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SmartMotor SM34165MT-IP
Ethernet Ip Manual
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Moog SmartMotor SM34165MT-IP Ethernet Ip Manual

For the mobile version of this guide, see:
animatics.com/docs/guides-html/c6_eip_pc/
EtherNet/IP Guide
Class 6 SmartMotor Technology
Copyright Notice
©2015, Moog Inc., Animatics.
This manual, as well as the software described in it, is furnished under license and may be used or copied only in accordance with the terms of such license. The content of this manual is furnished for informational use only, is subject to change without notice and should not be con­strued as a commitment by Moog Inc., Animatics. Moog Inc., Animatics assumes no respons­ibility or liability for any errors or inaccuracies that may appear herein.
Except as permitted by such license, no part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, record­ing, or otherwise, without the prior written permission of Moog Inc., Animatics.
The programs and code samples in this manual are provided for example purposes only. It is the user's responsibility to decide if a particular code sample or program applies to the applic­ation being developed and to adjust the values to fit that application.
Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo, Com­bitronic and the Combitronic logo are all trademarks of Moog Inc., Animatics. CIP, DeviceNet and EtherNet/IP are trademarks of ODVA, Inc. 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 "EtherNet/IP Guide" in the sub­ject line and be sent by e-mail to: techwriter@moog.animatics.com. Thank you in advance for your contribution.
Contact Us:
Moog Inc., Animatics 1421 McCarthy Boulevard Milpitas, CA 95035 USA
Tel: 1 (408) 965-3320 Fax: 1 (408) 965-3319 Support: 1 (888) 356-0357
www.animatics.com
Table of Contents
Introduction 7
Purpose 8
Abbreviations and Definitions 9
Safety Information 11
Safety Symbols 11
Other Safety Considerations 11
Safety Information Resources 13
Additional Documents 14
Additional Resources 15
EtherNet/IP Overview 17
EtherNet/IP Introduction 18
The OSI Model 18
EtherNet/IP Adaptation of CIP 19
Objects 21
Objects 21
Classes, Instances and Attributes 22
Messaging 23
Explicit (Non-cyclic) Messages 23
Implicit (Cyclic) Messages 23
Explicit/Implicit Messaging Example 23
Connections, Wiring and Status LEDs 25
Connectors and Pinouts 26
M-Style Motor Connectors and Pinouts 26
Moog Animatics Industrial Ethernet Cables 27
EtherNet/IP Custom Cable 27
Cable Diagram 28
EtherNet/IP Cable Diagram 28
Status LEDs 29
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EtherNet/IP on Class 6 SmartMotors 31
EtherNet/IP Implementation 32
EtherNet/IP Identity 32
EtherNet/IP Software Version Numbers 32
Device Profile 32
SmartMotor Device Profile Overview 33
CIP Objects for EtherNet/IP Devices 33
Application Objects for Position Controller Devices 34
Additional Objects 34
EDS File 35
EtherNet/IP User Program Commands 37
Network Settings and Status Commands 38
Program Example 40
Status and Diagnostic Codes 41
Status/Error Codes 41
Diagnostic Codes 41
Position Controller Device (0x10) 43
Position Controller Device Application Objects 44
Position Controller Device Object Model 44
Position Controller Implicit I/O Messages 45
General Command and Response Message Types 45
Attribute GET/SET Command Types 0x1A and 0x1B 50
Error Response Message Type (0x14) 51
Semantics for Command and Response Messages 52
Position Controller I/O Handshaking 55
Profile Moves 56
Torque Command 57
Control Mode Change - Change Dynamic 57
Position Controller Implicit I/O Message Examples 58
SmartMotor Notes 58
Set Acceleration 58
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Set Velocity, Leave Drive ON 59
Set Target Position, Perform Move 59
Disable Hardware Limits (Object 0x25, Attribute 49) 59
Extended Position Move (32-byte frame) 60
Object Reference 61
Required Objects 62
Identity Object (0x01) 63
Instance Attributes Semantics 65
Message Router Object (0x02) 67
Assembly Object (0x04) 68
Connection Manager Object (0x06) 69
TCP/IP Interface Object (0xF5) 70
Instance Attributes Semantics 74
Ethernet Link Object (0xF6) 77
Instance Attributes Semantics 80
Application Objects 83
Position Controller Supervisor (0x24) 84
Position Controller (0x25) 86
Additional Objects 91
Device Level Ring (DLR) Object (0x47) 92
Instance Attributes Semantics 93
QoS Object (0x48) 94
SmartMotor I/O Object (0x71) 96
AOI Descriptions - Allen Bradley PLC 99
SM6_Attribute_Ext_Clear - Clear Attribute to Get (Extended Command) 100
SM6_Attribute_Ext_Get - Load Attribute to Get ID & Wait (Extended Command) 101
SM6_Attribute_Ext_Load - Load Attribute to Get ID (Extended Command) 102
SM6_Attribute_Ext_Value - Return Attribute data (Extended Command) 104
SM6_Clear_Flags - Reset System State Flag 106
SM6_Disable - Disable Drive 107
SM6_Drive - Drive Data Exchange 108
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SM6_Enable - Enable Drive 110
SM6_Get_Attribute - Get Drive Attribute 111
SM6_Move_Position_Ext - Position Move(Extended Command) 112
SM6_Move_Velocity_Ext - Velocity Move(Extended Command) 114
SM6_Move_Torque - Apply Torque 116
SM6_Set_Acceleration - Set Drive Acceleration 117
SM6_Set_Attribute - Set Drive Attribute 118
SM6_Set_Deceleration - Set Drive Deceleration 119
SM6_Set_Mode - Set Drive Mode 120
SM6_Set_Position - Set Drive Position 121
SM6_Set_Variable_u - Set Drive Variable "u" 122
SM6_Set_Velocity - Set Drive Target Velocity 123
SM6_Stop_Hard - Perform a Hard Stop 124
SM6_Stop_Smooth - Perform a Smooth Stop 125
Adding AOI Support - Allen Bradley PLC 127
Extracting the SmartMotor Support files 128
Adding a SmartMotor Module 129
Importing the UDTs 136
Importing the AOIs 140
SmartMotor AOI Example 144
Troubleshooting 155
Reference Documents 157
ODVA Specifications 157
ODVA Libraries 157
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Introduction

