Moog SmartMotor Developer's Manual

Developer’s Guide

Class 5 & Later SmartMotor Technology with

Moog Animatics SmartMotor™ Developer's Guide, Rev. L, PN:SC80100003-002.

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, and SMI are all trademarks of Moog Inc., Animatics. 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 "Developer's 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 27

Overview 28

Combitronic Support 28

Communication Lockup Wizard 30

Safety Information 30

Safety Symbols 30

Other Safety Considerations 31

Motor Sizing 31

Environmental Considerations 31

Machine Safety 31

Documentation and Training 32

Additional Equipment and Considerations 33

Safety Information Resources 33

Additional Documents 34

Related Guides 34

Introduction

This chapter provides introductory reference material.

Overview 28

Combitronic Support 28

Communication Lockup Wizard 30

Safety Information 30

Additional Documents 34

Additional Resources 35

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Introduction

Introduction: Overview

Overview

The SmartMotor™ Developer's Guide is designed to be used by system developers and programmers when developing applications for the SmartMotor. Before using the SmartMotor™ Developer's Guide, it is strongly recommended that you first read the SmartMotor™ Installation & Startup Guide for your SmartMotor, which describes how to install and start up the SmartMotor, and test initial communications with the motor. After that, use this guide to learn about advanced SmartMotor features, how to develop SmartMotor applications, and the details of each command.

Part One of this guide provides information on basic to advanced programming, along with related information on key SMIsoftware features, communications, motion control, program flow control, error and fault handling, and more.

Part Two of this guide lists all the SmartMotor commands in alphabetical order. Each command is described in detail. Code snippets and examples are provided where applicable. These are shown in a Courier font. Comments are included and separated with a single quotation mark as they would be in your own programs.

NOTE: 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.

Also, where appropriate, a Related Commands section is included, which is located at the end of the command page. It is designed to guide you to other commands that offer similar functionality, and ensure you are aware of every programming option the SmartMotor provides to address your specific application requirements.

Part Three of this guide provides a library of useful example SmartMotor programs. These can be used as "how to" examples for using a particular SmartMotor feature or solving a particular application problem, or as starting points for your application.

The Appendix of this guide contains additional topics such as an array map, ASCII character set, command error codes, and other information that is useful to have handy during application development.

A quick-reference command list is also included at the end of this guide.

Combitronic Support

A large number of the commands provide Combitronic™ support. Combitronic is a protocol that operates over a standard "CAN" (Controller Area Network) interface. It may coexist with either CANopen or DeviceNet protocols at the same time. Unlike these common protocols, however, Combitronic requires no single dedicated master to operate. Each Integrated Servo connected to the same network communicates on an equal footing, sharing all information, and therefore, sharing all processing resources. For more details on Combitronic features, see Combitronic Communications on page 111, and also see the overview on the Moog Animatics website at:

http://www.animatics.com/supports/knowledge-base/smartmotorkb/130.html.

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Introduction

Introduction: Combitronic Support

For applicable commands, a table row titled "COMBITRONIC:" provides the Combitronic command syntax for addressing a specific SmartMotor in the network. Those commands also display the Combitronic logo ( ) at the top of their reference pages.

Combitronic Logo Location

COMBITRONIC: Table Row

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Introduction

Introduction: Communication Lockup Wizard

Communication Lockup Wizard

Improper use of some commands, like Z and OCHN, can lock you out of the motor and prevent further communication. If you are unable to communicate with the SmartMotor, you may be able to recover communications using the Communication Lockup Wizard, which is on the SMI software Communications menu (see the following figure). This tool sends an "E" character to the motor at startup, which prevents the motor from running its program. For more details on the Communication Lockup Wizard, see the SMI software online help, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

Communication Menu - Communication Lockup Wizard

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.

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Introduction

Introduction: Other Safety Considerations

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 31.

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 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

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Introduction

Introduction: Documentation and Training

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.

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.

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Introduction

Introduction: Additional Equipment and Considerations

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

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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Introduction

Introduction: Additional Documents

Additional Documents

The Moog Animatics website contains additional documents that are related to the information in this manual. Please refer to the following list.

Related Guides

SmartMotor™ Installation & Startup Guide (select the guide for your SmartMotor)

http://www.animatics.com/install-guides

SmartMotor™ Fieldbus Guide (select the guide for your SmartMotor and fieldbus protocol)

http://www.animatics.com/fieldbus-manuals

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

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Part 1: Programming the SmartMotor

Part 1 of this guide provides information on programming, SMIsoftware features, communications, variables, error and fault handling, I/Ocontrol, and other details required for system and application development.

Beginning Programming 47

Setting the Motor Firmware Version 48

Setting the Default Firmware Version 48

Checking the Default Firmware Version 49

Opening the SMIWindow (Program Editor) 49

Understanding the Program Requirements 50

Creating a "Hello World" Program 51

Entering the Program in the SMI Editor 51

Adding Comments to the Code 52

Checking the Program Syntax 52

Saving the Program 52

Downloading a Program to the SmartMotor 52

Syntax Checking, Compiling and Downloading the Program 53

Additional Notes on Downloaded Programs 53

Running a Downloaded Program 54

Using the Program Download Window 55

Using the Terminal Window and Run Program Button 55

Using the RUN Command in the Terminal Window 55

Creating a Simple Motion Program 56

SMISoftware Features 57

Introduction 58

Menu Bar 58

Toolbar 59

Configuration Window 61

Terminal Window 63

Initiating Motion from the Terminal Window 65

Information Window 65

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Part 1: Programming the SmartMotor

Program Editor 66

Motor View 68

SMI Trace Functions 70

Monitor Window 73

Serial Data Analyzer 75

Chart View 76

Chart View Example 77

Macros 80

Tuner 82

SMIOptions 86

SMIHelp 87

Context-Sensitive Help Using F1 87

Context-Sensitive Help Using the Mouse 87

Help Buttons 87

Hover Help 87

Table of Contents 87

Projects 88

SmartMotor Playground 89

Opening the SmartMotor Playground 90

Moving the Motor 91

Communication Details 93

Introduction 95

Connecting to a Host 96

Daisy Chaining Multiple D-Style SmartMotors over RS-232 97

ADDR=formula 98

SLEEP, SLEEP1 99

WAKE, WAKE1 99

ECHO, ECHO1 100

ECHO_OFF, ECHO_OFF1 100

Serial Commands 101

OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout) 101

CCHN(type,channel) 102

BAUDrate, BAUD(channel)=formula 102

PRINT(), PRINT1() 102

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SILENT, SILENT1 103

TALK, TALK1 103

a=CHN(channel) 103

a=ADDR 104

Communicating over RS-485 104

Using Data Mode 104

CAN Communications 107

CADDR=formula 107

CBAUD=formula 107

=CAN, =CAN(arg) 107

CANCTL(function,value) 107

SDORD(...) 108

SDOWR(...) 108

NMT 109

RB(2,4), x=B(2,4) 109

Exceptions to NMT, SDORD and SDOWR Commands 109

I/O Device CAN Bus Master 110

Combitronic Communications 111

Combitronic Features 112

Other Combitronic Benefits 112

Program Loops with Combitronic 112

Global Combitronic Transmissions 113

Simplify Machine Support 113

Combitronic with RS-232 Interface 113

Other CANProtocols 115

CANopen - CAN Bus Protocol 115

DeviceNet - CAN Bus Protocol 115

I²C Communications (D-Style Motors) 115

OCHN(IIC,1,N,baud,1,8,D) 117

CCHN(IIC,1) 117

PRINT1(arg1,arg2, … ,arg_n) 117

RGETCHR1, Var=GETCHR1 117

RLEN1, Var=LEN1 117

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Part 1: Programming the SmartMotor

Motion Details 118

Introduction 120

Motion Command Quick Reference 121

Basic Motion Commands 122

Target Commands 122

PT=formula 122

PRT=formula 123

ADT=formula 123

AT=formula 123

DT=formula 123

VT=formula 123

Motion Mode Commands 124

MP 124

MV 124

MT 124

Torque Commands 125

TS=formula 125

T=formula 125

Brake Commands 125

BRKRLS 125

BRKENG 125

BRKSRV 126

BRKTRJ 126

Brake Command Examples 126

EOBK(IO) 127

MTB 127

Index Capture Commands 128

Other Motion Commands 129

G 129

S 129

X 130

O=formula 130

OSH=formula 130

OFF 130

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Part 1: Programming the SmartMotor

