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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Sequence to Set Report Data to Motor Clock

Command

Code

Insert response code 0x7A in the output buffer, which is being transmitted continuously (i.e., cyclically) by the master to the slave motor. See Command Packet Codes to Motor Commands on page 54 to find response code RCLK and its value, hex 7A.

007A 0000 0000 0000 0000 0000 0680 0000 0000 0000

Wait for response code acknowledge in the input buffer, which is being received continuously (i.e., cyclically) by the master as a response from the slave motor. The clock data begins being cyclic updates.

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

Response

Code

0x7A RCLK

Data

Command

Motor

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PROFINET Communication Example

The following example illustrates PROFINET communications. It sends commands from a PLC over PROFINET to cause the SmartMotor to continually report its changing clock value to the PLC. The value is displayed by the PLC registers containing the PROFINET data received from the motor. It changes as the updated clock value is received.

To create a PROFINET connection to the SmartMotor:

Install the SMI software. For more details, see the Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide.

Connect control power to the 12-pin connector.

Pin 11 is 24 Volt control power.

Pin 12 is Ground or 24 Volt low.

Connect a USBcable from the PC to the USB connector on the SmartMotor. Refer to the following figure.

USBConnection from PCto SmartMotor

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PROFINET Communication Example

In the SMI software Configuration window, right-click the USB category and select Detect Motors on USB from the menu.

When detection has completed, Motor 1 will be shown under the USB network.

Double click Motor1 to open the Motor View tool. Click Poll to update the Status.

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PROFINET Communication Example

Select the Network tab and then Poll again. Note the default PROFINET name.

Set the station name. Refer to the Terminal window in the following figure.

Execute RETH(0) to get the current Ethernet interface status bit (352 decimal = 160 hex).

Type SNAME("mymotor1") into the Terminal window.

Use the following PROFINET name conventions:

l Characters a-z (lowercase only, uppercase is not permitted) l Numbers 0-9, but cannot start with a number l No underscores or other special characters; the hyphen and period are per-

mitted, but not as the first or last character

l No more than 127 characters total or 63 characters as a name component

within the device name (e.g., a character string between two periods); may be further limited by your configuration software

l Cannot be formatted as an IP address (dotted-decimal notation) l Cannot begin with the characters "port-nnn-", where "nnn" are three

numeric characters 0-9 (e.g., port-735-)

Execute RETH(0) to get the updated Ethernet interface status bit (354 decimal = 162 hex). After the station name has changed, the status for the report from RETH(0) should indicate a PROFINET status configuration change on Bit 1 (zero based). Refer to User Program Commands on page 38.

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.

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PROFINET Communication Example

Entering and Verifying the Station Name

8. Cycle motor power to use the new configuration and station name. Refer to the red box in the previous figure.

Configure your PLC through its serial port using a PC that is running your PLC configuration software.

Load the motor’s PROFINET GSDML file.

Assign and display the PLC registers associated with the motor’s PROFINET input and output data.

10.

Connect the PROFINET cable to the PLC and the SmartMotor.

11.

Power cycle the SmartMotor to initialize it with the configured values.

12.

Enter the PROFINET motor response code to report the motor clock in the PLC PROFINET data registers (i.e., in the "3 words out", the second byte is the motor response code).

a. Using a PC that is running your PLC software, and with your PLC online, enter the

PROFINET response code 122 decimal, x7A hex into the "response code" field.

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.

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Sample Command Sequences

This chapter contains sample PROFINET command sequences.

Overview 30

Command and Response Codes 30

Handshaking of Messages 30

Disabling Limits from Preventing Motion 30

Turning the Motor Shaft 30

Disable Limits and Clear Fault Status 31

Commands 31

PLCMemory 31

Disable positive limit, command EIGN(2) 31

Disable negative limit, command EIGN(3) 32

Clear fault status, command ZS 32

Initiate Mode Torque 33

Commands 33

PLCMemory 33

Set torque value, specify the response data 33

Initiate torque mode, command MT 33

Initiate Relative PositionMove 35

Commands 35

PLCMemory 35

Set acceleration value, command ADT=255 35

Set maximum velocity value, command VT=100000 35

Make a relative position move 36

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Overview

These sequences illustrate:

Disabling limits from preventing motion

Turning the shaft in torque mode

Moving a relative distance

Command and response codes

Handshaking of messages

Command and Response Codes

The command and response codes are described in Command Packet Codes to Motor Commands on page 54 The symbolic command and response codes are listed, along with their values and the related SmartMotor™ command. See Output and Input Packets on page 44 for further explanation of how to use the command and response codes.

Handshaking of Messages

Handshaking of output message changes is included in the protocol to ensure coherence in the packet. See Output and Input Packets on page 44 for an explanation of handshaking.

Disabling Limits from Preventing Motion

At power up, if limit switches are not connected to the motor, the electrical state of the limit pins will default to indicate that the motor is at the limits. This will prevent motion unless the limits are disabled and any limit faults are cleared.

These commands may be included in the user program that is downloaded to the motor and runs at power up. If the user program does not include these commands or the limits are not held inactive at power-up, before attempting to turn the motor shaft, you must perform the command sequence described in Disable Limits and Clear Fault Status on page 31.

Turning the Motor Shaft

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.

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Disable Limits and Clear Fault Status

Commands

Command

Code

Response

Code

Data

Resulting

SmartMotor

Command

0x01 0x30 EIGN(2)

0x01 0x33 EIGN(3)

0x01 0x44 ZS

PLCMemory

Output to slave motor: Input from slave motor:

3 words out 7 words in

0000 0000 0000 0000 0000 0000 0680 0000 0000 0000

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

Status

Word

Measured

Position

Disable positive limit, command EIGN(2)

Insert command EIGN(2) data = 0x30 in the output buffer, which is being transmitted continuously (i.e., cyclically) by the master to the slave motor.

Pos

Error

0000 0000 0030 0000 0000 0000 0680 0000 0000 0000

Set command code 0x01 in the output buffer.

0100 0000 0030 0000 0000 0000 0680 0000 0000 0000

Wait for a command code acknowledge in the input buffer, which is being received continuously (i.e., cyclically) by the master as a response from the slave motor.

0100 0000 0030 0100 0000 0000 0480 0000 0000 0000

The command code acknowledges the motor has received the command.

Clear the command code in the output buffer (handshake) to prepare for the next command.

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

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Disable negative limit, command EIGN(3)

Insert command EIGN(3) data = 0x33 in the output buffer, which is being transmitted continuously (i.e., cyclically) by the master to the slave motor.

0000 0000 0033 0000 0000 0000 0480 0000 0000 0000

Set command code 0x01in the output buffer.

0100 0000 0033 0000 0000 0000 0480 0000 0000 0000

Wait for command code acknowledge in the input buffer, which is being received continuously (i.e., cyclically) by the master as a response from the slave motor.

0100 0000 0033 0100 0000 0000 0080 0000 0000 0000

The command code acknowledges the motor has received the command.

Clear the command code in the output buffer (handshake) to prepare for the next command:

0000 0000 0033 0100 0000 0000 0080 0000 0000 0000

Wait for acknowledgment of the cleared command code.

0000 0000 0033 0000 0000 0000 0080 0000 0000 0000

Clear fault status, command ZS

Insert command ZS data = 0x44 in output buffer, which is being transmitted continuously (i.e., cyclically) by the master to the slave motor.

0000 0000 0044 0000 0000 0000 0086 0000 0000 0000

Set command code 0x01in the output buffer.

0100 0000 0044 0000 0000 0000 0086 0000 0000 0000

Wait for command code acknowledge in the input buffer, which is being received continuously (i.e., cyclically) by the master as a response from the slave motor. Fault status is reported cleared to 0x0080.

0100 0000 0044 0100 0000 0000 0080 0000 0000 0000

The command code acknowledges the motor has received the command.

Clear command code in output buffer (handshake) to prepare for the next command.

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

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Initiate Mode Torque

Commands

Command

Code

0x94 0xA2 3072 (0x0c00) T=3072

0x01 0xA2 0x21 MT

0x01 0x0C G (begin motion)

Response

Code

Data

RVA (polled motor response)

Resulting

SmartMotor

Command

PLCMemory

Output to slave motor: Input from slave motor:

3 words out 7 words in

0000 0000 0000 0000 0000 0000 0080 0000 0000 0000

Set torque value, specify the response data

This will command T=3072 and specify the response data to be the current velocity.

Begin to set torque T=3072 by putting x 00 00 0C 00 in output data.

0000 0000 0C00 0000 0000 0000 0080 0000 0000 0000

Insert command code 0x94 and response code 0xA2.

94A2 0000 0C00 0000 0000 0000 0080 0000 0000 0000

Wait for acknowledge in input buffer:

94A2 0000 0C00 94A2 0000 0000 0080 0000 0000 0000

Now, T=3072 (0x0c00), and the response data value will be velocity. Clear the command code output buffer (handshake) to prepare for the next command.

00A2 0000 0C00 94A2 0000 0000 0080 0000 0000 0000

Wait for acknowledgment of command code clear in input buffer.

00A2 0000 0C00 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

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Initiate torque mode, command MT

Insert command code 0x01.

01A2 0000 0021 00A2 0000 0000 0080 0000 0000 0000

Wait for command code 1 acknowledgment.

01A2 0000 0021 01A2 0000 0000 0080 0000 0000 0000

Insert command code 0x00.

00A2 0000 0021 01A2 0000 0000 0080 0000 0000 0000

Wait for command code 0 acknowledgment.

00A2 0000 0021 00A2 0000 0000 0080 0000 0000 0000

Insert command 0x0C data to initiate open-loop motion.

00A2 0000 000C 00A2 0000 0000 0080 0000 0000 0000

Insert command code 0x01.

01A2 0000 000C 00A2 0000 0000 0080 0000 0000 0000

When the command is received by the motor, the motor shaft will begin turning if it is not in a fault state.

