Moog Animatics Class 6 SmartMotor Manual
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Moog Animatics Class 6 SmartMotor Manual

Moog Animatics Class 6 SmartMotor Manual

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Summary of Contents for Moog Animatics Class 6 SmartMotor

  • Page 1 For the mobile version of this guide, see: animatics.com/docs/guides-html/c6_pnet/ Class 6 SmartMotor Technology...
  • Page 2 Moog Inc., Animatics. Moog Inc., Animatics assumes no responsibility or liability for any errors or inaccuracies that may appear herein.

  • Page 3: Table Of Contents

    M-style to RJ45 Ethernet Cable Ethernet Cable Schematic PROFINET Cable Diagram Maximum Cable Length PROFINET Status LEDs PROFINET Configuration Configure Motor with PC User Program Requirements Required Nonvolatile EEPROM Values Moog Animatics Class 6 PROFINET Guide Rev. D Page 3 of 76...
  • Page 4 PLC Memory Set acceleration value, command ADT=255 Set maximum velocity value, command VT=100000 Make a relative position move User Program Commands SNAME("string") IPCTL(function,"string") =ETH, RETH ETHCTL(function, value) Program Example Moog Animatics Class 6 PROFINET Guide Rev. D Page 4 of 76...
  • Page 5 Reserved Motor Variables Command and Response Codes Command Packet Codes to Motor Commands Extended 16-bit command codes Response Packet Codes to Motor Commands Extended 16-bit response codes Troubleshooting Moog Animatics Class 6 PROFINET Guide Rev. D Page 5 of 76...

  • Page 6: Introduction

    Motor Sizing Environmental Considerations Machine Safety Documentation and Training Additional Equipment and Considerations Safety Information Resources Additional Documents Related Guides Other Documents Additional Resources PROFINET and PROFIBUS Resources Moog Animatics Class 6 PROFINET Guide Rev. D Page 6 of 76...

  • Page 7: Purpose

    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.
  • Page 8 Document sections include Output and Input data formats (PROFINET cargo), a list of the Moog Animatics PROFINET command codes explained in terms of the equivalent SmartMotor commands, and a list of Moog Animatics PROFINET response codes explained in terms of the equivalent SmartMotor commands.

  • Page 9: Equipment Required

    User-supplied PC with the Microsoft Windows operating system User-supplied PLC with PROFINET master or other PROFINET master Moog Animatics PROFINET cable, or equivalent, to connect the PLC to the SmartMotor's industrial Ethernet port (for details, see PROFINET Motor Connectors and Pinouts on...

  • Page 10: 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 11: Machine Safety

    Machine Safety 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 12: Documentation And Training

    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 13: Additional Documents

    EU standards information can be found at: http://ec.europa.eu/growth/single-market/european-standards/harmonised- standards/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. Related Guides Class 6 SmartMotor™ Installation & Startup Guide http://www.animatics.com/cl-6-install-startup-guide...

  • Page 14: Additional Resources

    Additional Resources Additional Resources The Moog Animatics website contains useful resources such as product information, documentation, 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 15: Profinet Motor Pinouts, Connections And Status Leds

    Cables and Diagram Moog Animatics Industrial Ethernet Cables M-style to M-style Ethernet Cable M-style to RJ45 Ethernet Cable Ethernet Cable Schematic PROFINET Cable Diagram Maximum Cable Length PROFINET Status LEDs Moog Animatics Class 6 PROFINET Guide Rev. D Page 15 of 76...

  • Page 16: Profinet Motor Connectors And Pinouts

    LED 0: Motor Drive LED LED 1: Motor Busy LED POWER INPUT PIN FUNCTION DESCRIPTION 24 VDC CONTROL I/O POWER EARTH CHASSIS GROUND MOTOR COMMON GROUND 48 VDC MOTOR POWER Moog Animatics Class 6 PROFINET Guide Rev. D Page 16 of 76...

  • Page 17: Cables And Diagram

    Cables and Diagram Cables and Diagram This section provides information on Moog Animatics industrial Ethernet cables and a PROFINET system cable diagram. Moog Animatics Industrial Ethernet Cables The following cables are available from Moog Animatics. M-style to M-style Ethernet Cable This cable has M12 male threaded connectors at both ends.

  • Page 18: Profinet Cable Diagram

    Maximum Cable Length For transmission speeds of 100 Megabits/second on shielded Ethernet Cat 5 cable, EtherCAT and PROFINET allow cable lengths up to 100 meters between network nodes. Moog Animatics Class 6 PROFINET Guide Rev. D Page 18 of 76...

