electronics supply stores Typically this cable is referred to as a micro USB cable Micro USB Cable NOTE Be...

Страница 34: ...e the slave devices and use of other networking equipment For more details refer to the cor responding SmartMotor fieldbus manual CAUTION To minimize the possibility of electromagnetic interference EM...

Страница 35: ...left hand port of the downstream motor Maximum Cable Length For transmission speeds of 100 Megabits second on shielded Ethernet Cat 5 cable most indus trial Ethernet networks allow cable lengths up to...

Страница 36: ...thernet Cable Schematic The following figure provides details for creating a custom industrial Ethernet shielded cable NOTE The motor end of the cable requires an industrial Ethernet connector Industr...

Страница 37: ...D 1 Motor Busy LED LED 3 Network specific LED LED 5 Link LED LED 2 Network specific LED LED 4 Link LED LED Status on Power up With no program and the travel limit inputs are low LED 0 solid red motor...

Страница 38: ...munications or when you don t know the port used to connect the motors For details see Using the Find Motors Button on page 38 l Use the Detect Motors feature RS 485 and USB only this method can be us...

Страница 39: ...s when you see the following prompt Address the Motors Prompt A progress bar displays a Getting motor information message while the SMI software addresses the motors During this process the SMI softwa...

Страница 40: ...Con figuration window under the corresponding communications port Each motor is represented by a motor icon the motor s address and firmware version are shown next to the motor icon Configuration Wind...

Страница 41: ...hing for all SmartMotors connected to the specified com munications port A progress bar is shown while the SMI software searches for the motors After the motors are detected the SMI software will addr...

Страница 42: ...Con figuration window under the corresponding communications port Each motor is represented by a motor icon the motor s address and firmware version are shown next to the motor icon Configuration Win...

Страница 43: ...y active overtravel limits This procedure assumes that l The SmartMotor is connected to the computer For details see Connecting the System on page 30 l The SmartMotor is connected to a power source Fo...

Страница 44: ...ll boot up with active overtravel lim its see the red status bits numbered 10 through 15 in the previous figure The EIGN command is used to clear these status bits as described in the next section EIG...

Страница 45: ...al inputs outputs enter EIGN W 0 NOTE You can either type the command in the white text box or type the com mand directly in the blue area of the terminal screen and then click Send or press Enter The...

Страница 46: ...and addressed For details see Detecting and Com municating with the SmartMotors on page 38 l The Drive Enable input must be connected and activated with 24V For the input loc ation see Motor Connecto...

Страница 47: ...of operation to torque mode In this mode the SmartMotor shaft applies a torque independent of position For more details see Torque Mode in the SmartMotor Developer s Guide T formula Set Target Torque...

Страница 48: ...ower Requirements on page 28 and Connecting the System on page 30 l The SMI software has been installed and is running on the computer For details see Installing the SMI Software on page 23 l The Smar...

Страница 49: ...ct Motor View from the menu Opening the Motor View Tool After the Motor View window opens click the Poll button to begin polling getting information from the motor After polling begins the motor posit...

Страница 50: ...ntent of this bit is to inform the user that one or more errors has occurred through the Eth ernet interface To determine the specific error that has occurred consult the RETH com mand For details see...

Страница 51: ...or homing input General purpose 7 Input only digital Drive enable Drive enable 8 Output only digital Brake output or general purpose output Brake output 9 Output only digital Not fault Not fault I O...

Страница 52: ...e PROFINET station name See the Class 6 SmartMotor PROFINET Guide For details on these commands see the SmartMotor Developer s Guide The following industrial Ethernet IE commands were added for the Cl...

Страница 53: ...serial port or other hardware that is not available in the M style motors BAUD 1 CCHN on channel 1 ECHO1 ECHO_OFF1 OCHN on channel 1 PRINT1 RBAUD 1 RGETCHR1 RLEN1 ROC ROF SILENT1 SLEEP1 TALK1 WAKE1 Ot...

Страница 54: ...west 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 undersized for the application whic...

Страница 55: ...hard ware limit faults A limit switch was tripped in the past Clear errors with the ZS command Motor does not have limit switches attached Configure the motor to be used without limit switches by set...

Страница 56: ...P Digital or Analog 4 IN3 Neg Limit or GP Digital or Analog 5 IN4 GP or Ext Enc Index Capture 6 IN5 GP or Int Enc Index Capture 7 IN6 GP G Cmnd or Homing Input 8 IN7 DRVEN Digital 9 OUT8 Digital Brake...

Страница 57: ......

Страница 58: ...PN SC80100006 001 Rev 03 PRELIMINARY...

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