Wait for command code acknowledgment in the input buffer.

01A2 0000 000C 01A2 0000 0000 0080 0000 0000 0000

Velocity becomes nonzero, and it is reported as 0x00 14 00 00 in this example. Status changes are reported as 0x0009 in this example. Position becomes nonzero, and it is reported as 0x00 00 00 A2 in this example.

01A2 0000 000C 01A2 0014 0000 0009 0000 00A2 0000

Insert command code 0x00 to clear the command code output buffer (handshake) to prepare for the next command. The position is continually updated. Velocity is a filtered value measured in:

encoder counts per sample period x 65,536

00A2 0000 000C 01A2 0014 0000 0009 0000 02EE 0000

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

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Initiate Relative PositionMove

Commands

Command

Code

0x64 255 (0xff) ADT=255

0xA3 100000 VT=100000

0x01 0x1D Change to Mode Position (MP)

0x03 10000 PRT=10000 G

Response

Code

0xA2 RVA (polled motor response)

Data

Resulting

SmartMotor

Command

PLCMemory

Output to slave motor: Input from slave motor:

3 words out 7 words in

0000 0000 0000 0000 0000 0000 0080 0000 0000 0000

Set acceleration value, command ADT=255

Begin to set ADT=255 by putting x00 00 00 FF in output data.

0000 0000 00FF 0000 0000 0000 0080 0000 0000 0000

Insert command code 0x64 and response code 0xA2.

64A2 0000 00FF 0000 0000 0000 0080 0000 0000 0000

Wait for acknowledge in input buffer.

64A2 0000 00FF 64A2 0000 0000 0080 0000 0000 0000

Now, ADT=255, and the response data value will be velocity. Clear the command code output buffer (handshake) to prepare for the next command.

00A2 0000 00FF 64A2 0000 0000 0080 0000 0000 0000

Wait for acknowledge of command code clear in input buffer.

00A2 0000 00FF 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

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Make a relative position move

Insert command code 0xA3 to set VT=100000.

A3A2 0001 86A0 00A2 0000 0000 0080 0000 0000 0000

Wait for command code acknowledge in the input buffer.

A3A2 0001 86A0 A3A2 0000 0000 0080 0000 0000 0000

Insert command code 0x00.

00A2 0001 86A0 A3A2 0000 0000 0080 0000 0000 0000

Wait for command code acknowledge in the input buffer.

00A2 0001 86A0 00A2 0000 0000 0080 0000 0000 0000

Insert data 0x0000 001D for MP when command is 1.

00A2 0000 001D 00A2 0000 0000 0080 0000 0000 0000

Insert command code 0x01.

01A2 0001 86A0 00A2 0000 0000 0080 0000 0000 0000

Wait for command code acknowledge in the input buffer.

01A2 0001 86A0 01A2 0000 0000 0080 0000 0000 0000

Insert command code 0x00.

00A2 0001 86A0 01A2 0000 0000 0080 0000 0000 0000

Make a relative position move

Insert data for a relative move of 10,000 counts = 0x0000 2710.

00A2 0000 2710 00A2 0000 0000 0080 0000 0000 0000

Insert command code value 0x03.

03A2 0000 2710 00A2 0000 0000 0080 0000 0000 0000

Wait for command code acknowledge in the input buffer.

03A2 0000 2710 03A2 0000 0000 0080 0000 0000 0000

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

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which is the following input data:

command code acknowledge 03

response code acknowledge A2

response data current 0001 86AD

velocity (100,000 in slew)

status 0009

Bt = 1

Bi = 1

measured current position 0000 CA23

measured current position error 0011

Make a relative position move

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User Program Commands

The SmartMotor's EEPROM can store nonvolatile PROFINET information about the network. For proper PROFINET operation, each SmartMotor must have a unique station name set with the SNAME instruction. This is can be accomplished: at the PLC over PROFINET; with SMI and a USB connection over channel 8, or RS-485 on channel 0; with a SmartMotor user program.

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") 39

IPCTL(function,"string") 39

=ETH, RETH 39

ETHCTL(function, value) 42

Program Example 43

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SNAME("string")

Set PROFINET Station Name

The SNAMEcommand is used to set a unique PROFINET station name. The setting is nonvolatile. It can use up to 54 characters; the factory default is smc6dev01. It will set the configuration change bit (Bit 1) returned by the ETH/RETH command (see below) if the Station Name has changed from the previous value in EEPROM.

Use the following PROFINET name conventions:

l Characters a-z (lowercase only, uppercase is not permitted) l Numbers 0-9, but cannot start with a number l No underscores or other special characters; the hyphen and period are permitted, but

not as the first or last character

l No more than 127 characters total or 63 characters as a name component within the

device name (e.g., a character string between two periods); may be further limited by your configuration software

l Cannot be formatted as an IP address (dotted-decimal notation) l Cannot begin with the characters "port-nnn-", where "nnn" are three numeric characters

0-9 (e.g., port-735-)

IPCTL(function,"string")

Sets IP address, Mask, or Gateway

The IPCTLcommand is used to set the IPaddress, subnet mask or gateway. The setting is nonvolatile. This command is not usually needed. Typically, the PLC will handle these settings during PROFINET network initialization.

The possible function values are:

0: set IP address

1: set Mask

2: set Gateway

The "string" is formatted as an IP address, e.g., IPCTL(0,"192.168.0.10"). By default, these values are set to 0 (i.e., "0.0.0.0").

=ETH, RETH

Get PROFINET error

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.

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=ETH, RETH

Assignment Report Description

=ETH(0) RETH(0) Gets the PROFINET status bits:

0 Initialization incomplete

Read specific error code from ETH(54); Contact Moog Animatics

(Confirm SNAME setting if encountering a problem)

1 Configuration change

2 Reserved

3 Network processor failure

Likely due to excessive control power supply noise or ESD event

4 Reserved

5 Reserved

6 I/O Controller is STOP

7 I/O Controller is RUN

8 I/O Controller aborted cyclic communications

9 Network commanded configuration change

=ETH(5) RETH(5) LFW firmware version as 32-bit integer; e.g., 3.1.0.1 would be a

value 50397185 (0x03010001).

=ETH(6) RETH(6) The current Network Lost program label number. For details, see

ETHCTL(function, value) on page 42.

=ETH(7) RETH(7) Processor type:

-1 Failed

0 Unknown

1 netX 10

2 netX 50

3 netX 51/52

4 netX 100

=ETH(8) RETH(8) Protocol type after successful initialization (Confirm SNAME set-

ting if encountering a problem) See also RETH(19)

0 Not defined

1 PROFINET

2 EtherCAT

3 EtherNet/IP

=ETH(9) RETH(9) The current value assigned to the Network Lost action. For

details, see ETHCTL(function, value) on page 42.

RETH(15) IP address; value is in dotted-decimal format; report only.

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

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=ETH, RETH

Assignment Report Description

=ETH(19) RETH(19)

Report the detected LFW ProtocolClass. This gives a wider range of values than the known and supported protocols listed in ETH (8). Values designated according to NXF/LFW file loaded into network processor and too numerous to list here. These are the values for the supported protocols: (introduced in firmware

6.0.2.41 or later)

0 Not Defined

21 PROFINET

9 EtherCAT

10 Ethernet/IP

... ...

=ETH(30) RETH(30) Gets the present receive I/O data size in bytes

=ETH(31) RETH(31) Gets the present transmit I/O data size in bytes

=ETH(45) RETH(45) IP address as integer; e.g., for an IP address of 192.168.1.3 (C0

A8 01 03 hex), this command reports -1062731517 (it reports as a 32-bit signed value).

=ETH(46) RETH(46) IP subnet mask as integer; e.g., for an IP netmask of 255.255.0.0

(FF FF 00 00 hex), this command reports -65536 (it reports as a 32-bit signed value).

=ETH(47) RETH(47) IP gateway as integer; e.g., for an IP gateway of 192.168.1.1 (C0

A8 01 01 hex), this command reports -1062731519 (it reports as a 32-bit signed value).

=ETH(48) RETH(48) Low 3 bytes of MAC ID (device ID) as integer; e.g., for a MACID

of 00:01:02:a9:ff:00, this command reports 11140864 (00 a9 ff 00 hex).

=ETH(49) RETH(49) High 3 bytes of MAC ID (device ID) as integer; e.g., for a MACID

of 00:01:02:a9:ff:00, this command reports 258 (00 00 01 02 hex).

=ETH(50) RETH(50) Gets the last internal error code

=ETH(51) RETH(51) Gets the last internal error code source

=ETH(54) RETH(54) Gets the Initialization error code; for further information, read

this error when RETH(0) bits 0 or 1 are indicated, or when RETH (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

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ETHCTL(function, value)

Control network features

Commands execute based on the function argument, which controls Ethernet functions. After issuing an ETHCTL command the Ethernet error codes will be checked to determine the state of Status Word 2, bit 6 (Ethernet error).

Command Description

ETHCTL(1,TBD)

...

ETHCTL(5,TBD)

ETHCTL(6,<value>)

ETHCTL(7,TBD) Reserved for future use.

ETHCTL(8,TBD) Reserved for future use.

ETHCTL(9,<value>) PROFINET Network Lost Action. This setting is nonvolatile.

Reserved for future use.

User program label number. This setting is nonvolatile.

Program label to jump to if the NET_LOST_LABEL option is chosen from the NET_LOST_ACTION function.

This function has no effect if the NET_LOST_ACTION is anything other than NET_LOST_LABEL.

0 Ignore, no action (default setting)

1 Send OFF command to motor

2 Send X command to motor (soft stop)

3 Send S command to motor (immediate stop)

Send GOSUB(x) command, where x is the value of the user

program label.

Send GOTO(x) command, where x is the value of the user pro-

gram label.

NOTE: Loss of network is an edge-triggered event if I/O Control goes from RUN to any other state.

