Moog Class 5 SmartMotor User Manual

For the mobile version of this guide, see:

animatics.com/docs/guides-html/c5_dmx/

Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C, PN: SC80100004-001.

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.

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 "DMX 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 5

Purpose 6

Combitronic Technology 6

DMX Overview 8

Safety Information 9

Safety Symbols 9

Other Safety Considerations 9

Motor Sizing 9

Environmental Considerations 9

Machine Safety 10

Documentation and Training 11

Additional Equipment and Considerations 11

Safety Information Resources 11

Additional Documents 13

Related Guides 13

Introduction

This chapter provides an overview of the DMX features provided by the Moog Animatics SmartMotor. It also provides information on safety, and where to find related documents and additional resources.

Purpose 6

Combitronic Technology 6

DMX Overview 8

Safety Information 9

Safety Symbols 9

Other Safety Considerations 9

Motor Sizing 9

Environmental Considerations 9

Machine Safety 10

Documentation and Training 11

Additional Equipment and Considerations 11

Safety Information Resources 11

Additional Documents 13

Related Guides 13

Purpose

This manual explains the Moog Animatics Class 5 SmartMotor™ support for the Digital MultipleX (DMX) communications protocol. It describes the major concepts that must be understood to integrate a SmartMotor as a DMX slave device. However, it only minimally covers the low-level details of the DMX protocol.

NOTE: The Remote Device Management (RDM) bidirectional communication extension of the DMX protocol is not supported.

The feature set described in this version of the manual refers to firmware in the 5.x.4.y series, where x = 0, 16, 32, 97 or 98, and y=3 or greater. Versions 5.0.4, 5.16.4, and 5.32.4 are specific to D-style motors, and versions 5.97.4 and 5.98.4 are specific to M-style motors. Refer to the following lists.

NOTE: The SmartMotor firmware must be one of the listed versions.

For D-style motors:

5.0.4.y (where y is 3 or greater)

5.16.4.y (where y is 3 or greater)

5.32.4.y (where y is 3 or greater)

For M-style motors:

5.97.4.y (where y is 3 or greater)

5.98.4.y (where y is 3 or greater)

This manual is intended for programmers or system developers who have read and understand the Engineering Commission of United States Institute for Theatre Technology (USITT) DMX512-A standard. Therefore, this manual is not a tutorial on that standard or the DMX protocol. Instead, it should be used to understand the specific implementation details for the Moog Animatics Class 5 SmartMotor. Additionally, code examples are provided to assist the programmer with the SmartMotor integration.

The Command Reference section of this manual includes details about the specific DMX commands available in the SmartMotor through the DMX firmware. For details, see DMXCommands on page 27.

Combitronic Technology

The most unique feature of the SmartMotor is its ability to communicate with other SmartMotors and share resources using Moog Animatics’ Combitronic™ technology. Combitronic is a protocol that operates over a standard CAN interface. It may coexist with CANopen and other protocols. It requires no single dedicated master to operate. Each SmartMotor connected to the same network communicates on an equal footing, sharing all information, and therefore, sharing all processing resources.

While the Combitronic protocol can be used in parallel with a DMX network, there are certain restrictions:

The DMX wiring does not carry the Combitronic signal. Therefore, additional cabling (available from Moog Animatics) must be used to build the Combitronic network.

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Combitronic Technology

There is bidirectional, end-to-end connectivity only within the same Combitronic network of motors. Therefore, one Combitronic network cannot communicate with another.

When a Combitronic network is used in parallel with a DMXnetwork, you can:

Avoid the cost of repeaters.

Gain bidirectional, end-to-end connectivity within the Combitronic network of motors. There are no other motors on the market that can talk to each other on a side bus while being a slave to the DMX host controller.

Compute or synchronize motion between motors within the same Combitronic network. For example, DMX values (from the host controller) could be used to adjust amplitude and frequency of SmartMotor Cam tables for an electronic camming or gearing application that controls the motion pattern of a bank of stage lights.

In short, DMX-equipped SmartMotors retain all the features and benefits of the standard Class 5 SmartMotor, including features like electronic camming, gearing, and Combitronic support.

For additional details, see the Class 5 SmartMotor™ Installation & Startup Guide.

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DMX Overview

0 1 2 3 4 5 6 7 1 2

Start code and data channels

(11 bits, 4 μs each )

DATA BITS

STOP

BITS

START

BIT

IDLE

START

BREAK

100 μs (could be as low as 92 μs)

12 μs

MAB

Start Code in Slot 0 (followed by up to 512 data channels)

SLOT 0

44 μs

SLOT 1

44 μs

SLOT 2

44 μs

SLOT 3

44 μs

SLOT 4

44 μs

SLOT 5

44 μs

SLOT 6

44 μs

DMX Overview

DMX is a standard for digital communications networks that are used to control lighting, stage effects, dimmers, fog machines and related applications. This control may include positioning and/or focusing of lights or other objects to aid in visual effects of stage productions or other live events. As a result, its use is often expanded to the movement or control of curtains, stage props or other objects that require motion.

DMX, or further expanded as DMX512, is an EIA-485 (RS-485) hardware-based protocol that is unidirectional in nature — the controller only sends data; it does not receive data. Further, it has no error checking or checksums that are required for use in hazardous applications. Therefore, its use must be limited to safe operating environments where failure due to transmission errors would not cause harm to personnel or equipment.

WARNING: DMX networks must not be used in applications where failure due to transmission errors would cause harm to personnel or equipment.

DMX512 controllers transmit asynchronous serial data at 250 kilobaud (kBd). The data format is fixed and begins with a single start bit, eight data bits, and two stop bits with no parity. Up to 512 8-bit data bytes or "channels" of data may be transmitted to all nodes at once. The data is ordered serially and typically runs continuously from a DMX master controller. The full data packet begins with a break, followed by a Mark after Break (MAB), then Slot 0 beginning with a one-byte Start Code, and that is followed by up to 512 data slots. Refer to the following figure.

Moog Animatics Class 5 SmartMotor™ DMX Guide,Rev. C

DMX Data Transmission

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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 10.

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.

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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Safety Information Resources

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

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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 5 SmartMotor™ Installation & Startup Guide

http://www.animatics.com/cl-5-install-startup-guide

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

DMX Resources

The following equipment and software can be used to test your DMX system:

DMX512 Standard:

http://old.usitt.org/DMX512.aspx

Lights Up software (open source, GNUlicense):

http://lightsup.sourceforge.net/

Enttec Open DMX USB interface:

http://www.enttec.com/?main_menu=Products&pn=70303

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+ 32 hidden pages

Moog Class 5 SmartMotor User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Purpose

Combitronic Technology

DMX Overview

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

DMX Resources