Commutation Modes 131

MDT 131

MDE 131

MDS 131

MDC 132

MDB 132

MINV(0), MINV(1) 132

Modes of Operation 133

Torque Mode 133

Torque Mode Example 133

Dynamically Change from Velocity Mode to Torque Mode 133

Velocity Mode 134

Constant Velocity Example 134

Change Commanded Speed and Acceleration 134

Absolute (Position) Mode 135

Absolute Move Example 135

Two Moves with Delay Example 135

Change Speed and Acceleration Example 135

Shift Point of Origin Example 136

Relative Position Mode 136

Relative Mode Example 136

Follow Mode with Ratio (Electronic Gearing) 137

Electronic Gearing and Camming over CANopen 137

Electronic Gearing Commands 138

SRC(enc_src) 138

MFR 138

MSR 138

MF0 138

MS0 138

MFMUL=formula, MFDIV=formula 138

MFA(distance[,m/s]) 139

MFD(distance[,m/s]) 139

MFSLEW(distance[,m/s]) 139

Follow Internal Clock Source Example 139

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Follow Incoming Encoder Signal With Ramps Example 140

Electronic Line Shaft 142

ENCD(in_out) 142

Spooling and Winding Overview 143

Relative Position, Auto-Traverse Spool Winding 143

MFSDC(distance,mode) 144

Dedicated, Absolute Position, Winding Traverse Commands 146

MFSDC(distance,2) 147

MFLTP=formula 147

MFHTP=formula 147

MFCTP(arg1,arg2) 147

MFL(distance[,m/s]) 148

MFH(distance[,m/s]) 148

ECS(counts) 148

Single Trajectory Example Program 150

Chevron Wrap Example 150

Other Traverse Mode Notes 152

Traverse Mode Status Bits 153

CamMode (Electronic Camming) 153

Electronic Camming Details 156

Understanding the Inputs 156

Should I choose Source Counts or Intermediate Counts? 157

Should I choose Variable or Fixed cam? 157

Electronic Camming Notes and Best Practices 159

Examples 161

Electronic Gearing and Camming over CANopen 161

Electronic Camming Commands 162

CTE(table) 162

CTA(points,seglen[,location]) 162

CTW(pos[,seglen][,user]) 162

MCE(arg) 163

MCW(table,point) 163

RCP 164

RCTT 164

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Part 1: Programming the SmartMotor

MC 164

MCMUL=formula 164

MCDIV=formula 164

O(arg)=formula 164

OSH(arg)=formula 164

Cam Example Program 165

Mode Switch Example 168

Position Counters 170

Modulo Position 171

Modulo Position Commands 171

Dual Trajectories 172

Commands That Read Trajectory Information 174

Dual Trajectory Example Program 175

Synchronized Motion 175

Synchronized-Target Commands 175

PTS(), PRTS() 175

VTS=formula 176

ADTS=formula, ATS=formula, DTS=formula 177

PTSS(), PRTSS() 177

A Note About PTS and PTSS 177

Other Synchronized-Motion Commands 178

GS 178

TSWAIT 179

Program Flow Details 181

Introduction 182

Flow Commands 182

RUN 183

RUN? 183

GOTO#, GOTO(label), C# 183

GOSUB#, GOSUB(label), RETURN 184

IF, ENDIF 184

ELSE, ELSEIF 185

WHILE, LOOP 186

SWITCH, CASE, DEFAULT, BREAK, ENDS 186

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Part 1: Programming the SmartMotor

TWAIT 187

WAIT=formula 187

STACK 187

END 188

Program Flow Examples 189

IF, ELSEIF, ELSE, ENDIF Examples 189

WHILE, LOOPExamples 189

GOTO(), GOSUB() Examples 190

SWITCH, CASE, BREAK, ENDS Examples 191

Interrupt Programming 192

ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI 192

TMR(timer,time) 194

Variables and Math 195

Introduction 196

Variable Commands 196

EPTR=formula 196

VST(variable,number) 196

VLD(variable,number) 197

Math Expressions 197

Math Operations 197

Logical Operations 197

Integer Operations 197

Floating Point Functions 197

Math OperationDetails and Examples 198

Array Variables 198

Array Variable Examples 199

Error and Fault Handling Details 200

Motion and Motor Faults 201

Overview 201

Drive Stage Indications and Faults 201

Fault Bits 201

Error Handling 202

Example Fault-Handler Code 202

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Part 1: Programming the SmartMotor

PAUSE 203

RESUME 203

Limits and Fault Handling 204

Position Error Limits 204

dE/dt Limits 204

Velocity Limits 204

Hardware Limits 204

Software Limits 205

Fault Handling 205

Monitoring the SmartMotor Status 206

System Status 208

Introduction 209

Retrieving and Manipulating Status Words/Bits 209

System and Motor Status Bits 209

Reset Error Flags 211

System Status Examples 211

Timer Status Bits 212

Interrupt Status Bits 212

I/O Status 213

User Status Bits 213

Multiple Trajectory Support Status Bits 214

Cam Status Bits 215

Interpolation Status Bits 216

Motion Mode Status 216

RMODE, RMODE(arg) 216

I/OControl Details 217

I/O Port Hardware 218

I/O Connections Example (D-Style Motors) 219

I/O Voltage Spikes 219

Discrete Input and Output Commands 220

Discrete Input Commands 220

Discrete Output Commands 220

Output Condition and Fault Status Commands 221

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Part 1: Programming the SmartMotor

Output Condition Commands 221

Output Fault Status Reports 221

General-Use Input Configuration 221

Multiple I/OFunctions Example 222

Analog Functions of I/O Ports 223

5 Volt Push-Pull I/O Analog Functions (D-Style Motors) 223

24 Volt I/O Analog Functions (D-Style AD1 Option Motors, M-Style Motors) 223

Special Functions of I/OPorts 224

Class 5 D-Style Motors: Special Functions of I/O Ports 225

I/O Ports 0 and 1 – External Encoder Function Commands 225

I/O Ports 2 and 3 – Travel Limit Inputs 225

I/O Ports 4 and 5 – Communications 225

I/O Port 6 – Go Command, Encoder Index Capture Input 226

Class 5 M-Style Motors: Special Functions of I/O Ports 227

COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes 227

I/O Ports 2 and 3 – Travel Limit Inputs 227

I/O Port 5 – Encoder Index Capture Input 227

I/O Port 6 – Go Command 228

Class 6 M-Style Motors: Special Functions of I/O Ports 229

COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes 229

I/O Ports 2 and 3 – Travel Limit Inputs 229

I/O Port 4 and 5 – Encoder Index Capture Input 229

I/O Port 6 – Go Command 230

I/O Brake Output Commands 230

I²C Expansion (D-Style Motors) 230

Tuning and PIDControl 231

Introduction 232

Understanding the PID Control 232

Tuning the PID Control 233

Using F 233

Setting KP 234

Setting KD 234

Setting KI and KL 234

Setting EL=formula 235

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Part 1: Programming the SmartMotor

Other PID Tuning Parameters 235

KG=formula 235

KV=formula 235

KA=formula 236

Current Limit Control 237

AMPS=formula 237

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Part 1: Programming: Beginning Programming

Beginning Programming

This chapter provides information on beginning programming with the SmartMotor. It introduces you to using the SMI™ Program Editor, understanding program requirements, creating a program, downloading the program and then running it in the SmartMotor. It concludes with a sample for creating your first motion program.

Setting the Motor Firmware Version 48

Setting the Default Firmware Version 48

Checking the Default Firmware Version 49

Opening the SMIWindow (Program Editor) 49

Understanding the Program Requirements 50

Creating a "Hello World" Program 51

Entering the Program in the SMI Editor 51

Adding Comments to the Code 52

Checking the Program Syntax 52

Saving the Program 52

Downloading a Program to the SmartMotor 52

Syntax Checking, Compiling and Downloading the Program 53

Additional Notes on Downloaded Programs 53

Running a Downloaded Program 54

Using the Program Download Window 55

Using the Terminal Window and Run Program Button 55

Using the RUN Command in the Terminal Window 55

Creating a Simple Motion Program 56

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Part 1: Programming: Setting the Motor Firmware Version

Setting the Motor Firmware Version

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

When programming the SmartMotor, it is important that the SMI software compiler's firmware version setting matches the firmware version of the connected SmartMotor.

CAUTION: The compiler's firmware version must match the firmware version of the connected motor. If it does not match, the SMI software may not catch syntax errors and may download incompatible code to the SmartMotor.

This procedure assumes that:

The SmartMotor is connected to the computer. For details, see Connecting the System in the SmartMotor Installation & Startup Guide for your motor.

The SmartMotor is connected to a power source. (Certain models of SmartMotors require separate control and drive power.) For details, see Understanding the Power Requirements in the SmartMotor Installation & Startup Guide for your motor.

The SMI software has been installed and is running on the computer. For details, see Installing the SMISoftware in the SmartMotor Installation & Startup Guide for your motor.

Setting the Default Firmware Version

To set the default firmware version, from the SMI software main menu, select:

Compile > Compiler default firmware version

Setting the Compiler’s Default Firmware Version

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Part 1: Programming: Checking the Default Firmware Version

From the list, select the firmware version that most closely matches the firmware version of the connected SmartMotor, as shown in the previous figure. After the default firmware version has been selected, the list closes.