ETHCTL(10,x) Allows the position field of 14 byte (7 word) input module to be recon-

figured for alternate data from the motor. See 240, xF0 on page 60.

ETHCTL(11,TBD) Reserved for future use.

ETHCTL(12,<value>) Network user bit set or clear. This is a bit in the status word of the 14

byte (7 word) input module. Also visible in response code 164 "legacy status word":

0 Clear Bit 12 of SmartMotor I/O Network Bit

1 Set Bit 12 of SmartMotor I/O Network Bit

ETHCTL(45,x) Set IP address as integer; e.g., to set for an IP address of

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.

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Program Example

Command Description

ETHCTL(47,x) Set IP gateway as integer; e.g., to set for an IP gateway of

192.168.1.1 (C0 A8 01 01 hex), x=3232235777; non-volatile.

ETHCTL(50,<value>) Resets the internal error register: RETH(50); the value argument is

ignored.

ETHCTL(51,<value>) Resets the internal error register: RETH(51); the value argument is

ignored.

ETHCTL(58,<value>) Clears the real-time Ethernet sync count

Program Example

The following code example sets the nonvolatile station name.

SNAME("mymotor1")

a=ETH(0)

IF( a&2 )

Z 'Execute reset if station name changed

ENDIF

'Add rest of program below

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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 45

Command (Output) Packet Notes 50

Response (Input) Packet Notes 51

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Output and Input Packet Format

Two options exist for the input/output packet size:

l 3 words (6 bytes) out, 7 words (14 bytes)in l 12 words (24 bytes) out, 28 words (56 bytes) in

This option is only available with firmware 6.0.2.41 or later, and requires XML (GSDML) date -20190118 or later. The I/O controller (PLC) will have an interface for loading the XML file and choosing these options for the input and output packets. Some tools may provide a drag-and-drop interface for selecting the available modules from the XML file and placing them into the 2 available slots in the motor.

NOTE: Only the two combinations of specific in/out sizes are allowed. For example, 3 words out cannot be used with 28 words in.

Output (3 Words) Data Format (I/O Controller Command)

Offset

Description Notes

Word Byte

0 0 Command Code

1 Response Code

1 2 Command Data Value (32 bits), big-endian format

2 4

Input (7 words) Data Format (Motor response)

Offset

Description Notes

Word Byte

0 0 Command Code Acknowledge

1 Response Code Acknowledge

1 2 Response Data Value (32 bits), big-endian format

2 4

3 6 Status Word (16 bits), big-endian format

Affected by

byte / word

swap

parameter

N/A

Yes

Affected by

byte / word

swap

parameter

N/A

Yes

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Output and Input Packet Format

Offset

Description Notes

Word Byte

4 8 Measured Position (32 bits), big-endian format

5 10

6 12 Position Error (16 bits), big-endian format

Command Code: Indicates a command to be issued to the SmartMotor. Also, see Command Data Value.

Response Code: Indicates additional data to be included in the Response Data Value of the Input Data.

Command Data Value: Indicates the 32-bit value to be used in conjunction with the Command Code.

Command Code Acknowledge: Returned in the Input Data to indicate that a Command Code was processed.

Response Code Acknowledge: Returned in the Input Data to indicate that a Response Code was processed and that the current Response Data Value corresponds to that Response Code.

NOTE:This field can be configured to report al[0] or af [0].

Affected by

byte / word

swap

parameter

Yes

Response Data Value: 32-bit value returned in the Input Data in response to a Response Code.

Status Word: SmartMotor's current status word (16 bit).

Measured Position: SmartMotor's current measured position value (32-bit); result of RPA

command.

Position Error: SmartMotor’s current commanded trajectory position less the current measured position.

Extended format: 12 words (24 bytes) out, 28 words (56 bytes) in. This format was created for the purpose of easier access to reading data cyclically from the motor. Up to 8 response data items can be read on every cycle, though the first reponse item is required for certain special items, see notes.

There is still only 1 command code item because most commands require a sequence of events to operate correctly, and multiple fields could cause conflict.

The command and response codes have been extended to 16-bit values in this extended format. This allows for a wider set of codes and direct access to variables. See Extended 16bit command codes on page 61, and Extended 16-bit response codes on page 69.

Several pre-set fields have been removed from the extended format: position, status word, position error. These are still available in the list of response codes (codes 141, 164, 143 respectively), and can be selected by setting those response request codes in the output data. 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)

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Output and Input Packet Format

Offset

Description Notes

Word Byte

0 0 Reserved (write as 0x00)

1 Reserved (write as 0x00)

1 2 Command Data Value (32 bits)

2 4

3 6 Command code request (16 bits) Yes

4 8 Response code 0 request (16 bits)

5 10 Response code 1 request (16 bits) 2 Yes

6 12 Response code 2 request (16 bits) 2 Yes

7 14

See note 1: some codes must use of this section

Response code 3 request (16 bits) 2 Yes

4 N/A

1 Yes

Affected by

byte / word

parameter

Yes

swap

8 16 Response code 4 request (16 bits) 2 Yes

9 18 Response code 5 request (16 bits) 2 Yes

10 20 Response code 6 request (16 bits) 2 Yes

11 22 Response code 7 request (16 bits) 2 Yes

Input (28 words) Data Format (Motor response)

Offset

Description Notes

Word Byte

0 0 Reserved (reports as 0xFF)

1 Reserved (reports as 0xFF)

1 2 Reserved (ignore, reports as 0)

Reserved (ignore, reports as 0) N/A

3 N/A

Affected by

byte / word

N/A

swap

parameter

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Output and Input Packet Format

Offset

Description Notes

Word Byte

2 4

3 6

4 8

5 10

6 12

7 14 Response code 3 ack (16 bits) 2 Yes

8 16 Response code 4 ack (16 bits) 2 Yes

Reserved (ignore, reports as 0) N/A

Command code ack (16 bits) Yes

Response code 0 ack (16 bits) See note 1: some codes must use of this section

Response code 1 ack (16 bits) 2 Yes

Response code 2 ack (16 bits) 2 Yes

1 Yes

Affected by

byte / word

parameter

swap

9 18 Response code 5 ack (16 bits) 2 Yes

10 20 Response code 6 ack (16 bits) 2 Yes

11 22 Response code 7 ack (16 bits) 2 Yes

12 24 Response data 0 (32 bits)

13 26

14 28 Response data 1 (32 bits) Yes

15 30

16 32 Response data 2 (32 bits) Yes

17 34

See note 1: some codes must use of this section

Yes

Moog Animatics Class 6 PROFINET Guide Rev. D

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Output and Input Packet Format

Offset

Description Notes

Word Byte

18 36 Response data 3 (32 bits) Yes

19 38

20 40 Response data 4 (32 bits) Yes

21 42

22 44 Response data 5 (32 bits) Yes

23 46

24 48 Response data 6 (32 bits) Yes

Affected by

byte / word

parameter

swap

25 50

26 52 Response data 7 (32 bits) Yes

27 54

NOTE: 1) This response request code location is allowed to include attributes (request codes) 214-225 (special access to variables and EEPROM). It is recommended to reserve this slot for this type of access. For constantly read information, like access to variables (using response codes above 255), position, etc., use response code locations 1-7 instead.

NOTE: 2) This response request code location is not allowed to use attributes (request codes) 214-225, an error code (255) will result. These request code locations 1-7 are recommended for information that must be read every cycle, like a variable, position, velocity, current, etc.

NOTE: 3) These fields report 255 as protection so that the data will be interpreted as an error if PLC program / controller reads this and attempts to interpret as 14byte input format. It is also helpful for the PLC program / controller to read this when the 56 byte input mode is intended because it will provide confirmation by reporting 255. A PLC program could use this as a verification check.

NOTE: 4) You must write 0 to these fields. If any other value is written, then the remainder of the output packet will be ignored. This is for protection in case the PLC/Controller is attempting to write in the 6 byte output format but has the 24byte format configured.

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Command (Output) Packet Notes

The following are notes regarding the Command (Output)Packets:

A command is issued to the SmartMotor exactly one time after the Command Code or Command Data Value changes in the output data. To issue a command:

Set the Command Code to 0.

Wait for Command Code Acknowledge = 0.

Set the Command Data Value to the desired value.

Set the Command Code to the desired command.

Wait for Command Code Acknowledge = Command Code.

For <value>, insert the Command Data Value.

For the variables <a to zzz>:

<a to z> u8VarIndexSet (0-25)

<aa to zz> u8VarIndexSet (26-51)

<aaa to zzz> u8VarIndexSet (52-77)

For <index>, insert the array index stored in u8ArrIndexSetActual.

For <length>, insert the length stored in u8VarLenSet or u8ArrLenSet.

Curly brackets {} indicate binary data rather than ASCII characters.

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.

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Response (Input) Packet Notes

The following are notes regarding the Command (Output)Packets:

The requests associated with any Response Codes other than 214-225 are issued to the SmartMotor continuously (or according to the polling rate if set). When the Response Code in the output data transitions to a value in the range of 214-225, the associated request will be issued to the SmartMotor exactly one time after transition to one of those values. To issue a request for data:

Set the Response Code to 0.

Wait for Response Code Acknowledge = 0.

Set the Response Code to the desired value.

Wait for Response Code Acknowledge = Response Code read data from Response Data Value.

Repeat as desired if not Response Codes 214-225.

l For <value>, insert the Response Data Value.

For the variables <a to zzz>:

l <a to z> u8VarIndexGet (0-25)

l <aa to zz> u8VarIndexGet (26-51)

l <aaa to zzz> u8VarIndexGet (52-77)

For <index>, insert the array index stored in u8ArrIndexGetActual.

For <length>, insert the length stored in u8VarLenGet or u8ArrIndexGet.

Curly brackets {} indicate binary data rather than ASCII characters.

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.