Introduction
This chapter provides information on the purpose and scope of this manual. It also provides information on safety notation, related documents and additional resources.
Purpose 8
Abbreviations and Definitions 9
Safety Information 11
Safety Symbols 11
Other Safety Considerations 11
Safety Information Resources 13
Additional Documents 14
Additional Resources 15
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Purpose

Purpose
This manual explains the Moog Animatics Class 6 SmartMotor™ support for the EtherNet/IP™ protocol. It describes the major concepts that must be understood to integrate a SmartMotor slave with a PLC or other EtherNet/IP master. However, it does not cover all the low-level details of the EtherNet/IP protocol.
NOTE: The feature set described in this manual requires a specific motor firmware version. Please consult Moog Animatics for the proper software version.
This manual is intended for programmers or system developers who have read and under­stand THECIPNETWORKSLIBRARYVolume1-CommonIndustrialProtocol(CIP™) and THE CIPNETWORKSLIBRARYVolume2-EtherNet/IPAdaptationofCIP, which are published and maintained by ODVA.org (http://www.odva.org). Therefore, this manual is not a tutorial on those specifications or the EtherNet/IP protocol. Instead, it should be used to understand the specific implementation details for the Moog Animatics SmartMotor. For a general overview of EtherNet/IP, see EtherNet/IP Overview on page 17.
The reference chapters of this manual include details about the specific commands available in the SmartMotor through the EtherNet/IP protocol. The commands include those required by the specifications and those added by Moog Animatics.
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Abbreviations and Definitions

