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MOOG ANIMATICS SMARTMOTOR Installation And Startup Manual

Fully integrated class 6 servo motors with combitronic technology
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INSTALLATION AND STARTUP FOR
FULLY INTEGRATED
SERVO MOTORS
CLASS 6 SMARTMOTOR™ WITH
COMBITRONIC™ TECHNOLOGY
DESCRIBES THE INSTALLATION AND
STARTUP OF THE CLASS 6 D-STYLE
SMARTMOTOR™
www.animatics.com
Rev. F, March 2023

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Summary of Contents for MOOG ANIMATICS SMARTMOTOR

  • Page 1 INSTALLATION AND STARTUP FOR FULLY INTEGRATED SERVO MOTORS CLASS 6 SMARTMOTOR™ WITH COMBITRONIC™ TECHNOLOGY Rev. F, March 2023 DESCRIBES THE INSTALLATION AND STARTUP OF THE CLASS 6 D-STYLE SMARTMOTOR™ www.animatics.com...

  • Page 2: Copyright Notice

    Copyright Notice ©2015–2023 Moog Inc. Moog Animatics Class 6 D-Style SmartMotor ™ Installation and Startup Guide, Rev. F, PN: SC80100022- 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.

  • Page 3: Table Of Contents

    PROFINET Fieldbus Protocol EtherNet/IP Fieldbus Protocol Dual Power Configuration SmartMotor Theory of Operation Getting Started Unpacking and Verifying Your Shipment Installing the SMI Software Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 3 of 72...
  • Page 4 Checking and Clearing the Status Bits Polling the Motor Clearing the Overtravel Limits and Fault Bits Moving the SmartMotor Making the Motor Move Setting and Reporting Torque Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 4 of 72...
  • Page 5 Commands That Have Changed Commands Not Supported Commands Supporting the DS2020 Combitronic System Features not Available in Class 6 D-Style Troubleshooting For Further Information... Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 5 of 72...

  • 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 Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 6 of 72...

  • Page 7: Purpose

    Class 6 D-style 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 SmartMotor application development.

  • Page 8: I/O  Device Can  Bus Controller

    I/O  Device CAN  Bus Controller I/O  Device CAN  Bus Controller Expanded I/O  capability allows the SmartMotor to interface with standard CiA 301 CANopen devices and function as the I/O device CAN bus controller (i.e., no external bus controller is needed). For more details, see the SmartMotor™...

  • Page 9: 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 10: Machine Safety

    This documentation must include proper lockout/tagout procedures for maintenance and programming operations. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 10 of 72...

  • Page 11: Additional Equipment And Considerations

    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 topic "Controls - Notes and Cautions" located at: https://www.animatics.com/support/downloads/knowledgebase/controls---notes-and-cautions.html OSHA standards information can be found at: https://www.osha.gov/law-regs.html...

  • Page 12: 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 these lists. Related Guides SmartMotor™ Developer's Guide http://www.animatics.com/smartmotor-developers-guide SmartMotor™ Homing Procedures and Methods Application Note http://www.animatics.com/homing-application-note SmartMotor™ System Best Practices Application Note http://www.animatics.com/system-best-practices-application-note...
  • Page 13 Additional Resources Product support (Downloads, How-to Videos, Forums and more): http://www.animatics.com/support.html Contact information, distributor locator tool, inquiries: https://www.animatics.com/contact-us.html Applications (Application Notes and Case Studies): http://www.animatics.com/applications.html Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 13 of 72...

  • Page 14: Smartmotor Overview

    SmartMotor Overview SmartMotor Overview This chapter provides an overview of the design philosophy and functionality of the Moog Animatics SmartMotor. It also provides information on SmartMotor features and options, and where to find related documents and additional resources. SmartMotor Introduction...

  • Page 15: Smartmotor Introduction

    3. Simplify the machine (design, build and support) Class 6 D-Style SmartMotor with Industrial Ethernet and Inline Brake Options The SmartMotor is powerful and unique because of its ability to control an entire machine. The combination of programmability, networking, I/O and servo performance is unmatched. The SmartMotor brings savings and value to the machine builder by removing complex and costly elements in the machine design, such as PLCs, sensors, I/O blocks, cabinets, etc.

  • Page 16: Class 6 D-Style Motors

    Programmable and non-programmable protection features (both hardware and software) A note about SmartMotor part numbers: The SmartMotor uses a coded part number, which contains characters that describe the motor number, frame style and options. For details on decoding the SmartMotor part number, refer to the Understanding SmartMotor Part Numbers document at this address: https://www.animatics.com/support/downloads.knowledgebase.html...

