Moog Animatics Class 6 SmartMotor User Manual

For the mobile version of this guide, see:

animatics.com/docs/guides-html/c6_pnet/

Class 6 SmartMotor Technology

Moog Animatics Class 6 SmartMotor™ PROFINET Guide, Rev. D, PN: SC80100007-001.

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 construed as a commitment by Moog Inc., Animatics. Moog Inc., Animatics assumes no responsibility or liability for any errors or inaccuracies that may appear herein.

Except as permitted by such license, no part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, recording, or otherwise, without the prior written permission of Moog Inc., Animatics.

The programs and code samples in this manual are provided for example purposes only. It is the user's responsibility to decide if a particular code sample or program applies to the application being developed and to adjust the values to fit that application.

Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo, Combitronic and the Combitronic logo are all trademarks of Moog Inc., Animatics. PROFINET is a registered trademark of PROFIBUS Nutzerorganisation e.V. Other trademarks are the property of their respective owners.

Please let us know if you find any errors or omissions in this manual so that we can improve it for future readers. Such notifications should contain the words "PROFINET Guide" in the subject line and be sent by e-mail to: animatics_marcom@moog.com. Thank you in advance for your contribution.

Americas - West

Moog Animatics 2581 Leghorn Street Mountain View, CA 94043 USA

Tel: 1 650-960-4215 Tel: 1 610-328-4000 x3999

Support: 1 (888) 356-0357

Website: www.animatics.com

Email: animatics_sales@moog.com

Americas - East

Moog Animatics 750 West Sproul Road Springfield, PA 19064 USA

Fax: 1 610-605-6216

Table of Contents

Introduction 6

Purpose 7

PROFINET Overview 7

Equipment Required 9

Hardware 9

Software 9

Safety Information 10

Safety Symbols 10

Other Safety Considerations 10

Motor Sizing 10

Environmental Considerations 10

Machine Safety 11

Documentation and Training 12

Additional Equipment and Considerations 12

Safety Information Resources 12

Additional Documents 13

Related Guides 13

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 7

PROFINET Overview 7

Equipment Required 9

Hardware 9

Software 9

Safety Information 10

Safety Symbols 10

Other Safety Considerations 10

Motor Sizing 10

Environmental Considerations 10

Machine Safety 11

Documentation and Training 12

Additional Equipment and Considerations 12

Safety Information Resources 12

Additional Documents 13

Related Guides 13

Purpose

This manual explains the Moog Animatics Class 6 SmartMotor™ support for the PROFINET® protocol. It describes the major concepts that must be understood to integrate a SmartMotor slave with a PLC or other PROFINET master. However, it does not cover all the low-level details of the PROFINET protocol.

NOTE: The feature set described in this version of the manual refers to motor firmware 6.0.2.25 or later.

This manual is intended for programmers or system developers who understand the use of PROFINET. (The PROFINET v2.2 specifications are detailed in the following IECpublications: IEC61158-6-10 Ed2.0, IEC61158-5-10 Ed2.0 and IEC61784-2 Ed2.0.) Therefore, this manual is not a tutorial on those specifications or the PROFINET protocol. Instead, it should be used to understand the specific implementation details for the Moog Animatics SmartMotor. Additionally, examples are provided for the various modes of motion and accessing those modes through PROFINET to operate the SmartMotor.

The Command and Response Code chapter of this manual includes details about the specific commands available in the SmartMotor through the PROFINET protocol. The commands include those required by the specification and those added by Moog Animatics. For details, see Command and Response Codes on page 53. Also, see User Program Commands on page

38.

In addition to this manual, it is recommended that you visit the PROFINET/PROFIBUS website (at http://www.profibus.com), where you will find documentation, tutorials, and other useful resources.

PROFINET Overview

PROFINET is an independent, open fieldbus standard that allows different manufacturers of automation products to communicate without special interface adjustments. Specifically, 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. These codes generally correspond to Class 5 and Class 6 SmartMotor™ commands. To set target position, for example, the "set target position" command code is transmitted together with the data consisting of the target position value.