  • Page 19: Profinet 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 PROFINET Guide Rev. D Page 19 of 76...

  • Page 20: Profinet Configuration

    Configure PLC with PC Configure SmartMotor to PROFINET PLC Sends Commands to Motor Network Data Format Example PLC Memory Sequence to Set Report Data to Motor Clock PROFINET Communication Example Moog Animatics Class 6 PROFINET Guide Rev. D Page 20 of 76...

  • Page 21: Configure Motor With Pc

    SmartMotor. The GSDML file defines the three output words and seven input words, but it does not specify where this is located in the PLC memory. That location is determined by the configuration tools supplied by the PLC manufacturer. Moog Animatics Class 6 PROFINET Guide Rev. D Page 21 of 76...

  • Page 22: Configure Smartmotor To Profinet

    Word Position Error 0000 0000 ..0000 0000 0680 0000 0000 0000 The following are the SmartMotor’s Status Word response bit definitions (the response shown above is 0680). Moog Animatics Class 6 PROFINET Guide Rev. D Page 22 of 76...

  • Page 23: Plc Memory

    A status word of 0x0680 (which breaks down to the bits 0000 0110 1000 0000) indicates the servo is off, the left and right limits have been activated, and the drive is not ready. Moog Animatics Class 6 PROFINET Guide Rev. D Page 23 of 76...

  • Page 24: Sequence To Set Report Data To Motor Clock

    007A 0000 0000 007A 0000 03A1 0680 0000 0000 0000 As time goes on, the clock data is updated. 007A 0000 0000 007A 0001 B01A 0680 0000 0000 0000 Moog Animatics Class 6 PROFINET Guide Rev. D Page 24 of 76...

  • Page 25: Profinet Communication Example

    It changes as the updated clock value is received. To create a PROFINET connection to the SmartMotor: 1. Install the SMI software. For more details, see the Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide. 2. Connect control power to the 12-pin connector.
  • Page 26 When detection has completed, Motor 1 will be shown under the USB network. 5. Double click Motor1 to open the Motor View tool. Click Poll to update the Status. Moog Animatics Class 6 PROFINET Guide Rev. D Page 26 of 76...
  • Page 27 NOTE: The new station name in the following figure (in the red box) won't be shown until power is cycled and the motor is redetected. Refer to the next step. Moog Animatics Class 6 PROFINET Guide Rev. D Page 27 of 76...
  • Page 28 Watch the clock value being updated in your PLC PROFINET input registers "7 words in", bytes 2-5. For examples of sending command sequences and communication handshaking, refer to Sample Command Sequences on page 29. Moog Animatics Class 6 PROFINET Guide Rev. D Page 28 of 76...

  • Page 29: Sample Command Sequences

    Set torque value, specify the response data Initiate torque mode, command MT Initiate Relative Position Move Commands PLC Memory Set acceleration value, command ADT=255 Set maximum velocity value, command VT=100000 Make a relative position move Moog Animatics Class 6 PROFINET Guide Rev. D Page 29 of 76...

  • Page 30: Overview

    After disabling the limits and clearing any faults, the shaft may be turned using the following command sequences: Initiate Mode Torque on page 33 Initiate Relative Position Move on page 35 These sequences are described in following sections. Moog Animatics Class 6 PROFINET Guide Rev. D Page 30 of 76...

  • Page 31: Disable Limits And Clear Fault Status

    0000 0000 0030 0100 0000 0000 0480 0000 0000 0000 Wait for acknowledgment of the cleared command code. 0000 0000 0030 0000 0000 0000 0480 0000 0000 0000 Moog Animatics Class 6 PROFINET Guide Rev. D Page 31 of 76...

  • Page 32: Disable Negative Limit, Command Eign(3)

    0000 0000 0044 0100 0000 0000 0080 0000 0000 0000 Wait for acknowledgment of the cleared command code. 0000 0000 0044 0000 0000 0000 0080 0000 0000 0000 Moog Animatics Class 6 PROFINET Guide Rev. D Page 32 of 76...

