MOOG ANIMATICS Smart Motor SM23166MT, Smart Motor SM23166MT2 User Manual

Ethernet Serial Encapsulation Guide

Class 6 SmartMotor Technology

For the mobile version of this guide, see:

animatics.com/docs/guides-html/c6_enetse/

Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, PN: SC80100017001, Rev. B.

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. 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 Serial Encapsulation 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 4

Purpose 5

Safety Information 6

Safety Symbols 6

Other Safety Considerations 6

Safety Information Resources 8

Additional Documents 9

Related Guides 9

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 5

Safety Information 6

Safety Symbols 6

Other Safety Considerations 6

Safety Information Resources 8

Additional Documents 9

Related Guides 9

Purpose

This guide describes the Moog Animatics Ethernet Serial Encapsulation protocol provided by the Class 6 EtherNet/IP (EIP) SmartMotor™ (see the following figure). It describes the major concepts that must be understood to integrate a SmartMotor slave with an Ethernet Serial Encapsulation master device. It also includes a byte-by-byte discussion of the Moog Animatics Ethernet Serial Encapsulation protocol.

NOTE: The feature set described in this version of the manual refers to SmartMotor (–EIP option) firmware version 6.0.2.28 and netX firmware (NXF) version 3.3.0.3.

NOTE: The keepalive feature to reset broken connections requires firmware

6.0.2.41 or higher with netX firmware (NXF) version 3.4.0.5 or higher. Earlier firmware versions will not activate this feature.

The Ethernet Serial Encapsulation protocol was developed by Moog Animatics as a means for the Class 6 EtherNet/IP (EIP) motor to receive and send serial communications over Ethernet. In addition to this protocol, Moog Animatics offers a variety of other fieldbus protocol options for the Class 6 M-style motors, such as EtherNet/IP, Modbus, and more. Please contact Moog Animatics for details.

Moog Animatics Class 6 SmartMotor™Ethernet Serial Encapsulation Guide,Rev. B

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Safety Information

This section describes the safety symbols and other safety information.

Safety Symbols

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

WARNING: This symbol indicates a potentially 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 7.

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, 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.

Moog Animatics Class 6 SmartMotor™Ethernet Serial Encapsulation Guide,Rev. B

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Other Safety Considerations

Machine Safety

In order to protect personnel from any safety hazards in the machine or system, the machine/system builder must perform a "Risk Assessment", which is often based on the ISO 13849 standard. The design/implementation of barriers, emergency stop (E-stop) mechanisms and other safeguards will be driven by the Risk Assessment and the safety standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for the locale where the machine is being installed and operated. The methodology and details of such an assessment are beyond the scope of this manual. However, there are various sources of Risk Assessment information available in print and on the internet.

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

In general, the machine/system safeguards must:

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

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

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

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

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

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

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

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

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

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

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.

Moog Animatics Class 6 SmartMotor™Ethernet Serial Encapsulation Guide,Rev. B

Page 7 of 32

Safety Information Resources

Documentation and Training

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

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

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

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

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

Additional Equipment and Considerations

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

Unauthorized access to the machine is prevented at all times.

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

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

There are no modifications made to the machine or system without proper engineering evaluation for design, safety, reliability, etc., and a Risk Assessment.

Safety Information Resources

Additional SmartMotor safety information can be found on the Moog Animatics website; open the file "109_Controls, Warnings and Cautions.pdf" located at:

http://www.animatics.com/support/moog-animatics-catalog.html

OSHA standards information can be found at:

https://www.osha.gov/law-regs.html

ANSI-RIA robotic safety information can be found at:

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

UL standards information can be found at:

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

Moog Animatics Class 6 SmartMotor™Ethernet Serial Encapsulation Guide,Rev. B

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Additional Documents

ISOstandards information can be found at:

http://www.iso.org/iso/home/standards.htm

EUstandards information can be found at:

http://ec.europa.eu/growth/single-market/european-standards/harmonisedstandards/index_en.htm

Additional Documents

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

Related Guides

Class 6 SmartMotor™ Installation and Startup Guide

http://www.animatics.com/cl-6-install-startup-guide

SmartMotor™ Developer's Guide

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

Additional Resources

The Moog Animatics website contains additional resources such as product information, documentation, product support and more. Please refer to the following list:

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

Moog Animatics Class 6 SmartMotor™Ethernet Serial Encapsulation Guide,Rev. B

Page 10 of 32

+ 22 hidden pages

MOOG ANIMATICS Smart Motor SM23166MT, Smart Motor SM23166MT2 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Purpose

Safety Information

Safety Symbols

Other Safety Considerations

Safety Information Resources

Additional Documents

Related Guides

Other Documents

Additional Resources