Moog SmartMotor SM34165MT-IP Ethernet Ip Manual
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Moog SmartMotor SM34165MT-IP Ethernet Ip Manual

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EtherNet/IP
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Class 6 SmartMotor
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Summary of Contents for Moog SmartMotor SM34165MT-IP

  • Page 1 For the mobile version of this guide, see: animatics.com/docs/guides-html/c6_eip_pc/ EtherNet/IP Guide Class 6 SmartMotor Technology...
  • Page 2 Moog Inc., Animatics. Moog Inc., Animatics assumes no respons- ibility or liability for any errors or inaccuracies that may appear herein.

  • Page 3: Table Of Contents

    Explicit/Implicit Messaging Example Connections, Wiring and Status LEDs Connectors and Pinouts M-Style Motor Connectors and Pinouts Moog Animatics Industrial Ethernet Cables EtherNet/IP Custom Cable Cable Diagram EtherNet/IP Cable Diagram Status LEDs Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 3 of 160...
  • Page 4 Semantics for Command and Response Messages Position Controller I/O Handshaking Profile Moves Torque Command Control Mode Change - Change Dynamic Position Controller Implicit I/O Message Examples SmartMotor Notes Set Acceleration Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 4 of 160...
  • Page 5 SM6_Attribute_Ext_Load - Load Attribute to Get ID (Extended Command) SM6_Attribute_Ext_Value - Return Attribute data (Extended Command) SM6_Clear_Flags - Reset System State Flag SM6_Disable - Disable Drive SM6_Drive - Drive Data Exchange Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 5 of 160...
  • Page 6 Adding AOI Support - Allen Bradley PLC Extracting the SmartMotor Support files Adding a SmartMotor Module Importing the UDTs Importing the AOIs SmartMotor AOI Example Troubleshooting Reference Documents ODVA Specifications ODVA Libraries Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 6 of 160...

  • Page 7: Introduction

    This chapter provides information on the purpose and scope of this manual. It also provides information on safety notation, related documents and additional resources. Purpose Abbreviations and Definitions Safety Information Safety Symbols Other Safety Considerations Safety Information Resources Additional Documents Additional Resources Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 7 of 160...

  • Page 8: Purpose

    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.

  • Page 9: Abbreviations And Definitions

    Open DeviceNet Vendors Association, Inc, which is the standards organ- ization that maintains the specifications for the CIP industrial network pro- tocols. Output Protocol Data Unit Programmable Logic Controller Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 9 of 160...
  • Page 10 Logic Controller) is a good example of a Master. SmartMotor Interface (software) State Transition Diagram Transmission Control Protocol Torque (mode) Transmit User Datagram Protocol UCMM Unconnected Message Manager Velocity Units Velocity Target Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 10 of 160...

  • Page 11: Safety Information

    NOTE: Notes are used to emphasize non-safety concepts or related information. Other Safety Considerations The Moog Animatics SmartMotors are supplied as components that are intended for use in an automated machine or system. As such, it is beyond the scope of this manual to attempt to cover all the safety standards and considerations that are part of the overall machine/system design and manufacturing safety.
  • Page 12 Other Safety Considerations that may come in contact with the machine, etc. Moog Animatics manufactures specialized IP- rated motors for operating in extreme conditions. For details, see the Moog Animatics Product  Catalog, which is available on the Moog Animatics website. Machine Safety In order to protect personnel from any safety hazards in the machine or system, the machine/system builder must perform a "Risk Assessment", which is often based on the ISO...

  • Page 13: Safety Information Resources

    There are no modifications made to the machine or system without proper engineering evaluation for design, safety, reliability, etc., and a Risk Assessment. Safety Information Resources Additional SmartMotor safety information can be found on the Moog Animatics website; open the file "109_Controls, Warnings and Cautions.pdf" located at: http://www.animatics.com/support/moog-animatics-catalog.html OSHA standards information can be found at: https://www.osha.gov/law-regs.html...

  • Page 14: Additional Documents

    ISO standards information can be found at: http://www.iso.org/iso/home/standards.htm EU standards information can be found at: http://ec.europa.eu/growth/single-market/european-standards/harmonised-stand- ards/index_en.htm Additional Documents The Moog Animatics website contains additional documents that are related to the information in this manual. Please refer to the following list: Class 6 SmartMotor™ Installation & Startup Guide http://www.animatics.com/smartmotor-install-startup-guides SmartMotor™ Developer's Guide http://www.animatics.com/smartmotor-developers-guide SmartMotor™ Product Certificate of Conformance...

  • Page 15: Additional Resources

    Additional Resources Additional Resources The Moog Animatics website contains additional resources such as product information, doc- umentation, product support and more. Please refer to the following addresses: General company information: http://www.animatics.com Product information: http://www.animatics.com/products.html Product support (Downloads, How To videos, Forums, Knowledge Base, and FAQs): http://www.animatics.com/support.html...