Checking the Default Firmware Version

To check the default firmware version, from the SMI software main menu, select:

Compile > Compiler default firmware version

On the list, locate the blue dot to the left of the firmware version number. The dot indicates the currently-selected default firmware version.

Opening the SMIWindow (Program Editor)

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

In addition to taking commands over the serial interface, the SmartMotor can run programs. The SMI window is used to write and edit user programs for the SmartMotor(s). After the program has been written, it can be checked and then downloaded to the desired SmartMotor (s).

The SMI window is typically closed (default setting) when the SMI software is opened. To open the window, click the New button ( ) on the toolbar, or select:

File > New

SMIWindow

After the SMI window opens, you can type your program directly into the editor, or you can copy and paste existing code from any text-based software such as Windows Notepad.

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Part 1: Programming: Understanding the Program Requirements

NOTE: Some word-processing software, such as Microsoft Word, has an option for "smart quotes", which use angled single (ˊ) and double (˝) quotation marks . The angled quotation marks are not recognized by the SMI editor. Therefore, any "smart quotes" option must be disabled before copying and pasting the program code.

Understanding the Program Requirements

SmartMotors use a simple form of code called "AniBasic", which is similar to the BASIC programming language. Various commands include means to create continuous loops, jump to different locations on given conditions and perform general math functions.

Note the following AniBasic program requirements:

The code is case sensitive:

All commands begin with or use all UPPERCASE letters.

All variables are preassigned and must use lower case.

Command names are reserved and cannot be used as variables.

A space is a programming element.

Comments require an apostrophe or ASCII character 39 (') between the commands and the comment text.

NOTE: When copying and pasting code from another text editor, make sure that your text editor is not inserting "smart quotes" (angled single or double quotation marks). These are not the same as ASCIIcharacters 39 (') and 34 ("), and the SMI program editor doesn't recognize them.

Each program must contain at least one occurrence of the END statement.

Each subroutine call must have a label with a RETURN statement somewhere below it.

Each Interrupt subroutine must end with the RETURNI statement.

The default syntax colors for the SMIeditor are: commands (blue), program flow controls (pink), and comments(green). All other program text is shown in black. You can change the syntax colors through the Editor tab in the Options window. For details on the Options window, see SMIOptions on page 86.

There is no syntax checking performed until you do one of the following:

From the main menu, select Compile > Scan file for errors

Select the Scan File for Errors button on the toolbar

Press Ctrl+F7

As in BASIC, you can use the PRINT command to print to the screen, as shown in the "Hello World" example. For details, see Creating a "Hello World" Program on page 51.

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Part 1: Programming: Creating a "Hello World" Program

When the SmartMotor power is turned on, there is a 500 ms "pause" before any program or command is processed:

For all industrial networks, every node (or motor) must immediately send out a "Who am I?"info data packet when power is turned on, which tells the network host who it's talking to. This is a requirement for all industrial communications protocols (like CANopen, DeviceNet and PROFIBUS).

The stored program does not execute until the 500 ms pause expires. Any serial commands sent during that time are buffered and then accepted after that pause expires. Because incoming commands take priority over the internal program, any buffered commands are executed before the internal program begins.

Commands coming in over the network have priority over the program running within the SmartMotor. For example, while a program is running, you could issue a GOSUB command from the terminal and send the program off to run the specified subroutine. When the subroutine is done, the program would resume at the point where the GOSUB command was issued.

The RUN? command can be used at the beginning of a program to prevent it from automatically running when the SmartMotor power is turned on, as shown in the "Hello World" example. For details, see Creating a "Hello World" Program on page 51.

The SmartMotor will not execute any code past the RUN? line until it receives a RUN command through the serial port.

Using the serial port, the motor can be commanded to run subroutines even if the stored program is not running.

Creating a "Hello World" Program

This procedure describes how to create and save a simple "Hello World" program.

Entering the Program in the SMI Editor

To create the program, type the following code into the SMI software program editor:

RUN?

PRINT("Hello World",#13)

END

NOTE: The program will not run when the SmartMotor power is turned on (because of the RUN? command on the first line).

When you run this program, it outputs the following text to the Terminal window:

Hello World

To run this program, you must download it to the SmartMotor and then enter the RUNcommand in the Terminal window. For more details on downloading the program, see Downloading a Program to the SmartMotor on page 52. For more details on running the downloaded program, see Running a Downloaded Program on page 54.

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Part 1: Programming: Adding Comments to the Code

Adding Comments to the Code

You can add comments to the code by inserting a single quotation mark (') between the commands and your comment text.

NOTE: Comments do not get sent to the SmartMotor.

RUN? 'The program stops here until it receives a RUNcommand

PRINT("Hello World",#13) '#13 is a carriage return

END 'The required ENDcommand

Checking the Program Syntax

You can syntax check the program by doing one of the following:

l From the main menu, select Compile > Scan file for errors

l Select the Scan File for Errors button on the toolbar

l Press Ctrl+F7

If errors are found, correct them and re-check the syntax.

The program will also be syntax checked as part of the download procedure. For details, see Downloading a Program to the SmartMotor on page 52.

Saving the Program

After entering the program, you can save it as follows:

From the main menu, select: File > Save As, or click the Save button ( ) on the toolbar. The Save As window opens.

Select a drive/folder on your PC or use the default location.

Assign a name, such as "HelloWorld.sms".

Click Save to write the program to the specified location and close the window.

If you attempt to syntax check or compile and download an unsaved program, the SMI software automatically opens the Save As window, which requires you to save the program before continuing.

Downloading a Program to the SmartMotor

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

After you've created a program, it must be downloaded to the SmartMotor. This section explains how to syntax check and download the program.

NOTE: Comments do not get sent to the SmartMotor.

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Part 1: Programming: Syntax Checking, Compiling and Downloading the Program

Syntax Checking, Compiling and Downloading the Program

The program can be syntax checked, compiled and transmitted to the SmartMotor in one operation.

To compile the program and then transmit it to the SmartMotor:

NOTE: SMI transmits the compiled version of the program to the SmartMotor.

1. Click the Compile and Download Program button ( ) on the toolbar or press the F5 key. The Select Motor window opens, which is used to specify which motor(s) will receive the

program.

Select the desired motor(s) from the list. The SMI software compiles the program during this step and also checks for errors. If errors are found, make the necessary corrections and try again.

Click OK to close the window and transmit the program. A progress bar shows the status of the transmission.

Because the SmartMotor's EEPROM (long-term memory) is slow to write, the terminal software uses two-way communications to regulate the download of a new program.

Additional Notes on Downloaded Programs

Keep the following items in mind regarding programs that have been downloaded to the SmartMotor:

After the program has been downloaded into the SmartMotor, it remains there until replaced.

The downloaded program executes every time power is applied to the motor.

There is a 500 ms timeout before the motor will accept commands on the serial port. Any commands sent during that time are buffered and then accepted once the 500 ms timeout expires. Because incoming commands take priority over the internal program, buffered commands run before the internal program begins.

If you do not want the program to execute every time power is applied, you must add a RUN? command as the first line/command of the program. For an example, see Creating a "Hello World" Program on page 51.

To get a program to operate continuously, write a loop. For details, see Program Flow Details on page 181.

A program cannot be erased; it can only be replaced. To effectively replace a program with nothing, download a program with only one command: END.

Remember that all programs, even "empty" ones, must contain at least one ENDcommand. For more details on program requirements, see Understanding the Program Requirements on page 50.

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Part 1: Programming: Running a Downloaded Program

Running a Downloaded Program

WARNING: The larger SmartMotors can shake, move quickly and exert great

force. Therefore, proper motor restraints must be used, and safety precautions must be considered in the workcell design (see Other Safety Considerations on page 31).

NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

After the program has downloaded to the SmartMotor, the Program Download window opens, which contains options relating to running the program.

Program Download Window

Runwill run the program immediately. Reset will clear all user variables and run the program as if it were power cycled. Close will close the window without running the newly-downloaded program.

"Check to disable this message" will prevent the window from being shown after a program is downloaded to the SmartMotor. Select that option if you always want to run the program using the Terminal window and the Run Program in Selected Motor button ( ), which is on the SMI software toolbar.

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Part 1: Programming: Using the Program Download Window

Using the Program Download Window

(Refer to the previous figure.)

To run the program on all motors:

Select the All Motors on this channel option.

Click Run.

To run the program on just the selected motor:

Deselect the All Motors on this channel option.

Click Run.

Using the Terminal Window and Run Program Button

To run the program using the Terminal window and the Run Program button:

Use the motor selector in the Terminal window (see the following figure) to select the motor—it must be the same motor that received the program.

Click the Run Program in Selected Motor button ( ) to run the program in the selected motor.