Abbreviations and Definitions
The following table provides a list of abbreviations and definitions of terms that may be used in this manual or related documents.
Abbreviation/
Term
API Actual Packet Interval
ASCII American Standard Code for Information Interchange
AT Acceleration Target
BOI Buss-Off Interrupt
Client A device that sends a request to, and expects a response from, a server.
Consumer Network device that reads messages from a producer device.
CoS Change of State I/O trigger
DC Direct Current
DLR Device Level Ring. A ring topology that allows the Ethernet devices to
keep communicating if there is a break in the ring.
DT Deceleration Target
EDS Electronic Data Sheet. A text file that contains configuration information
for the device.
EPR Expected Packet Rate
EtherNet/IP Ethernet Industrial Protocol
Description
Explicit mes­saging
FOC Field Oriented Current
FTP File Transfer Protocol
IE Industrial Ethernet
Implicit mes­saging
IN Input
LAN Local Area Network
MACID Media Access Control Identifier
NASM Network Access State Machine
ODVA Open DeviceNet Vendors Association, Inc, which is the standards organ-
OUT Output
PDU Protocol Data Unit
PLC Programmable Logic Controller
(Non-cyclic) Not time-sensitive, typically used for network and device configuration, and setup of cyclic connections.
(Cyclic) Timely, repetitive transfer of data, typically used for I/O control (e.g., PID loop closure).
ization that maintains the specifications for the CIP industrial network pro­tocols.
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Abbreviations and Definitions
Abbreviation/
Term
Description
Producer A device that puts messages on the network for "consumer" devices
(other network devices that will read the messages).
PU Position Units
PV Profile Velocity (mode)
PT Position Target
RTE Real-Time Ethernet
Rx Receive
Server A device that receives requests from clients and sends responses to
them.
Slave device Device consuming data transfers from a Network Master. A PLC (Pro-
grammable Logic Controller) is a good example of a Master.
SMI SmartMotor Interface (software)
STD State Transition Diagram
TCP Transmission Control Protocol
TQ Torque (mode)
Tx Transmit
UDP User Datagram Protocol
UCMM Unconnected Message Manager
VU Velocity Units
VT Velocity Target
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Safety Information

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 non-lethal 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 potential minor hazard, where failure to fol­low the instructions could result in slight injury to the operator or minor dam­age to the equipment.
NOTE: Notes are used to emphasize non-safety concepts or related information.

Other Safety Considerations

The Moog Animatics SmartMotors are supplied as components that are intended for use in an automated machine or system. As such, it is beyond the scope of this manual to attempt to cover all the safety standards and considerations that are part of the overall machine/system design and manufacturing safety. Therefore, the following information is intended to be used only as a general guideline for the machine/system designer.
It is the responsibility of the machine/system designer to perform a thorough "Risk Assess­ment" and to ensure that the machine/system and its safeguards comply with the safety stand­ards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for the locale where the machine is being installed and operated. For more details, see Machine Safety on page 12.
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 MoogAnimaticsProductCatalog, which is available on the Moog Anim- atics 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
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Other Safety Considerations
that may come in contact with the machine, etc. Moog Animatics manufactures specialized IP­rated motors for operating in extreme conditions. For details, see the MoogAnimaticsProduct Catalog, which is available on the Moog Animatics website.
Machine Safety
In order to protect personnel from any safety hazards in the machine or system, the machine/system builder must perform a "Risk Assessment", which is often based on the ISO 13849 standard. The design/implementation of barriers, emergency stop (E-stop) mech­anisms and other safeguards will be driven by the Risk Assessment and the safety standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for the locale where the machine is being installed and operated. The methodology and details of such an assess­ment are beyond the scope of this manual. However, there are various sources of Risk Assess­ment information available in print and on the internet.
NOTE: The following list is an example of items that would be evaluated when per­forming the Risk Assessment. Additional items may be required. The safeguards must ensure the safety of all personnel who may come in contact with or be in the vicinity of the machine.
In general, the machine/system safeguards must:
l
Provide a barrier to prevent unauthorized entry or access to the machine or system. The barrier must be designed so that personnel cannot reach into any identified danger zones.
l
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.
l
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.
l
Provide appropriate sensors and interlocks on gates or other points of entry into the pro­tected zone that will stop all machine movement when tripped.
l
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.
l
Prevent contact with moving mechanisms (for example, arms, gears, belts, pulleys, tooling, etc.).
l
Prevent contact with a part that is thrown from the machine tooling or other part-hand­ling equipment.
l
Prevent contact with any electrical, hydraulic, pneumatic, thermal, chemical or other hazards that may be present at the machine.
l
Prevent unauthorized access to wiring and power-supply cabinets, electrical boxes, etc.
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Safety Information Resources

l
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.
l
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:
l
All operators, maintenance technicians, programmers and other personnel are tested and qualified before acquiring access to the machine or system.
l
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.
l
The equipment is maintained as described in the documentation and training supplied by the machine/system designer.
Additional Equipment and Considerations
The Risk Assessment and the operating company's standard safety policies will dictate the need for additional equipment. In general, it is the responsibility of the operating company to ensure that:
l
Unauthorized access to the machine is prevented at all times.
l
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.
l
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.
l
There are no modifications made to the machine or system without proper engineering evaluation for design, safety, reliability, etc., and a Risk Assessment.
Safety Information Resources
Additional SmartMotor safety information can be found on the Moog Animatics website; open the file "109_Controls, Warnings and Cautions.pdf" located at:
http://www.animatics.com/support/moog-animatics-catalog.html
OSHA standards information can be found at:
https://www.osha.gov/law-regs.html
ANSI-RIA robotic safety information can be found at:
http://www.robotics.org/robotic-content.cfm/Robotics/Safety-Compliance/id/23
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Additional Documents