  • Page 17: Optional Features

    Products menu on the Moog Animatics website. Connectors and LED  Locations The next figure shows the connector and LED location for the Class 6 D-style SmartMotor. For details on the motor connectors, see Connecting the System on page 34. For details on the LED functions, see Understanding the Status LEDs on page 46.

  • Page 18: Fieldbus Options

    SmartMotor™ CANopen Guide . NOTE: For the Class 6 D-style SmartMotor, there is no separate CAN  connector on the back of the motor. CAN  bus connections are available on both the 7-pin and HD26-pin connectors. For details, see CDS Schematic on page 39.

  • Page 19: Ethercat Fieldbus Protocol

    Command/response codes for SmartMotor commands Use of on-board I/O through PROFINET, SmartMotor program, or RS-485 commands The Moog Animatics communications profile over PROFINET is intended to integrate well with a PLC that continuously transmits and receives cyclic data; the command and response codes achieve this through a handshaking mechanism For the PROFINET connector diagram and pinouts, see Industrial Ethernet Network on page 43.
  • Page 20 EtherNet/IP Fieldbus Protocol Certain configuration data is held in nonvolatile storage in the SmartMotor; therefore, the motor data EEPROM must be correctly initialized before EtherNet/IP operation Supports extended function CIP Position Controller Device Supports Modbus TCP/IP, see the Class 6 SmartMotor ™ Modbus TCP/IP Guide...

  • Page 21: Dual Power Configuration

    Dual Power Configuration Dual Power Configuration The Class 6 D-style SmartMotor's hardware dual power configuration allows the controller and drive amplifier to be powered from separate DC power supplies (see the next figure). NOTE: I/O outputs cannot be powered from the 7W2 connector.

  • Page 22: 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 operate is power and either an internal program or serial commands from outside (or both).
  • Page 23 SmartMotor Theory of Operation The next block diagram illustrates the relationship between the functional areas in the SmartMotor. G, X, OFF, S PRT= ADT= Control on/o Trajectory 1 Accel KII KPI Torque command e KP Current control Trajectory 2 KI edt –...

  • Page 24: Getting Started

    Industrial Ethernet Network Min and Max Cable Length Ethernet Cables Understanding the Status LEDs Detecting and Communicating with the SmartMotors Understanding the Detection and Configuration Options Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 24 of 72...
  • Page 25 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 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 25 of 72...

  • Page 26: Unpacking And Verifying Your Shipment

    Installing the SMI Software The SmartMotor Interface software (SMI software) provides a convenient user interface for programming the SmartMotor. Before you can use the SMI software, it must be installed on a Microsoft Windows PC. The SMI software is distributed on CD-ROM or USB stick, and is also available as a download from the Moog Animatics website.
  • Page 27 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 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 27 of 72...
  • Page 28 4. After you have finished reviewing the welcome information, click Next to proceed. Use the on- screen instructions to complete the SMI software installation. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 28 of 72...

  • Page 29: Installation Verification

    The SMI software also allows you to write programs and download them into the SmartMotor’s long-term memory. NOTE: Every SmartMotor has an ASCII interpreter built in. Therefore, it is not necessary to use the SMI software to operate a SmartMotor.
  • Page 30 For more details about these items, see the SMI software online help, which can be viewed in SMI  by pressing F1 or selecting Help > Contents - SMI Software Help. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 30 of 72...

  • Page 31: Understanding The Power Requirements

    Understanding the Power Requirements Understanding the Power Requirements This section describes the power requirements for Class 6 D-Style SmartMotor power, CPU  power, I/O power and Communications power. SmartMotor Power Requirements CAUTION: If power is reversed on any standard SmartMotor, immediate damage WILL occur and the SmartMotor will no longer operate.

  • Page 32: Cpu, I/O And Communications Power

    When relying on torque/speed curves, pay close attention to the voltage on which they are based. During hard, fast decelerations, a SmartMotor can pull up supply voltages to the point of damage if a shunt resistor pack is not used. Protective shunts are available from Moog Animatics.

  • Page 33: Cpu Power Requirements

    The Drive Enable input (HD26, pin 8) must be connected and activated with 24V. For the input location, see Connectors and Pinouts on page 35. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 33 of 72...

  • Page 34: Connecting The System

    3. A DC power supply and power cable for the SmartMotor 4. A data cable to connect the SmartMotor to the computer’s serial port or through a USB to serial adapter, see D-Style Connections At A Glance on page 35.

  • Page 35: Connectors And Pinouts

    *When ON, activates 120 ohm terminator USB A Male to Micro USB (Customer supplied) USB to Serial Adapter (Customer supplied) CBLSM1-xM PS24V8AG-110 or PS42V6AG-110 SM23166D Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 35 of 72...

