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MOOG ANIMATICS Class 6 SmartMotor Installation & Start?Up Manual

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Summary of Contents for MOOG ANIMATICS Class 6 SmartMotor

  • Page 1 Installation & Startup Guide Class 6 SmartMotor Technology...
  • Page 2 Copyright Notice ©2014–2015, Moog Inc., Animatics. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY, PN: SC80100006-001. This manual, as well as the software described in it, is furnished under license and may be used or copied only in accordance with the terms of such license. The content of this manual is furnished for informational use only, is subject to change without notice and should not be con- strued as a commitment by Moog Inc., Animatics.

  • Page 3: Table Of Contents

    Understanding the Power Requirements Power Requirements CPU, I/O and Communications Power CPU Power Requirements I/O Power Requirements Communications Power Requirements Drive Enable Power Connecting the System Minimum Requirements Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 3 of 58...
  • Page 4 Scale Factor Calculation – Sample Rates New Commands for Class 6 Commands That Have Changed Commands Not Currently Supported For Further Information... Troubleshooting Class 6 M-Style Connector Pinouts Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 4 of 58...

  • Page 5: Introduction

    Safety Symbols Other Safety Considerations Motor Sizing Environmental Considerations Machine Safety Documentation and Training Additional Equipment and Considerations Safety Information Resources Additional Documents Additional Resources Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 5 of 58...

  • Page 6: Purpose

    Purpose Purpose The Class 6 SmartMotor™ Installation & Startup Guide provides an overview of the Class 6 SmartMotor, along with information on unpacking, installation and start up. This guide is meant to be used in conjunction with the SmartMotor Developer's Guide, which describes the SmartMotor features, SMI software, programming, commands, and other topics related to...

  • Page 7: Environmental Considerations

    Moog Animatics manufactures specialized IP- rated motors for operating in extreme conditions. For details, see the Moog Animatics Product Catalog.

  • Page 8: 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. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 8 of 58...

  • Page 9: Safety Information Resources

    Safety Information Resources 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 ANSI-RIA robotic safety information can be found at: http://www.robotics.org/robotic-content.cfm/Robotics/Safety-Compliance/id/23...

  • Page 10: Additional Documents

    Additional Documents Additional Documents The Moog Animatics website contains additional documents that are related to the information in this manual. Please refer to the following list: SmartMotor™ Developer's Guide http://www.animatics.com/support/download-center.html SmartMotor™ Product Certificate of Conformance http://www.animatics.com/download/Animatics_SmartMotor_Servida_Class_5_Declar- ation_of_Conformity_CE_Rev_1.pdf SmartMotor™ UL Certification http://www.animatics.com/download/MA_UL_online_listing.pdf...
  • Page 11 EtherCAT is a common standard maintained by EtherCAT Technology Group (ETG): EtherCAT Technology Group website: http://www.ethercat.org PROFINET is a common standard maintained by PROFIBUS & PROFINET International (PI): PROFIBUS & PROFINET International website: http://www.profinet.com Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 11 of 58...

  • Page 13: Smartmotor Overview

    SmartMotor Introduction SmartMotor Features and Options Class 6 M-Style Motors Fieldbus Options EtherCAT Fieldbus Protocol PROFINET Fieldbus Protocol SmartMotor Theory of Operation Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 13 of 58...

  • Page 14: Smartmotor Introduction

    SmartMotor Introduction SmartMotor Introduction The Moog Animatics SmartMotor™ servo is an industrial servo motor with motion controller integrated into a compact package. Its design is based on the following objectives: 1. Reduce development time 2. Lower machine-production cost 3. Simplify the machine, machine build and support Class 6 M-Style SmartMotor The SmartMotor is powerful and unique because of its ability to control an entire machine.

  • Page 15: Smartmotor Features And Options

    14_Understanding Part Numbers.pdf. Class 6 M-Style Motors The Class 6 SmartMotor is available in an M-style configuration. All Class 6 M-style SmartMo- tors have: SmartMotor command access through RS-485 or USB Ports: Two industrial Ethernet (IE) ports for real-time daisy chain...
  • Page 16 SmartMotor datasheet for your motor. SmartMotor datasheets are available from the Products menu on the Moog Animatics website. The following industrial (Fieldbus protocol) communications options are available on the Class 6 motors. (Availability varies by model number; see the Moog Animatics Product Catalog for details.) EtherCAT option...

  • Page 17: Fieldbus Options

    EEPROM must be correctly initialized before PROFINET operation For the PROFINET connector diagram and pinouts, see Connecting the System on page 30. For more details on the PROFINET protocol implementation, see the Class 6 SmartMotor™ PROFINET Guide.