UL standards information can be found at:
http://ulstandards.ul.com/standards-catalog/
ISO standards information can be found at:
http://www.iso.org/iso/home/standards.htm
EU standards information can be found at:
http://ec.europa.eu/growth/single-market/european-standards/harmonised-stand­ards/index_en.htm
Additional Documents
The Moog Animatics website contains additional documents that are related to the information in this manual. Please refer to the following list:
l
Class6SmartMotor™Installation&StartupGuide
http://www.animatics.com/smartmotor-install-startup-guides
l
SmartMotor™Developer'sGuide
http://www.animatics.com/smartmotor-developers-guide
l
SmartMotor™ProductCertificateofConformance
http://www.animatics.com/download/Declaration of Conformity.pdf
l
SmartMotor™ULCertification
http://www.animatics.com/download/MA_UL_online_listing.pdf
l
SmartMotorDeveloper'sWorksheet (interactive tools to assist developer: Scale Factor Calculator, Status Words, CAN Port Status, Serial Port Status, RMODE Decoder, and Syntax Error Codes)
http://www.animatics.com/tools
l
MoogAnimaticsProductCatalog
http://www.animatics.com/support/moog-animatics-catalog.html
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Additional Resources

Additional Resources
The Moog Animatics website contains additional resources such as product information, doc­umentation, product support and more. Please refer to the following addresses:
l
General company information:
http://www.animatics.com
l
Product information:
http://www.animatics.com/products.html
l
Product support (Downloads, How To videos, Forums, Knowledge Base, and FAQs):
http://www.animatics.com/support.html
l
Sales and distributor information:
http://www.animatics.com/sales-offices.html
l
Application ideas (including videos and sample programs):
http://www.animatics.com/applications.html
EtherNet/IP is a common standard maintained by by ODVA.org:
l
ODVA.org website:
http://www.odva.org/
l An EtherNet/IP Quick Start for Vendors Handbook is available at:
http://www.odva.org/Portals/0/Library/Publications_Numbered/PUB00213R0_Ether­NetIP_Developers_Guide.pdf
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EtherNet/IP Overview

EtherNet/IP Overview
This chapter provides an overview of EtherNet/IP features. These sections briefly summarize the technical information provided on the ODVA.org website. To view the fully detailed inform­ation or to obtain the specifications, see the ODVA.org website at: http://www.odva.org.
EtherNet/IP Introduction 18
The OSI Model 18
EtherNet/IP Adaptation of CIP 19
Objects 21
Objects 21
Classes, Instances and Attributes 22
Messaging 23
Explicit (Non-cyclic) Messages 23
Implicit (Cyclic) Messages 23
Explicit/Implicit Messaging Example 23
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EtherNet/IP Introduction

EtherNet/IP
TM
DeviceNet
TM
Physical
Data Link
Network
Transport
Session
Presentation
Application,
Proles
Common Industrial Protocol (CIP)
CIP Network Adaptations
OSI Model Layers
Semicond.
Proles
I/O
Proles
Transducer
Proles
Motion Ctrl
Proles
CIP Motion
TM
Proles
Other
Proles
Safety Serv. & Messages
Safety Obj.
Library
CIP Safety
TM
Proles
Connection Management and Routing
Data Management Services
(Explicit and I/O Messages)
Object Library
(Communications, Applications, Time Synchronization)
DeviceNet Physical Layer
CAN CSMA/NBA
DeviceNet Network and Transport
Ethernet Physical Layer
Ethernet CSMA/CD
Internet Protocol
TCP/UDP
EtherNet/IP Introduction
Ethernet/Industrial Protocol (EtherNet/IP) is a fieldbus communications protocol that was ini­tially developed in the 1990s. It is now a CIP-based technology that is managed by the Open DeviceNet Vendors Association (ODVA), which is a standards organization that manages all CIP network technologies.
EtherNet/IP and DeviceNet are two CIP network technologies that are supported by Moog Animatics (see OSI Model for EtherNet/IP and DeviceNet on page 18). These networks share the same CIP layers and use objects to describe the network devices (this collection of objects specific to a device is the device profile). Because of this, they are able to communicate with each other. For example, a device on an EtherNet/IP network can communicate with one on a DeviceNet network. For more information on CIP objects, see Objects on page 21.
The Class 6 EtherNet/IP SmartMotor is designed to operate as a device on an EtherNet/IP net­work. This allows the system designer to take advantage of SmartMotor technology through its device profile (for example, start a user program stored in the SmartMotor). For details on the SmartMotor device profile using the Position Controller device, see SmartMotor Device Profile Overview on page 33.
The full specification for EtherNet/IP is available from the ODVA.org website. For details, see
THECIPNETWORKSLIBRARYVolume1-CommonIndustrialProtocol(CIP™) and THECIP NETWORKSLIBRARYVolume2-EtherNet/IPAdaptationofCIP.