Selected Motor and Run Program Button

Using the RUN Command in the Terminal Window

To run the program using commands in the Terminal window, do one of the following:

Type RUN in the text box and click Send or press Enter

Type RUNdirectly on the terminal screen (blue) area and click Send or press Enter.

RUNCommand in the Terminal Window

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Part 1: Programming: Creating a Simple Motion Program

Creating a Simple Motion Program

WARNING: The larger SmartMotors can shake, move quickly and exert great

force. Therefore, proper motor restraints must be used, and safety precautions must be considered in the workcell design (see Other Safety Considerations on page 31).

Enter the following motion program in the SMIediting window. Pay close attention to spaces and capitalization.

As described previously, it’s only necessary to enter text on the left side of the single quote, as the text from the single quotation mark to the right end of the line is a comment and for information only. That said, it is always good programming practice to create wellcommented code. Nothing is more frustrating than trying to debug or decipher code that is sparsely commented.

NOTE: Comments do not get sent to the SmartMotor.

EIGN(2) 'Disable left limit EIGN(3) 'Disable right limit ZS 'Reset errors ADT=100 'Set target accel/decel VT=1000000 'Set target velocity PT=100000 'Set target position G 'Go, starts the move TWAIT 'Wait for move to complete PT=0 'Set buffered move back to home G 'Start motion

END 'End program

After entering the program code, you can download it to the motor and then run it. For details on downloading the program, see Downloading a Program to the SmartMotor on page 52. For details on running the downloaded program, see Running a Downloaded Program on page 54.

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Part 1: Programming: SMISoftware Features

SMISoftware Features

This chapter provides information on SMI software features.

Introduction 58

Menu Bar 58

Toolbar 59

Configuration Window 61

Terminal Window 63

Initiating Motion from the Terminal Window 65

Information Window 65

Program Editor 66

Motor View 68

SMI Trace Functions 70

Monitor Window 73

Serial Data Analyzer 75

Chart View 76

Chart View Example 77

Macros 80

Tuner 82

SMIOptions 86

SMIHelp 87

Context-Sensitive Help Using F1 87

Context-Sensitive Help Using the Mouse 87

Help Buttons 87

Hover Help 87

Table of Contents 87

Projects 88

SmartMotor Playground 89

Opening the SmartMotor Playground 90

Moving the Motor 91

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Menu bar Toolbar

Conguration window

Terminal window

Information window

Program editor

Part 1: Programming: Introduction

Introduction

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The SMI software interface provides access to a variety of tools that are used to communicate with, program and monitor the SmartMotor.

The interface can be accessed from the Windows Desktop icon or from the Windows Start menu. For details, see Accessing the SMI Software Interface in the SmartMotor Installation &

Startup Guide for your motor.

Main Features of the SMISoftware

NOTE: Depending on your version of SMI software, your screens may look slightly different than those shown.

The primary software features are briefly described in the following sections. In addition to this information, there are detailed descriptions of all SMI software features in the software's online help, which can be accessed from the software's Help menu or by pressing the F1 key.

Menu Bar

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

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Part 1: Programming: Toolbar

The SMI software menu bar provides access to all SMI software features, which are grouped by functional area.

The Menu Bar

NOTE: Frequently-used features are also available from the SMI software's Toolbar. For details, see Toolbar on page 59.

Each functional area is described in the following table.

Menu Description

File Access standard file commands (New, Open, Close, etc.).

Edit

View

Communication

Compile

Tools

Window

Help

Edit an SMI program (Cut, Copy, Paste, etc.). Note that an SMI Program Editor window must be open to use these features.

Show or hide windows or items in the SMI software interface (Toolbar, Status bar, Terminal window, etc.).

Control communications with motors (Settings, Detect Motors, Upload Program, Communication Setup Wizard, etc.).

Scan a program for errors and compile SMX or project files (Scan for errors, Compile Downloadable SMX file, Compile and Transmit SMXfile, Compile Project, etc.).

Access SmartMotor tools, monitoring features and options (Macro, Tuner, Motor View, Monitor View, Options, etc.)

Control the appearance of the SMI software windows (Cascade, Tile Horizontally/Vertically, Arrange Icons, etc.).

Access online help features of the SMI software (Contents, Index, SmartMotor Programmer's Guide, etc.).

Each menu item is described in detail in the SMI software's online help file, which can be accessed from the Help menu or by pressing the F1 key.

Toolbar

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The SMI software toolbar provides quick access to the SMI software's frequently-used features. Each item is represented by an icon, as shown in the following figure.

The Toolbar

NOTE: The entire set of SMI software features can be accessed from the menu bar. For details, see Menu Bar on page 58.

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Part 1: Programming: Toolbar

Each icon is described in the following table.

Icon

Menu Command

New Create a new document.

Open Open an existing document.

Save Save the active document.

Save All Save the Project and all open documents.

Cut Cut the selection and put it on the Clipboard.

Copy Copy the selection and put it on the Clipboard.

Paste Insert Clipboard contents.

Configuration Show or hide the Configuration window.

Terminal Show or hide the Terminal window.

Information Show or hide the Information window.

Serial Data Analyzer

Find Motors

Detect Motors

Compile and Download Project

Compile and Transmit SMX File

Description

Show or hide the Serial Data Analyzer ("sniffer").

Detect all available motors connected to the defined serial ports of the computer.

Detect motors connected to the currently-selected port in the Terminal window.

Compile and download all user programs defined in the project to their associated motors.

Compile and download the program in the active view to its associated motor.

Scan for errors Scan the program in the active view.

Upload Program

Run Program

Stop Running Program

Stop Motors Send an END and then an S command to all motors.

Decelerate Motors to Stop

SmartMotor Playground

Context Help Opens the context help for the selected item.

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Upload the program in a motor to an SMI file.

Send a RUN command to the selected motor in the Terminal window.

Send an END command to the selected motor in the Terminal window.

Send an END and then an X command to all motors.

Opens the SmartMotor Playground, where you can monitor and jog a single motor in Position, Velocity and Torque modes.

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Part 1: Programming: Configuration Window

Each item is described in detail in the SMI software's online help file, which can be accessed from the Help menu or by pressing the F1 key.

Configuration Window

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The Configuration window shows the current configuration and allows access to specific ports and motors. The Configuration window is essential to keeping multiple SmartMotor systems organized, especially in the context of developing multiple programs and debugging their operation.

The Configuration window is typically visible when the SMI software opens. If the window has been closed, you can open it from the SMI software main menu by selecting:

View > Configuration

NOTE: When the window is visible, the menu item will have a check mark next to

it.

Configuration Window

The Configuration window is essential to keeping multiple SmartMotor systems organized.

To use the Configuration window:

Click Find Motors to analyze your system, or

Right-click on an available port to display a menu, and select either "detect motors" or "address motors" to find motors attached to that port.

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Part 1: Programming: Configuration Window

You can double-click on any port to view its properties, as shown in the following figure.

Port Properties Window

You can also double-click on any motor to open the Motor View tool for that motor, as shown in the following figure.

Motor View Window

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Part 1: Programming: Terminal Window

By right-clicking the motor, you can access its properties along with other tools, as shown in the following figure.

Motor Tools Menu

Terminal Window

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The Terminal window acts as a real-time portal between you and the SmartMotor. By typing commands in the Terminal window, you can set up and execute trajectories, execute subroutines of downloaded programs and report data and status information to the window.

The Terminal window is typically shown (default setting) when the SMI software is opened. However, if the Terminal window is closed, select:

View > Terminal

NOTE: When the window is visible, the menu item will have a check mark next to

it.

To use the Terminal window:

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Terminal Window

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Part 1: Programming: Terminal Window

Specific communication ports can be selected using the tabs.

Commands can be entered in the white text box or directly on the blue screen. If data is flooding back from the motor, then the white text box will be more convenient, as the incoming data may cause the text to scroll out of view.

When motor power is activated, there is a 500 ms timeout before the motor will accept commands on the serial port. Any commands sent during that time are buffered and then accepted once the 500 ms timeout expires. Because incoming commands take priority over the internal program, buffered commands run before the internal program begins.

Because multiple SmartMotors are on a single communication port are individually addressed, commands can be routed to any or all of them by making the appropriate selection from the drop-down list, which is located just below the tabs. The SMI program automatically sends the appropriate codes to the network to route the data to the specified motor(s).

You can double-click a previous command to resend the command (see the following figure). However,

If that command has a motor address in it (for example, 1RPA, where "1" = serial bus Motor 1), the command will resend to that motor.

If that command does not have an address, the command will be sent to the lastaddressed motor. For example, if you previously sent the command 2RPA, which addresses serial bus Motor 2, an un-addressed command that you double-click (or issue) will go to serial bus Motor 2, even if it's on the list before the point where you started addressing Motor 2.