The PROFINET interface does not use the SmartMotor's EPTR command during initialization to read startup parameters from the SmartMotor. Therefore, the user program may use EPTR command at the same time. Also, the SmartMotor variable zzz is not used by the PROFINET interface, which may be unexpected by users familiar with older Moog Animatics products.

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Alternate Communications Channel

In addition to communicating over PROFINET, commands in the SmartMotor™ programming language may be sent through an existing communications channel of the SmartMotor. For details, see the Moog Animatics SmartMotor™ User's Guide.

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.

Require the reservation of any serial channels. Therefore, all other ports and associated channels are freely available to the user for the application.

Interfere with the EPTR variable of the EEPROM command set. When PROFINET accesses the EEPROM, it is done through a private version of EPTR. Therefore, the user no longer has to monitor variable zzz for shared access. The user may access the EEPROM at any time.

NOTE: EEPROM reads may still cause a user command to wait until the EEPROM is available, but there is no user interaction required.

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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 54

Extended 16-bit command codes 61

Response Packet Codes to Motor Commands 64

Extended 16-bit response codes 69

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Command Packet Codes to Motor Commands

This section provides a reference table of PROFINET command packet codes and corresponding SmartMotor commands.

Variables beginning with u8, u16 or u32 are internal to the motor’s PROFINET module.

For the variables:

l <a to z> use values (0 to 25) l <aa to zz> use values (26 to 51) l <aaa to zzz> use values (52 to 77)

Command

Code

decimal,

hex

0, x00 N/A

1, x01 0, x00

1, x01 1, x01

1, x01 2, x02

1, x01 3, x03

1, x01 4, x04

1, x01 5, x05

1, x01 6, x06

1, x01 7, x07

1, x01 8, x08

1, x01 9, x09

1, x01 10, x0A

1, x01 11, x0B

1, x01 12, x0C

1, x01 13, x0D

1, x01 14, x0E

1, x01 15-18,

1, x01 19, x13

1, x01 20-22,

1, x01 23, x17

1, x01 24, x18

1, x01 25-27,

1, x01 28, x1C

1, x01 29, x1D

1, x01 30, x1E

Command

Data

Value

decimal,

x80F-x12

x14-x16

x19-x1B

hex

Event

for

update

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

Command Description

NULL / NOP - No command requested Does not perform any action, this command code provided as a way to not initiate a new command, or as a value to alternate to prior to setting a new command.

Engage brake BRKENG

Use only internal brake; disable external brake EOBK(-1)

Direct brake to output number 8 EOBK(8)

(Reserved)

Release brake BRKRLS

Brake while servo inactive BRKSRV

Brake while trajectory inactive BRKTRJ

(Reserved)

Select internal encoder for servo ENC0

Select exter nal encoder for servo ENC1

End user program END

Transfer buffered PID tuning to live values F

Start motion (GO) G

(Obsolete) Use KG=0 KGOFF

(Obsolete) Use KG=<value>, command 131 KGON

(Obsolete)

(Reserved) not implemented

(Obsolete)

(Reserved) not implemented

Set mode follow and zero out MF0

(Obsolete)

Initiate mode follow quadrature MFR

Enable position mode MP

(Obsolete)

Smart

Motor

Command(s)

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Command Packet Codes to Motor Commands

Command

Code

decimal,

hex

1, x01 31, x1F

1, x01 32, x20

1, x01 33, x21

1, x01 34, x22

1, x01 35, x23

1, x01 36, x24

1, x01 37, x25

1, x01 38-40,

1, x01 41, x29

1, x01 42, x2A

1, x01 43, x2B

1, x01 44, x2C

1, x01 45, x2D

1, x01 46, x2E

1, x01 47, x2F

1, x01 48, x30

1, x01 49, x31

1, x01 50, x32

1, x01 51, x33

1, x01 52, x34

1, x01 53, x35

1, x01 54, x36

1, x01 55, x37

1, x01 56, x38

1, x01 57, x39

1, x01 58, x3A

1, x01 59, x3B

1, x01 60, x3C

1, x01 61, x3D

1, x01 62, x3E

1, x01 63, x3F

1, x01 64, x40

1, x01 65, x41

1, x01 66, x42

1, x01 67, x43

Command

Data

Value

decimal,

x26-x28

hex

Event

for

update

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

C/D* Not available in Class 6 PROFINET

C/D*

Configure step and direction, and zero out MS0

Initiate mode step ratio calculation MSR

Enable torque mode MT

Immediately engage MTB brake MTB

Enable velocity mode MV

Stop servoing the motor OFF

Divide PID sample rate by 1 PID1

(Reserved)

Execute s tored program RUN

End program if RUN has not been commanded yet (since power up)

Abruptly stop move in progress S

Make I/O 0 an input EIGN(0)

(Obsolete) Use CMD_OUT(x)

Make I/O 1 an input EIGN(1)

(Obsolete) Use CMD_OUT(x)

Make I/O 2 an input; dis able right-limit function EIGN(2)

(Obsolete) Use CMD_OUT(x)

Set I/O C to be a right-limit input EILP

Make I/O 3 an input; dis able left-limit function EIGN(3)

(Obsolete) Use CMD_OUT(x)

Set I/O 3 to be a left-limit input EILN

Slow motor motion to stop X

Total system reset Z

Reset overcurrent error bit Za

Reset serial data parity violation latch bit, i.e., clears the parity error bits in RCHN(0) and RCHN (1)

Reset communications buffer overflow latch bit, i.e., clears the overflow error bits in RCHN(0) and RCHN(1)

Not available in Class 6 PROFINET

Reset position error fault Ze

Reset serial communication framing error latch bit, i.e., clears the framing error bits in RCHN(0) and RCHN(1)

Reset overtemperature fault; requires temperature to fall 5 degrees below limit

Reset historical left-limit latch bit Zl

Reset historical right-limit latch bit Zr

Reset command scan error latch bit Zs

Reset encoder wr aparound event latch bit Zw

Command Description

Smart

Motor

Command(s)

RUN?

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Command Packet Codes to Motor Commands

Command

Code

decimal,

hex

1, x01 68, x44

1, x01 69, x45

1, x01 70, x46

1, x01 71, x47

1, x01 72, x48

1, x01 73-74,

1, x01 75, x4B

1, x01 76, x4C

1, x01 77, x4D

1, x01 78, x4E

1, x01 79, x4F

1, x01 80, x50

1, x01 81, x51

1, x01 82, x52

1, x01 83, x53

1, x01 84, x54

1, x01 85, x55

1, x01 86, x56

1, x01 87, x57

1, x01 88+, x58+

2, x02 <value>

3, x03 <value>

4, x04 <value>

5, x05 <value>

6, x06 <value>

7-89,

x07-x59

90, x5A <value>

91, x5B <value>

92, x5C <value>

93, x5D <value>

94, x5E <value>

95, x5F <value>

Command

Data

Value

decimal,

hex

x49-x4A

N/A

Event

for

update

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

Command Description

Reset system latches to power-up state ZS

Disable software limits SLD

Enable software limits SLE

Make I/O 6 an input; dis able GO synchronization function

Enable GO synchronization function EISM(6)

(Reserved)

Arm index capture from internal encoder, rising edge

Arm index capture from internal encoder, falling edge

Arm index capture from internal encoder, rising then falling edge

Arm index capture from internal encoder, falling then rising edge

Arm index capture from external encoder, rising edge

Arm index capture from external encoder, falling edge

Arm index capture from internal encoder, rising then falling edge

Arm index capture from internal encoder, falling then rising edge

(Reserved) MDT not supported in Class 6.

Request enhanced trapezoidal commutation mode; entered as soon as angle is satisfied

Request s ine commutation mode (voltage mode); entered as soon as angle is satisfied

Request c urrent-controlled sine mode; entered as soon as angle is satisfied.

Turn on Trajectory Overshoot Braking (TOB) feature for trapezoidal mode

(Reserved)

Set absolute position and start motor PT=<value> G

Set relative position and start motor PRT=<value> G

Set velocity and start motor VT=<value> G

Call a subroutine GOSUB(<value>)

Branch program execution to a label GOTO(<value>)

(Reserved)

Clear mask on user bits, word 0, status word 12 UR(W,0,<value>)

Clear mask on user bits, word 1, status word 13 UR(W,1,<value>)

Set mask on user bits, word 0, status word 12 US(W,0,<value>)

Set mask on user bits, word 1, status word 13 US(W,1,<value>)

Clear specific user bit 0-31 UR(<value>)

Set specific user bit 0-31 US(<value>)

Smart

Motor

Command(s)

EIGN(6)

Ai(0)

Aj(0)

Aij(0)

Aji(0)

Ai(1)

Aj(1)

Aij(1)

Aji(1)

MDE

MDS

MDC

MDB

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Command Packet Codes to Motor Commands

Command

Code

decimal,

hex

96, x60 <value>

97, x61 N/A

98, x62 <value>

99, x63 N/A

100, x64 <value>

101, x65 <value>

102, x66 <value>

103-123,

x67-x7B

124, x7C <value>

125, x7D <value>

126, x7E <value>

127, x7F N/A

128, x80 N/A

129, x81 <value>

130, x82 <value>

131, x83 <value>

132, x84 <value>

133, x85 <value>

134, x86 <value>

135, x87 <value>

136, x88 <value>

137, x89 <value>

138, x8A <value>

139, x8B <value>

140, x8C <value>

141, x8D N/A

142, x8E <value>

143-144,

x8F-x90

145, x91 <value>

146-147,

x92-x93

148, x94 <value>

149, x95 N/A

150, x96 <value>

151-162,

x97-xA2

163, xA3 <value>

164, xA4 N/A

Command

Data

Value

decimal,

hex

N/A

Event

for

update

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

Command Description

Set output 8 to 0 or 1, ON is 1 sourcing. Requires EOBK command to enable, see developer's guide.