The OSI Model

The OSI model describes the architecture for the CIP-based industrial network protocols. Moog Animatics supports EtherNet/IP and DeviceNet using the Position Controller Supervisor and Position Controller profiles. The other profiles shown are not currently supported.
OSIModelforEtherNet/IPandDeviceNet
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EtherNet/IP Adaptation of CIP

Peer-to-peer, multicast, unicast
Ethernet
Internet Protocol (IP)
Transmission Control Protocol (TCP)
User Datagram Protocol (UDP)
Explicit
Messages
Device Proles and
Application Objects
Physical
Data Link
Network
Transport
Session
Presentation
Application
Implicit
Messages
IEEE Standards
TCP/IP Suite
Common Industrial Protocol (CIP)
OSI Model Layers
The following table provides a brief description of each of the seven OSI model layer.
Layer Description
Physical The physical properties—electrical and mechanical—of the network
(e.g., cables, connectors, pin-outs, voltages, flow control, etc.). For EtherNet/IP, it is based on IEEE 802.3 technology.
Data Link How packets of data will be transmitted between devices (MAC, CRC,
etc.). For EtherNet/IP, it is based on IEEE 802.3 technology.
Network The switching and routing layer, i.e, anything related to the device
IP address, DNS, datagrams, cyclic and non-cyclic. For EtherNet/IP, uses the TCP/IP Suite.
Transport Controls how much data (size of block) that will be sent and received,
manages the delay time between messages, maintains the quality of ser­vice (QoS). For EtherNet/IP, uses the TCP/IP Suite, uses both TCP and UDP.
Session Opens/closes and manages the connection between devices and applic-
ations, explicit and implicit messages are used. This layer is part of CIP.
Presentation Delivers and formats information to/from the application layer (trans-
lates data from the network to the application or from the application to the network). This layer is part of CIP.
Application Handles the application that provides the user interaction. This layer is
part of CIP.
For more details, see the ODVA.org website.
EtherNet/IP Adaptation of CIP
EtherNet/IP is an implementation of Ethernet technology with the addition of CIP layers. Like other ODVA industrial network protocols, it is based on the OSI model. Therefore, it is spe­cifically tailored for industrial environments and applications. Refer to the following figure.
OSIModel:EtherNet/IPImplementation
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EtherNet/IP Adaptation of CIP
As shown in the previous figure, EtherNet/IP uses two communication protocols for message transport:
l
Transmission Control Protocol (TCP) is used for Explicit messages—these are non-cyclic messages for device configuration and setup of cyclic connection content.
l
User Datagram Protocol (UDP) is used for Implicit (I/O) messages—these are cyclic messages that handle time-critical control data.
For more details on messages, see Messaging on page 23. Also, see Position Controller Implicit I/O Messages on page 45.
EtherNet/IP is designed to be reliable, easily expanded for future growth, and can the­oretically handle an unlimited number of devices. Note, however, that there may be other factors that impose limitations on the size of the network.
For more details, see the ODVA.org website.
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Objects

CIP Network
Required = Optional =
Assembly
Object
Application
Object(s)
Parameter
Object
Message Router
Identity
Object
TCP/IP Interface
Object
Ethernet Link
Object
Connection Manager
Object
I/O
Explicit
Msg