  • Page 17: Ethernet/Ip Overview

    ODVA.org website at: http://www.odva.org. EtherNet/IP Introduction The OSI Model EtherNet/IP Adaptation of CIP Objects Objects Classes, Instances and Attributes Messaging Explicit (Non-cyclic) Messages Implicit (Cyclic) Messages Explicit/Implicit Messaging Example Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 17 of 160...

  • Page 18: Ethernet/Ip Introduction

    DeviceNet Vendors Association (ODVA), which is a standards organization that manages all CIP network technologies. EtherNet/IP and DeviceNet are two CIP network technologies that are supported by Moog Animatics (see OSI Model for EtherNet/IP and DeviceNet on page 18). These networks share the same CIP layers and use objects to describe the network devices (this collection of objects specific to a device is the device profile).

  • Page 19: Ethernet/Ip Adaptation Of Cip

    (CIP) Session Messages Messages Transmission Control Protocol (TCP) Transport User Datagram Protocol (UDP) TCP/IP Suite Internet Protocol (IP) Network Data Link Ethernet IEEE Standards Physical Peer-to-peer, multicast, unicast OSI Model: EtherNet/IP Implementation Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 19 of 160...
  • Page 20 Note, however, that there may be other factors that impose limitations on the size of the network. For more details, see the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 20 of 160...

  • Page 21: Objects

    Connection Manager Object Optional = Required = CIP Network EtherNet/IP Object Model For the SmartMotor-specific model, see the object model for your SmartMotor application, which is described later in this guide. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 21 of 160...

  • Page 22: Classes, Instances And Attributes

    The device description (class, instance, attributes) information is also contained in the Elec- tronic Data Sheet (EDS) file, which is supplied by the equipment vendor (see EDS File on page 35). For more details, see the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 22 of 160...

  • Page 23: Messaging

    I/O Connection I/O Connection Tool Object Object Device A Device B I/O Connection from A to B (Implicit messaging) I/O Connection I/O Connection Object Object Device A Device B Explicit/Implicit Messaging Example Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 23 of 160...

  • Page 25: Connections, Wiring And Status Leds

    SmartMotor status LEDs. Connectors and Pinouts M-Style Motor Connectors and Pinouts Moog Animatics Industrial Ethernet Cables EtherNet/IP Custom Cable Cable Diagram EtherNet/IP Cable Diagram Status LEDs Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 25 of 160...

  • Page 26: Connectors And Pinouts

    NOTE: When daisy-chaining SmartMotors for an EtherNet/IP network, there is no specific IN or OUT Ethernet port. In other words, either Ethernet port can be used for the input or the output. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 26 of 160...

  • Page 27: Moog Animatics Industrial Ethernet Cables

    Moog Animatics Industrial Ethernet Cables Moog Animatics Industrial Ethernet Cables The following Industrial Ethernet cables are available from Moog Animatics. M-style to M-style Ethernet Cable This cable has M12 male threaded connectors at both ends. It is available in 1, 3, 5 and 10 meter lengths.

  • Page 28: Cable Diagram

    For specific details on creating an EtherNet/IP network, refer to the ODVA publication EtherNet/IP Media  Planning and Installation Manual, which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 28 of 160...

  • Page 29: Status Leds

    Hardware Positive Limit Reached LED 1 off Hardware Negative Limit Reached Software Positive Travel Limit Reached Software Negative Travel Limit Reached *Busy LED pauses for 2 seconds before flashing the code Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 29 of 160...

  • Page 31: Ethernet/Ip On Class 6 Smartmotors

    EtherNet/IP on Class 6 SmartMotors EtherNet/IP on Class 6 SmartMotors This section provides an overview of the EtherNet/IP communications protocol imple- mentation on the Moog Animatics Class 6 SmartMotor. EtherNet/IP Implementation EtherNet/IP Identity EtherNet/IP Software Version Numbers Device Profile SmartMotor Device Profile Overview...

  • Page 32: Ethernet/Ip Implementation

    The initial EtherNet/IP software release is 6.0.2.23. Device Profile The Class 6 EtherNet/IP SmartMotor profile uses the Position Controller (0x10) device. For Position Controller details, see SmartMotor Device Profile Overview on page 33. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 32 of 160...

  • Page 33: Smartmotor Device Profile Overview

    This section provides an overview of the objects used in the SmartMotor device profile. It includes: CIP required objects and network objects (the CIP objects), ODVA "Device" set of objects (the Application objects), and Moog Animatics vendor-specific objects (the Additional objects).