(Reserved)

Set output 9 to 0 or 1, ON is 1 sourcing. Requires EOFT command to enable, see developer's guide. Requires 6.0.2.41 or later

(Reserved)

Set acceleration ADT=<value>

Set RS-232/RS-485 address ADDR=<value>

Set PWM drive signal limit AMPS=<value>

(Reserved)

Set relative distance (position) PRT=<value>

Set allowable position error EL=<value>

Set special use timer.

(Obsolete)

(Reserved)

PID acceleration feed forward KA=<value>

PID derivative compensation KD=<value>

PID gravity compensation; for limits, see the

Moog Animatics SmartMotor™ User's Guide

PID integral compensation KI=<value>

PID integral limit KL=<value>

PID proportional compensation KP=<value>

PID derivative term sample rate KS=<value>

PID velocity feed forward KV=<value>

Mode follow with ratio divisor MFDIV=<value>

Mode follow with ratio multiplier MFMUL=<value>

Set origin O=<value>

Shift origin OSH(<value>)

(Reserved)

Set absolute position target PT=<value>

(Reserved)

Set RS-232/RS-485 address SADDR<value>

(Reserved)

Assign torque value in torque mode T=<value>

(Reserved)

Set maximum allowable temperature (high limit) TH=<value>

(Reserved)

Set velocity target VT=<value>

(Reserved)

Smart

Motor

Command(s)

OUT(8)=<value>

OUT(9)=<value>

KG=<value>

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Command Packet Codes to Motor Commands

Command

Code

decimal,

hex

165, xA5 <value>

166, xA6 <value>

167-169,

xA7-xA9

170, xAA <value>

171, xAB <value>

172, xAC <value>

173, xAD <value>

174, xAE <value>

175, xAF <value>

176, xB0 <value>

177-199,

xB1-xC7

200, C8 <value>

201, xC9

202, xCA <value>

203, xCB <value>

204, xCC

205, xCD <value>

206, xCE <value>

207, xCF <value>

208, xD0

Command

Data

Value

decimal,

hex

N/A

Event

for

update

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

C/D*

N/A

Command Description

Set value of negative software limit SLN=<value>

Set value of positive software limit SLP=<value>

(Reserved)

Clear status word 0; bit indicated by value Z(0,<value>)

Clear status word 1; bit indicated by value Z(1,<value>)

Clear status word 2; bit indicated by value Z(2,<value>)

Clear status word 3; bit indicated by value Z(3,<value>)

Clear status word 4; bit indicated by value Z(4,<value>)

Clear status word 5; bit indicated by value Z(5,<value>)

Clear status word 6; bit indicated by value Z(6,<value>)

(Reserved)

u8VarIndexSet = <value> u8VarIndexSetActual = <value> where <value> represents whic h variable is referred to in the next var iable write operation:

'a' is 0, 'b' is 1, ..., 'zzz' is 77. (Range is 0-77)

(Reserved)

u8VarLenSet = <value> Where <value> represents quantity of variables to write in the next variable write operation. Range is 0-78.

u8ArrIndexSet = <value> u8ArrIndexSetActual = <value> where <value> is the array index to begin the next array write operation at. The ranges of <value> are as follows depending on the type of array: ab[]: 0-203 aw[]: 0-101 al[]: 0-50

(Reserved)

u8ArrLenSet = <value> where <value> represents the quantity of array variables to write in the next array write operation. The ranges of <value> are as follows depending on the type of array: ab[]: 0-204 aw[]: 0-102 al[]: 0-51

u8AutoIncSet = <value> Enable increment of variable or array index on the next write operation. Where <value> is: 0=NO, 1=YES

u8VarIndexGet = <value> u8VarIndexGetActual = <value> where <value> represents whic h variable is referred to in the next var iable read operation:

'a' is 0, 'b' is 1, ..., 'zzz' is 77. (Range is 0-77)

(Reserved)

Smart

Motor

Command(s)

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Command Packet Codes to Motor Commands

Command

Code

decimal,

hex

209, xD1 <value>

210, xD2 <value>

211, xD3

212, xD4 <value>

213, xD5 <value>

214, xD6 <value>

215, xD7 <value>

216, xD8 <value>

217, xD9 <value>

218, xDA <value>

219, xDB <value>

220, xDC <value>

Command

Data

Value

decimal,

hex

Event

for

update

C/D*

N/A

C/D*

Command Description

u8VarLenGet = <value> Where <value> represents quantity of variables to read in the next variable read operation. Range is 0-78.

u8ArrIndexGet = <value>

u8ArrIndexGetActual = <value> where <value> is the array index to begin the next array read operation at. The ranges of <value> are as follows depending on the type of array: ab[]: 0-203 aw[]: 0-101 al[]: 0-50

(Reserved)

u8ArrLenGet = <value> where <value> represents the quantity of array variables to read in the next array r ead operation. The ranges of <value> are as follows depending on the type of array: ab[]: 0-204 aw[]: 0-102 al[]: 0-51

u8AutoIncGet = <value> Enable increment of variable or array index on the next read operation. Where value is: 0=NO, 1=YES

Set variable <a to zzzz> ='a'+u8VarIndexSetActual; if (u8AutoIncSet) then: u8VarIndexSetActual += 1

Set byte array variable <index>=u8ArrIndexSetActual; if (u8AutoIncSet) then: u8ArrIndexSetActual += 1

Set word array variable <index>=u8ArrIndexSetActual; if (u8AutoIncSet) then: u8ArrIndexSetActual += 1

Set long array variable <index>=u8ArrIndexSetActual; if (u8AutoIncSet) then: u8ArrIndexSetActual += 1

Stor e byte to EEPROM u32EptrActual += 1 NOTE: This u32EptrActual is not the same as the program EPTR= command.

Stor e word to EEPROM u32EptrActual += 2 NOTE: This u32EptrActual is not the same as the program EPTR= command.

Stor e long to EEPROM u32EptrActual += 4 NOTE: This u32EptrActual is not the same as the program EPTR= command.

Smart

Motor

Command(s)

ab[<index>]=<value>

aw[<index>]=<value>

al[<index>]=<value>

VST(<value byte>,1)

(But does not affect EPTR

or variables.)

VST(<value word16>,1)

(But does not affect EPTR

or variables.)

VST(<value long>,1)

(But does not affect EPTR

or variables.)

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Command Packet Codes to Motor Commands

Command

Code

decimal,

hex

221, xDD <value>

222, xDE N/A

223, xDF N/A

224, xE0 N/A

225, xE1 N/A

226, xE2 <value>

227-239,

xE3-xEF

240, xF0 <value>

241-254,

xF1-xFE

Command

Data

Value

decimal,

hex

N/A

Event

for

update

C/D*

N/A

C/D*

N/A

Command Description

Set variable and store to EEPROM <a to z>='a'+u8VarIndexSetActual u32EptrActual += 4; if (u8AutoIncSet) then: u8VarIndexSetActual += 1 NOTE: This u32EptrActual is not the same as the program EPTR= command.

Stor e variables to EEPROM <a to z>='a'+u8VarIndexSetActual <length>=u8VarLenSet u32EptrActual += (<length>*4); if (u8AutoIncSet) then: u8VarIndexSetActual += <length> NOTE: This u32EptrActual is not the same as the program EPTR= command.

Stor e byte array variables to EEPROM <index>=u8ArrIndexSetActual <length>=u8ArrLenSet u32EptrActual += (<length>*1);

if (u8AutoIncSet) then:

u8ArrIndexSetActual += <length>

(This u32EptrActual is not the s ame as the program EPTR= command.)

Stor e word array variables to EEPROM <index>=u8ArrIndexSetActual <length>=u8ArrLenSet u32EptrActual += (<length>*2); if (u8AutoIncSet) then: u8ArrIndexSetActual += <length>

(This u32EptrActual is not the s ame as the program EPTR= command.)

Stor e long array variables to EEPROM <index>=u8ArrIndexSetActual <length>=u8ArrLenSet u32EptrActual += (<length>*4); if (u8AutoIncSet) then: u8ArrIndexSetActual += <length>

(This u32EptrActual is not the s ame as the program EPTR= command.)

Set the EEPROM address u32EptrSet=<value> u32EptrActual=<value>

(doesn’t affect EPTR)

(Reserved)

Configure the PROFINET input packet to use an alternate data source for the 'Measured position' field (words 4,5)

<value>: 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)

(Reserved)

Smart

Motor

Command(s)

VST(<a to z>,1)

(does not affect EPTR)

VST(<a to z>, <length>)

(does not affect EPTR)

VST(ab[<index>],

<length>)

(does not affect EPTR)

VST(aw[<index>],

<length>)

(does not affect EPTR)

VST(al[<index>],

<length>)

(does not affect EPTR)

ETHCTL(10,x)

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Extended 16-bit command codes

Command

Code

decimal,

hex

255, xFF N/A

Command

Data

Value

decimal,

hex

Event

for

update

N/A

Command Description

(Err or)

Not a command. This is what the command ack will return if the command code c ould not be performed successfully

Smart

Motor

Command(s)

C/D* Indicates that a change of command code or a change of the command data will cause this command to occur. Values that are changed locally in a SmartMotor program will not trigger this update. In other words, the change of data must be a change relative to the previous network output data cycle from the PLC for the command to occur in the motor.

The above codes can be used in the original 3 word out, 7 word in data exchange, or in the extended 12 word out, 28 word in data exchange. The high-order byte should be set to 0 when using these in the extended packet, which has 16-bit fields for the command and reponse codes. For example: command code 124 sets PRT=. As an 8-bit hex value, 124 is x7C; as a 16-bit value, that is x007C. The endian-ness is determined by the byte-swap configuration parameter.

Extended 16-bit command codes

Below are additional 16-bit codes. Therefore, they require the extended data format with its 16-bit fields for command and response codes.