The PROFINET SmartMotor is a SmartMotor with the addition of the PROFINET connectors and interface board, which then accepts commands as a slave over a PROFINET network. In addition to communicating over PROFINET, SmartMotor commands may be sent through other communication interfaces of the SmartMotor. Depending on the SmartMotor model, it may also communicate over RS-232, RS-485 and/or USB.

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.

Certain configuration data is held in nonvolatile storage in the SmartMotor. Therefore, the motor data EEPROM must be correctly initialized before PROFINET operation.

A PROFINET Generic Station Description (GSD) configuration file, which is an XML file (also referred to as a "GSDML" file), is necessary for the host to configure the PROFINET master

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PROFINET Overview

and to connect to the slave motor. Make sure you obtain the latest version of the file, which is available from the Moog Animatics website Download Center. For more details, see Software on page 9.

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.

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Equipment Required

The section describes the required PROFINET hardware and software.

Hardware

The following hardware is required:

Moog Animatics PROFINET SmartMotor™

Moog Animatics power supply or user-supplied equivalent

Moog Animatics RS-485 or USB communications cable that is compatible with the SmartMotor

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 16)

Software

The following software is required:

User-supplied PLC configuration software

Moog Animatics SMI software (latest version), which is available on the Moog Animatics website at:

http://www.animatics.com/support/download-center.html

Moog Animatics PROFINET GSDML file, which is available on the Moog Animatics website at:

http://www.animatics.com/support/download-center.html

NOTE: The PROFINET GSD configuration file name will have the form "GSDML-Vx.x-MOOG ANIMATICS-SMC06DEV01-date.XML", where 'x.x' is the version and 'date' is the release date. Make sure you obtain the latest version of the file.

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Safety Information

This section describes the safety symbols and other safety information.

Safety Symbols

The manual may use one or more of the following safety symbols:

WARNING: This symbol indicates a potentially nonlethal mechanical hazard, where failure to follow the instructions could result in serious injury to the operator or major damage to the equipment.

CAUTION: This symbol indicates a potentially minor hazard, where failure to follow the instructions could result in slight injury to the operator or minor damage to the equipment.

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. Therefore, the following information is intended to be used only as a general guideline for the machine/system designer.

It is the responsibility of the machine/system designer to perform a thorough "Risk Assessment" and to ensure that the machine/system and its safeguards comply with the safety standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for the locale where the machine is being installed and operated. For more details, see Machine Safety on page 11.

Motor Sizing

It is the responsibility of the machine/system designer to select SmartMotors that are properly sized for the specific application. Undersized motors may: perform poorly, cause excessive downtime or cause unsafe operating conditions by not being able to handle the loads placed on them. The System Best Practices document, which is available on the Moog Animatics website, contains information and equations that can be used for selecting the appropriate motor for the application.

Replacement motors must have the same specifications and firmware version used in the approved and validated system. Specification changes or firmware upgrades require the approval of the system designer and may require another Risk Assessment.

Environmental Considerations

It is the responsibility of the machine/system designer to evaluate the intended operating environment for dust, high-humidity or presence of water (for example, a food-processing environment that requires water or steam wash down of equipment), corrosives or chemicals that may come in contact with the machine, etc. Moog Animatics manufactures specialized

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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 13849 standard. The design/implementation of barriers, emergency stop (E-stop) mechanisms and other safeguards will be driven by the Risk Assessment and the safety standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for the locale where the machine is being installed and operated. The methodology and details of such an assessment are beyond the scope of this manual. However, there are various sources of Risk Assessment information available in print and on the internet.

NOTE: The following list is an example of items that would be evaluated when performing the Risk Assessment. Additional items may be required. The safeguards must ensure the safety of all personnel who may come in contact with or be in the vicinity of the machine.

In general, the machine/system safeguards must:

Provide a barrier to prevent unauthorized entry or access to the machine or system. The barrier must be designed so that personnel cannot reach into any identified danger zones.

