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Purpose

Purpose

This manual explains the Moog Animatics Class 6 SmartMotor™ support for the EtherNet/IP™
protocol. It describes the major concepts that must be understood to integrate a SmartMotor
slave with a PLC or other EtherNet/IP master. However, it does not cover all the low-level
details of the EtherNet/IP protocol.

NOTE:

The feature set described in this manual requires a specific motor firmware

version. Please consult Moog Animatics for the proper software version.

This manual is intended for programmers or system developers who have read and under-
stand

THE CIP NETWORKS LIBRARY Volume 1 - Common Industrial Protocol (CIP™)

and

THE

CIP NETWORKS LIBRARY Volume 2 - EtherNet/IP Adaptation of CIP

, which are published and

maintained by ODVA.org (

http://www.odva.org

). Therefore, this manual is not a tutorial on

those specifications or the EtherNet/IP protocol. Instead, it should be used to understand the
specific implementation details for the Moog Animatics SmartMotor. For a general overview of
EtherNet/IP, see EtherNet/IP Overview on page 17.

The reference chapters of this manual include details about the specific commands available
in the SmartMotor through the EtherNet/IP protocol. The commands include those required by
the specifications and those added by Moog Animatics.

Moog Animatics Class 6 EtherNet/IP Guide, Rev. B

Page 8 of 160

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Содержание SmartMotor SM34165MT-IP

Страница 1: ...EtherNet IP Guide Class 6 SmartMotor Technology For the mobile version of this guide see animatics com docs guides html c6_eip_pc...

Страница 2: ...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 sample or program applies to the applic...

Страница 3: ...erNet IP Adaptation of CIP 19 Objects 21 Objects 21 Classes Instances and Attributes 22 Messaging 23 Explicit Non cyclic Messages 23 Implicit Cyclic Messages 23 Explicit Implicit Messaging Example 23...

Страница 4: ...rror Codes 41 Diagnostic Codes 41 Position Controller Device 0x10 43 Position Controller Device Application Objects 44 Position Controller Device Object Model 44 Position Controller Implicit I O Messa...

Страница 5: ...Position Controller Supervisor 0x24 84 Position Controller 0x25 86 Additional Objects 91 Device Level Ring DLR Object 0x47 92 Instance Attributes Semantics 93 QoS Object 0x48 94 SmartMotor I O Object...

Страница 6: ...Set Drive Mode 120 SM6_Set_Position Set Drive Position 121 SM6_Set_Variable_u Set Drive Variable u 122 SM6_Set_Velocity Set Drive Target Velocity 123 SM6_Stop_Hard Perform a Hard Stop 124 SM6_Stop_Sm...

Страница 7: ...mation on safety notation related documents and additional resources Purpose 8 Abbreviations and Definitions 9 Safety Information 11 Safety Symbols 11 Other Safety Considerations 11 Safety Information...

Страница 8: ...CIP NETWORKS LIBRARY Volume 1 Common Industrial Protocol CIP and THE CIP NETWORKS LIBRARY Volume 2 EtherNet IP Adaptation of CIP which are published and maintained by ODVA org http www odva org Theref...

Страница 9: ...on Target EDS Electronic Data Sheet A text file that contains configuration information for the device EPR Expected Packet Rate EtherNet IP Ethernet Industrial Protocol Explicit mes saging Non cyclic...

Страница 10: ...device that receives requests from clients and sends responses to them Slave device Device consuming data transfers from a Network Master A PLC Pro grammable Logic Controller is a good example of a Ma...

Страница 11: ...ssess ment and to ensure that the machine system and its safeguards comply with the safety stand ards specified by the governing authority for example ISO OSHA UL etc for the locale where the machine...

Страница 12: ...nel cannot reach into any identified danger zones l Position the control panel so that it is outside the barrier area but located for an unres tricted view of the moving mechanism The control panel mu...

Страница 13: ...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...