  • Page 34: Application Objects For Position Controller Devices

    Eth- (0x48) on page Object ernet data streams. SmartMotor I/O 0x71 Manufacturer-specific SmartMotor I/O Object object associated with Object (0x71) the Position Controller on page 96 Device Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 34 of 160...

  • Page 35: Eds File

    (CIP™), which is available on the ODVA.org website. To obtain the EDS file for the SmartMotor: 1. Access the Download Center on the Moog Animatics website at: http://www.animatics.com/support/download-center.html 2. From the folder list, select Firmware And Fieldbus Downloads > Fieldbus Config > Ether- Net/IP folder.

  • Page 37: Ethernet/Ip User Program Commands

    The SmartMotor user program allows the motor to take on autonomous or distributed control functions needed in an application. Network Settings and Status Commands Program Example Status and Diagnostic Codes Status/Error Codes Diagnostic Codes Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 37 of 160...

  • Page 38: Network Settings And Status Commands

    Bit 3 = Connection timeout Bit 4 = Duplicate IP Bit 5 = Self-test RETH(3), or Stack fault code For details, see Status and Diagnostic Codes x=ETH(3) on page 41. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 38 of 160...
  • Page 39 For Moog Animatics use. x=ETH(51) RETH(54), or Initialize error code For details, see Status and Diagnostic Codes x=ETH(54) on page 41 ETHCTL(3,x) Reset Resets Stack Fault code RETH(3) to 0 Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 39 of 160...

  • Page 40: Program Example

    Internal error source RETH(51) to 0 Program Example The following code example sets the device IP address. IPCTL(0,"192.168.0.10") 'Set the IP address to 192.168.0.10 'Add rest of program below Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 40 of 160...

  • Page 41: Status And Diagnostic Codes

    C01F0004 -1071710204 Sending the confirmation of a request failed; an error occurred at the packet queue C01F0005 -1071710203 Getting a confirmation of a request from an unknown object Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 41 of 160...
  • Page 42 Connection manager received a confirmation of unknown service C01F000D -1071710195 Sending the Forward Close command failed; Encap Queue signal an error C01F000E -1071710194 Failed the Complete Reset command; did not get a empty packet Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 42 of 160...

  • Page 43: Position Controller Device (0X10)

    Position Controller Implicit I/O Message Examples SmartMotor Notes Set Acceleration Set Velocity, Leave Drive ON Set Target Position, Perform Move Disable Hardware Limits (Object 0x25, Attribute 49) Extended Position Move (32-byte frame) Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 43 of 160...

  • Page 44: Position Controller Device Application Objects

    Connection Position Controller Supervisor class Explicit Consumed Command Message attribute Msg* Produced Connection Path: Position Controller Supervisor class Optional = Required = Produced Command Message attribute CIP Network Position Controller Device Object Model Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 44 of 160...

  • Page 45: Position Controller Implicit I/O Messages

    Target Position and Actual Position, with the SmartMotor. These mes- sage types for the Position Controller Polled I/O Connection are typically the best choice for commanding the SmartMotor shaft position or applied torque. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 45 of 160...
  • Page 46 3. Byte alignment for 4-byte values is Little Endian (Low byte, Middle Low byte, Middle High byte, High Byte). 4. Byte alignment for 2-byte values is Little Endian (Low byte, High Byte). Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 46 of 160...
  • Page 47 Notes: a. The drive Control Mode must match the desired command type in order to start a profile move or apply torque. b. Only available for 32-byte connections. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 47 of 160...
  • Page 48 NOTE: A Velocity Move command sent to a motor already in motion with either Pos- ition Control or Velocity Control, will immediately change the Target Velocity to the value in the message. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 48 of 160...
  • Page 49 7. Wait for the "Attribute to Get Message Type" field changes to zero in the response. The motor will respond with the current value of the requested Attribute to Get each time the motor processes the I/O message independent of the Implicit Message handshaking. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 49 of 160...

  • Page 50: Attribute Get/Set Command Types 0X1A And 0X1B

    Response Data Type Number 26(0x1A) 36(0x24) Position Controller Supervisor Attribute Value to Set Attribute Value to Get 27(0x1B) 37(0x25) Position Controller Attribute Value to Set Attribute Value to Get Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 50 of 160...

  • Page 51: Error Response Message Type (0X14)

    0x13 0xFF Not Enough Data I/O Command message was lees then 8 bytes 0x14 0xFF Attribute Not Sup- Requested or specified attribute is not sup- ported ported Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 51 of 160...

  • Page 52: Semantics For Command And Response Messages

    Target Velocity 0x02 This double word defines the Profile Move’s Target Velocity in profile units, when the Load Data /Start Profile bit transitions from zero to one Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 52 of 160...
  • Page 53 Fault Input Not supported. Forward Limit This bit indicates that the forward input is active. Reverse Limit This bit indicates that the reverse input is active. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 53 of 160...
  • Page 54 Attribute Value This double word reflects the value of the attribute to get. Object Attribute This byte defines the object attribute from which to get the value. to Get Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 54 of 160...