Position the control panel so that it is outside the barrier area but located for an unrestricted view of the moving mechanism. The control panel must include an E-stop mechanism. Buttons that start the machine must be protected from accidental activation.

Provide E-stop mechanisms located at the control panel and at other points around the perimeter of the barrier that will stop all machine movement when tripped.

Provide appropriate sensors and interlocks on gates or other points of entry into the protected zone that will stop all machine movement when tripped.

Ensure that if a portable control/programming device is supplied (for example, a handheld operator/programmer pendant), the device is equipped with an E-stop mechanism.

NOTE: A portable operation/programming device requires many additional system design considerations and safeguards beyond those listed in this section. For details, see the safety standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for the locale where the machine is being installed and operated.

Prevent contact with moving mechanisms (for example, arms, gears, belts, pulleys, tooling, etc.).

Prevent contact with a part that is thrown from the machine tooling or other parthandling equipment.

Prevent contact with any electrical, hydraulic, pneumatic, thermal, chemical or other hazards that may be present at the machine.

Prevent unauthorized access to wiring and power-supply cabinets, electrical boxes, etc.

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Documentation and Training

Provide a proper control system, program logic and error checking to ensure the safety of all personnel and equipment (for example, to prevent a run-away condition). The control system must be designed so that it does not automatically restart the machine/system after a power failure.

Prevent unauthorized access or changes to the control system or software.

Documentation and Training

It is the responsibility of the machine/system designer to provide documentation on safety, operation, maintenance and programming, along with training for all machine operators, maintenance technicians, programmers, and other personnel who may have access to the machine. This documentation must include proper lockout/tagout procedures for maintenance and programming operations.

It is the responsibility of the operating company to ensure that:

All operators, maintenance technicians, programmers and other personnel are tested and qualified before acquiring access to the machine or system.

The above personnel perform their assigned functions in a responsible and safe manner to comply with the procedures in the supplied documentation and the company safety practices.

The equipment is maintained as described in the documentation and training supplied by the machine/system designer.

Additional Equipment and Considerations

The Risk Assessment and the operating company's standard safety policies will dictate the need for additional equipment. In general, it is the responsibility of the operating company to ensure that:

Unauthorized access to the machine is prevented at all times.

The personnel are supplied with the proper equipment for the environment and their job functions, which may include: safety glasses, hearing protection, safety footwear, smocks or aprons, gloves, hard hats and other protective gear.

The work area is equipped with proper safety equipment such as first aid equipment, fire suppression equipment, emergency eye wash and full-body wash stations, etc.

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

ANSI-RIA robotic safety information can be found at:

http://www.robotics.org/robotic-content.cfm/Robotics/Safety-Compliance/id/23

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Additional Documents

UL standards information can be found at:

http://ulstandards.ul.com/standards-catalog/

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/harmonisedstandards/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

Moog Animatics SmartMotor™ Developer's Guide

http://www.animatics.com/smartmotor-developers-guide

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

Sales and distributor information:

http://www.animatics.com/sales-offices.html

Application ideas (including videos and sample programs):

http://www.animatics.com/applications.html

PROFINET and PROFIBUS Resources

PROFINET and PROFIBUS are common standard maintained by PROFIBUS and PROFINET International (PI):

l PROFIBUS and PROFINET International (PI) website:

http://www.profibus.com/

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PROFINET Motor Pinouts, Connections and Status LEDs

The following sections describe the motor pinouts, system connections and the status LEDs.