Страница 14: ...n Startup Guide http www animatics com smartmotor install startup guides l SmartMotor Developer s Guide http www animatics com smartmotor developers guide l SmartMotor Product Certificate of Conforman...

Страница 15: ...ms 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 including videos and sample programs ht...

Страница 16: ......

Страница 17: ...detailed inform ation or to obtain the specifications see the ODVA org website at http www odva org EtherNet IP Introduction 18 The OSI Model 18 EtherNet IP Adaptation of CIP 19 Objects 21 Objects 21...

Страница 18: ...Motor device profile using the Position Controller device see SmartMotor Device Profile Overview on page 33 The full specification for EtherNet IP is available from the ODVA org website For details se...

Страница 19: ...t messages are used This layer is part of CIP Presentation Delivers and formats information to from the application layer trans lates data from the network to the application or from the application t...

Страница 20: ...licit I O messages these are cyclic messages that handle time critical control data For more details on messages see Messaging on page 23 Also see Position Controller Implicit I O Messages on page 45...

Страница 21: ...e access ible through CIP The following types of objects are used in a device profile l Required objects these must be present in every CIP device l Application objects these are specific to the type...

Страница 22: ...he same object but with different attribute values l Attributes a set of data values that describe an object instance instance attributes They can also describe an object class class attributes Device...

Страница 23: ...lar intervals Implicit messages are used to communicate critical time sensitive information They are typically used for I O control PID loop closure and Motion or Application control The implicit mess...

Страница 24: ......

Страница 25: ...multidrop cable diagram and a description of the SmartMotor status LEDs Connectors and Pinouts 26 M Style Motor Connectors and Pinouts 26 Moog Animatics Industrial Ethernet Cables 27 EtherNet IP Cust...

Страница 26: ...OUT CONTROL IO POWER 12 GND MOTOR COMMON GROUND INPUT OR OUTPUT INPUT DISCRETE OR ANALOG POSSIBLE SELECTABLE FUNCTIONS INPUT DISCRETE OR ANALOG INPUT INPUT INPUT INPUT INPUT INPUT OUTPUT OUTPUT POWER...

Страница 27: ...at the opposite end It is available in 1 3 5 and 10 meter lengths For the standard cable use part number CBLIP ETH MRJ xM where x denotes the cable length A right angle version is also available use...

Страница 28: ...rtMotor Moog Animatics SmartMotor Optional ring for cable redundancy Ring configuration requires an EtherNet IP master with two ports NOTE Either Ethernet port can be used to daisy chain the motors Ex...

Страница 29: ...Motor Drive LED LED 1 Motor Busy LED LED 3 EtherNet IP Module Status LED LED 5 EtherNet IP Link 2 Output LED LED 2 EtherNet IP Network Status LED LED 4 EtherNet IP Link 1 Input LED LED Status on Powe...

Страница 30: ......

Страница 31: ...og Animatics Class 6 SmartMotor EtherNet IP Implementation 32 EtherNet IP Identity 32 EtherNet IP Software Version Numbers 32 Device Profile 32 SmartMotor Device Profile Overview 33 CIP Objects for Et...

Страница 32: ...e Factory data in nonvolatile EEPROM memory l Serial Number Factory data in nonvolatile EEPROM memory NOTE These identity items match those shown on the SmartMotor name plate EtherNet IP Software Vers...

Страница 33: ...fication and general device information Object is required in every net work device Required 1 Identity Object 0x01 on page 63 Message Router Object 0x02 Provides message hand ling for communicating w...

Страница 34: ...le Position Con troller Super visor 0x24 Handles errors for Pos ition Controller also home and registration inputs Required 1 Position Con troller Super visor 0x24 on page 84 Position Con troller 0x25...

Страница 35: ...pplied by Moog Animatics for the EtherNet IP SmartMotor All CIP network configuration tools have the ability to read EDS files The information in the EDS file is used by the configuration tool to guid...

Страница 36: ......