  • Page 55: Position Controller I/O Handshaking

    Home Data Ack, and Watch Data Ack. The Event Block Count field determines the repetition (from zero to seven times) of the following elements: Event ID #, Event Status #, Event Type #, Event Position #, and Event Time Stamp #. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 55 of 160...

  • Page 56: Profile Moves

    Torque if the Position Controller (0x25) Attribute 3 value is set for that. Refer to the fol- lowing figure—the values shown are the same ones used in the I/O Assembly Examples later in this section. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 56 of 160...

  • Page 57: Torque Command

    This "Change Dynamic" feature can be fully executed using the Implicit Messages of the Pos- ition Controller Device. This is facilitated using Message Type 0x1B during a profile once it has started, and then starting another profile after changing the mode attribute. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 57 of 160...

  • Page 58: Position Controller Implicit I/O Message Examples

    Clear the Load Data, Power Stage ON 0–7 80 00 01 01 00 00 00 00 Ask for position 8? 00 0? 01 00 00 00 00 0–7 Axis 1 ON, Position 0 Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 58 of 160...

  • Page 59: Set Velocity, Leave Drive On

    00 00 01 01 00 00 00 00 Ask for position 0? 00 0? 01 00 00 00 00 0–7 At Position 0 NOTE: If the SmartMotor is on, this will turn it off. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 59 of 160...

  • Page 60: Extended Position Move (32-Byte Frame)

    94 00 00 01 60 e3 16 00 60 e3 16 00 00 00 00 00 0–15 1500000, Velocity 0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 16–31 Load Complete clear Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 60 of 160...

  • Page 61: Object Reference

    Object Reference Object Reference This chapter provides details on the EtherNet/IP protocol objects used with the Moog Anim- atics SmartMotor. The following TOC provides a listing of those objects. The Moog Animatics Class 6 SmartMotor device profile supports the required object classes of the Position Controller Device 0x10 (see Volume 1 of the ODVA CIP specification).

  • Page 62: Required Objects

    The following sections/tables list the attributes for each of the CIP required and network objects. Identity Object (0x01) Message Router Object (0x02) Assembly Object (0x04) Connection Manager Object (0x06) TCP/IP Interface Object (0xF5) Ethernet Link Object (0xF6) Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 62 of 160...

  • Page 63: Identity Object (0X01)

    Indication of general type of product. Default Value: 16 Product Code UINT Identification of a par- Product code (vendor ticular product of an assigned). individual vendor. Default Value: 10 Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 63 of 160...
  • Page 64 6 – 254 = Reserved 255 = Default Value Configuration UINT Contents identify con- Consistency figuration of device. Value Heartbeat Inter- USINT The nominal interval between heartbeat mes- sages in seconds. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 64 of 160...

  • Page 65: Instance Attributes Semantics

    Major Fault – either bit 10 or bit 11 is true (1) At least one I/O connection in run mode At least one I/O connection established, all in idle mode Reserved Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 65 of 160...
  • Page 66 Returns the contents of the specified attribute 0x10 ● ● Set_Attribute_Single Modifies an attribute (required if Heartbeat Interval is defined) For more details, see THE CIP NETWORKS LIBRARY, Volume 1: Common Industrial Protocol  (CIP™), which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 66 of 160...

  • Page 67: Message Router Object (0X02)

    Name Description Code Class Instance 0x0E ● ● Get_Attribute_Single Returns the contents of the specified attribute For more details, see THE CIP NETWORKS LIBRARY, Volume 1: Common Industrial Protocol  (CIP™), which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 67 of 160...

  • Page 68: Assembly Object (0X04)

    ● ● Get_Attribute_Single Returns contents of the specified attribute 0x10 ● Set_Attribute_Single Modifies an attribute value. For more details, see THE CIP NETWORKS LIBRARY, Volume 1: Common Industrial Protocol  (CIP™), which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 68 of 160...

  • Page 69: Connection Manager Object (0X06)

    Modifies an attribute value. 0x4E ● Forward_Close Closes a connection 0x54 ● Forward_Open Opens a connection For more details, see THE CIP NETWORKS LIBRARY, Volume 1: Common Industrial Protocol  (CIP™), which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 69 of 160...