PROFINET Motor Connectors and Pinouts 16

Cables and Diagram 17

Moog Animatics Industrial Ethernet Cables 17

M-style to M-style Ethernet Cable 17

M-style to RJ45 Ethernet Cable 17

Ethernet Cable Schematic 17

PROFINET Cable Diagram 18

Maximum Cable Length 18

PROFINET Status LEDs 19

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PROFINET Motor Connectors and Pinouts

2 3

POWER INPUT

FUNCTION

DESCRIPTION

24 VDC

CONTROL I/O POWER

EARTH

CHASSIS GROUND

GND

MOTOR COMMON GROUND

48 VDC

MOTOR POWER

COMMUNICATION

FUNCTION

GND-COMMON

RS-485B CH0

RS-485A CH0

ENC A+ (IN/OUT)

ENC B- (IN/OUT)

ENC A- (IN/OUT)

5 VDC OUT

ENC B+

(IN/OUT)

I/Os

FUNCTION

DEFAULT

IN0

GENERAL PURPOSE

IN1

GENERAL PURPOSE

IN2/POSLIMIT

POSITIVE LIMIT

IN3/NEGLIMIT

NEGATIVE LIMIT

IN/OUT4

GENERAL PURPOSE

/OUT

GENERAL PURPOSE

IN6

GENERAL PURPOSE

IN7-DRVEN

DRIVE ENABLE

OUT8/BRAKE

BRAKE OUTPUT

OUT9-NOFAULT

NOT FAULT

24 VDC OUT*

CONTROL I/O POWER

GND

MOTOR COMMON GROUND

INPUT OR OUTPUT

INPUT, DISCRETE OR ANALOG

POSSIBLE (SELECTABLE) FUNCTIONS

INPUT, DISCRETE OR ANALOG INPUT INPUT INPUT/OUTPUT

INPUT/OUTPUT

INPUT

INPUT OUTPUT OUTPUT POWER OUTPUT** N/A

GENERAL PURPOSE GENERAL PURPOSE POSITIVE LIMIT OR GENERAL PURPOSE NEGATIVE LIMIT OR GENERAL PURPOSE GENERAL PURPOSE, OR EXTERNAL ENCODER INDEX CAPTURE GENERAL PURPOSE, OR INTERNAL ENCODER INDEX CAPTURE GENERAL PURPOSE, G COMMAND, OR HOMING INPUT (ETHERCAT ONLY)

N/A

NOT FAULT

BRAKE OUTPUT OR GENERAL-PURPOSE OUTPUT

DRIVE ENABLE

*NOTE: 2 AMPS MAX **SUPPLIED FROM POWER INPUT PIN 1

CONTROL I/O POWER

RS-485 serial communication uses a voltage differential signal. Appropriate terminating resistors should be included on the RS-485 network to ensure reliable performance. For details, see the section Power and RS-485 Com Multidrop.

Shield tied to motor housing

LED 4: PROFINET Link 1 Port LED

LED 2: PROFINET System Fail LED

LED 0: Motor Drive LED

LED 5: PROFINET Link 2 Port LED

LED 3: PROFINET Bus Fail LED

LED 1: Motor Busy LED

USB Port LED

SD Card LED

FUNCTION

+TD

+RD

-TD

-RD

PROFINET

PROFINET Motor Connectors and Pinouts

The following figure provides an overview of the PROFINET connectors and pinouts available on the Class 6 SmartMotors.

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Cables and Diagram

Industrial Ethernet Connector

(Motor end of cable)

1 2 3 4

+TX +RX

-TX

-RX

DESCRIPTION

Shield tied to motor housing

RJ45 Connector

(EtherCAT master end of cable)

1 2 3 4 5 6 7 8

+TX

-TX +RX No Connection No Connection

-RX No Connection No Connection

DESCRIPTION

Shield tied to RJ45 connector

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. It is available in 1, 3, 5 and 10 meter lengths. 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.

M-style to RJ45 Ethernet Cable

This cable has an M12 male threaded connector at one end, and an RJ45 male connector at the opposite end. It is available in 1, 3, 5 and 10 meter lengths. For the standard cable, use part number CBLIP-ETH-MR-xM, where "x" denotes the cable length. A right-angle version is also available; use part number CBLIP-ETH-MR-xMRA.

Ethernet Cable Schematic

The following figure provides details for creating a custom industrial Ethernet shielded cable.

NOTE: The motor end of the cable requires an industrial Ethernet connector.

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PROFINET Cable Diagram

PROFINET Bus

Other PROFINET device:

- I/O block,

- Servo drive,

- etc.