Страница 37: ...r programming is described in the SmartMotor Developer s Guide The SmartMotor user program allows the motor to take on autonomous or distributed control functions needed in an application Network Sett...

Страница 38: ...ss of 0 0 0 0 This address enables DHCP support for addressing The DHCP server manages the IP Address assigned to the drive If a value other than 0 0 0 0 is assigned then DHCP is disabled and the stat...

Страница 39: ...he master RETH 45 or x ETH 45 IP address as integer E g for an IP address of 192 168 1 3 C0 A8 01 03 hex this command reports 1062731517 it reports as a 32 bit signed value RETH 46 or x ETH 46 IP subn...

Страница 40: ...value NOTE Loss of network is an edge triggered event if I O Control goes from RUN to any other state ETHCTL 45 x Set IP address as integer E g to set for an IP address of 192 168 1 3 C0 A8 01 03 hex...

Страница 41: ...connection ID C01F0027 1071710169 No resource for creating a new class object available C01F0028 1071710168 Invalid request parameter C01F0029 1071710167 General connection failure C01F0031 1071710159...

Страница 42: ...1071710199 Sending the Delete Transport command failed Encap Queue signal an error C01F000A 1071710198 Sending the Forward Open command failed Encap Queue signal an error C01F000B 1071710197 Sending...

Страница 43: ...General Command and Response Message Types 45 Attribute GET SET Command Types 0x1A and 0x1B 50 Error Response Message Type 0x14 51 Semantics for Command and Response Messages 52 Position Controller I...

Страница 44: ...ired 1 Position Con troller 0x25 on page 86 Note that these objects are the Application Objects in the overall SmartMotor device profile For a listing of all objects in the device profile used for the...

Страница 45: ...ion The SmartMotor will select which message format to use based on the host controller connection size Connection Size Description 8 bytes The motor will use the CIP standard communication format and...

Страница 46: ...essage Type 1 through 7 3 Response Axis Number Response Message Type 1 through 7 4 7 Command Data3 8 11 Target Position3 12 15 Target Velocity3 16 20 Acceleration3 20 23 Deceleration3 24 Attribute to...

Страница 47: ...ute to Get Data No data if Attribute to Get Axis Number and Message Type are zero 28 31 Reserved Notes 1 Not supported 2 Byte 2 bit 0 can be configured as the Servo Bus Voltage Okay status 3 For seman...

Страница 48: ...e The normal flow for a apply Torque 1 Set the Control Mode to Torque Control 2 Set the Torque value this message would start Torque Control Extended Profile Move Command Types 32 byte message format...

Страница 49: ...e field is set to a value of zero the motor will set the entire Attribute to Get structure and Attribute to Get Data of the response bytes 20 27 to zeroes The general flow when using the Extended Attr...

Страница 50: ...es 1 Byte 0 bits 6 and 1 are not supported Class 5 motors 2 For Semantics refer to Command Message Semantics on page 52 Polled I O Produced Message Format Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit...

Страница 51: ...2 7 Copy of Command Message Byte 3 Notes 1 Not supported 2 Byte 2 bit 0 can be configured as the Servo Bus Voltage Okay status 3 For Semantics refer to Response Message Semantics on page 53 Error Cod...

Страница 52: ...cur rently implemented deceleration rate Hard Stop This bit is used to bring the motor to an immediate stop Registration Arm Not supported Enable This bit is used to control the enable output Clearing...

Страница 53: ...object attribute to set to the new value defined by the Attribute Value when the Load Data Start Profile bit transitions from zero to one Response Message Semantics This following table provides seman...

Страница 54: ...vice There fore only axis 1 is used which can be reported as either 0 or 1 Actual Position This double word reflects the actual position in position units If position feedback is not used this word wi...

Страница 55: ...o Command Message Set Load Data Start Profile bit 1 Is Load Data Complete bit in response message 1 Set Load Data Start Profile bit 0 Output Instance FLT NO YES NO YES See note Client Data Loading Pro...

