Understanding the Detection and Addressing Options
Some notes about motor addressing:
The SmartMotors power up in non-echo state (so no response is sent to the next motor), 9600 KB
communications and a Base address of 0 (zero).
As the system addresses the motors in the RS-232 daisy chain (remember, as discussed in the
previous note, M-style motors use RS-485 and must be pre-addressed), it starts with the first motor
in the daisy chain, sets its address to 1, enables echo, and then puts that motor to sleep. It proceeds
to the next motor in the daisy chain, sets its address to 2, enables echo and puts it to sleep. This
process continues until all the motors in the daisy chain are addressed.
When the motor is addressed, it contains a unique identifier that allows it to respond to commands
intended for that motor and ignore commands intended for other motors. For example, 1RPA reports
the position from motor 1 only; all other motors in the daisy chain ignore the command. However, a
global command, like 0RPA, reports the positions from
all
motors. For more details on addressing and
daisy chaining, see Daisy Chaining Multiple SmartMotors in the
SmartMotor™ Developer's Guide
.
Motor addresses are activated and stored as follows:
l
For serial addresses:
l
These are stored in the SmartMotor's volatile memory, which means they are lost when
motor power is turned off.
l
After setting the address, it goes into effect immediately (do not reboot or perform a
system reset with the Z command; either of these actions will delete the addresses).
l
For CAN addresses:
l
These are stored in the SmartMotor nonvolatile memory (NVRAM), which means they are
retained when motor power is turned off.
l
After setting the address, it doesn't go into effect until the system is restarted or reset.
l
The CAN
address of a motor is different than the serial address (because they are
communicating on different networks). However, for ease of use, you can "store" the serial
address in the CAN address by entering the command:
CADDR=ADDR
Then, whenever you reset the system (either with the Z command or turning the power off
and back on), you can recall the serial addresses of the motors from the stored CAN
addresses, by entering the command:
0ADDR=CADDR
Because the CAN
address is permanently stored and doesn't change on power off or
reset, this allows you to easily restore specific serial addresses. This method also works
for DeviceNet, PROFIBUS and other industrial networks.
When addressing the motors, you can address serial and CAN in the same command, which means you
can use the serial network to communicate with the CAN bus. The leading number is the serial
address; the number following the colon character is the CAN address. Consider this example:
1RPA:2
The leading "1" is addressing the serial network motor 1; the ":2" is addressing the CAN
network motor
2. In this example, the command is going out on the serial network to motor 1, then out the CAN port to
motor 2, reading motor 2 position info, and then echoing it back to the host from CAN to motor 1 and
then serial to host.
Moog Animatics Class 5 SmartMotor™
Installation and Startup Guide,
Rev. I
Page 52 of 76