PROFINET Master

- PC,

- PLC,

- etc.

Moog Animatics SmartMotor

Optional ring for cable redundancy*

*Ring conguration requires specic PROFINET modes and supporting devices

PROFINET Cable Diagram

PROFINET can support line, tree or star device-connection topology. The supported network topology and maximum number of devices depends on the selected PROFINET mode and network class. For example, higher performing modes, like PROFINET IRT, require specialized equipment. For PROFINET network design and installation details, see the information available at:

http://www.profinet.com

CAUTION: To minimize the possibility of electromagnetic interference (EMI), all connections should use shielded Ethernet Category 5 (Cat 5), or better, cables.

The following diagram shows an example PROFINET network with the SmartMotors daisy chained to the master device. An optional "ring" configuration can be created if it is supported by the selected PROFINET mode and network devices.

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.

NOTE: Unlike other fieldbus protocols, PROFINET does not require terminators at each end of the network bus.

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PROFINET Status LEDs

Off No power Solid green Drive on Blinking green Drive off, no faults Triple red flash Watchdog fault Solid red Faulted or no drive enable input

Off Not busy Solid green Drive on, trajectory in progress

Flashing # red Flashes fault code* (see below)

when Drive LED is solid red

Refer to the corresponding SmartMotor fieldbus guide

Under cover: USB Active LED SD Card LED (for SD Card-equipped motors)

LED 4: PROFINET Link 1 Input LED

LED 2: PROFINET System Fail LED

LED 0: Motor Drive LED

LED 5: PROFINET Link 2 Output LED

LED 3: PROFINET Bus Fail LED

LED 1: Motor Busy LED

LED 0: Motor Drive LED LED 1: Motor Busy LED

LED 3: (Network specific) LED

LED 5: Link LED

LED 2: (Network specific) LED

LED 4: Link LED

LED Status on Power-up:

• With no program and the travel limit inputs are low: LED 0 solid red; motor is in fault state due to travel limit fault

LED 1 off

• With no program and the travel limits are high: LED 0 solid red for 500 milliseconds then flashing green

LED 1 off

• With a program that only disables travel limits:

LED 0 red for 500 milliseconds then flashing green LED 1 off

Flash

1 2 3 4 5 6 7 8

9 10 11

Description

NOT Used Bus Voltage Over Current Excessive Temperature Excessive Position Velocity Limit dE/Dt - First derivative of position error is excessive Hardware Positive Limit Reached Hardware Negative Limit Reached Software Positive Travel Limit Reached Software Negative Travel Limit Reached

LED 1 Fault Codes:

*Busy LED pauses for 2 seconds before flashing the code

Flickering = On/Off in 0.1 sec; Blinking = On/Off in 0.5 sec; Flashing = separated by 1 sec for PROFINET LEDs and 2 sec for Fault Codes

Flashing green Active Flashing red Suspended Solid red USB power detected, no

configuration

USB Active LED

Blinking green Busy, do not remove card Solid green

Card detected

Solid red

Card with no SmartMotor data

SD Card LED (for SD Card-equipped motors)

No card, bad or damaged cardO

PROFINET Status LEDs

This following figure and tables describe the functionality of the PROFINET Status LEDs on the SmartMotor.

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PROFINET Configuration

The following sections describe how to configure your SmartMotor to communicate over PROFINET.

Configure Motor with PC 21

User Program Requirements 21

Required Nonvolatile EEPROM Values 21

Configure PLC with PC 21

Configure SmartMotor to PROFINET 22

PLC Sends Commands to Motor 22

Network Data Format Example 22

PLCMemory 23

Sequence to Set Report Data to Motor Clock 24

PROFINET Communication Example 25

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Configure Motor with PC

Use the following procedure to configure the SmartMotor for communication with the PC. Refer to the figures in PROFINET Communication Example on page 25.

Connect the SmartMotor to the power supply.

If the motor is already configured, you may skip the balance of this procedure.

Connect the motor to the PC.