  • Page 70: Tcp/Ip Interface Object (0Xf5)

    See below: Attrib- Default Value: 0x95 ute 2: Configuration Capability Set/Get Configuration DWORD Interface control flags Bitmap of control flags. (NV) Control Default Value: 0 See below: Attribute 3: Configuration Control Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 70 of 160...
  • Page 71 Padded Logical segments identi- Path is restricted to EPATH fying the physical link one logical class seg- object. ment and one logical instance segment. Max size is 12 bytes. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 71 of 160...
  • Page 72 (NV) Default Value: "" imum length is 64 char- acters. Pad to an even number of characters (pad not included in length). 0 = no Host Name is configured. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 72 of 160...
  • Page 73 “Num Mcast” addresses is allocated starting with this address. Set/Get SelectAcd BOOL Activates the use of 1 = enable ACD (NV) ACD. (default), Default Value: 1 0 = disable ACD Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 73 of 160...

  • Page 74: Instance Attributes Semantics

    Indicates a pending configuration change in the TTL Value and/or Mcast Config attributes. This bit is set when either the TTL Value or Mcast Config attribute is set; it is cleared the next time the device starts. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 74 of 160...
  • Page 75 Interface Configuration attribute to take effect. If this bit is Change Requires FALSE a change in the Interface Configuration attribute will take Reset effect immediately. AcdCapable 1 (TRUE) = device is ACD capable 8-31 Reserved Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 75 of 160...
  • Page 76 ● ● Get_Attribute_Single Returns the contents of the specified attribute 0x10 ● Set_Attribute_Single Modifies an attribute value. For more details, see THE CIP NETWORKS LIBRARY, Volume 2: EtherNet/IP Adaptation of CIP, which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 76 of 160...

  • Page 77: Ethernet Link Object (0Xf6)

    0, 10, 100, 1000, Default Value: 100 etc.) Interface Flags DWORD Interface status flags. Bit map of interface Default Value: 0x20 flags. See Attribute 2: Interface Flags. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 77 of 160...
  • Page 78 UDINT Unicast packets sent on the interface Out NUcast UDINT Non-unicast packets sent Packets on the interface Out Discards UDINT Outbound packets dis- carded Out Errors UDINT Outbound packets that con- tain errors Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 78 of 160...
  • Page 79 MAC Receive UDINT Frames for which recep- Errors tion on an interface fails due to an internal MAC sub- layer receive error Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 79 of 160...

  • Page 80: Instance Attributes Semantics

    Indicates the duplex mode currently in use by the interface: 0 = half duplex; 1 = full duplex. Note that if the Link Status flag is 0, then the value of the Half/Full Duplex flag is indeterminate. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 80 of 160...
  • Page 81 0x09 (Invalid Attribute Value). If auto-negotiation is enabled, attempting to set the Forced Duplex Mode bits shall result in a GRC hex 0x0C (Object State Con- flict). 2-15 Reserved Set to zero. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 81 of 160...
  • Page 82 ● ● Get_Attribute_Single Returns the contents of the specified attribute 0x10 ● Set_Attribute_Single Modifies an attribute value. For more details, see THE CIP NETWORKS LIBRARY, Volume 2: EtherNet/IP Adaptation of CIP, which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 82 of 160...

  • Page 83: Application Objects

    Application Objects Application Objects The following sections/tables list the attributes for each of the Application objects (ODVA "device" set of objects). Position Controller Supervisor (0x24) Position Controller (0x25) Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 83 of 160...

  • Page 84: Position Controller Supervisor (0X24)

    USINT Specifies the axis num- SmartMotor value is typ- Selection Num- ber to which the data ically 1 for this attribute. contained in the I/O Response Message is routed. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 84 of 160...
  • Page 85 0x0E ● ● Get_Attribute_Single Returns contents of specified attribute 0x10 ● Set_Attribute_Single Modifies the attribute value For more details, see THE CIP NETWORKS LIBRARY, Volume 1: Common Industrial Protocol  (CIP™), which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 85 of 160...

  • Page 86: Position Controller (0X25)

    Returns the total number of attributes supported utes by this object in this device Attribute List Array Returns an array with a list of the attributes sup- ported by this object in this device USINT Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 86 of 160...
  • Page 87 Is set to change or select direction on Velocity Mode Set/Get Reference Dir- BOOL Shaft Rotation Direction (forward facing shaft): ection 0 = CW 1 = CCW Set/Get Torque DINT Output Torque Range: -32767 to 32767 Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 87 of 160...
  • Page 88 224 = Both hardware limits disabled Forward Limit BOOL Forward Limit stop input status active Reverse Limit BOOL Reverse Limit stop input status active Set/Get Soft Limits BOOL Enables Soft Limits Enable Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 88 of 160...
  • Page 89 2 = X (Smooth Stop) 3 = S (Hard Stop) 4 = GOSUB 5 = GOTO Status Word WORD Motor status word Angle Match BOOL Commutation Angle Match bit Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 89 of 160...
  • Page 90 ● Get_Attribute_Single Returns the contents of the specified attribute 0x10 ● Set_Attribute_Single Modifies the attribute value For more details, see THE CIP NETWORKS LIBRARY, Volume 1: Common Industrial Protocol  (CIP™), which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 90 of 160...