  • Page 36: Demo Or Development System

    PCs that don't have a built-in serial port. The adapter allows you to connect from an available USB port on the PC  to the serial interface on the SmartMotor. The adapter simply connects between the USB port and the serial cable, as shown in the previous figure. These adapters are readily available from computer supply stores and online shopping websites.

  • Page 37: Rs-232 With Protective Shunt

    RS-232 with Protective Shunt RS-232 with Protective Shunt CBLSM1-xM CBLDC1 SHUNT42V100W or SHUNT42V200W PS24V8AG-110 or PS42V6AG-110 RS-232 Multidrop with Add-A-Motor Cables CBLSM1-xM CBLSMADD-xM PS24V8AG-110 or PS42V6AG-110 Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 37 of 72...

  • Page 38: Usb  To Hd26 Connector

    When that is installed, a USB port on the host computer can be used to communicate directly with the SmartMotor without need for a USB  to serial adapter. The SMI software provides direct support for that communication method. However, the USB ...

  • Page 39: Cds Schematic

    NOTE: CDS and CDS7 are included on all Class 6 D-style SmartMotor products. CDS on the HD26 Connector As a standard feature, the Class 6 D-style SmartMotor provides a CDS CAN connection allowing CAN bus network wiring through the HD26 connector (26-pin D-sub I/O connector shown in the next figure).

  • Page 40: Cds On The 7W2 Connector (Cds7)

    Alternatively, CDS7 on the Class 6 D-style SmartMotor allows CDS to be wired through pins 1 and 2 of the 7-pin D-Sub (7W2) connector as shown in the next figure. The wiring is accomplished through the use of a single Add-A-Motor cable that carries Power, RS-232, and CAN bus to the next motor in the chain.
  • Page 41 Class 6 D-style SmartMotors can be wired either through the D-sub connector or the 7W2 connector. When the SmartMotor is a terminating node on the CAN bus, the 120 Ohm terminating resistor (shunt) must be wired to pins 13 and 14 of the 26-pin D-sub connector, or use CBLHD26-ASM with internal jumper CAN TERM ON.
  • Page 42 The next figure shows how factory cables are used to attach the incoming power and RS-232 communications to the 7W2 connector, and incoming CAN bus signal to the 7W2 connector OR the 26-pin connector (each method requires different cables). Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 42 of 72...

  • Page 43: Industrial Ethernet Network

    NOTE:     If you have set your PC's network adapter to a fixed IP address for temporary connections to SmartMotors with SMI, remember to return it to DHCP when done to avoid local area network Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 43 of 72...

  • Page 44: Min And Max Cable Length

    For transmission speeds of 100 Megabits/second on shielded Ethernet Cat 5 cable, most Industrial Ethernet networks allow a maximum cable length up to 100 meters between network nodes. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 44 of 72...

  • Page 45: Ethernet Cables

    Ethernet Cables Ethernet Cables For the Class 6 D-style SmartMotor with the Industrial Ethernet option, no special cables are required. That option adds a dual-port switch with 2 standard RJ45 connectors on the back of the motor. Those allow connection to your network, and also daisy chaining between motors using standard (not- crossover), off-the-shelf Cat 5 or better Ethernet cables, which are available from consumer electronics and computer supply stores.

  • Page 46: Understanding The Status Leds

    Link established Detecting and Communicating with the SmartMotors NOTE: Depending on the SMI software version and SmartMotor model being used, the software version and motor information may be different on your screens. This section describes how to detect and address the Class 6 SmartMotor.

  • Page 47: Understanding The Detection And Configuration Options

    Several of these methods are described in the next sections. Using the Find Motors Button The easiest way to locate any connected SmartMotor is to use the Find Motors button (see the next figure). This method searches all ports on the PC for connected motors.
  • Page 48 To address the motor, right-click on the motor and select Set Motor Address. For more details, see the SMI  Software Help , which can be accessed within SMI  by pressing F1 or from the Help menu. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 48 of 72...
  • Page 49 The motor's detailed information can be viewed in the Motor View window, which is accessed by selecting the Tools > Motor View > Info tab. Motor View Information Tab Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 49 of 72...

  • Page 50: Using The Detect Motors Feature

    To address the motor, right-click on the motor and select Set Motor Address. For more details, see the SMI  Software Help , which can be accessed within SMI  by pressing F1 or from the Help menu. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 50 of 72...
  • Page 51 The motor's detailed information can be viewed in the Motor View window, which is accessed by selecting the Tools > Motor View > Info tab. Motor View Information Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 51 of 72...

  • Page 52: Checking And Clearing The Status Bits

    The SMI software has been installed and is running on the computer. For details, see Installing the SMI Software on page 26. The SmartMotor has been detected and addressed. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 52 of 72...