Launch the SmartMotor™ Interface (SMI) software, version 2.4.3.6 or later.

User Program Requirements

No user program is specifically required by the Class 6 PROFINET SmartMotor.

Required Nonvolatile EEPROM Values

The nonvolatile settings can be entered using the SMI software’s Terminal window. For details on using the Terminal window, see the SMI software online help.

After the configuration settings have been entered, cycle the SmartMotor’s power for the new configuration to take effect.

To change the nonvolatile station name for PROFINET within a user program, see the following code example:

...

SNAME("mymotor1")

a=ETH(0)

IF(a&2)

Z 'Execute reset if Station Name changed

ENDIF

...

Configure PLC with PC

Use the following procedure to configure the PLC for communication with the PC. Refer to the figures in PROFINET Communication Example on page 25.

NOTE: You may skip this section if the PLC is already configured.

Using the PLC configuration software running in a PC, load the SmartMotor’s GSDML (XML) file, set it up as a PROFINET device from the catalog, and define the correct Station Name. For more details on the GSDML file, seeSoftware on page 9.

Determine the location of the PLC memory to exchange three words (six bytes) of PROFINET output to the motor and the seven words (fourteen bytes) of input from the 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.

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Configure SmartMotor to PROFINET

Use the following procedure to configure the SmartMotor to PROFINET. Refer to the PROFINET Status LEDs on page 19.

Verify the corresponding Link LED is ON (green) with possible occasional flashing, which indicates there is communication traffic.

After connecting the motor, the System Fail LED should go from solid red to flashing red, which indicates it is waiting for an I/O controller.

After the I/O controller makes a connection, the System Fail LED turns off.

PLC Sends Commands to Motor

Program the PLC or modify by hand the PLC memory areas, as described below, to send the desired commands over PROFINET and communicate with the motor.

The following are sequences of commands sent, which show all the intermediary PROFINET packet output data states.

NOTE: Bold characters indicate changes in the PLC memory output buffer and input buffer values.

Network Data Format Example

Each byte below is represented as two hexadecimal characters. For example, 7A represents hex 7A or decimal 122.

COMMAND FROM

I/O CONTROLLER

Cmd

Code

00 7A 0000 0000 .......... 00 00 0000 0000 0680 0000 0000 0000

Resp Code

Data

Cmd

Code

Ack

Resp Code

Ack

Resp Data

The following are the SmartMotor’s Status Word response bit definitions (the response shown above is 0680).

RESPONSE FROM

SMART MOTOR

Status

Word

Measured

Position

Pos

Error

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PLCMemory

Bit Description

0 Busy Trajectory

1 Historical + limit (hardware and software limit)

2 Historical - limit (hardware and software limit)

3 Index report available for the rising edge of internal encoder

4 Position wraparound occurred

5 Position error fault

6 Temperature limit fault

7 Drive off

8 Index input active

9 + limit active (hardware and software limit)

10 - limit active (hardware and software limit)

11 Communication error of any type

12 Network user bit, defined by ETHCTL(12,x) command, see User Program

Commands on page 38

13 Command error (includes math and array errors)

14 Peak overcurrent occurred

15 Drive ready

PLCMemory

Each byte below is represented as two hexadecimal characters. For example, 0680 represents hex 680 or decimal 134.

Output to slave motor: Input from slave motor:

3 two-byte words out 7 two-byte words in

0000 0000 0000 0000 0000 0000 0086 0000 0000 0000

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.

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+ 53 hidden pages

Moog Animatics Class 6 SmartMotor User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Purpose

PROFINET Overview

Equipment Required

Hardware

Software

Safety Information

Safety Symbols

Other Safety Considerations

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

PROFINET Motor Pinouts, Connections and Status LEDs

PROFINET Motor Connectors and Pinouts

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

PROFINET Configuration

Configure Motor with PC

User Program Requirements

Required Nonvolatile EEPROM Values

Configure PLC with PC

Configure SmartMotor to PROFINET

PLC Sends Commands to Motor

Network Data Format Example