Страница 56: ...on Industrial Protocol CIP which is available on the ODVA org website Profile Moves Attribute 3 of the Position Controller Object determines how the device operates and responds for a profile move A p...

Страница 57: ...Controller 0x25 Attribute 3 value is set for Torque mode using a setting of 2 for the attribute Refer to the SmartMotor Developer s Guide for further information on Torque mode Control Mode Change Ch...

Страница 58: ...get the desired results For example to enable the drive stage on the model SM34165MT IP SmartMotor the drive enable input pin 10 of the 12 pin I O connector must be at 24 Volts enabled The SmartMotor...

Страница 59: ...le Command Frame CF Response Frame RF Frame Type Frame Data Hexadecimal Bytes Result CF 0 7 81 00 01 01 40 1F 00 00 PT 8000 G RF 0 7 81 00 8 01 00 00 00 00 Axis 1 at Position 0 Clear the Load Data ass...

Страница 60: ...VT 58000 PRT 1500000 G RF 0 15 16 31 91 00 80 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Axis 1 at Position 0 Velocity 0 Load Complete set RF 0 15 16 31 91...

Страница 61: ...e details see THE CIP NETWORKS LIBRARY Volume 1 Common Industrial Protocol CIP which is available on the ODVA org website Required Objects 62 Identity Object 0x01 63 Message Router Object 0x02 67 Asse...

Страница 62: ...for each of the CIP required and network objects Identity Object 0x01 63 Message Router Object 0x02 67 Assembly Object 0x04 68 Connection Manager Object 0x06 69 TCP IP Interface Object 0xF5 70 Etherne...

Страница 63: ...ed at this class level of the device Default Value 1 The number of object instances at this class hierarchy level 6 Get Maximum ID Number Class Attributes UINT The attribute ID num ber of the last cla...

Страница 64: ...tifies product changes that do not affect user con figuration choices Displayed as three digits with leading zeros as necessary 5 Get Status WORD Summary status of device See below Attribute 5 Status...

Страница 65: ...verable Fault TRUE indicates the device detected a problem with itself which is thought to be recoverable The problem does not cause the device to go into one of the faulted states 9 Minor Unrecoverab...

Страница 66: ...in Name Description Class Instance 0x01 Get_Attributes_All Returns a predefined listing of this object s attributes 0x05 Reset Invokes the Reset service for the device 0x0E Get_Attribute_Single Return...

Страница 67: ...Number of Instances UINT Number of object instances currently cre ated at this class level of the device Default Value 1 The number of object instances at this class hierarchy level 6 Get Maximum ID...

Страница 68: ...e device Default Value 0 The number of object instances at this class hierarchy level 6 Get Maximum ID Number Class Attributes UINT The attribute ID num ber of the last class attribute of the class de...

Страница 69: ...of object instances currently cre ated at this class level of the device Default Value 1 The number of object instances at this class hierarchy level 6 Get Maximum ID Number Class Attributes UINT The...

Страница 70: ...he device Default Value 1 The number of object instances at this class hierarchy level 6 Get Maximum ID Number Class Attributes UINT The attribute ID num ber of the last class attribute of the class d...

Страница 71: ...o physical link object E g 0x20 0xF6 0x24 0x01 where 20 8 bit class seg ment type F6 Eth ernet Link Object class 24 8 bit instance segment type 01 instance 1 Path size UINT Size of Path Number of 16 b...

Страница 72: ...way Address UDINT Default gateway address 0 no gateway address has been con figured Otherwise set address to valid Class A B or C address Loopback address 127 0 0 1 is not allowed Name Server UDINT Pr...

Страница 73: ...Mcast and Mcast Start Addr 2 Reserved Alloc Control USINT Multicast address alloc ation control word Determines how addresses are alloc ated Determines whether multicast addresses are generated via al...