An example of commands sent to the last-addressed motor. Notice that double-clicking the first RPA command reports the position of motor 3 because it was the lastaddressed motor.

PRINT commands containing data can be sprinkled in programs to send data to the Terminal window as an aid in debugging.

What is typed on the screen is not what goes to the motor. For example, 1RPAdoes not send a "1" to the motor — it is sending an Extended ASCII code for "1"(Hex 0x81). Then it sends ASCII "R", 'P" and "A", and a SPACE (Hex 20) as the delimiter (not a carriage return). Note that the terminal window uses a space as the delimiter; the motor uses a carriage return (Hex 0x0D) as the delimiter.

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Part 1: Programming: Initiating Motion from the Terminal Window

Data that has associated report commands, such as Position, which is retrieved using the RPA command, can be easily reported by simply including the report command directly in the program code.

NOTE: Be careful when using report commands within tight loops because they can bombard the Terminal window with too much data.

If a program is sending too much data to the Terminal window, try adding a WAIT=50 command to the program, which will slow down the flow.

Use the right-hand scroll bar to review the Terminal window history.

Initiating Motion from the Terminal Window

WARNING: The larger SmartMotors can shake, move quickly and exert great

force. Therefore, proper motor restraints must be used, and safety precautions must be considered in the workcell design (see Other Safety Considerations on page 31).

To initiate motion from the terminal window, enter the following commands (do not enter the comments, which are the right-hand portion of each line).

MP 'Initialize Position mode ADT=100 'Set target accel/decel VT=1000000 'Set target velocity PT=300000 'Set target position G 'Go, starts the move

NOTE: Acceleration, velocity and position fully describe a trapezoidal-motion profile.

After the final G command has been entered, the SmartMotor accelerates to speed, slows and then decelerates to a stop at the absolute target position. The progress can be seen in the Motor View window. For details on the Motor View window, see Monitoring the SmartMotor Status on page 206.

Information Window

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The Information window shows the program status. When a program is scanned and errors are found, they are listed in the Information window preceded by a red "E" along with the program path and line number where the error was found, as shown in the following figure.

Example Error Message

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Part 1: Programming: Program Editor

The Information window is typically visible when the SMI software opens. If the window has been closed, you can open it from the SMI software main menu by selecting:

View > Information

NOTE: When the window is visible, the menu item will have a check mark next to

it.

To use the Information window:

Double-click on the error in the Information window—the specific error will be located in the Program Editor.

In the following example, the scanner does not recognize the command TWAITS. The correct command is TWAIT.

TWAITS Error

Correct the error and scan the program again. After all errors are corrected, the program can be downloaded to the SmartMotor.

Warnings may appear in the Information window to alert you to potential problems. However, warnings will not prevent the program from being downloaded to the SmartMotor. It is the programmer’s responsibility to determine the importance of addressing the warnings.

Program Editor

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

SmartMotor programs are written in the SMI software Program Editor before being scanned for errors and downloaded to the motor.

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Part 1: Programming: Program Editor

To open the Program Editor, from the SMI software main menu, select:

File > New

Or click the New button ( ) on the toolbar. The Program Editor opens, as shown in the following figure.

To use the Program Editor:

Type the program code directly into the Program Editor. As you write the program, the editor applies syntax highlighting to the code, which makes it easier to read and debug.

Every program requires an END command, even if the program is designed to run indefinitely and the END is never reached. For more details on program requirements, see Understanding the Program Requirements on page 50.

The first time you write a program, you must save it before you can download it to the motor.

Every time a program is downloaded, it is automatically saved to that file name. This point is important to note, as most Windows applications require a "save" action. If you want to set aside a certain revision of the program, it should be copied and renamed, or you should simply save the continued work under a new name.

Once a program is complete, you can scan it for errors by pressing the Scan File button ( ) on the toolbar, or scan and download it in one operation by pressing the Compile and Download Program button ( ), which is also located on the toolbar.

If errors are found, the download will be aborted and the problems will be identified in the Information window located at the bottom of the screen.

Program Editor

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Part 1: Programming: Motor View

Programs are scanned using a language file that is related to different motor firmware versions. If Compile and Download Program is selected, the language file will be chosen based on the version read from the motor. If Scan File is selected, the default language file will be used. To change the default language file, from the SMI software main menu, select

Compile > Compiler default firmware version > [select the desired version]

For more details, see Setting the Motor Firmware Version on page 48.

Motor View

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The SMI Motor View window allows you to view multiple parameters related to the motor.

To open the Motor View window, from the SMI software main menu, select:

Tools > Motor View

and select the motor you want to view. Or, in the Configuration window, double-click the motor you want to view.

Motor View Window

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NOTE: The Motor View window provides a real-time view into the inner workings of a SmartMotor.

To use the Motor View window:

Click Poll to initiate real-time scanning of motor parameters.

A program can be running in the motor while the Motor View window is polling. The program must not print text to the serial channel being used for polling.

In addition to the standard items displayed, two fields allow you to select from a list of additional parameters to display.

For example, in the previous figure, Voltage and Current are being polled. This information can be useful when setting up a system for the first time, or debugging a system in the field. Temperature is also useful to monitor in applications with demanding loads.

All seven of the user-configurable onboard I/O points are shown. Any onboard I/O that is configured as an output can be toggled by clicking on the dot below the designating number.

The SmartMotor has built-in provisions allowing it to be identified by the SMI software. When a motor is identified, a picture of it appears in the lower left corner of the Motor View window.

Part 1: Programming: Motor View

Tabs across the top of the window provide access to additional information.

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Part 1: Programming: SMI Trace Functions

SMI Trace Functions

The Trace tab provides a set of functions that are useful for debugging a SmartMotor program. To access Trace functions, open the Motor View window and click the Trace tab.

Motor View Trace Functions

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To use Trace functions:

Open the Trace window. When first opened with no program loaded, the following message appears:

Right-click the SmartMotor in the Configuration window and select Upload Program. The program is uploaded to the SMIEditor.

Double-click anywhere in the program to load it into the Trace window.

Select the desired Mode.

Double-click on desired line in the Editor window, if needed.

Press the desired button in the Trace/Step box. The program must run before anything will happen.

Part 1: Programming: SMI Trace Functions

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Part 1: Programming: SMI Trace Functions

The following table describes the items in the Trace window:

Item Description

Status box Shows the current state of the Trace program and Motor Program.

This becomes active after a command is executed on the Trace tab and remains active until the Motor View is closed. Possible Status messages are:

Not Connected – Not connected to motor

Program Running or Program Stopped – If at a breakpoint or the program is stopped.

Trace Active or Trace Inactive – If a trace is currently in progress or waiting to hit a breakpoint in progress. If a trace is active it must be canceled before selecting a new Mode.

At Break Point – Program execution halted because a breakpoint

was reached or a step was completed. Motor Program box Shows the name of the program contained in the motor. Trace Program box Shows the name of the program that was doubled-clicked. Clear Display button Clears the highlighted text in the editor window and removes any

information in the Trace List window. Program group End Program – Stops program execution by writing the END

command

Run from Beginning – Issues a RUN command.

Run Continue – Release firmware from the current breakpoint.

(Only available when at a breakpoint.) Mode group: For any trace information to be retrieved from the motor, a mode must be

selected and the program must run. Current Captures the first 20 points encountered. About, Before, After Requires the user to select a line from the program in the Editor

window by double-clicking on it. The program trace responds

based on the option selected in the Trace/Step group (see below).

About – Captures 9 points before and 10 points after desired line.

Before – captures 20 points before the desired line.

After – Captures 20 points following the desired line. Continuous Polls the motor for commands that are executing. Because of

bandwidth, not all executed lines are shown in the Trace view or

highlighted in the program. Step Enables step mode. The program trace responds based on the

option selected in the Trace/Step group (see below). Break at Command Requires the user to select a line in the program by double-

clicking on it in the Editor window. The program trace responds

based on the option selected in the Trace/Step group (see

descriptions following this table). Trace/Step group Various options are available based on other selections (see

descriptions following this table).

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Part 1: Programming: Monitor Window

Trace/Step group – Options for trace selections (when Step mode is not selected):

Start Trace and Run from Beginning button – Sets trace information in the motor and issues a RUN command.

Start Trace button – Sets trace information in the motor.

Start Trace and Run from Current button – Available when at a break point. The trace information is set in the motor and the program continues from the current break point.

Cancel Trace button – Available when a trace is active to cancel the current trace.

Trace/Step group – Options for Step (when Step mode is selected):

Step from Beginning button – Sets a breakpoint in the motor and issues a RUN command. The program executes the first line of code and then stops.

Step from Current button – Sets a breakpoint in the motor. If the program is running, the motor stops at the next command. If the program is at a breakpoint, the motor executes the next command and then stops.