  • Page 33: Initiate Mode Torque

    00A2 0000 0000 0080 0000 0000 0000 Initiate torque mode, command MT Insert command 0x21 data to begin torque mode. 00A2 0000 0021 00A2 0000 0000 0080 0000 0000 0000 Moog Animatics Class 6 PROFINET Guide Rev. D Page 33 of 76...
  • Page 34 Wait for the command code clear acknowledge in the input buffer. 00A2 0000 0000 00A2 0014 0000 0009 0000 05DC 0000 Set data to 0. 0000 0000 0000 00A2 0014 0000 0009 0000 05DC 0000 Moog Animatics Class 6 PROFINET Guide Rev. D Page 34 of 76...

  • Page 35: Initiate Relative Position Move

    00A2 0000 0000 0080 0000 0000 0000 Set maximum velocity value, command VT=100000 Insert code commanded velocity of VT=100000 = 0x0001 86A0. 00A2 0001 86A0 00A2 0000 0000 0080 0000 0000 0000 Moog Animatics Class 6 PROFINET Guide Rev. D Page 35 of 76...

  • Page 36: Make A Relative Position Move

    The motor performs its move. While the trajectory is in the slew phase, you will see something like: 03A2 0000 2710 03A2 0001 86AD 0009 0000 CA23 0011 Moog Animatics Class 6 PROFINET Guide Rev. D Page 36 of 76...
  • Page 37 0001 86AD velocity (100,000 in slew) status 0009 Bt = 1 Bi = 1 measured current position 0000 CA23 measured current position error 0011 Moog Animatics Class 6 PROFINET Guide Rev. D Page 37 of 76...

  • Page 38: User Program Commands

    NOTE: Nonvolatile memory will be read at power-up or after the Z (reset) command has been executed. The following sections list the commands used to operate the motor on a PROFINET network. SNAME("string") IPCTL(function,"string") =ETH, RETH ETHCTL(function, value) Program Example Moog Animatics Class 6 PROFINET Guide Rev. D Page 38 of 76...

  • Page 39: Sname("String")

    The =ETH and RETH commands are used to assign/report errors and certain status information for the PROFINET bus. Assigned to a program variable: x=ETH(y) As a report: RETH(y) Refer to the following table for details. Moog Animatics Class 6 PROFINET Guide Rev. D Page 39 of 76...
  • Page 40 RETH(16) Subnet mask; value is in dotted-decimal format; report only. RETH(17) Gateway; value is in dotted-decimal format; report only. RETH(18) MAC ID string formatted; report only; e.g., 00:01:02:a9:ff:00 Moog Animatics Class 6 PROFINET Guide Rev. D Page 40 of 76...
  • Page 41 (8) returns 0. The value -1070596029 indicates an invalid SNAME format was used. =ETH(57) RETH(57) Gets the real-time Ethernet sync correction =ETH(58) RETH(58) Gets the real-time Ethernet sync count Moog Animatics Class 6 PROFINET Guide Rev. D Page 41 of 76...

  • Page 42: Ethctl(Function, Value)

    192.168.1.3 (C0 A8 01 03 hex), x=3232235779; non-volatile. ETHCTL(46,x) Set IP subnet mask as integer; e.g., to set for an IP netmask of 255.255.0.0 (FF FF 00 00 hex), x=4294901760; non-volatile. Moog Animatics Class 6 PROFINET Guide Rev. D Page 42 of 76...

  • Page 43: Program Example

    Program Example The following code example sets the nonvolatile station name. SNAME("mymotor1") a=ETH(0) IF( a&2 ) 'Execute reset if station name changed ENDIF 'Add rest of program below Moog Animatics Class 6 PROFINET Guide Rev. D Page 43 of 76...

  • Page 44: Output And Input Packets

    This section describes the PROFINET Output and Input packet format. It also provides notes for the Command (Output) packets and Response (Input) Packets. Output and Input Packet Format Command (Output) Packet Notes Response (Input) Packet Notes Moog Animatics Class 6 PROFINET Guide Rev. D Page 44 of 76...

  • Page 45: Output And Input Packet Format

    / word Description Notes swap Word Byte parameter Command Code Acknowledge Response Code Acknowledge Response Data Value (32 bits), big-endian format Status Word (16 bits), big-endian format Moog Animatics Class 6 PROFINET Guide Rev. D Page 45 of 76...
  • Page 46 Position error is a full 32-bit when accessed by this method. NOTE: The PROFINET SmartMotor supports the byte/word swap parameter as of firmware 6.0.2.41 or later Output (12 Words) Data Format (I/O Controller Command) Moog Animatics Class 6 PROFINET Guide Rev. D Page 46 of 76...
  • Page 47 Offset byte / word Description Notes swap Word Byte parameter Reserved (reports as 0xFF) Reserved (reports as 0xFF) Reserved (ignore, reports as 0) Reserved (ignore, reports as 0) Moog Animatics Class 6 PROFINET Guide Rev. D Page 47 of 76...
  • Page 48 Response code 7 ack (16 bits) Response data 0 (32 bits) See note 1: some codes must use of this section Response data 1 (32 bits) Response data 2 (32 bits) Moog Animatics Class 6 PROFINET Guide Rev. D Page 48 of 76...
  • Page 49 This is for protection in case the PLC/Controller is attempting to write in the 6 byte output format but has the 24- byte format configured. Moog Animatics Class 6 PROFINET Guide Rev. D Page 49 of 76...

