Purpose
Purpose
This manual explains the Moog Animatics Class 6 SmartMotor™ support for the PROFINET
®
protocol. It describes the major concepts that must be understood to integrate a SmartMotor
slave with a PLC or other PROFINET master. However, it does not cover all the low-level
details of the PROFINET protocol.
NOTE:
The feature set described in this version of the manual refers to motor
firmware 6.0.2.25 or later.
This manual is intended for programmers or system developers who understand the use of
PROFINET. (The PROFINET v2.2 specifications are detailed in the following IEC publications:
IEC61158-6-10 Ed2.0, IEC61158-5-10 Ed2.0 and IEC61784-2 Ed2.0.) Therefore, this manual is
not a tutorial on those specifications or the PROFINET protocol. Instead, it should be used to
understand the specific implementation details for the Moog Animatics SmartMotor.
Additionally, examples are provided for the various modes of motion and accessing those
modes through PROFINET to operate the SmartMotor.
The Command and Response Code chapter of this manual includes details about the specific
commands available in the SmartMotor through the PROFINET protocol. The commands
include those required by the specification and those added by Moog Animatics. For details,
see Command and Response Codes on page 53. Also, see User Program Commands on page
38.
In addition to this manual, it is recommended that you visit the PROFINET/PROFIBUS website
(at
), where you will find documentation, tutorials, and other useful
resources.
PROFINET Overview
PROFINET is an independent, open fieldbus standard that allows different manufacturers of
automation products to communicate without special interface adjustments. Specifically,
PROFINET, which is optimized for high speed, is designed to communicate between control
systems and distributed I/O at the device level.
Moog Animatics has defined a set of 8-bit command and response codes to be transmitted and
received over PROFINET. For details, see Command Packet Codes to Motor Commands on
page 54. These codes generally correspond to Class 5 and Class 6 SmartMotor™ commands.
To set target position, for example, the "set target position" command code is transmitted
together with the data consisting of the target position value.
The PROFINET SmartMotor is a SmartMotor with the addition of the PROFINET connectors and
interface board, which then accepts commands as a slave over a PROFINET network. In
addition to communicating over PROFINET, SmartMotor commands may be sent through other
communication interfaces of the SmartMotor. Depending on the SmartMotor model, it may
also communicate over RS-232, RS-485 and/or USB.
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.
Certain configuration data is held in nonvolatile storage in the SmartMotor. Therefore, the
motor data EEPROM must be correctly initialized before PROFINET operation.
A PROFINET Generic Station Description (GSD) configuration file, which is an XML file (also
referred to as a "GSDML" file), is necessary for the host to configure the PROFINET master
Moog Animatics Class 6 PROFINET Guide Rev. D
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