Trace/Step group – Options for Break (when Break at command mode is selected):

Set Breakpoint and Run from Beginning button – Sets the breakpoint and runs the program from the beginning.

Set Breakpoint button – Sets a breakpoint in the motor.

Set Breakpoint and Run from Current button – If at a breakpoint, this sets the new breakpoint and runs the program from the current location.

Remove Breakpoint button – Removes a breakpoint that was set and not reached.

Monitor Window

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The Monitor window allows you to create your own fully-customized monitor. Because it is polling a limited set of items, it provides a more efficient monitoring method. To open the Monitor window, from the SMI software main menu, select:

Tools > Monitor View

Monitor Window

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To use the Monitor window:

Polling items can be added or removed by pressing the + and – buttons. When adding a new item, the Add New Monitor Item window opens and provides tools for setting up the monitoring function, as shown in the following figure.

Part 1: Programming: Monitor Window

Add New Monitor Item Window

Custom items, which do not have explicit report commands, can be added by entering the specific commands appropriate to getting the data reported (for example, make a variable equal to the desired parameter and then report that variable).

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Part 1: Programming: Serial Data Analyzer

Serial Data Analyzer

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The SMI Terminal window formats text and performs other housekeeping functions that are invisible to the user. For an exact picture of the data being traded between the PC and the SmartMotor™, use the Serial Data Analyzer (also known as the "sniffer"). To open the Serial Data Analyzer, from the SMI software main menu, select:

View > Serial Data Analyzer

Or press the Serial Data Analyzer button ( ) on the toolbar. The Serial Data Analyzer window opens, as shown in the following figure.

Serial Data Analyzer

The Serial Data Analyzer window can display serial data in a variety of formats, and it can be a useful tool for debugging communications. For example, you can:

View data transfer between computer and SmartMotor(s).

View data in hexadecimal, decimal, or ASCII format in up to three columns.

Send commands and binary data to SmartMotor(s).

View sent and received data in different definable colors.

Capture data transfer in different ports at the same time, and view each port using its dedicated page.

NOTE: SMI can display the precise data being sent between the host and the SmartMotor in multiple formats.

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Part 1: Programming: Chart View

Chart View

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

In some cases, the best way to understand a data trend is by seeing it graphically. The SMI Chart View provides graphical access to any readable SmartMotor parameter.

To open the Chart View window, from the SMI software main menu, select:

Tools > ChartView

The Chart View window opens, as shown in the following figure.

To use the Chart View tool:

Polling items are added or removed by pressing the + and – buttons.

The fields and options are identical to those in the Monitor tool. For details on the Monitor tool, see Monitor Window on page 73.

Adjustable upper and lower limits for each polled parameter allow them to be scaled to fit the space.

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Chart View Window

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Part 1: Programming: Chart View Example

The toolbar across the top provides additional functions such as chart editing, start/stop sampling, manual update and more.

The Start Sampling button ( ) starts the charting action.

While the Chart View does not include a print function, Window’s standard Print Screen key can capture the chart to the clipboard, and from there, it can be pasted into other applications (like Microsoft Excel, Microsoft Word, etc.). This graphical data can be a useful addition to written system reports.

Additionally, a context menu is available by right-clicking on the Chart View window, which has selections for:

l Copying the chart data as a tab-delimited table in text format, which can then be

imported into a spreadsheet, such as Microsoft® Excel, or any text editor.

Copying the current image of the chart to the clipboard in bitmap format, which can then be pasted in any graphic application.

Chart View Example

The SMI Chart View provides graphical access to any readable SmartMotor parameter. The following example shows how to use the Chart View tool to graphically track torque changes on the SmartMotor.

This procedure assumes that:

The SmartMotor is connected to the computer. For details, see Connecting the System in the SmartMotor Installation & Startup Guide for your motor.

The SMI software has been installed and is running on the computer. For details, see Installing the SMISoftware in the SmartMotor Installation & Startup Guide for your motor.

You've completed the first-time motion example. For details, see Moving the SmartMotor in the SmartMotor Installation & Startup Guide for your motor.

To open the Chart View window, from the SMI software main menu, select:

Tools > ChartView

The Chart View window opens. For details, see Chart View on page 76.

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To create the example:

Click the Add icon (+). The Add New Chart Item window opens.

Click Custom Parameter to enter a nonstandard parameter for charting.

Fill in the text boxes as shown in the following figure.

Part 1: Programming: Chart View Example

Custom Parameter Button and Related Entries

NOTE: Be sure the Maximum and Minimum values are set to 10000 and -10000, respectively, as shown in the previous figure. They default to ten times more than those values.

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Part 1: Programming: Chart View Example

After you've completed the entries, click Add and the custom parameter will be added to the Chart View window.

Click the green Play icon ( ); the chart recorder plots the RTRQ value.

In the SMI software Terminal window, enter the following commands:

MT T=0 G

T=8000 G

T=0 G

T=-8000 G

T=0 G

The Chart View tool plots a line similar to the one shown in the following figure.

Plotted RTRQ Values

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Part 1: Programming: Macros

In the SMI software Terminal window, enter TS=65536. This causes a one-second ramp time when T is commanded from or to zero.

Repeat the previous command sequence. Note the addition of "ramps" to the plot, which are caused by the TS command.

Plotted RTRQ Values With Ramps

Macros

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The SMI software contains a macro tool, which is useful for creating keyboard shortcuts for one command or a series of commands. The Macros window allows you to associate a command or series of commands with the Ctrl+[number] keys (e.g., Ctrl+1). With this utility, you can create multiple macros for a more efficient development process. You can create up to ten macros to aid in quick code execution.

To open the Macros window, from the SMI software main menu, select:

Tools >Macro

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Part 1: Programming: Macros

The Macros window opens, as shown in the following figure.

Macros Window

To use the Macros window:

Add or remove macros with the Add and Delete buttons.

Use the Properties button to view and edit the properties of an existing macro.

The Run button allows you to test the selected macro.

When you have finished, use the Close button to close the Macros window.

To create a macro:

In this example, you will create a macro for clearing the status bits. For details on clearing the status bits, see Checking and Clearing Status Bits in the SmartMotor Installation & Startup Guide for your motor.

Open the Macros window.

Click Add to open the Add New Macro window (see the next figure).

Fill in the information so it looks like the following figure, and then click OK to save the new macro.

Add New Macro

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Part 1: Programming: Tuner

The Ctrl+1 shortcut key combination has now been assigned to the macro Disable Limits. When you press Ctrl+1, the SMI software issues EIGN(W,0) and ZS to the terminal screen.

Tuner

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

Tuning a SmartMotor is simpler than tuning traditional servos. However, it can be even easier when using the SMI Tuner tool to see the results of different tuning parameters.

For most applications, the default SmartMotor tuning parameters are sufficient. Viewing the position error on the Motor View tool and feeling the stiffness of the motor shaft will determine if the motor requires additional tuning.

Position Error

There is a related section on tuning the PID filter later in this manual. If further tuning is required, see Tuning the PID Control on page 233.

The Tools menu has a GUI-based Tuner tool that can also be used to adjust the tuning parameters. To open the Tuner tool, from the SMI software main menu, select:

Tools >Tuner

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Part 1: Programming: Tuner

The Tuning window opens, as shown in the following figure.

Tuning Window

The Tuner graphically shows the step response of the SmartMotor. The step response is the SmartMotor’s actual reaction to a request for a small but instantaneous change in position. (Rotor inertia prevents the SmartMotor from changing its position in zero time.) The magnitude of the step response shows how well tuned the motor is.

The Tuner downloads a program that uses variables a, b, p, t, w and z. The program that was in the motor before tuning and the user variables will be restored after tuning.

Before running the Tuner:

Be sure the motor and anything it is connected to are free to move about 1000 encoder counts or more, which is about one-quarter turn of the motor shaft.

Be sure the device is able to safely withstand an abrupt jolt.

Click the Run Tuning button at the bottom of the Tuner window (see the previous figure).

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Part 1: Programming: Tuner

If the SmartMotor is connected, is on and is still, you should see results similar to those in the following figure.

Sample Step Response

The upper curve with the legend on the left is the SmartMotor’s actual position over time. Notice that it overshot its target position before settling in. Adjusting the PID Tuning will stiffen the motor up and create less overshoot. For details, see Tuning and PIDControl on page 231. In a real-world application, there will be an acceleration profile, not a demand for instantaneous displacement, so significant overshoot will not exist. Nevertheless, it is useful to look at the worst-case scenario of a step response.

To try a different set of tuning parameters, select the Tuning Values tab to the left of the graph area. As shown in the following figure, you will see a list of tuning parameters with two columns: the left column lists what is currently in the SmartMotor; the right column provides an area to make changes.

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Part 1: Programming: Tuner

Apply New Values Button

To make adjustments to the tuning:

Change the values to those shown in the New column of the previous figure.