  • Page 91: 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) Object (0x47) QoS Object (0x48) SmartMotor I/O Object (0x71) Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 91 of 160...

  • Page 92: Device Level Ring (Dlr) Object (0X47)

    1 = Ring USINT Current status of net- 0 = Normal work 1 = Ring Fault 2 = Unexpected Loop 3 = Partial Fault 4 = Rapid Fault/Restore Cycle Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 92 of 160...

  • Page 93: Instance Attributes Semantics

    Returns a predefined listing of this objects attributes 0x0E ● ● Get_Attribute_Single Returns the contents of the specified attribute For more details, see THE CIP NETWORKS LIBRARY, Volume 1: Common Industrial Protocol  (CIP™), which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 93 of 160...

  • Page 94: Qos Object (0X48)

    Default Value: 59 Set/Get DSCP PTP Gen- USINT DSCP value for PTP DSCP field size is 6 bits, (NV) eral (IEEE 1588) general valid range: 0-63 messages. Default Value: 47 Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 94 of 160...
  • Page 95 Returns the contents of the specified attribute ● Set_Attribute_Single Modifies the contents of the spe- 0x10 cified attribute For more details, see THE CIP NETWORKS LIBRARY, Volume 2: EtherNet/IP Adaptation of CIP, which is available on the ODVA.org website. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 95 of 160...

  • Page 96: Smartmotor I/O Object (0X71)

    0 = OFF 1 = ON I/O State BOOL Returns present state of the I/O, either ON Values: or OFF. 0 = OFF 1 = ON Analog Raw Hardware dependent Value Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 96 of 160...
  • Page 97 Positive Limit 3 – Input Negative Limit 4 – Input 5 – Input 6 – Input 7 – Input Drive Enable 8 – Output External Brake 9 – Output Fault Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 97 of 160...

  • Page 99: Aoi Descriptions - Allen Bradley Plc

    SM6_Set_Position - Set Drive Position SM6_Set_Variable_u - Set Drive Variable "u" SM6_Set_Velocity - Set Drive Target Velocity SM6_Stop_Hard - Perform a Hard Stop SM6_Stop_Smooth - Perform a Smooth Stop Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 99 of 160...

  • Page 100: Sm6_Attribute_Ext_Clear - Clear Attribute To Get (Extended Command)

    Rung-condition-in is FALSE Initialize variables. Rung-condition-in is TRUE Clears the Extended Attribute to Get fields in the Axis Command buffer. NOTE: This command requires a connection size of 32 bytes. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 100 of 160...

  • Page 101: Sm6_Attribute_Ext_Get - Load Attribute To Get Id & Wait (Extended Command)

    Load the Extended Attribute to Get Type and ID fields, wait for a response, copy the response to the Attribute_Value tag, clear the Extended Attribute to Get Type and ID fields. NOTE: This command requires a connection size of 32 bytes. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 101 of 160...

  • Page 102: Sm6_Attribute_Ext_Load - Load Attribute To Get Id (Extended Command)

    16#1b - Pos- ition Controller Attribute_ID DINT Immediate Value The index to one of these application objects: Pos- ition Controller Supervisor (0x24) on page 84 or Position Controller (0x25) on page Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 102 of 160...
  • Page 103 Rung-condition-in is TRUE Copy Message_Type and Attribute ID to the Extended Attribute to Get fields of the Axis Command buffer NOTE: This command requires a connection size of 32 bytes. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 103 of 160...

  • Page 104: Sm6_Attribute_Ext_Value - Return Attribute Data (Extended Command)

    BOOL Set when the Extended Attribute to Get Message Type in the axis command buf- fer is not zero and does not match the Extended Attribute to Get Message Type in the axis response buffer. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 104 of 160...
  • Page 105 Wait for a response from the drive, copy the response Attrib- ute_Value tag, clear the Extended Attribute to Get Type and ID fields. NOTE: This command requires a connection size of 32 bytes. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 105 of 160...

  • Page 106: Sm6_Clear_Flags - Reset System State Flag

    Initialize variables and clear timeout. Rung-condition-in is FALSE Initialize variables and clear timeout. Rung-condition-in is TRUE Send command to the SmartMotor to execute a ZS command to reset the motor system flags. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 106 of 160...

  • Page 107: Sm6_Disable - Disable Drive

    Reset timeout. Rung-condition-in is FALSE Reset timeout. Rung-condition-in is TRUE Clear the Axis Drive Enable flag. Set the .DN output when the Axis Drive Status Enable flag is cleared. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 107 of 160...