Страница 74: ...ed out of box with an IP Address of 0 0 0 0 This address enables DHCP support for address ing The DHCP server manages the IP Address assigned to the drive If a value other than 0 0 0 0 is assigned the...

Страница 75: ...ultAction or AcquireNewIpv4Parameters ACD state and is 0 FALSE otherwise When this bit is set then this CIP port will not be usable However for devices with mul tiple ports this bit provides a way of...

Страница 76: ...ed Default No conflict has been detected since this attribute was last cleared 1 ProbeIpv4Address Last conflict detected during ProbeIpv4Address state 2 OngoingDetection Last conflict detected during...

Страница 77: ...is class hierarchy level 3 Get Number of Instances UINT Number of object instances currently cre ated at this class level of the device Default Value 2 The number of object instances at this class hie...

Страница 78: ...k ets UDINT Unicast packets received on the interface In NUcast Pack ets UDINT Non unicast packets received on the interface In Discards UDINT Inbound packets received on the interface but dis carded...

Страница 79: ...mber of times SQE test error message is gen erated Deferred Trans missions UDINT Frames for which first transmission attempt is delayed because the medium is busy Late Collisions UDINT Number of times...

Страница 80: ...state enable disable Default Value 0 See Attribute 9 Admin State 10 Get Interface Label SHORT_ STRING Human readable iden tification Default Value port1 port2 Text string that describes the inter face...

Страница 81: ...e Control attribute 6 and therefore will require a reset in order for changes to take effect 6 Local Hardware Fault 0 the interface detects no local hardware fault 1 a local hardware fault is detected...

Страница 82: ...is enabled and is ready to send and receive data 2 The interface is disabled 3 The interface is testing 4 255 Reserved Attribute 9 Admin State Value Description 0 Reserved 1 Enable the interface 2 Dis...

Страница 83: ...6 EtherNet IP Guide Rev B Page 83 of 160 Application Objects The following sections tables list the attributes for each of the Application objects ODVA device set of objects Position Controller Superv...

Страница 84: ...the device 3 Get Number of Instances UINT Number of object instances currently cre ated at this class level of the device 6 Get Max ID Number Class Attributes UINT The attribute ID num ber of the last...

Страница 85: ...esponse message type that is returned to the con trolling device 15 Set Get Index Arm BOOL Used to arm the index input Values 1 arm index input 0 trigger occurred 18 Get Index Pos ition DINT The posit...

Страница 86: ...ce 6 Get Max ID Number Class Attributes UINT The attribute ID num ber of the last class attribute of the class definition implemented in the device 7 Get Max ID Number Instance Attrib utes UINT The at...

Страница 87: ...rt Profile Profile in Progress BOOL On set loads data and starts the current profile On get reports Profile in Progress 13 Set Get Actual Position DINT Actual absolute position Can be Set to redefine...

Страница 88: ...r of actual position feedback counts per revolution 41 Get Motor Resolution DINT Motor resolution in motor steps Number of motor steps in one revolution of the motor 45 Set Get Max Dynamic Fol lowing...

Страница 89: ...oller 100 Set Get Current Limit DINT Current limit of motor 0 to 1023 101 Set Get Reset Motor Faults BOOL Set to 1 for RESET action the Get returns the Drive Ready Status 102 Set Get Reset Motor BOOL...

Страница 90: ...de Supported in Name Description Class Instance 0x0E Get_Attribute_Single Returns the contents of the specified attribute 0x10 Set_Attribute_Single Modifies the attribute value For more details see TH...

Страница 91: ...B Page 91 of 160 Additional Objects The following sections tables list the attributes for the manufacturer specific and other objects that don t fall into the previous categories Device Level Ring DLR...

Страница 92: ...hierarchy level 3 Get Number of Instances UINT Number of object instances currently cre ated at this class level of the device Default Value 1 The number of object instances at this class hierarchy l...