Command

Code

decimal, hex

256, x0100 <value>

257, x0101 <value>

258, x0102 <value>

259, x0103 <value>

260, x0104 <value>

261, x0105 <value>

262, x0106 <value>

263, x0107 <value>

264, x0108 <value>

265, x0109 <value>

266, x010A <value>

267, x010B <value>

268, x010C <value>

269, x010D <value>

270, x010E <value>

271, x010F <value>

272, x0110 <value>

273, x0111 <value>

274, x0112 <value>

Command

Data

Value

Event

for

update

C/D*

Command Description

Set variable a a=<value>

Set variable b b=<value>

Set variable c c =<value>

Set variable d d=<value>

Set variable e e=<value>

Set variable f f=<value>

Set variable g g=<value>

Set variable h h=<value>

Set variable i i=<value>

Set variable j j=<value>

Set variable k k=<value>

Set variable l l=<value>

Set variable m m=<value>

Set variable n n=<value>

Set variable o o=<value>

Set variable p p=<value>

Set variable q q=<value>

Set variable r r=<value>

Set variable s s =<value>

Smart

Motor

Command(s)

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Extended 16-bit command codes

Command

Code

decimal, hex

275, x0113 <value>

276, x0114 <value>

277, x0115 <value>

278, x0116 <value>

279, x0117 <value>

280, x0118 <value>

281, x0119 <value>

282, x011A <value>

283, x011B <value>

284, x011C <value>

285, x011D <value>

286, x011E <value>

287, x011F <value>

288, x0120 <value>

289, x0121 <value>

290, x0122 <value>

291, x0123 <value>

292, x0124 <value>

293, x0125 <value>

294, x0126 <value>

295, x0127 <value>

296, x0128 <value>

297, x0129 <value>

298, x012A <value>

299, x012B <value>

300, x012C <value>

301, x012D <value>

302, x012E <value>

303, x012F <value>

304, x0130 <value>

305, x0131 <value>

306, x0132 <value>

307, x0133 <value>

308, x0134 <value>

309, x0135 <value>

310, x0136 <value>

311, x0137 <value>

312, x0138 <value>

313, x0139 <value>

314, x013A <value>

Command

Data

Value

Event

for

update

C/D*

Command Description

Set variable t t=<value>

Set variable u u=<value>

Set variable v v=<value>

Set variable w w=<value>

Set variable x x=<value>

Set variable y y=<value>

Set variable z z=<value>

Set variable aa aa=<value>

Set variable bb bb=<value>

Set variable cc cc =<value>

Set variable dd dd=<value>

Set variable ee ee=<value>

Set variable ff ff=<value>

Set variable gg gg=<value>

Set variable hh hh=<value>

Set variable ii ii=<value>

Set variable jj jj=<value>

Set variable kk kk=<value>

Set variable ll ll=<value>

Set variable mm mm=<value>

Set variable nn nn=<value>

Set variable oo oo=<value>

Set variable pp pp=<value>

Set variable qq qq=<value>

Set variable rr rr=<value>

Set variable ss ss =<value>

Set variable tt tt=<value>

Set variable uu uu=<value>

Set variable vv vv=<value>

Set variable ww ww=<value>

Set variable xx xx=<value>

Set variable yy yy=<value>

Set variable zz zz=<value>

Set variable aaa aaa=<value>

Set variable bbb bbb=<value>

Set variable ccc ccc=<value>

Set variable ddd ddd=<value>

Set variable eee eee=<value>

Set variable fff fff=<value>

Set variable ggg ggg=<value>

Smart

Motor

Command(s)

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Extended 16-bit command codes

Command

Code

decimal, hex

315, x013B <value>

316, x013C <value>

317, x013D <value>

318, x013E <value>

319, x013F <value>

320, x0140 <value>

321, x0141 <value>

322, x0142 <value>

323, x0143 <value>

324, x0144 <value>

325, x0145 <value>

326, x0146 <value>

327, x0147 <value>

328, x0148 <value>

329, x0149 <value>

330, x014A <value>

331, x014B <value>

332, x014C <value>

333, x014D <value>

334 - 511,

x014E - x01FF

512, x0200 <value> C/D* Set float 0 (32-bit IEEE) af[0]=<value>

513, x0201 <value> C/D* Set float 1 (32-bit IEEE) af[1]=<value>

514, x0202 <value> C/D* Set float 2 (32-bit IEEE) af[2]=<value>

515, x0203 <value> C/D* Set float 3 (32-bit IEEE) af[3]=<value>

516, x0204 <value> C/D* Set float 4 (32-bit IEEE) af[4]=<value>

517, x0205 <value> C/D* Set float 5 (32-bit IEEE) af[5]=<value>

518, x0206 <value> C/D* Set float 6 (32-bit IEEE) af[6]=<value>

519, x0207 <value> C/D* Set float 7 (32-bit IEEE) af[7]=<value>

520 - 767,

x0208 - x02FF

768, x0300 <value> C/D* Set long array element 0 al[0]=<value>

769, x0301 <value> C/D* Set long array element 1 al[1]=<value>

... ...

818, x0332 <value> C/D* Set long array element 50 al[50]=<value>

819 - 65535,

x0333 - xFFFF

Command

Data

Value

N/A N/A (Reserved)

Event

for

update

C/D*

Command Description

Set variable hhh hhh=<value>

Set variable iii iii=<value>

Set variable jjj jjj=<value>

Set variable kkk kkk=<value>

Set variable lll lll=<value>

Set variable mmm mmm=<value>

Set variable nnn nnn=<value>

Set variable ooo ooo=<value>

Set variable ppp ppp=<value>

Set variable qqq qqq=<value>

Set variable rrr rrr=<value>

Set variable sss sss=<value>

Set variable ttt ttt=<value>

Set variable uuu uuu=<value>

Set variable vvv vvv=<value>

Set variable www www=<value>

Set variable xxx xxx=<value>

Set variable yyy yyy=<value>

Set variable zzz zzz=<value>

Smart

Motor

Command(s)

C/D* Indicates that a change of command code or a change of the command data will cause this variable to be written. Variables that are changed locally in a SmartMotor program will not trigger this update. 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.

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Page 63 of 76

Response Packet Codes to Motor Commands

This section provides a reference table of PROFINET response packet codes and corresponding SmartMotor commands.

Variables beginning with u8, u16 or u32 are internal to the motor’s PROFINET module.

For the variables:

l <a to z> use values (0 to 25) l <aa to zz> use values (26 to 51) l <aaa to zzz> use values (52 to 77)

Response

Code

decimal, hex

0, x00

1-95,

x01-x5f

96, x60

97, x61

98, x62

99, x63

100, x64

101, x65

102, x66

103, x67

104, x68

105, x69

106, x6A

107, x6B

108, x6C

109, x6D

110, x6E

111, x6F

112, x70

113, x71

114, x72

115, x73

116, x74

117, x75

118, x76

119, x77

120, x78

121, x79

122, x7A

Event for

update

N/A

cyclic

N/A

cyclic

N/A

cyclic

N/A

cyclic

N/A

cyclic

N/A

cyclic

N/A

cyclic

Response

Data Value

0 NULL / NOP - No response requested

0 (Reserved)

<value>= digital I/O number 4 RIN(4)

0 (Reserved)

<value>= digital I/O number 5 RIN(5)

0 (Reserved)

<value>= ac celeration target RAT

<value>= SmartMotor serial address RADDR

<value>= as signed PWM limit RAMPS

<value>= overcurr ent status RBa

0 (Obsolete)

<value>=

0 (Obsolete)

<value>= position error status RBe

0 (Obsolete)

<value>= overheat status RBh

<value>= index status RBi

<value>= program checksum error RBk

<value>= historical left limit status RBl

<value>= negative limit status RBm

<value>= motor off status RBo

<value>= positive limit status RBp

<value>= historical right limit status RBr

<value>= program scan status RBs

<value>= trajectory status RBt

0 (Obsolete)

<value>= wrapped encoder position RBw

<value>= hardware index input level RBx

<value>= millisecond clock RCLK

serial communications error bit

Response Description

Smart

Motor

Command(s)

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Response Packet Codes to Motor Commands

Response

Code

decimal, hex

123, x7B

124, x7C

125, x7D

126, x7E

127, x7F

128, x80

129, x81

130, x82

131, x83

132, x84

133, x85

134, x86

135, x87

136, x88

137, x89

138, x8A

139, x8B

140, x8C

141, x8D

142, x8E

143, x8F

144, x90

145, x91 cyclic <value>= motor RMS current

146, x92 cyclic <value>= servo bus voltage

147, x93

148, x94

149, x95

150, x96

151, x97

152, x98

153, x99

154, x9A

155, x9B

156, x9C

157, x9D

158, x9E

159, x9F

160, xA0

Event for

update

cyclic

N/A

cyclic

N/A

cyclic

N/A

cyclic

N/A

cyclic

Response

Data Value

<value>= secondary counter RCTR(1)

<value>= buffered move distance value RPRC

<value>= buffered maximum position error REL

<value>= special use timer

0 (Obsolete)

<value>=

<value>= buffered acceleration feed forward coefficient RKA

<value>= buffered derivative coefficient RKD

<value>= buffered gravity coefficient RKG

<value>= buffered integral coefficient RKI

<value>= buffered integral limit RKL

<value>= buffered proportional c oefficient RKP

<value>= buffered sampling interval RKS

<value>= buffered velocity feed forward coefficient RKV

<value>= follow mode divisor RMFDIV

<value>= follow mode multiplier RMFMUL

0 (Reserved)

<value>= current mode of operation RMODE

<value>= present position RPA

<value>= buffered position setpoint RPT

<value>= present position error REA

0 (Reserved)

<value>= current requested torque RT

<value>= temperature RTEMP

<value>= temperature shutdown limit RTH

<value>= current algorithm THD time RTHD

<value>= digital I/O number 0 RIN(0)

