Fieldbus Options; Canopen Fieldbus Protocol - MOOG ANIMATICS SMARTMOTOR COMBITRONIC Installation And Startup

Fieldbus Options

This section details the Fieldbus communications protocol options that are available on certain
models of SmartMotors.

CANopen Fieldbus Protocol

NOTE: This protocol is available on D-style and M-style motors.
The CANopen fieldbus protocol provides the following features:
All basic Motion commands available through the CiA V4.02 specification
l
Ability to read/write all SmartMotor variables
l
Use of on-board I/O through CANopen gateway, SmartMotor program or serial commands
l
Ability to run 1000 SmartMotor subroutines through CANopen
l
Online diagnostics of the SmartMotor through SMI software and serial connection
l
Up to 127 nodes
l
250 microsecond interrupt-driven subroutine
l
Baud rates of 20 Kbps, 50 Kbps, 125 Kbps (default), 250 Kbps, 500 Kbps and 1 Mbps
l
Expanded I/O capability allows the SmartMotor to interface with standard CiA 301 CANopen
l
devices and function as the I/O device CAN bus master (i.e., no external bus master needed).
For more details, see the SmartMotor™ Developer's Guide . For CANopen object descriptions,
see the Class 5 SmartMotor™ CANopen Guide .
Moog Animatics Class 5 SmartMotor™ Installation and Startup Guide, Rev. I

Fieldbus Options

4-Pin Power Input
12-Pin I/O Connector
M-Style Motor Connectors and LEDs
Page 18 of 76
5-Pin Limit Inputs
CAN Fault LED
CAN Connector
Power/Servo LED
CAN Status LED
8-Pin COM Encoder Bus
Trajectory LED