Страница 93: ...acon based Ring Node1 Set if device s ring node implementation is based on processing of Beacon frames 2 4 Reserved Set to zero 5 Supervisor Capable Set if device is capable of providing the super vis...

Страница 94: ...number of object instances at this class hierarchy level 6 Get Maximum ID Number Class Attributes UINT The attribute ID num ber of the last class attribute of the class definition implemented in the d...

Страница 95: ...w USINT DSCP value for CIP transport class 0 1 low priority messages Default Value 31 DSCP field size is 6 bits valid range 0 63 8 Set Get NV DSCP Explicit USINT DSCP value for CIP explicit messages t...

Страница 96: ...alue 1 The number of object instances at this class hierarchy level 6 Get Maximum ID Number Class Attrib utes UINT The attribute ID number of the last class attribute of the class definition implement...

Страница 97: ...ass 6 EtherNet IP Guide Rev B Page 97 of 160 Instance I O Number Function 1 0 Input 2 1 Input 3 2 Input Positive Limit 4 3 Input Negative Limit 5 4 Input 6 5 Input 7 6 Input Go 8 7 Input Drive Enable...

Страница 98: ......

Страница 99: ...mand response fields SM6_Attribute_Ext_Clear Clear Attribute to Get Extended Command 100 SM6_Attribute_Ext_Get Load Attribute to Get ID Wait Extended Com mand 101 SM6_Attribute_Ext_Load Load Attribut...

Страница 100: ..._Attribute_Ext_Clear Tag Control tag for this AOI Axis SM6_Axis Tag The targeted drive Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL...

Страница 101: ...Value The index to one of these application objects Pos ition Controller Supervisor 0x24 on page 84 or Pos ition Controller 0x25 on page 86 Attribute_Value DINT Tag The value of the attribute Structur...

Страница 102: ...er a period of time without reload ing the Extended Attribute to Get fields Loading a Message_Type and Attribute_ID of zero 0 will cause the drive to stop updating the Attribute to Get Response data O...

Страница 103: ...Scan Mode Description Prescan N A Rung condition in is FALSE N A Rung condition in is TRUE Copy Message_Type and Attribute ID to the Extended Attribute to Get fields of the Axis Command buffer NOTE Th...

Страница 104: ...in the axis command buffer matches the Message Type in the axis response buffer the IP flag will be clear 0 and the DN flag will be set 1 Operands Operand Data Type Operand Type Description SM6_Attrib...

Страница 105: ...Rung condition in is FALSE Initialize variables Rung condition in is TRUE Wait for a response from the drive copy the response Attrib ute_Value tag clear the Extended Attribute to Get Type and ID fie...

Страница 106: ...xis SM6_Axis Tag The targeted drive Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if there are any timeout or processing errors O...

Страница 107: ...OI Axis SM6_Axis Tag The targeted drive Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if there are any timeout errors Operation S...

Страница 108: ...d from the response if the Attribute to Get fields are set in the Drive Store Command buffer l The Drive Output connection is loaded from the Drive Store Command buffer Operands Operand Data Type Oper...

Страница 109: ...is included twice for a two drive system Error Handling If the response from the drive is an error response the error information will be extracted from the message and stored in one of two structure...

Страница 110: ...Axis SM6_Axis Tag The targeted drive Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if there are any timeout errors Operation Sca...

Страница 111: ...osition Controller Super visor 0x24 on page 84 or Position Controller 0x25 on page 86 Attribute_Value DINT Tag The value of the attribute Structure Field Type Description DN BOOL Set when the drive in...

Страница 112: ...on page 47 Operands Operand Data Type Operand Type Description SM6_Move_Position_Ext SM6_Move_Position_Ext Tag Control tag for this AOI Axis SM6_Axis Tag The targeted drive Incremental BOOL Immediate...

Страница 113: ...ting a command is in progress MC BOOL Move Complete set when there is no move in progress and the drive is on the target position Operation Scan Mode Description Prescan Initialize variables Rung cond...