<value>= analog input number 0 RINA(A,0)

<value>= digital I/O number 1 RIN(1)

<value>= analog input number 1 RINA(A,1)

<value>= digital I/O number 2 RIN(2)

0 (Reserved)

<value>= digital I/O number 3 RIN(3)

0 (Reserved)

<value>= digital I/O number 6 RIN(6)

index position captured from recent Ai(0) command - object 1, data value 75

Requires firmware 6.0.2.41 or later

Response Description

Smart

Motor

Command(s)

RI(0)

RUIA

RUJA

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Response Packet Codes to Motor Commands

Response

Code

decimal, hex

161, xA1

162, xA2

163, xA3

164, xA4

165, xA5

166, xA6

167, xA7

168, xA8

169, xA9

170, xAA

171, xAB

172, xAC

173, xAD

174, xAE

175, xAF

176, xB0

177, xB1

178, xB2

179, xB3

180-181,

xB4-xB5

182, xB6

183, xB7

184-185,

xB8-xB9

186, xBA cyclic

187-199,

xBB-xC7

200, xC8

201, xC9

202, xCA

203, xCB

204, xCC

205, xCD

206, xCE

207, xCF

208, xD0

209, xD1

210, xD2

211, xD3

212, xD4

Event for

update

N/A

cyclic

N/A

cyclic

N/A

cyclic

N/A

cyclic

N/A

cyclic

Response

Data Value

0 (Reserved)

<value>= velocity RVA

<value>= buffered maximum velocity RVT

<value>= legacy status word (n/a)

<value>= value of negative software limit RSLN

<value>= value of positive software limit RSLP

0 (Reserved)

<value>=

0 (Reserved)

<value>= status word 0 RW(0)

<value>= status word 1 RW(1)

<value>= status word 2 RW(2)

<value>= status word 3 RW(3)

<value>= status word 4 RW(4)

<value>= status word 5 RW(5)

<value>= status word 6 RW(6)

<value>= status word 7 RW(7)

<value>= status word 8 RW(8)

<value>= status word 9 RW(9)

0 (Reserved)

<value>= user bits 0-15 (s tatus word 12) RW(12)

<value>= user bits 16-31 (status word 13) RW(13)

0 (Reserved)

<value>= I/O 0-7 (status word 16) RW(16)

0 (Reserved)

<value>= u8VarIndexSet

<value>= u8VarIndexSetActual

<value>= u8VarLenSet

<value>= u8ArrIndexSet

<value>= u8ArrIndexSetActual

<value>= u8ArrLenSet

<value>= u8AutoIncSet

<value>= u8VarIndexGet

<value>= u8VarIndexGetActual

<value>= u8VarLenGet

<value>= u8ArrIndexGet

<value>= u8ArrIndexGetActual

<value>= u8ArrLenGet

Inputs 0-7, 16-bit value, right justified

Response Description

Smart

Motor

Command(s)

RIN(W,0)

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Response Packet Codes to Motor Commands

Response

Code

decimal, hex

213, xD5

214, xD6

Response 0

only

215, xD7

Response 0

only

216, xD8

Response 0

only

217, xD9

Response 0

only

218, xDA

Response 0

only

219, xDB

Response 0

only

220, xDC

Response 0

only

221, xDD

Response 0

only

222, xDE

Response 0

only

Event for

update

cyclic

RC* <value> Get 1 variable: a to zzz

RC* <value> Get 1 byte array variable

RC* <value> Get 1 word array variable

RC* <value> Get 1 long array variable

RC* <value> Get byte from EEPROM

RC* <value> Get word from EEPROM

RC* <value> Get long from EEPROM

RC* <value> Get 4 bytes from EEPROM, store in 1 var a to

RC* 0 Load data from EEPROM into multiple variables

Response

Data Value

<value>= u8AutoIncGet

<var a-zzz> is: 'a'+u8VarIndexGetActual <value> = value of <var a-zzz> if (u8AutoIncGet) then: u8VarIndexGetActual += 1

<index>=u8ArrIndexGetActual <value>=ab[<index>] if (u8AutoIncGet) then: u8ArrIndexGetActual += 1

<index>=u8ArrIndexGetActual <value>=aw[<index>] if (u8AutoIncGet) then: u8ArrIndexGetActual += 1

<index>=u8ArrIndexGetActual <value>=al[<index>] if (u8AutoIncGet) then: u8ArrIndexGetActual += 1

<value>=EE byte at u32EptrActual u32EptrActual += 1 NOTE: This u32EptrActual is not the same as the program EPTR= command.

<value>=EE 2 bytes at u32EptrActual u32EptrActual += 2 NOTE: This u32EptrActual is not the same as the program EPTR= command.

<value>=EE 4 bytes at u32EptrActual u32EptrActual += 4 NOTE: This u32EptrActual is not the same as the program EPTR= command.

zzz, and return that value. <var a-zzz> is: 'a'+u8VarIndexGetActual <value> = value of <var a-zzz> after VLD. u32EptrActual += 4 if (u8AutoIncGet) then: u8VarIndexGetActual += 1 NOTE: This u32EptrActual is not the same as the program EPTR= command.

<var a-zzz> is: 'a'+u8VarIndexGetActual <length>=u8VarLenGet u32EptrActual += (<length>*4); if (u8AutoIncGet) then: u8VarIndexGetActual += <length> NOTE: This u32EptrActual is not the same as the program EPTR= command.

Response Description

Smart

Motor

Command(s)

R<var a to zzz>

Rab[<index>]

Raw[<index>]

Ral[<index>]

(VLD, but does not

affect EPTR or

variables.)

(VLD, but does not

affect EPTR or

variables.)

(VLD, but does not

affect EPTR or

variables.)

VLD(<var a to zzz>,1)

R<var a to zzz>

(does not affect EPTR)

VLD(<var a to

zzz>,<length>)

(does not affect EPTR)

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Response Packet Codes to Motor Commands

Response

Code

decimal, hex

223, xDF

Response 0

only

224, xE0

Response 0

only

225, xE1

Response 0

only

226, xE2 cyclic <value>= u32EptrSet (last set EEPROM address)

227, xE3 cyclic <value>= u32EptrActual (actual EEPROM address

228, xE4 cyclic <value>= u16NetLostLabel (initialized to the value of

229, xE5

Event for

update

RC* 0 Load data from EEPROM into multiple byte array

RC* 0 Load data from EEPROM into multiple word

RC* 0 Load data from EEPROM into multiple long array

cyclic

Response

Data Value

<value>=

Response Description

variables <index>=u8ArrIndexGetActual <length>=u8ArrLenGet u32EptrActual += (<length>*1); if (u8AutoIncGet) then: u8ArrIndexGetActual += <length> NOTE: This u32EptrActual is not the same as the program EPTR= command.

array variables <index>=u8ArrIndexGetActual <length>=u8ArrLenGet u32EptrActual += (<length>*2); if (u8AutoIncGet) then: u8ArrIndexGetActual += <length> NOTE: This u32EptrActual is not the same as the program EPTR= command.

variables <index>=u8ArrIndexGetActual <length>=u8ArrLenGet u32EptrActual += (<length>*4); if (u8AutoIncGet) then: u8ArrIndexGetActual += <length> NOTE: This u32EptrActual is not the same as the program EPTR= command.

NOTE: This u32EptrActual is not the same as the program EPTR= command.

currently in PROFINET interface) NOTE: This u32EptrActual is not the same as the program EPTR= command.

u16NetLostLabelDefault during power-up); see ETHCTL(...)

u8NetLostAction (initialized to the value of u8NetLostActionDefault during power-up)

See ETHCTL(...)

Smart

Motor

Command(s)

VLD(ab[<index>],

<length>)

(does not affect EPTR)

VLD(aw[<index>],

<length>)

(does not affect EPTR)

VLD(al[<index>],

<length>)

(does not affect EPTR)

On loss of communication with PROFINET host, command is based on <value>:

230-234,

xE6-xEA

235, xEB

N/A

cyclic

<value>=

(Reserved)

encoder resolution RRES

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0=IGNORE (No Command), 1=OFF (Motor Off), 2=X (Soft Stop), 3=S (Immediate Stop), 4=GOSUB, 5=GOTO

Extended 16-bit response codes

Response

Code

decimal, hex

236, xEC

237, xED

238, xEE

239-254,

xF0-xFE

255, xFF

Event for

update

cyclic

N/A

cyclic

N/A

Response

Data Value

<value>=

Response Description

firmware version RFW

(Obsolete)

sample period as RSP command reports it (microseconds * 100), so 8kHz reports as

12500.

(Reserved)

Smart

Motor

Command(s)

RSP

RC* indicates that a change of response request code is required to begin or repeat this event. For repeated events, that means that the code should be changed to 0, then back to the desired code per event. If using the extended packet which allows for multiple requests, then only the first request area (0) is allowed to make this request. The reason is that the global state of the motor is affected and multiple requests concurrently would be a problem.

The above codes can be used in the original 3 word out, 7 word in data exchange, or in the extended 12 word out, 28 word in data exchange. The high-order byte should be set to 0 when using these in the extended packet, which has 16-bit fields for the command and reponse codes. For example: reponse code 122 returns CLK (clock). As an 8-bit hex value, 122 is x7A; as a 16-bit value, that is x007A. The endian-ness is determined by the byte-swap configuration parameter.

Extended 16-bit response codes

Below are additional 16-bit codes. Therefore, they require the extended data format with its 16-bit fields for command and response codes.

