MOOG ANIMATICS Smart Motor SM23166MT, Smart Motor SM23166MT2 User Manual

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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.

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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

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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

Page 5 of 32

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.

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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.

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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/

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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

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Motor Pinouts, Connections and Status LEDs

The following sections describe the motor pinouts, system connections and the status LEDs.

Connecting the System 12

Class 6 M-Style EIP Motors: Connectors and Pinouts 12

Moog Animatics Industrial Ethernet Cables 13

Ethernet Custom Cable 13

Cable Diagram 14

Understanding the Status LEDs 15

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Connecting the System

2 3

POWER INPUT

FUNCTION

DESCRIPTION

24 VDC

CONTROL I/O POWER

EARTH

CHASSIS GROUND

GND

MOTOR COMMON GROUND

48 VDC

MOTOR POWER

COMMUNICATION

FUNCTION

GND-COMMON

RS-485B CH0

RS-485A CH0

ENC A+ (IN/OUT)

ENC B- (IN/OUT)

ENC A- (IN/OUT)

5 VDC OUT

ENC B+

(IN/OUT)

I/Os

FUNCTION

DEFAULT

IN0

GENERAL PURPOSE

IN1

GENERAL PURPOSE

IN2/POSLIMIT

POSITIVE LIMIT

IN3/NEGLIMIT

NEGATIVE LIMIT

IN/OUT4

GENERAL PURPOSE

/OUT

GENERAL PURPOSE

IN6

GENERAL PURPOSE

IN7-DRVEN

DRIVE ENABLE

OUT8/BRAKE

BRAKE OUTPUT

OUT9-NOFAULT

NOT FAULT

24 VDC OUT*

CONTROL I/O POWER

GND

MOTOR COMMON GROUND

INPUT OR OUTPUT

INPUT, DISCRETE OR ANALOG

POSSIBLE (SELECTABLE) FUNCTIONS

INPUT, DISCRETE OR ANALOG INPUT INPUT INPUT/OUTPUT

INPUT/OUTPUT

INPUT

INPUT OUTPUT OUTPUT POWER OUTPUT** N/A

GENERAL PURPOSE GENERAL PURPOSE POSITIVE LIMIT OR GENERAL PURPOSE NEGATIVE LIMIT OR GENERAL PURPOSE GENERAL PURPOSE, OR EXTERNAL ENCODER INDEX CAPTURE GENERAL PURPOSE, OR INTERNAL ENCODER INDEX CAPTURE GENERAL PURPOSE, G COMMAND, OR HOMING INPUT (ETHERCAT ONLY)

N/A

NOT FAULT

BRAKE OUTPUT OR GENERAL-PURPOSE OUTPUT

DRIVE ENABLE

*NOTE: 2 AMPS MAX **SUPPLIED FROM POWER INPUT PIN 1

CONTROL I/O POWER

RS-485 serial communication uses a voltage differential signal. Appropriate terminating resistors should be included on the RS-485 network to ensure reliable performance. For details, see the section Power and RS-485 Com Multidrop.

Shield tied to motor housing

LED 4: EtherNet/IP Link 1 Port LED

LED 2: EtherNet/IP Network Status LED

LED 0: Motor Drive LED

LED 5: Link EtherNet/IP Link 2 LED

LED 3: EtherNet/IP Module Status LED

LED 1: Motor Busy LED

USB Port LED

SD Card LED

EtherNet/IP

FUNCTION

+TX

+RX

-TX

-RX

*Input *Output

Connecting the System

The following sections show system connections and cable diagrams for typical Class 6 Mstyle EIPmotors.

Class 6 M-Style EIP Motors: Connectors and Pinouts

The following figure provides a brief overview of the connectors and pinouts available on the Class 6 M-style SmartMotors. Additional connector specifications are available in the Class 6 SmartMotor™ Installation Guide.

The EtherNet/IP(industrial Ethernet) ports are used to connect the motor to the Ethernet network. See the figure below for the location of those ports.

NOTE: When daisy-chaining SmartMotors for an Ethernet Serial Encapsulation 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.

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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 Custom Cable

The following figure provides details for creating a custom shielded Ethernet cable.

NOTE: The motor end of the cable requires an industrial Ethernet connector.

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Cable Diagram

Ethernet TCP/IP Network

Other Ethernet device:

- I/O block,

- Servo drive,

- etc.

TCP/IP Master

- PC,

- PLC,

- etc.

Moog Animatics SmartMotor -EIP

NOTE: Either Ethernet port can be used

to daisy-chain the motors.

Example Daisy-Chain Conguration

Ethernet TCP/IP Network

Other Ethernet device:

- I/O block,

- Servo drive,

- etc.

TCP/IP Master

- PC,

- PLC,

- etc.

Moog Animatics SmartMotor -EIP

NOTE: Either Ethernet port can be

used to connect the motors.

Example Star Conguration

Ethernet Hub or Switch

Cable Diagram

The following figures show a Ethernet Serial Encapsulation master connected to a series of slave devices. Although only two configurations are shown, many different network topologies are possible. Other devices (routers, gateways, etc.) may also be on the network. See the previous page for cable part numbers.

NOTE: Unlike other fieldbus protocols, this configuration does not require terminators at each end of the network.