  • Page 18: Smartmotor Theory Of Operation

    SmartMotor Theory of Operation SmartMotor Theory of Operation The Moog Animatics SmartMotor is an entire servo control system built inside of a servo motor. It includes a controller, an amplifier and an encoder. All that is required for it to oper- ate is power and either an internal program or serial commands from outside (or both).
  • Page 19 2. When feeding a Cam table with a gearing pro le, changes to MFMUL and MFDIV will a ect the time it takes to move through a Cam table but will not a ect dwell time, as speci ed in the previous note. SmartMotor Theory of Operation Diagram Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 19 of 58...

  • Page 21: Getting Started

    Ethernet Cable Schematic Understanding the Status LEDs Status LEDs Detecting and Communicating with the SmartMotors Understanding the Detection and Configuration Options Using the Find Motors Button Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 21 of 58...
  • Page 22 Setting and Reporting Torque Checking the Motor Position Viewing the Motor Position with a Report Command Viewing the Motor Position with the Motor View Tool Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 22 of 58...

  • Page 23: Unpacking And Verifying Your Shipment

    When you receive your shipment, you should immediately do the following: Visually inspect all shipping containers for visible signs of shipping damage. If you see damage, please notify your carrier and then contact Moog Animatics to report the prob- lem.
  • Page 24 After removing the existing software, restart the installation process. NOTE: All personal settings and user files will be retained. 2. Click Next to proceed. The Installation Configuration page opens. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 24 of 58...
  • Page 25 Click Finish to complete the installation and close the installation wizard. NOTE: After the software is installed, be sure to restart your computer before run- ning the SMI software. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 25 of 58...

  • Page 26: Installation Verification

    Optionally, to open the SMI software from the Microsoft Windows Start menu, select: Start > All Programs > Animatics > SMI2 > SmartMotor Interface The SMI software interface opens, as shown in the following figure. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 26 of 58...
  • Page 27 Most of the procedures for using the editor should seem familiar if you have used other Windows-based text editors. For more details about these items, see SMI Software Features in the SmartMotor™ Developer's Guide. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 27 of 58...

  • Page 28: Understanding The Power Requirements

    During hard, fast decelerations, a SmartMotor can pull up supply voltages to the point of dam- age if a shunt resistor pack is not used. Protective shunts are available from Moog Animatics. Special care must be taken when near the upper voltage limit or in vertical applications that can back-drive the SmartMotor.

  • Page 29: Cpu Power Requirements

    Drive Enable Power The Drive Enable input must be connected and activated with 24V. For the input location, see Motor Connectors and Pinouts on page 31. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 29 of 58...

  • Page 30: Connecting The System

    4. A data cable to connect from the computer to the SmartMotor using one of the fol- lowing: Serial port (or serial adapter) USB port Ethernet port Refer to the following sections for more details. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 30 of 58...

  • Page 31: Motor Connectors And Pinouts

    Output port (right-hand port) of the upstream motor to the Input port (left-hand port) of the downstream motor. For more details, see Industrial Ethernet Cable Diagram on page 34. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 31 of 58...

  • Page 32: Power And Rs-485 Com Multidrop

    As shown in following figure, there is a micro USB (micro-B) connector located under a pro- tective cover on top of the motor. An LED indicator is also provided, which shows the status/activity for that connector. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 32 of 58...
  • Page 33 Typically, this cable is referred to as a "micro USB" cable. Micro USB Cable NOTE: Be aware that some micro USB cables have a thicker plastic molding that may interfere with the motor housing. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 33 of 58...

  • Page 34: Industrial Ethernet Cable Diagram

    The following diagram shows an example industrial Ethernet network with the SmartMotors daisy chained to the master device. An optional "ring" configuration can be created if the mas- ter device has two ports. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 34 of 58...

  • Page 35: Maximum Cable Length

    For the standard cable, use part number CBLIP-ETH-MM-xM, where "x" denotes the cable length. A right-angle version is also available; use part number CBLIP-ETH-MM-xMRA. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 35 of 58...

  • Page 36: M-Style To Rj45 Ethernet Cable

    (EtherCAT master end of cable) (Motor end of cable) DESCRIPTION DESCRIPTION No Connection Shield tied to motor housing No Connection No Connection No Connection Shield tied to RJ45 connector Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 36 of 58...

  • Page 37: Understanding The Status Leds

    Understanding the Status LEDs Understanding the Status LEDs This section describes the functionality of the status LEDs on the Class 6 SmartMotor. Status LEDs The following figure and tables describe the functionality of the Status LEDs on the SmartMo- tor. Refer to the corresponding SmartMotor fieldbus guide for the functions of the network-spe- cific LEDs.