Response

Code

decimal, hex

256, x0100

257, x0101

258, x0102

259, x0103

260, x0104

261, x0105

262, x0106

263, x0107

264, x0108

265, x0109

266, x010A

267, x010B

268, x010C

269, x010D

270, x010E

271, x010F

Event for

update

cyclic

Response

Data

Value

<value>= variable a Ra

<value>= variable b Rb

<value>= variable c Rc

<value>= variable d Rd

<value>= variable e Re

<value>= variable f Rf

<value>= variable g Rg

<value>= variable h Rh

<value>= variable i Ri

<value>= variable j Rj

<value>= variable k Rk

<value>= variable l Rl

<value>= variable m Rm

<value>= variable n Rn

<value>= variable o Ro

<value>= variable p Rp

Response Description

Smart

Motor

Command(s)

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Extended 16-bit response codes

Response

Code

decimal, hex

272, x0110

273, x0111

274, x0112

275, x0113

276, x0114

277, x0115

278, x0116

279, x0117

280, x0118

281, x0119

282, x011A

283, x011B

284, x011C

285, x011D

286, x011E

287, x011F

288, x0120

289, x0121

290, x0122

291, x0123

292, x0124

293, x0125

294, x0126

295, x0127

296, x0128

297, x0129

298, x012A

299, x012B

300, x012C

301, x012D

302, x012E

303, x012F

304, x0130

305, x0131

306, x0132

307, x0133

308, x0134

309, x0135

310, x0136

311, x0137

312, x0138

Event for

update

cyclic

Response

Data

Value

<value>= variable q Rq

<value>= variable r Rr

<value>= variable s Rs

<value>= variable t Rt

<value>= variable u Ru

<value>= variable v Rv

<value>= variable w Rw

<value>= variable x Rx

<value>= variable y Ry

<value>= variable z Rz

<value>= variable aa Raa

<value>= variable bb Rbb

<value>= variable cc Rcc

<value>= variable dd Rdd

<value>= variable ee Ree

<value>= variable ff Rff

<value>= variable gg Rgg

<value>= variable hh Rhh

<value>= variable ii Rii

<value>= variable jj Rjj

<value>= variable kk Rkk

<value>= variable ll Rll

<value>= variable mm Rmm

<value>= variable nn Rnn

<value>= variable oo Roo

<value>= variable pp Rpp

<value>= variable qq Rqq

<value>= variable rr Rr r

<value>= variable ss Rss

<value>= variable tt Rtt

<value>= variable uu Ruu

<value>= variable vv Rvv

<value>= variable ww Rww

<value>= variable xx Rxx

<value>= variable yy Ryy

<value>= variable zz Rzz

<value>= variable aaa Raaa

<value>= variable bbb Rbbb

<value>= variable ccc Rccc

<value>= variable ddd Rddd

<value>= variable eee Reee

Response Description

Smart

Motor

Command(s)

Moog Animatics Class 6 PROFINET Guide Rev. D

Page 70 of 76

Extended 16-bit response codes

Response

Code

decimal, hex

313, x0139

314, x013A

315, x013B

316, x013C

317, x013D

318, x013E

319, x013F

320, x0140

321, x0141

322, x0142

323, x0143

324, x0144

325, x0145

326, x0146

327, x0147

328, x0148

329, x0149

330, x014A

331, x014B

332, x014C

333, x014D

334 - 511,

x014E - x01FF

512, x0200 cyclic <value>= float 0 (32-bit IEEE) Raf[0]

513, x0201 cyclic <value>= float 1 (32-bit IEEE) Raf[1]

514, x0202 cyclic <value>= float 2 (32-bit IEEE) Raf[2]

515, x0203 cyclic <value>= float 3 (32-bit IEEE) Raf[3]

516, x0204 cyclic <value>= float 4 (32-bit IEEE) Raf[4]

517, x0205 cyclic <value>= float 5 (32-bit IEEE) Raf[5]

518, x0206 cyclic <value>= float 6 (32-bit IEEE) Raf[6]

519, x0207 cyclic <value>= float 7 (32-bit IEEE) Raf[7]

520 - 767,

x0208 - x02FF

768, x0300 cyclic <value>= long array element 0 Ral[0]

769, x0301 cyclic <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,

x0333 - xFFFF

Event for

update

cyclic

N/A 0 (Reserved)

cyclic 0 (Reserved)

Response

Data

Value

<value>= variable fff Rfff

<value>= variable ggg Rggg

<value>= variable hhh Rhhh

<value>= variable iii Riii

<value>= variable jjj Rjjj

<value>= variable kkk Rkkk

<value>= variable lll Rlll

<value>= variable mmm Rmmm

<value>= variable nnn Rnnn

<value>= variable ooo Rooo

<value>= variable ppp Rppp

<value>= variable qqq Rqqq

<value>= variable rrr Rrrr

<value>= variable sss Rsss

<value>= variable ttt Rttt

<value>= variable uuu Ruuu

<value>= variable vvv Rvvv

<value>= variable www Rwww

<value>= variable xxx Rxxx

<value>= variable yyy Ryyy

<value>= variable zzz Rzzz

Response Description

Smart

Motor

Command(s)

Moog Animatics Class 6 PROFINET Guide Rev. D

Page 71 of 76

Troubleshooting

The following table provides troubleshooting information for solving SmartMotor problems that may be encountered when using PROFINET. For additional support resources, see the Moog Animatics Support page at:

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

Issue Cause Solution PROFINET Communication Issues

NOTE: Station Name, IP Address, Subnet Mask, and Gateway must be correct at

the PROFINET I/O controller.

No PROFINET connection.

Command code Ack and/or Response code Ack is returning as 255

Motor not powered. Check Drive Status LED. If LED is not lit,

check wiring.

Disconnected or miswired connector, or broken wiring between slave and master.

Motor nonvolatile settings.

Wrong type of cable. Check that cable is a PROFINET cable. For

Wrong GSDMLfile. Verify that the correct GSDML file was

Unknown command or response code Mismatch of the

original vs. extended packet size

Byte order of command / response code or data is wrong.

Request in the incorrect response-request area.

Value out of range Check the data value, or related com-

Check that connectors are correctly wired and connected to motor. For details, see PROFINET Motor Connectors and Pinouts on page 16.

Check that motor PROFINET Station name is set, and that all motors have been programmed with a unique station name.

details, see Cables and Diagram on page

17.

used to configure the master and connect the slave motor as part of the PROFINET network.

Check if command/response code is supported in this version of firmware Verify that the controller/PLC has the

correct input/output data size set. Not all possible combinations are supported. Both input and output size must be the original (14 bytes in and 6 bytes out), or both must be the extended size (56 bytes in and 24 bytes out.)

Check that the byte-order parameter is set as intended.

Certain responses (response codes 214-

225) are only allowed in the first response request section (0) of the extended packet and not in responses 1-7.

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

Troubleshooting

Issue Cause Solution Other Communication and Control Issues

Motor does not communicate with SMI.

Motor disconnects from SMI sporadically.

Transmit, receive, or ground pins are not connected correctly.

Motor program is stuck in a continuous loop or is disabling communications.

COM port buffer settings are too high.

Poor connection on serial cable.

Power supply unit (PSU) brownout.

Ensure that transmit, receive and ground are all connected properly to the host PC.

To prevent the program from running on power up, use the Communications Lockup Wizard located on theSMI software Communications menu.

Adjust the COM port buffer settings to their lowest values.

Check the serial cable connections and/or replace it.

PSU may be too high-precision and/or undersized for the application, which causes it to brown-out during motion. Make moves less aggressive, increase PSU size, or change to a linear unregulated power supply.

After power reset, motor stops communicating over USB or serial port, requires re-detection.

Motor does not have its address set in the user program. NOTE:Serial addresses are lost when motor power is

Use the SADDR or ADDR= command within the program to set the motor address.

off or reset.

Red PWR SERVO light illuminated.

Critical fault. To discover the source of the fault, use the

Motor View tool located on the SMI software Tools menu.

Common Faults

Bus voltage fault. Bus voltage is either

Check servo bus voltage. too high or too low for operation.

Overcurrent occurred.

Motor intermittently drew more than its rated level of current.

Consider making motion less abrupt with

softer tuning parameters or acceleration

profiles. Does not cease motion

Excessive temperature fault.

Motor has exceeded temperature limit of 85°C. Motor will remain unresponsive

Motor may be undersized or ambient

temperature is too high. Consider adding

heat sinks or forced air cooling to the

system. until it cools down below 80°C.

Excessive position error.

The motor's commanded position

Increase error limit, decrease load, or

make movement less aggressive. and actual position differ by more than the user-supplied error limit.

Historical positive/negative hardware limit faults.

A limit switch was tripped in the past.

Motor does not have limit switches attached.

Clear errors with the ZS command.

Configure the motor to be used without

limit switches by setting their inputs as

general use.

Moog Animatics Class 6 PROFINET Guide Rev. D

Page 73 of 76

Troubleshooting

Issue Cause Solution Programming and SMI Issues

Several commands not recognized during compiling.

Compiler default firmware version set incorrectly.

Use the "Compiler default firmware

version option" in the SMI software

Compile menu to select the default

firmware version closest to the motor

firmware version. In the SMI software,

view the motor firmware version by right-

clicking the motor and selecting

Properties. Unsupported com-

mands used in program.

Check the unrecognized commands

against those listed in the section "Com-

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

PN: SC80100007-001

Rev. D

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

Sequence to Set Report Data to Motor Clock

PROFINET Communication Example

Sample Command Sequences

Overview

Disabling limits from preventing motion

Command and response codes

Handshaking of messages

Turning the Motor Shaft

Disable Limits and Clear Fault Status

Commands

Disable positive limit, command EIGN(2)

Disable negative limit, command EIGN(3)

Clear fault status, command ZS

Initiate Mode Torque

Commands

Set torque value, specify the response data

Initiate torque mode, command MT

Commands

Set acceleration value, command ADT=255

Set maximum velocity value, command VT=100000

Make a relative position move

User Program Commands

=ETH, RETH

ETHCTL(function, value)

Program Example

Output and Input Packets

Output and Input Packet Format

Command (Output) Packet Notes

Response (Input) Packet Notes

Alternate Communications Channel

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