Objects

This section briefly describes the features of CIP device objects. For more details, see THE CIPNETWORKSLIBRARY,Volume1:CommonIndustrialProtocol(CIP™), which is available
on the ODVA.org website.
Objects
Because EtherNet/IP is a CIP-based network, the network devices are described through sets of objects. Each set of objects is organized in a specific manner with specific attributes so that each network device operates in a certain way—that organization is the object model (or device model). Every device with the same object model will operate in the same manner.
NOTE: All device features must be described through objects in order to be access­ible through CIP.
The following types of objects are used in a device profile:
l
Required objects: these must be present in every CIP device.
l
Application objects: these are specific to the type of device and its function.
l
Manufacturer-Specific objects: these are optional objects that are specific to each device manufacturer.
The following figure shows a version of the EtherNet/IP object model with required and optional objects.
EtherNet/IPObjectModel
For the SmartMotor-specific model, see the object model for your SmartMotor application, which is described later in this guide.
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Classes, Instances and Attributes

Device Address
Object 2
Instance 1
Object Class 2
Object 1
Instance 2
Object Class 1
Attribute 3
Attribute 2
Attribute 1
Object 1
Instance 1
Attribute 3
Attribute 2
Attribute 1
Classes, Instances and Attributes
The CIP object model uses classes, instances and attributes to describe each device. Refer to the following figure.
l
Class: a fixed collection of objects with each object having a fixed set of attributes. The CIP object library contains three primary object classes: general use, application spe­cific, and network specific.
l
Instance: an occurrence of a particular object (in other words, there can be more than one occurrence of the same object but with different attribute values).
l
Attributes: a set of data values that describe an object instance (instance attributes). They can also describe an object class (class attributes).
Classes,Instances,Attributes
The device description (class, instance, attributes) information is also contained in the Elec­tronic Data Sheet (EDS) file, which is supplied by the equipment vendor (see EDS File on page
35).
For more details, see the ODVA.org website.
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 22 of 160

Messaging

Tool
I/O Connection
Object
Device A
I/O Connection
Object
Device B
I/O Connection
Object
Device A
I/O Connection
Object
Device B
I/O Connection from A to B
(Implicit messaging)
Congure connection instance
(Explicit messaging)
Congure connection instance
(Explicit messaging)
CONFIGURATIONRESULT
Messaging
There are two types of messages used by EtherNet/IP: explicit messages and implicit mes­sages. Each is described in the following sections.

Explicit (Non-cyclic) Messages

Explicit messages are non-cyclic, i.e., they are typically sent once instead of at regular inter­vals. Further, explicit messages are not time sensitive. They are used for communicating information such as configuration, diagnostic, data logs, and other information that is not time critical. They can also be used to set up implicit (cyclic) connection content (see the next sec­tion).
Explicit messages are point-to-point messages. In other words, a device sends out a message directed to a specific recipient device. The recipient device will return a response to that mes­sage. As a result, the explicit messages are much larger than implicit messages (refer to the next section) and can generate a lot of network traffic; therefore, they are not used for trans­mitting cyclic data.

Implicit (Cyclic) Messages

Implicit messages (also referred to as I/O messages) are cyclic, i.e., they are sent at regular intervals. Implicit messages are used to communicate critical, time-sensitive information. They are typically used for I/O control, PID loop closure, and Motion or Application control.
The implicit message connection between the two devices is established up front and con­nection ID assignment is made. Therefore, the actual implicit messages contain just the con­nection ID and the data. As a result, implicit messages are very small, they can travel quickly, and they do not use much network bandwidth.

Explicit/Implicit Messaging Example

In the following figure, a tool uses explicit messaging to configure the connections between two network devices. Once that I/O connection is established, the devices can communicate using implicit messaging. For more details, see THECIPNETWORKSLIBRARY,Volume1:Com-
monIndustrialProtocol(CIP™), which is available on the ODVA.org website.
Explicit/ImplicitMessagingExample
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 23 of 160

Connections, Wiring and Status LEDs

Connections, Wiring and Status LEDs
This chapter provides information on the SmartMotor connectors, a multidrop cable diagram, and a description of the SmartMotor status LEDs.
Connectors and Pinouts 26
M-Style Motor Connectors and Pinouts 26
Moog Animatics Industrial Ethernet Cables 27
EtherNet/IP Custom Cable 27
Cable Diagram 28
EtherNet/IP Cable Diagram 28
Status LEDs 29
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 25 of 160