Click the "Apply New Values" button, which stores the new values in the SmartMotor.

Click the Run Tuning button at the bottom of the Tuning window.

The motor will jolt again and the results of the step response will overwrite the previous graph. Normally, this process involves repeated trials, following the procedure outlined in the section on the PID Filter. For details, see Tuning the PID Control on page 233.

When you are satisfied with the results, the parameters producing the best results can be added to the top of your program in the SmartMotor, or in applications where there are no programs in the motors, sent by a host after each power-up. For example, the previous example's tuning parameters would be set using the following tuning commands:

KP=3000

KI=30

KD=10000

KL=32767

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Part 1: Programming: SMIOptions

SMIOptions

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

The SMI software has a variety of options that can be customized through the Options window. It contains tabs and selections for customizing the Scanner, Editor, Terminal and more.

To open the Options window, select:

Tools > Options

The Options window opens, as shown in the following figure.

Options Window

To use the Options window:

l Click a tab to select the options you wish to edit.

Consider the default firmware version. Because different SmartMotor firmware versions have subtle differences, the program scanner needs to know which firmware is being used to distinguish between supported and unsupported commands.

Other options, such as Editor syntax colors, deal with user preferences.

l After you have finished editing options, click OK to close the window and save your

changes.

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Part 1: Programming: SMIHelp

SMIHelp

The most complete and current information available for the SMI software is available within the program’s extensive Help tool. For details, see the SMI software help.

Context-Sensitive Help Using F1

Dialog and Message box: Just press the F1 key while the box is displayed.

Information View: Select the line and press the F1 key. The software shows a description of the selected error. For more details, see Information Window on page 65.

Menu command: Select the menu item and press the F1 key.

Keyword Information: In the Program Editor, select the keyword and press F1. The software shows a full description of the selected keyword.

Context-Sensitive Help Using the Mouse

There is a "context help" button on the tool bar. When you click the button (or press Shift+F1 on keyboard) the program enters the Help Mode and the cursor shape changes to context-

sensitive help cursor ( ). In Help Mode you can use the mouse or keyboard to select a menu command, a toolbar button, an error message in the Information View, or other items within SMI, and help on the item is displayed.

Help Buttons

You can click the Help button, available on many dialog boxes, to get help about that dialog box.

Hover Help

You can place (hover) the mouse pointer over an SMI software button or a Program Editor keyword to see a short description of that button or keyword.

To see the list of topics within SMI software Help, use the Contents command in the Help menu.

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Part 1: Programming: Projects

Sample Help Page

Projects

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

In applications with more than one SmartMotor, and possibly more than one program or communications port, it is helpful to organize all of the elements as a Project rather than deal with individual files.

NOTE: When working with multiple motors, programs or ports, a Project provides a convenient way of organizing and using all of the individual elements.

To create a project, from the SMI software main menu, select:

File > New Project

The New Project window opens.

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Part 1: Programming: SmartMotor Playground

To use the New Project window:

Enter a name and location in the Project Name and Location fields to title the project and specify the location where it will be saved.

Click OKto save the information. At this point, you have the option of letting the SMI software explore the network of motors and set up the project automatically, or of doing it manually by double-clicking on the specific communication ports or motors listed in the Information window. Unless you are you are a system expert and know exactly what the port and motor settings are, you should let the software detect the motors for you.

From here, you can open one or more programs for editing in the SMIEditor.

After the project is set up, select File > Save Project to save it. Projects are saved as .SPJ files.

To open a project, select File > Open Project, and then select the desired project (.SPJ) file. When a project file is opened, all motor communication information, program editor windows and other elements are restored.

Use the File > Recent Projects menu to view and select from the projects you've most recently edited.

New Project Window

SmartMotor Playground

NOTE: In addition to the software information in this section, there is context-

sensitive help available within the SMI software interface, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

If you are a first-time user, the SmartMotor Playground contains some simple controls to help you get started with moving the motor. The SmartMotor Playground allows you to immediately move the motor without any programming.

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Part 1: Programming: Opening the SmartMotor Playground

Opening the SmartMotor Playground

There are two ways to access the SmartMotor Playground:

From within the SMI software interface

From the Windows Start menu as a stand-alone application.

To access the SmartMotor Playground from the SMI software, in the Configuration window, right-click the motor you want to move and select SmartMotor Playground from the menu.

SmartMotor Playground (Not Connected)

Click Connect (upper-left area of the window) to connect to the SmartMotor.

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Part 1: Programming: Moving the Motor

SmartMotor Playground (Connected)

Moving the Motor

This procedure assumes that:

The SmartMotor is connected to the computer. For details, see Connecting the System in the SmartMotor Installation & Startup Guide for your motor.

The SMI software has been installed and is running on the computer. For details, see Installing the SMISoftware in the SmartMotor Installation & Startup Guide for your motor.

The SmartMotor has been detected and addressed. For details, see Detecting and Addressing the SmartMotors in the SmartMotor Installation & Startup Guide for your motor.

In addition to the above items:

Verify that all status bits are off, except for the Drive ready bit, as shown in the previous figure. If needed, use the Clear Flags button to clear any bits that are on.

l The Drive Enable input on the M-series motor must be connected and activated.

Verify that Disable Software Limits and Disable Hardware Limits options are set as shown in the previous figure.

NOTE: The SmartMotor's hardware limits must be grounded or disabled for motion to occur. Therefore, if your SmartMotor doesn't move when moving the slider or

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Part 1: Programming: Moving the Motor

issuing a motion command, verify that you've either grounded the limits or selected both Disable Hardware Limits check boxes (located at the lower-right corner of the screen), as shown in the previous figure.

Within the SmartMotor Playground, you can experiment with the many different modes of operation. Try the following (see the previous figure for the locations of these items):

Click the left and right Jog controls and watch the motor follow.

Move the position bar to the left or right and watch the motor follow.

Enter a value (negative = counterclockwise; positive = clockwise) in the Destination box and click Go. Watch the motor shaft move until the position counter (yellow box) reaches that destination.

While the SmartMotor Playground is useful for moving the motor and learning about its capabilities, to develop a useful application, you will need to create a program. To learn about programming the SmartMotor, see Beginning Programming on page 47.

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Part 1: Programming: Communication Details

Communication Details

This chapter provides information on the communications functionality that has been designed into the SmartMotor.

Introduction 95

Connecting to a Host 96

Daisy Chaining Multiple D-Style SmartMotors over RS-232 97

ADDR=formula 98

SLEEP, SLEEP1 99

WAKE, WAKE1 99

ECHO, ECHO1 100

ECHO_OFF, ECHO_OFF1 100

Serial Commands 101

OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout) 101

CCHN(type,channel) 102

BAUDrate, BAUD(channel)=formula 102

PRINT(), PRINT1() 102

SILENT, SILENT1 103

TALK, TALK1 103

a=CHN(channel) 103

a=ADDR 104

Communicating over RS-485 104

Using Data Mode 104

CAN Communications 107

CADDR=formula 107

CBAUD=formula 107

=CAN, =CAN(arg) 107

CANCTL(function,value) 107

SDORD(...) 108

SDOWR(...) 108

NMT 109

RB(2,4), x=B(2,4) 109

Exceptions to NMT, SDORD and SDOWR Commands 109

I/O Device CAN Bus Master 110

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Part 1: Programming: Communication Details

Combitronic Communications 111

Combitronic Features 112

Other Combitronic Benefits 112

Program Loops with Combitronic 112

Global Combitronic Transmissions 113

Simplify Machine Support 113

Combitronic with RS-232 Interface 113

Other CANProtocols 115

CANopen - CAN Bus Protocol 115

DeviceNet - CAN Bus Protocol 115

I²C Communications (D-Style Motors) 115

OCHN(IIC,1,N,baud,1,8,D) 117

CCHN(IIC,1) 117

PRINT1(arg1,arg2, … ,arg_n) 117

RGETCHR1, Var=GETCHR1 117

RLEN1, Var=LEN1 117

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Part 1: Programming: Introduction

Introduction

There are various ways to communicate with a SmartMotor:

Direct-command serial over RS-232 or RS-485 (depending on the motor)

Data mode

Combitronic, CANopen, DeviceNet, etc.

I²C communications

NOTE: When using I²C, the SmartMotor is always the bus master. You cannot communicate between SmartMotors through I²C.

These communications methods are described in the following sections.

In applications using more than one SmartMotor, the best choice for communications is to link the SmartMotors together over their optional CAN ports, and then communicate with the group through any of the RS-232 or RS-485 ports of any of the motors on the chain. The SmartMotor's CAN-based Combitronic communications unifies all SmartMotor data and functions in a group, which makes any single motor look like a multi-axis controller from the perspective of the RS-232 or RS-485 ports. Additionally, this allows all the motors to share resources as though they were a large multi-axis controller.