  • Page 53: Polling The Motor

    2. Click the Poll button to begin polling data from the motor. Motor View A SmartMotor with no program and no I/O connections will boot up with active overtravel limits (see the red status bits numbered 10 through 15 in the previous figure).

  • Page 54: 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 next figures. ZS Command Entered Remaining Bits Cleared Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 54 of 72...

  • Page 55: Moving The Smartmotor

    NOTE: If you do not have the correct tab selected, the commands you enter will not go to the motors and there will be no response. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 55 of 72...

  • Page 56: Setting And Reporting Torque

    SmartMotor™ Developer's Guide . MT (Mode Torque) MT sets the mode of operation to torque mode. In this mode, the SmartMotor shaft applies a torque independent of position. For more details, see Torque Mode in the SmartMotor™ Developer's Guide .

  • Page 57: Checking The Motor Position

    Checking the Motor Position 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. Checking the Motor Position There are several ways to check the motor position:...
  • Page 58 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 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 58 of 72...

  • Page 59: Connectors, Pinouts And Examples

    Connectors, Pinouts and Examples Connectors, Pinouts and Examples This chapter provides information on the SmartMotor connector pinouts and specifications. It also provides example I/O connection diagrams. For information on connecting the motors, see . Class 6 D-Style Connector Pinouts Class 6 D-Style I/O Connection Examples Class 6 D-Style HD26 Cable Connector (PN: ...

  • Page 60: Class 6 D-Style Connector Pinouts

    & I/O immediate damage to the electronics, which will void the warranty. Trajectory PWR/Servo OUT* Optional Dual-Port Industrial Ethernet *IN/OUT applies only to EtherCAT networks Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 60 of 72...

  • Page 61: Class 6 D-Style I/O Connection Examples

    The Class 6 D-style motor I/O is Sourcing type (PNP). DRIVE ENABLE The Drive Enable input (pin 8) must be satisfied in order for the motor to turn. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 61 of 72...
  • Page 62 If a true differential output TTL encoder is used, just wire A and B signals as labeled. CAUTION: NO differential encoder signals higher than 5V TTL should be used! Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 62 of 72...

  • Page 63: Class 6 D-Style Hd26 Cable Connector (Pn:  Cblhd26-Asm)

    Part CBLHD26-ASM is available so that users can construct their own interface cable for the Class 6 D- style SmartMotor. The connector (with customer-supplied cable) attaches to the HD26 D-sub connector on the motor. The figure and table show the PCB connection points for the cable.

  • Page 64: Other Class 6 D-Style Changes

    Commands for Class 6 Commands That Have Changed Commands Not Supported Commands Supporting the DS2020 Combitronic System Features not Available in Class 6 D-Style Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 64 of 72...

  • Page 65: Batteryless Absolute Multiturn Encoder

    -2 to 2. EOBK(IO) Command Limitations The EOBK(IO) command configures the specified SmartMotor output to control an external brake. However, only output 8 works for the Class 6 D-style SmartMotor. Therefore, the valid EOBK(IO) values are: EOBK(8) to enable...

  • Page 66: Ethernet Error, Status Word 2 Bit 6

    In a local program or serial command, the OR, OS and OUT commands are the same as Class 5. For details, see the SmartMotor™ Developer's Guide . For the Class 6 D-style SmartMotor, it is important to note which are inputs, which are outputs, and which have special functions. For those details, refer to the next table.

  • Page 67: I/O  Control Examples

    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 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 67 of 72...

  • Page 68: Commands For Class 6

    EtherCAT or PROFINET bus. See the corresponding fieldbus manual for arg values. 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 .

  • Page 69: Commands That Have Changed

    DS2020 Combitronic" in the SmartMotor™ Developer's Guide . Features not Available in Class 6 D-Style These features are not implemented: DeviceNet protocol PROFIBUS protocol I²C communications AD1 option Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 69 of 72...

  • Page 70: Troubleshooting

    If running from less error limit. than 48 VDC, check ratings for lower bus voltages and ensure the motor is within required torque capacity. Moog Animatics Class 6 D-Style SmartMotor™  Installation and Startup Guide,  Rev. F Page 70 of 72...

  • Page 71: For Further Information

    Motor Properties. For Further Information... Now that your SmartMotor is installed and operating, the next step is to learn about its features, commands and programming in order to create a useful application. Information on SMI software features, SmartMotor programming, communications, motion control and more is provided in the SmartMotor™...
  • Page 72 TAKE A CLOSER LOOK Moog Animatics, a sub-brand of Moog Inc. since 2011, is a global leader in integrated automation solutions. With over 30 years of experience in the motion control industry, the company has U.S. operations and international offices in Germany and Japan as well as a network of Automation Solution Providers worldwide.

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