Connectors and Pinouts

1
2 3
4
POWER INPUT
PIN
FUNCTION
DESCRIPTION
1
24 VDC
CONTROL I/O POWER
2
EARTH
CHASSIS GROUND
3
GND
MOTOR COMMON GROUND
4
48 VDC
MOTOR POWER
1
2
3
4
5
6
7
8
COMMUNICATION
PIN
FUNCTION
1
GND-COMMON
2
RS-485B CH0
3
RS-485A CH0
4
ENC A+ IN
5
ENC B- IN
6
ENC A- IN
7
5 VDC OUT
8
ENC B+ IN
1
2
3
4
5
6
7
8
9
10
11
12
4
3 1
2
EtherNet/IP
PIN
FUNCTION
1
+TX
2
+RX
3
-TX
4
-RX
I/Os
PIN
FUNCTION
DESCRIPTION
1
IN0
GENERAL PURPOSE
2
IN1
GENERAL PURPOSE
3
IN2/POSLIMIT
POSITIVE LIMIT
4
IN3/NEGLIMIT
NEGATIVE LIMIT
5
IN4
GENERAL PURPOSE
6
IN5
GENERAL PURPOSE
7
IN6
GENERAL PURPOSE
8
IN7-DRVEN
DRIVE ENABLE
9
OUT8/BRAKE
BRAKE OUTPUT
10
OUT9-NOFAULT
NOT FAULT
11
24 VDC OUT*
CONTROL/IO POWER
12
GND
MOTOR COMMON GROUND
INPUT OR OUTPUT
INPUT, DISCRETE OR ANALOG
POSSIBLE (SELECTABLE) FUNCTIONS
INPUT, DISCRETE OR ANALOG INPUT INPUT INPUT
INPUT
INPUT
INPUT OUTPUT OUTPUT POWER OUTPUT** N/A
GENERAL PURPOSE GENERAL PURPOSE POSITIVE LIMIT OR GENERAL PURPOSE
NEGATIVE LIMIT OR GENERAL PURPOSE GENERAL PURPOSE, OR EXTERNAL ENCODER INDEX CAPTURE GENERAL PURPOSE, OR INTERNAL ENCODER INDEX CAPTURE GENERAL PURPOSE, G COMMAND, OR HOMING INPUT (ETHERCAT ONLY)
CONTROL I/O POWER N/A
NOT FAULT
BRAKE OUTPUT OR GENERAL-PURPOSE OUTPUT
DRIVE ENABLE
*NOTE: 2 AMPS MAX **SUPPLIED FROM POWER INPUT PIN 1
LED 4: EtherNet/IP Link 1 Port LED
LED 2: EtherNet/IP Network Status LED
LED 0: Motor Drive LED
LED 5: EtherNet/IP Link 2 Port LED
LED 3: EtherNet/IP Module Status LED
LED 1: Motor Busy LED
USB Active LED
Connectors and Pinouts

M-Style Motor Connectors and Pinouts

The following figure provides a brief overview of the connectors and pinouts available on the M-style SmartMotors.
NOTE: When daisy-chaining SmartMotors for an EtherNet/IP network, there is no specific IN or OUT Ethernet port. In other words, either Ethernet port can be used for the input or the output.
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 26 of 160

Moog Animatics Industrial Ethernet Cables

Industrial Ethernet Connector
(Motor end of cable)
PIN
1 2 3 4
+TX +RX
-TX
-RX
DESCRIPTION
Shield tied to motor housing
RJ45S Connector
(EtherNet/IP master end of cable)
1 2 3 4 5 6 7 8
+TX
-TX +RX No Connection No Connection
-RX No Connection No Connection
PIN
DESCRIPTION
Shield tied to RJ45S connector
Moog Animatics Industrial Ethernet Cables
The following Industrial Ethernet cables are available from Moog Animatics.
M-style to M-style Ethernet Cable
This cable has M12 male threaded connectors at both ends. It is available in 1, 3, 5 and 10 meter lengths. For the standard cable, use part number CBLIP-ETH-MM-xM, where "x" denotes the cable length. A right-angle version is also available; use part number CBLIP-ETH-MM-xMRA.
M-style to RJ45 Ethernet Cable
This cable has an M12 male threaded connector at one end, and an RJ45 male connector at the opposite end. It is available in 1, 3, 5 and 10 meter lengths. For the standard cable, use part number CBLIP-ETH-MRJ-xM, where "x" denotes the cable length. A right-angle version is also available; use part number CBLIP-ETH-MRJ-xMRA.