Moog Animatics offers adapters for converting RS-232 to RS-485, and for converting either to USB.

NOTE: If you are unable to communicate with the SmartMotor, you may be able to recover communications using the Communication Lockup Wizard, which is on the SMI software Communications menu. For details, see the SMI software online help, which is accessed by pressing the F1 key or selecting Help from the SMI software main menu.

Communication Menu - Communication Lockup Wizard

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Part 1: Programming: Connecting to a Host

Connecting to a Host

The default mode for communicating with a Class 5 D-style SmartMotor is serial RS-232; Class 5 M-style SmartMotors use serial RS-485.

NOTE: The Class 5 M-style motors have one RS-485 and one CAN port; they do not have an RS-232 port.

The most common and cost-effective solution is through RS-232 serial communications. Under this structure, each motor is placed in an electrical serial connection such that the transmit line of one motor is connected to the receive line of the next. Each motor is set to echo incoming data to the next motor down with approximately 1 millisecond propagation delay. There is no signal integrity loss from one motor to the next, which results in highlyreliable communications.

NOTE: To maximize the flexibility of the SmartMotor, all serial ports are fully programmable with regard to bit rate and protocol.

There is a 31-byte input buffer for the RS-232 port and another for the RS-485 port. These buffers ensure that no arriving information is ever lost. However, when either port is in data mode, it is the responsibility of the user program within the SmartMotor to keep up with the incoming data.

Connection Between a SmartMotor and Host PC

The CBLSM1-3M cable makes quick work of connecting to your first RS-232-based SmartMotor. It combines the connections for communications and power into one cable assembly.

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Part 1: Programming: Daisy Chaining Multiple D-Style SmartMotors over RS-232

By default, the primary channel, which shares a connector with the incoming power in some versions, is set up as a command port with the following characteristics:

Also, note the following:

If the cable used is not provided by Moog Animatics, make sure the SmartMotor's power and RS-232 connections are correct.

CAUTION: Be sure to use shielded cable to connect RS-232 ports, with the shield ground connected to pin 5 (ground) of the PC end only.

Buffers on both sides mean there is no need for any handshaking protocol when commanding the SmartMotor.

Most commands execute in less time than it takes to receive the next one. Therefore, be careful to allow processes time to complete, particularly for slower processes like printing to an LCD display or executing a full subroutine.

Default

Other

Options

Type: RS-232 RS-485

Parity: None Odd or Even

Bit Rate: 9600 2400 to 115200

Stop Bits: 1 0 or 2

Data Bits: 8 7

Mode: Command Data

Echo: Off On

Daisy Chaining Multiple D-Style SmartMotors over RS-232

This section describes how to daisy chain multiple D-style SmartMotors to a single RS-232 port as shown in the following figure. Other SmartMotors can be connected together in a daisy-chain or multi-drop fashion. For details, see Connecting the System in the SmartMotor Installation & Startup Guide for your motor.

For low-power motors (size SM23165D and smaller), as many as 100 motors could be cascaded using the daisy-chaining technique for RS-232. To operate independently, each motor must be programmed with a unique address. In a multiple-motor system, the programmer has the choice of putting a host computer in control or having the first motor in the chain be in control of the rest.

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1 1 1 1

I/O-6 +5VDC Out RS-232 Tx RS-232 Rx RS-232 GND Servo Power (+) Power GND

I/O-6

+5VDC Out

RS-232 Tx

RS-232 Rx

RS-232 GND

Servo Power (+)

Power GND

DE9 Female POWER

Attach shield at PC end

Motor: 1 2 3 4

A1A1

A2A2

5 1

9 6

Part 1: Programming: ADDR=formula

The following are related commands. For more details on these commands, see Part 2: SmartMotor Command Reference on page 238.

ADDR=formula

Set Motor to New Address

The ADDR= command causes a SmartMotor to respond exclusively to serial commands addressed to it. It is separate and independent of the motor's CAN address. The address

Daisy-Chain Connection between SmartMotor and Host PC

NOTE: You can build your own RS-232 daisy-chain cable or purchase Add-A-Motor cables from Moog Animatics.

Fully-molded Add-A-Motor cables make quick work of daisy-chaining multiple motors over an RS-232 network.

CAUTION: Large (size 23 or size 34) SmartMotors draw so much power that reliable communications often require isolated communications. For such applications, consider using the Moog Animatics DIN Rail RS-232 fanout.

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Part 1: Programming: SLEEP, SLEEP1

number range is from 1 to 120.

When each motor in a chain has a unique address, an individual motor communicates normally after its address is sent over the chain one time. To send an address, add 128 to its value and output the binary result over the communication link. This puts the value above the ASCII character set, which differentiates it from all other commands or data. The address needs to be sent only once until the host computer, or motor, wants to change it to something else.

Sending out an address zero (128) causes all motors to listen and is an efficient way to send global data such as a G for starting simultaneous motion in a chain. Once set, the address features work the same for RS-232 and RS-485 communications.

RS-232 Daisy-Chained SmartMotors

Unlike the RS-485 star topology, the consecutive nature of the RS-232 daisy chain creates the opportunity for the chain to be independently addressed entirely from the host, rather than by having a uniquely-addressed program in each motor. Setting up a system this way adds simplicity because the program in each motor can be exactly the same. If the RUN? command is the first in each of the motor’s programs, the programs will not start when the SmartMotor power is turned on. Addressing can then be worked out by the host before the programs are later initiated through a global RUN command.

SLEEP, SLEEP1

Assert sleep mode

WAKE, WAKE1

De-assert SLEEP

The SLEEPcommand causes the motor to ignore all commands except the WAKE command. This feature can often be useful, particularly when establishing unique addresses in a chain of motors. The 1 at the end of commands specifies the AniLink RS-485 port.

NOTE: The SmartMotor can be made to automatically ECHO received characters to the next SmartMotor in a daisy chain

Moog Animatics SmartMotor™ Developer's Guide,Rev. L

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Part 1: Programming: ECHO, ECHO1

ECHO, ECHO1

ECHO input

ECHO_OFF, ECHO_OFF1

De-assert ECHO

The ECHO and ECHO_OFF commands toggle (turn on/off) the echoing of data input. Because the motors do not echo character input by default, consecutive commands can be presented, configuring them with unique addresses, one at a time. If the host computer or controller sent out the following command sequence, each motor would have a unique and consecutive address.

If a daisy chain of SmartMotors has been powered off and back on, the following commands can be entered into the SmartMotor Interface to address the motors (0 equals 128, 1 equals 129, etc.). Some delay should be inserted between commands when sending them from a host computer.

0SADDR1

1ECHO

1SLEEP

0SADDR2

2ECHO

2SLEEP

0SADDR3

3ECHO

0WAKE

Commanded by a user program in the first motor instead of a host, the same daisy chain could be addressed with the following sequence:

SADDR1'Address the first motor ECHO'Echo for host data PRINT(#128,"SADDR2",#13) '0SADDR2 WAIT=10 'Allow time PRINT(#130,"ECHO",#13) '2ECHO WAIT=10 PRINT(#130,"SLEEP",#13) '2SLEEP WAIT=10 PRINT(#128,"SADDR3",#13) '0SADDR3 WAIT=10 PRINT(#131,"ECHO",#13) '3ECHO WAIT=10 PRINT(#128,"WAKE",#13) '0WAKE WAIT=10

Moog Animatics SmartMotor™ Developer's Guide,Rev. L

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Moog SmartMotor Developer's Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Overview

Combitronic Support

Communication Lockup Wizard

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

Part 1: Programming the SmartMotor

Beginning Programming

Setting the Motor Firmware Version

Setting the Default Firmware Version

Checking the Default Firmware Version

Understanding the Program Requirements

Entering the Program in the SMI Editor

Adding Comments to the Code

Checking the Program Syntax

Saving the Program

Downloading a Program to the SmartMotor

Syntax Checking, Compiling and Downloading the Program

Additional Notes on Downloaded Programs

Running a Downloaded Program

Using the Program Download Window

Using the Terminal Window and Run Program Button

Using the RUN Command in the Terminal Window

Creating a Simple Motion Program

Introduction

Menu Bar

Toolbar

Configuration Window

Terminal Window

Initiating Motion from the Terminal Window

Information Window

Program Editor

Motor View

SMI Trace Functions

Monitor Window

Serial Data Analyzer

Chart View

Chart View Example

Macros

Tuner

Context-Sensitive Help Using F1

Context-Sensitive Help Using the Mouse

Help Buttons

Hover Help

Table of Contents

Projects

SmartMotor Playground

Opening the SmartMotor Playground

Moving the Motor

Communication Details

Introduction

Connecting to a Host

ADDR=formula

SLEEP, SLEEP1

WAKE, WAKE1

ECHO, ECHO1

ECHO_OFF, ECHO_OFF1