Страница 114: ..._Axis Tag The targeted drive Direction BOOL Immediate Value Requested Direction 0 Reverse 1 Forward Target_Acceleration DINT Tag Requested Acceleration Target_Deceleration DINT Tag Requested Decelerat...

Страница 115: ...e variables Rung condition in is FALSE Initialize variables and reset timeout Rung condition in is TRUE Send the Extended Move Velocity message to the drive and monitor move progress NOTE This command...

Страница 116: ...l Position 2 Command Position 3 Actual Velocity 4 Command Velocity 5 Torque Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if ther...

Страница 117: ...is AOI Axis SM6_Axis Tag The targeted drive Acceleration DINT Tag Requested Acceleration Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOO...

Страница 118: ...of these application objects Position Controller Supervisor 0x24 on page 84 or Position Con troller 0x25 on page 86 Attribute_Value DINT Tag The value of the attribute Structure Field Type Descriptio...

Страница 119: ...is AOI Axis SM6_Axis Tag The targeted drive Acceleration DINT Tag Requested Acceleration Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOO...

Страница 120: ...geted drive Mode SINT Tag Requested Drive Mode 0 Position 1 Velocity 2 Torque Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if th...

Страница 121: ...solute 1 Incremental Target_Position DINT Tag Requested Position Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if there are any t...

Страница 122: ...Tag The targeted drive Value DINT Immediate value New variable value Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if there are a...

Страница 123: ...iate Value Requested Direction 0 Reverse 1 Forward Target_Velocity DINT Tag Requested Velocity Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed...

Страница 124: ...g The targeted drive Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if there are any timeout or processing errors IP BOOL In Progr...

Страница 125: ...s Tag The targeted drive Structure Field Type Description DN BOOL Set when the drive indicates the instruction has been processed ER BOOL Set if there are any timeout or processing errors IP BOOL In P...

Страница 126: ......

Страница 127: ...adding Add on Instruction AOI SmartMotor support to a new project using Allen Bradley Studio 5000 Logix Designer soft ware Extracting the SmartMotor Support files 128 Adding a SmartMotor Module 129 I...

Страница 128: ...iles to a location accessible to the Studio 5000 Logix Designer software The extracted folder contains three sub folders Sub folder Description SM6_Examples Sample Studio 5000 Logix Designer project f...

Страница 129: ...le to the Ethernet port 1 Start the Studio 5000 Logix Designer software and open a new project See that soft ware s help file for details 2 In the I O Configuration folder right click the Ethernet por...

Страница 130: ...log select the Class6 SM6 M item and then click Create The module is created and the New Module dialog opens NOTE Select the Close on Create option at the bottom of the dialog Select Module Type Moog...

Страница 131: ...Type the Name Description and Ethernet Address in the corresponding boxes b Click Change to configure the Module Definition The Module Definition dialog opens New Module Configuration General Tab Moo...

Страница 132: ...n the Name column and then click Exclusive owner New Module Configuration Module Definition The Input and the Output sizes should be 32 SINT New Module Configuration Module Definition Extended 32 byte...

Страница 133: ...ch size and chan ging the value from 32 to 8 New Module Configuration Module Definition Standard 8 byte format Click OK The dialog box closes If the following prompt is displayed click Yes The Request...

Страница 134: ...t Interval Click OK when finished with the New Module Configuration The dialog box closes NOTE If the Close on Create option was not selected in Step 3 click Close to close the Select Module Type dial...

Страница 135: ...rganizer s I O Configuration folder Ethernet port item NOTE When the SmartMotor is added two Module Defined data types will also be added that match the module configuration Controller Organizer with...

Страница 136: ...DTs used in the Add On Instructions AOIs NOTE The UDTs should be imported before the AOIs 1 In the Controller Organizer right click the Data Types User Defined folder and select Import Data Type Impor...

Страница 137: ...ocation of the UDT library Selecting a UDT file 3 Select the next UDT file to be imported and then click Import The Import Configuration dialog opens NOTE The UDT file SM6_Axis L5X should be imported...