EtherNet/IP Custom Cable

The following figure provides details for creating a custom shielded EtherNet/IP cable.
NOTE: The motor end of the cable requires an industrial Ethernet connector.
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 27 of 160

Cable Diagram

EtherNet/IP Bus
Other EtherNet/IP device:
- I/O block,
- Servo drive,
- etc.
EtherNet/IP Master
- PC,
- PLC,
- etc.
Moog Animatics SmartMotor
Moog Animatics SmartMotor
Optional ring for cable redundancy*
*Ring conguration requires an EtherNet/IP master with two ports
NOTE: Either Ethernet port can be used
to daisy-chain the motors.
Example Daisy-Chain Conguration
Cable Diagram
This section describes the cabling information for adding a SmartMotor to an EtherNet/IP net­work.
CAUTION: To minimize the possibility of electromagnetic interference (EMI), all connections should use shielded Ethernet Category 5 (Cat 5), or better, cables.

EtherNet/IP Cable Diagram

The following diagram shows an example EtherNet/IP network with the SmartMotors daisy chained to the EtherNet/IP master device. An optional "ring" configuration can be created if the EtherNet/IP master device has two ports.
Many network configurations are possible, such as line, tree or star. Requirements for specific configurations depend on the capabilities of the EtherNet/IP controller devices, the node devices, types and lengths of cables, and use of other networking equipment. For specific details on creating an EtherNet/IP network, refer to the ODVA publication EtherNet/IPMedia PlanningandInstallationManual, which is available on the ODVA.org website.
NOTE: Unlike other fieldbus protocols, EtherNet/IP does not require terminators at each end of the network bus.
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 28 of 160

Status LEDs

Off No power Solid green Drive on Blinking green Drive off, no faults Triple red flash Watchdog fault Solid red Faulted or no drive enable input
Off Not busy Solid green Drive on, trajectory in progress
Off No/bad cable; no/bad Link port Solid green Link established
Flashing # red Flashes fault code* (see below)
when Drive LED is solid red
Blinking green Activity
Off No/bad cable; no/bad Link port Solid green Link established
Blinking green Activity
Off No power Flashing red/grn Power-up self test Flashing green Standby Solid green Device operational Flashing red Minor fault
Solid red Major fault
Off No power or no IP address Flashing red/grn Power-up self test Flashing green No connections Solid green Connected Flashing red Connection timeout
Solid red Duplicate IP
LED 4: EtherNet/IP Link 1 Input LED
LED 2: EtherNet/IP Network Status LED
LED 0: Motor Drive LED
LED 5: EtherNet/IP Link 2 Output LED
LED 3: EtherNet/IP Module Status LED
LED 1: Motor Busy LED
LED 0: Motor Drive LED LED 1: Motor Busy LED
LED 3: EtherNet/IP Module Status LED
LED 5: EtherNet/IP Link 2 Output LED
LED 2: EtherNet/IP Network Status LED
LED 4: EtherNet/IP Link 1 Input LED
LED Status on Power-up:
• With no program and the travel limit inputs are low: LED 0 solid red; motor is in fault state due to travel limit fault
LED 1 off
• With no program and the travel limits are high: LED 0 solid red for 500 milliseconds then flashing green
LED 1 off
• With a program that only disables travel limits:
LED 0 red for 500 milliseconds then flashing green LED 1 off
Flash
1 2 3 4 5 6 7 8
9 10 11
Description
NOT Used Bus Voltage Over Current Excessive Temperature Excessive Position Velocity Limit dE/Dt - First derivative of position error is excessive Hardware Positive Limit Reached Hardware Negative Limit Reached Software Positive Travel Limit Reached Software Negative Travel Limit Reached
LED1 Fault Codes:
*Busy LED pauses for 2 seconds before flashing the code
Flickering = On/Off in 0.1 sec; Blinking = On/Off in 0.5 sec; Flashing = separated by 1 sec for EtherNet/IP LEDs and 2 sec for Fault Codes
USB Active LED
Flashing green Active Flashing red Suspended Solid red USB power detected, no
configuration
USB Active LED
Status LEDs
This section describes the functionality of the Status LEDs on the Class 6 SmartMotor.
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 29 of 160
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