  • Page 50: Command (Output) Packet Notes

    The PROFINET interface does not interfere with the SmartMotor's EPTR command for access to EEPROM. Therefore, the user program may use the EPTR command at the same time. Moog Animatics Class 6 PROFINET Guide Rev. D Page 50 of 76...

  • Page 51: Response (Input) Packet Notes

    The Response Data Value for a GET_MODE (SmartMotor RMODE) command will contain the integer code returned by the SmartMotor, which may be unexpected by users familiar with the RMODE command in older Moog Animatics products. For details on the RMODE command, see the Moog Animatics SmartMotor™ Command Reference Guide.

  • Page 52: Alternate Communications Channel

    Reserved Motor Variables The PROFINET interface does not: Require the reservation of any user variables. Some older Moog Animatics products required the reservation of yyy and zzz. However, this is not the case in the PROFINET interface—these variables are freely available for the user.

  • Page 53: Command And Response Codes

    This section lists the PROFINET packet command and response codes and their corresponding SmartMotor commands. Command Packet Codes to Motor Commands Extended 16-bit command codes Response Packet Codes to Motor Commands Extended 16-bit response codes Moog Animatics Class 6 PROFINET Guide Rev. D Page 53 of 76...

  • Page 54: Command Packet Codes To Motor Commands

    C/D* 1, x01 25-27, (Obsolete) x19-x1B 1, x01 28, x1C Initiate mode follow quadrature C/D* 1, x01 29, x1D Enable position mode C/D* 1, x01 30, x1E (Obsolete) Moog Animatics Class 6 PROFINET Guide Rev. D Page 54 of 76...
  • Page 55 Reset command scan error latch bit C/D* 1, x01 66, x42 C/D* Not available in Class 6 PROFINET 1, x01 67, x43 Reset encoder wraparound event latch bit C/D* Moog Animatics Class 6 PROFINET Guide Rev. D Page 55 of 76...
  • Page 56 Set mask on user bits, word 1, status word 13 US(W,1,<value>) C/D* 94, x5E <value> Clear specific user bit 0-31 UR(<value>) C/D* 95, x5F <value> Set specific user bit 0-31 US(<value>) C/D* Moog Animatics Class 6 PROFINET Guide Rev. D Page 56 of 76...
  • Page 57 149, x95 (Reserved) 150, x96 <value> Set maximum allowable temperature (high limit) TH=<value> C/D* 151-162, (Reserved) x97-xA2 163, xA3 <value> Set velocity target VT=<value> C/D* 164, xA4 (Reserved) Moog Animatics Class 6 PROFINET Guide Rev. D Page 57 of 76...
  • Page 58 <value> represents which variable is referred to in the next variable read operation: 'a' is 0, 'b' is 1, ..., 'zzz' is 77. (Range is 0-77) 208, xD0 (Reserved) Moog Animatics Class 6 PROFINET Guide Rev. D Page 58 of 76...
  • Page 59 Store long to EEPROM VST(<value long>,1) C/D* u32EptrActual += 4 (But does not affect EPTR NOTE: This u32EptrActual is not the same as the or variables.) program EPTR= command. Moog Animatics Class 6 PROFINET Guide Rev. D Page 59 of 76...
  • Page 60 0 - report actual position in encoder counts (this is the power-up default value) 1 - report al[0] (big-endian format) 2 - report af[0] (IEEE-754 32-bit single precision, big-endian format) 241-254, (Reserved) xF1-xFE Moog Animatics Class 6 PROFINET Guide Rev. D Page 60 of 76...