  • Page 108: Sm6_Drive - Drive Data Exchange

    DriveOutput _032A:Class6_ Module defined Output Con- xxxxxxxx:O:0 nection tag to Drive Com- mand data DriveStore SM6_Axis Tag to Store Axis Com- mand and Response data Structure Field Type Description Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 108 of 160...
  • Page 109 Copy_Cmd: Copy of the Command Message Type that caused the error Copy_Att_Num: Attribute number of the command that caused the error For information on the error information, see bytes 4–7 in Error Response Message Type (0x14) on page 51. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 109 of 160...

  • Page 110: Sm6_Enable - Enable Drive

    Reset timeout. Rung-condition-in is FALSE Reset timeout. Rung-condition-in is TRUE Set the Axis Drive Enable flag. Set the .DN output when the Axis Drive Status Enable flag is set. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 110 of 160...

  • Page 111: Sm6_Get_Attribute - Get Drive Attribute

    Send a message to the SmartMotor to get the value of a Pos- ition Controller Supervisor or Position Controller object attrib- ute, wait for a response, copy the response to the Attribute_ Value tag. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 111 of 160...

  • Page 112: Sm6_Move_Position_Ext - Position Move(Extended Command)

    DINT Requested Velocity Response_Type SINT Immediate Value 0 - None 1 - Actual Position 2 - Command Position 3 - Actual Velocity 4 - Command Velocity 5 - Torque Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 112 of 160...
  • Page 113 Initialize variables. Rung-condition-in is TRUE Send the Extended Move Position message to the drive and mon- itor move progress. NOTE: This command requires a connection size of 32 bytes. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 113 of 160...

  • Page 114: Sm6_Move_Velocity_Ext - Velocity Move(Extended Command)

    BOOL Set when the drive indicates the instruction has been processed. BOOL Set if there are any timeout or processing errors. BOOL In Progress—set while the drive is reporting a command is in progress. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 114 of 160...
  • Page 115 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 requires a connection size of 32 bytes. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 115 of 160...

  • Page 116: Sm6_Move_Torque - Apply Torque

    In Progress—set while the drive applying torque. Operation Scan Mode Description Prescan Initialize variables. Rung-condition-in is FALSE Initialize variables. Rung-condition-in is TRUE Send the Apply Torque message to the drive and monitor drive performance. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 116 of 160...

  • Page 117: Sm6_Set_Acceleration - Set Drive Acceleration

    Set if there are any timeout or processing errors. Operation Scan Mode Description Prescan Initialize variables. Rung-condition-in is FALSE Initialize variables. Rung-condition-in is TRUE Send the Set Acceleration message to the drive. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 117 of 160...

  • Page 118: Sm6_Set_Attribute - Set Drive Attribute

    Initialize variables and reset timeout. Rung-condition-in is FALSE Initialize variables and reset timeout. Rung-condition-in is TRUE Send a message to the SmartMotor to set the attribute spe- cified by Attribute_ID to Attribute_Value. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 118 of 160...

  • Page 119: Sm6_Set_Deceleration - Set Drive Deceleration

    Set if there are any timeout or processing errors. Operation Scan Mode Description Prescan Initialize variables. Rung-condition-in is FALSE Initialize variables. Rung-condition-in is TRUE Send the Set Deceleration message to the drive. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 119 of 160...

  • Page 120: Sm6_Set_Mode - Set Drive Mode

    Set if there are any timeout or processing errors. Operation Scan Mode Description Prescan Initialize variables. Rung-condition-in is FALSE Initialize variables. Rung-condition-in is TRUE Send the Set Mode message to the drive. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 120 of 160...

  • Page 121: Sm6_Set_Position - Set Drive Position

    Rung-condition-in is TRUE Send a Set Position message to the drive and monitor move pro- gress. This command will set the Response Message Type to return the Actual Position. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 121 of 160...

  • Page 122: Sm6_Set_Variable_U - Set Drive Variable "U

    Scan Mode Description Prescan Initialize variables. Rung-condition-in is FALSE Initialize variables. Rung-condition-in is TRUE Send a message to the drive to set the drive variable "u" to the requested value. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 122 of 160...

  • Page 123: Sm6_Set_Velocity - Set Drive Target Velocity

    Rung-condition-in is TRUE Send a Set Velocity message to the drive and monitor move pro- gress. This command will set the Response Message Type to return the Actual Velocity. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 123 of 160...

  • Page 124: Sm6_Stop_Hard - Perform A Hard Stop

    BOOL In Progress—set while the drive is reporting a command is in progress. Operation Scan Mode Description Prescan Initialize variables. Rung-condition-in is FALSE Initialize variables. Rung-condition-in is TRUE Set the Hard Stop flag in the Command Control byte. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 124 of 160...