Страница 138: ...Importing the UDTs 4 On the Import Configuration dialog click OK Import Configuration Complete UDT File Import Moog Animatics Class 6 EtherNet IP Guide Rev B Page 138 of 160...

Страница 139: ...4 for all of the UDT files in the library When finished the data types should all show in the Controller Organizer under Data Types User Defined Controller Organizer Imported UDTs Moog Animatics Clas...

Страница 140: ...orting the Add On Instructions AOIs 1 In the Controller Organizer right click the Add On Instructions folder and select Import Add On Instruction Importing Add On Instructions The Import Add On Instru...

Страница 141: ...library NOTE Import the file SM6_Set_Attribute L5X first it is used for some of the other AOIs SM6_Set_Attribute L5X AOI File Import 3 Select the AOI file to be imported and then click Import The Imp...

Страница 142: ...Importing the AOIs 4 On the Import Configuration dialog click OK AOI File Import Configuration Moog Animatics Class 6 EtherNet IP Guide Rev B Page 142 of 160...

Страница 143: ...dd On Instructions folder NOTE It is not required to import all AOI files however an AOI must be imported before it can be used If an AOI references an AOI file that has not yet been imported the Stud...

Страница 144: ...ct ACD The program created through the following procedure l Example_2Motor ACD A program that moves two motors back and forth first one motor moves then the other l Example_2Motor_Parallel ACD A Prog...

Страница 145: ...SmartMotor AOI Example An empty MainProgram MainRoutine ladder logic form opens MainRoutine Ladder Logic Form Moog Animatics Class 6 EtherNet IP Guide Rev B Page 145 of 160...

Страница 146: ...SmartMotor AOI Example 2 Right click on Rung 0 and select Add Ladder Element The Add Ladder Element opens Moog Animatics Class 6 EtherNet IP Guide Rev B Page 146 of 160...

Страница 147: ...3 From the list of Ladder Elements select SM6_Drive and then click OK Add Ladder Element The MainProgram MainRoutine form opens MainRoutine Ladder Logic Form Moog Animatics Class 6 EtherNet IP Guide...

Страница 148: ...ck SM6 Drive parameter value field right click on the and select New Tag Fill in the Name and Description boxes of the New tag and click Create New Tag Name and Description Boxes Moog Animatics Class...

Страница 149: ...SM6 DriveStore parameter value field right click on the and select New Tag Fill in the Name and Description boxes of the New tag and click Create New Tag Name and Description Boxes Moog Animatics Clas...

Страница 150: ...Input parameter double click the in the value field and then click the arrow In the tag list double click Drive1 I to select the Input Connection variable Drive 1 I Input Connection Variable Moog Anim...

Страница 151: ...block DriveOutput parameter double click and click the arrow In the tag list double click Drive1 O to select the Output Connection variable Drive 1 O Output Connection Variable Moog Animatics Class 6...

Страница 152: ...igure shows a complete program using the AOIs to move a drive back and forth between positions 100000 and 100000 NOTE The project for this program can be imported from the AOI support files SM6_Suppor...

Страница 153: ...SmartMotor AOI Example Moog Animatics Class 6 EtherNet IP Guide Rev B Page 153 of 160...

Страница 154: ......

Страница 155: ...A blinking red LED may indicate occa sional issues from any of the causes lis ted above a solid red LED indicates that these issues have occurred fre quently which causes the motor to stop communicat...

Страница 156: ...vel of current Does not cease motion Consider making motion less abrupt with softer tuning parameters or accel eration profiles Excessive tem perature fault Motor has exceeded tem perature limit of 85...

Страница 157: ...ptation of CIP Edition 1 17 April 2014 These volumes comprise The EtherNet IP Specification which must be purchased using the order form on the ODVA org website at https secure odva org forms spec ven...

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Страница 160: ...PN SC80100010 001 Rev B...

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