  • Page 61: Extended 16-Bit Command Codes

    Set variable p p=<value> C/D* 272, x0110 <value> Set variable q q=<value> C/D* 273, x0111 <value> Set variable r r=<value> C/D* 274, x0112 <value> Set variable s s=<value> C/D* Moog Animatics Class 6 PROFINET Guide Rev. D Page 61 of 76...
  • Page 62 Set variable ddd ddd=<value> C/D* 312, x0138 <value> Set variable eee eee=<value> C/D* 313, x0139 <value> Set variable fff fff=<value> C/D* 314, x013A <value> Set variable ggg ggg=<value> C/D* Moog Animatics Class 6 PROFINET Guide Rev. D Page 62 of 76...
  • Page 63 In other words, to set a new value for the variable, the change of data must be a change relative to the previous network output data cycle (not the current state of the variable in the motor) from the PLC. Moog Animatics Class 6 PROFINET Guide Rev. D Page 63 of 76...

  • Page 64: Response Packet Codes To Motor Commands

    119, x77 (Obsolete) 120, x78 <value>= wrapped encoder position cyclic 121, x79 <value>= hardware index input level cyclic 122, x7A <value>= millisecond clock RCLK cyclic Moog Animatics Class 6 PROFINET Guide Rev. D Page 64 of 76...
  • Page 65 I/O number 2 RIN(2) cyclic 157, x9D (Reserved) 158, x9E <value>= digital I/O number 3 RIN(3) cyclic 159, x9F (Reserved) 160, xA0 <value>= digital I/O number 6 RIN(6) cyclic Moog Animatics Class 6 PROFINET Guide Rev. D Page 65 of 76...
  • Page 66 <value>= u8VarIndexGet cyclic 208, xD0 <value>= u8VarIndexGetActual cyclic 209, xD1 <value>= u8VarLenGet cyclic 210, xD2 <value>= u8ArrIndexGet cyclic 211, xD3 <value>= u8ArrIndexGetActual cyclic 212, xD4 <value>= u8ArrLenGet cyclic Moog Animatics Class 6 PROFINET Guide Rev. D Page 66 of 76...
  • Page 67 <var a-zzz> is: 'a'+u8VarIndexGetActual only <length>=u8VarLenGet (does not affect EPTR) u32EptrActual += (<length>*4); if (u8AutoIncGet) then: u8VarIndexGetActual += <length> NOTE: This u32EptrActual is not the same as the program EPTR= command. Moog Animatics Class 6 PROFINET Guide Rev. D Page 67 of 76...
  • Page 68 <value>: 0=IGNORE (No Command), 1=OFF (Motor Off), 2=X (Soft Stop), 3=S (Immediate Stop), 4=GOSUB, 5=GOTO 230-234, (Reserved) xE6-xEA 235, xEB <value>= cyclic encoder resolution RRES Moog Animatics Class 6 PROFINET Guide Rev. D Page 68 of 76...

  • Page 69: Extended 16-Bit Response Codes

    <value>= variable l cyclic 268, x010C <value>= variable m cyclic 269, x010D <value>= variable n cyclic 270, x010E <value>= variable o cyclic 271, x010F <value>= variable p cyclic Moog Animatics Class 6 PROFINET Guide Rev. D Page 69 of 76...
  • Page 70 309, x0135 <value>= variable bbb Rbbb cyclic 310, x0136 <value>= variable ccc Rccc cyclic 311, x0137 <value>= variable ddd Rddd cyclic 312, x0138 <value>= variable eee Reee cyclic Moog Animatics Class 6 PROFINET Guide Rev. D Page 70 of 76...
  • Page 71 <value>= long array element 1 Ral[1] cyclic <value>= long array element ... Ral[...] 818, x0332 cyclic <value>= long array element 50 Ral[50] 819 - 65535, cyclic (Reserved) x0333 - xFFFF Moog Animatics Class 6 PROFINET Guide Rev. D Page 71 of 76...

  • Page 72: Troubleshooting

    1-7. Value out of range Check the data value, or related com- mands such as EE address or variable index for appropriate range of values. Moog Animatics Class 6 PROFINET Guide Rev. D Page 72 of 76...
  • Page 73 Motor does not have Configure the motor to be used without limit switches limit switches by setting their inputs as attached. general use. Moog Animatics Class 6 PROFINET Guide Rev. D Page 73 of 76...
  • Page 74 Check the unrecognized commands mands used in pro- against those listed in the section "Com- gram. mands Not Currently Supported" in the Class 6 Moog Animatics SmartMotor™ User's Guide Moog Animatics Class 6 PROFINET Guide Rev. D Page 74 of 76...
  • Page 76 PN: SC80100007-001 Rev. D...

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