  • Page 38: Detecting And Communicating With The Smartmotors

    To begin searching for motors on the RS-485 port(s) on the PC, in the Configuration window of the SMI software interface, click Find Motors. The SMI software begins searching for all SmartMotors connected to the PC. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 38 of 58...
  • Page 39 The information is the same as that shown in the Motor View window, which can be accessed by selecting the Tools > Motor View > Info tab: Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 39 of 58...
  • Page 40 Each motor is represented by a motor icon; the motor's address and firmware version are shown next to the motor icon. Configuration Window Showing Found/Addressed SmartMotor Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 40 of 58...

  • Page 41: Using The Detect Motors Feature

    The information is the same as that shown in the Motor View window, which can be accessed by selecting the Tools > Motor View > Info tab: Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 41 of 58...
  • Page 42 Each motor is represented by a motor icon; the motor's address and firmware version are shown next to the motor icon. Configuration Window Showing Found/Addressed SmartMotor Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 42 of 58...

  • Page 43: Checking And Clearing The Status Bits

    Installing the SMI Software on page 23. The SmartMotor has been detected and addressed. For details, see Detecting and Com- municating with the SmartMotors on page 38. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 43 of 58...

  • Page 44: Polling The Motor

    16 bits of I/O; the 0 means first word or local I/O. There are only seven local I/O on the D-style motors. Therefore, EIGN(W,0) sets all seven I/O to general-use inputs. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 44 of 58...

  • Page 45: Clearing The Overtravel Limits And Fault Bits

    To clear the historical fault bits, enter ZS. All remaining fault bits are cleared, as shown in the following figures. ZS Command Entered Remaining Bits Cleared Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 45 of 58...

  • Page 46: Moving The Smartmotor

    To do this, look at the Configuration window, find the channel where the motors are listed and click that tab name in the Terminal window. Tab Selected that Matches the Communications Channel Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 46 of 58...

  • Page 47: Setting And Reporting Torque

    The TS command defines how fast the processor applies a change in torque. For an example of the TS command, see the Chart View Example in the SmartMotor™ Developer's Guide. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 47 of 58...

  • Page 48: Checking The Motor Position

    RSAMP command. NOTE: If you're moving from a Class 5 to a Class 6 SmartMotor, the faster Class 6 sample rate means the torque slope operates twice as fast in real-world time.
  • Page 49 After the Motor View window opens, click the Poll button to begin polling (getting information from) the motor. After polling begins, the motor position is shown in the Position box. Motor View Tool Showing the Motor Position Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 49 of 58...

  • Page 50: Other Class 6 Changes

    For the Class 6 M-style SmartMotor, it is important to note which are inputs, which are out- puts, and which have special functions. For those details, refer to the following table. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 50 of 58...

  • Page 51: I/O Control Examples

    'Re-enables positive limit RIN(3) 'Reads input 3 Scale Factor Calculation – Sample Rates The sample rate for Class 6 SmartMotors is fixed at 16,000 Hz (16 kHz). Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 51 of 58...

  • Page 52: Commands That Have Changed

    ETHCTL(action,value): Controls network features. See the corresponding fieldbus manual for details. For details on these commands, see the Class 6 SmartMotor™ EtherCAT Guide or the Class 6 SmartMotor™ PROFINET Guide. Commands That Have Changed The following commands have been modified for the Class 6 SmartMotor: PRINT: Follows the value of STDOUT, which is 8 (USB port) by default.

  • Page 53: Commands Not Currently Supported

    Commands Not Currently Supported Commands Not Currently Supported The following commands are not currently supported in the Class 6 SmartMotor: CAN related: CADDR=, CANCTL, CBAUD=, RCADDR, RCAN, RCBAUD Sync motion commands (require Combitronic): ADTS, ATS, DTS, GS, PRTS, PRTSS, PTS, PTSS, RPTSD, RPTST, TSWAIT, VTS...

  • Page 54: Troubleshooting

    Consider making motion less abrupt with occurred. drew more than its softer tuning parameters or acceleration rated level of current. profiles. Does not cease motion. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 54 of 58...
  • Page 55 In the SMI software, view the motor's firmware version by right-clicking the motor and selecting Properties. Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 55 of 58...

  • Page 56: Class 6 M-Style Connector Pinouts

    48V to pin 4 of the P1 Power Input may cause immediate damage to the internal electronics. Industrial EtherNet Exceeding these voltage limits will void the warranty. Power Input Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY Page 56 of 58...
  • Page 58 PN: SC80100006-001 Rev. 03 - PRELIMINARY...

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