  • Page 125: Sm6_Stop_Smooth - Perform A Smooth Stop

    BOOL In Progress—set while the drive is reporting a command is in progress. Operation Scan Mode Description Prescan Initialize variables. Rung-condition-in is FALSE Initialize variables. Rung-condition-in is TRUE Set the Smooth Stop bit in the Command Control byte. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 125 of 160...

  • Page 127: Adding Aoi Support - Allen Bradley Plc

    SmartMotor support to a new project using Allen Bradley Studio 5000 Logix Designer soft- ware. Extracting the SmartMotor Support files Adding a SmartMotor Module Importing the UDTs Importing the AOIs SmartMotor AOI Example Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 127 of 160...

  • Page 128: Extracting The Smartmotor Support Files

    Studio 5000 Logix Designer software. The extracted folder contains three sub-folders: Sub-folder Description SM6_Examples Sample Studio 5000 Logix Designer project files SM6_AOIs The SmartMotor Add-On Instruction library SM6_UDT The SmartMotor Add-On Instruction data type library Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 128 of 160...

  • Page 129: Adding A Smartmotor Module

    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 port and then click New Module. Adding a new Ethernet module Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 129 of 160...
  • Page 130 3. In the Select Module Type dialog, 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 Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 130 of 160...
  • Page 131 4. On the New Module - General Tab: a. 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 Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 131 of 160...
  • Page 132 5. In the Connections group, click the arrow in 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 format Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 132 of 160...
  • Page 133 Click OK. The dialog box closes. If the following prompt is displayed, click Yes. The Requested Packet Interval (RPI) can be changed from the New Module Con- figuration - Connection tab. The default value is 20 ms. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 133 of 160...
  • Page 134 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 dialog. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 134 of 160...
  • Page 135 6. The SmartMotor should now be configured. It is displayed in the Controller Organizer'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 SmartMotor and Module-Defined items added Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 135 of 160...

  • Page 136: Importing The Udts

    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. Importing a User Data Type The Import Data Type dialog opens. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 136 of 160...
  • Page 137 2. In the Import Data Type dialog, browse to the location 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 last. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 137 of 160...
  • Page 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...
  • Page 139 5. Repeat steps 1 through 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  Class 6 EtherNet/IP Guide, Rev. B Page 139 of 160...

  • Page 140: Importing The Aois

    This section describes the procedure for importing 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 Instruction dialog opens. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 140 of 160...
  • Page 141 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 Import Configuration dia- log opens. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 141 of 160...
  • Page 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...
  • Page 143 If an AOI references an AOI file that has not yet been imported, the Studio 5000 Logix Designer software will auto- matically import it. Controller Organizer - Imported AOI Files Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 143 of 160...

  • Page 144: Smartmotor Aoi Example

    Example_2Motor_Parallel.ACD: A Program that moves two motors back and forth sim- ultaneously. To create the program: 1. In the Controller Organizer, right-click the Main Task > MainRoutine folder and select Open. Open the Main Program Routine Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 144 of 160...
  • Page 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...
  • Page 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...
  • Page 147 SmartMotor AOI Example 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, Rev. B Page 147 of 160...
  • Page 148 4. In SM6_Drive block 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 6 EtherNet/IP Guide, Rev. B Page 148 of 160...
  • Page 149 5. In SM6_Drive block 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  Class 6 EtherNet/IP Guide, Rev. B Page 149 of 160...
  • Page 150 6. In the SM6_Drive block, DriveInput 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 Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 150 of 160...
  • Page 151 SmartMotor AOI Example 7. In the SM6_Drive 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 EtherNet/IP Guide, Rev. B Page 151 of 160...
  • Page 152 The following figure 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_Support_Files\SM6_Examples\NewProject.ACD). Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 152 of 160...
  • Page 153 SmartMotor AOI Example Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 153 of 160...

  • Page 155: Troubleshooting

    Lockup Wizard located on the SMI soft- ware Communications menu. Motor disconnects COM port buffer settings Adjust the COM port buffer settings to from SMI sporad- are too high. their lowest values. ically. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 155 of 160...
  • Page 156 Compile menu to select the default firmware version closest to the motor firmware version. In the SMI software, view the motor firmware version by right-clicking the motor and selecting Properties. Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 156 of 160...

  • Page 157: Reference Documents

    The following ODVA libraries were referenced for introductory topics: The CIP Technology Library The EtherNet/IP Library These ODVA libraries can be accessed directly on the ODVA.org website at: http://www.odva.org/Publication-Download Moog Animatics  Class 6 EtherNet/IP Guide, Rev. B Page 157 of 160...
  • Page 160 PN: SC80100010-001 Rev. B...

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