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Understanding the 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

Flashing green Active Flashing red Suspended Solid red USB power detected, no

configuration

USB Active LED

Under cover: USB Active LED SD Card LED (for SD Card-equipped motors)*

Blinking green Busy, do not remove card Solid green

Card detected

Solid red

Card with no SmartMotor data

SD Card LED (for SD Card-equipped motors)

No card, bad or damaged cardOff

*For details, see “Understanding the SD Card” in the Class 6 SmartMotor™ Installation & Startup Guide.

Understanding the Status LEDs

The following figure and tables describe the functionality of the Ethernet Serial Encapsulation Status LEDs on the Class 6 EIP SmartMotor.

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Using Ethernet Serial Encapsulation

The following sections describe how to enable Ethernet Serial Encapsulation communications with your SmartMotor, along with information on supported function codes, input registers and holding registers.

Ethernet Serial Encapsulation Description 17

TCPPort 17

UDP Port 17

Detecting the Motors in SMI 18

Setting the IPAddress 18

Supported/Not-Supported Functionality 19

Supported Functionality 19

Not-Supported Functionality 20

Ethernet Serial Encapsulation Communications Setup 21

Ethernet Serial Encapsulation Sample Command Sequences 21

UDP (User Datagram Protocol) Discovery Example 23

TCP (Transmission Control Protocol) Command Examples 24

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Ethernet Serial Encapsulation Description

Ethernet Serial Encapsulation is a protocol developed by Moog Animatics that allows host software, such as SMI, to communicate via serial commands over Ethernet. The Moog Animatics Class 6 EtherNet/IP (EIP) SmartMotor supports communication with a PLC, HMI, or other host device over Ethernet.

Unlike Modbus RTU serial communication, the OCHNcommand is not needed or used for Ethernet Serial Encapsulation communication. In fact, once the motors are connected to the Ethernet network, they will be able to communicate with the Ethernet Serial Encapsulation master if DHCPis used, or they will simply need a static IPaddress if DHCPis not being used.

TCPPort

There is a single instance of the TCP port that acts like a serial command parser. Note that a second concurrent attempt to connect will be rejected. However, if the first connection is closed by the client, then the motor will accept another connection.

CAUTION: There is no security check or other method available to disable the TCP port. Therefore, the network is assumed to be "friendly" (i.e., secure, ready and safe to connect to).

TCP Port 10001

The TCPport uses ASCII commands to create a "pipeline" to the same handling as a serial port, as follows:

Prepend with a byte of the value: 0x80

Terminate with a byte of the value: 0x20 (a space)

Responses terminate with 0x0d

Example:

Command: 0x80RPA0x20 = "0x80RPA " (note there is a space at the end).

Response: 102330x0d = the number 10233 with the byte value 0x0d at the end.

UDP Port

Optionally, and unrelated to the TCP connection, a broadcast to port 30718 over UDP can be used to discover the SmartMotor(s).

UDP port 30718

Send a UDP packet broadcast:

To address 255.255.255.255, port 30718 with the BCAST flag:

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Page 17 of 32

Detecting the Motors in SMI

Send the packet from your port 30718

Send this data:

Datagram length: four bytes

Content (from first to last): 0x00, 0x00, 0x00, 0xf6

Listen for response back to your port 30718:

Check that data length received is 30 bytes.

Check that the first four bytes (0-3) are:

0x00, 0x00, 0x00, 0xf7

3. For the remaining bytes:

Bytes 4-23 should all be 0

Bytes 24-29 represent the MAC ID of the motor

Detecting the Motors in SMI

When using the Detect Motors feature in SMI to detect the SmartMotor(s), they will be detected as "Ethernet". Note the following:

The ability to change the SmartMotor IP address through the SMI menus and dialogs will not function. However, you can use SMI software's Terminal window to issue commands that set the IP address. See the SMI software's online help for details on the Terminal window.

The SmartMotor "webpage" feature, also used to set the IPaddress, will not function.

Therefore, the IP address must be set through either:

The IP Control command (IPCTL), or

The SmartMotor's USBport

For details, refer to the following section.

Setting the IPAddress

As mentioned previously, for Ethernet Serial Encapsulation on the SmartMotor, the IPaddress can be either static or dynamic (DHCP). The default operation is dynamic addressing. For applications requiring a fixed IPaddress, it must be set using the IP control command (IPCTL) through either:

The Ethernet port, or

The SmartMotor's USBport

The IPCTLcommand allows you to change the IPaddress of the SmartMotor. The default setting is "0.0.0.0" for IP address, subnet mask, and gateway disabled/automatic. Three function codes (0, 1, and 2) are available for setting a specific IPaddress, a specific subnet mask, and/or a specific gateway address, respectively. It uses the form:

IPCTL(function,"string")

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Page 18 of 32

Supported/Not-Supported Functionality

function is one of the following codes:

function Description

0 Set IP address

1 Set subnet mask

2 Set gateway

"string" is formatted as an IP address and entered as a string

For example:

IPCTL(0,"192.168.0.10") 'Set the IP address to 192.168.0.10

For more details on the IPCTLcommand, see the SmartMotor™ Developer's Guide. For details on the Ethernet and USB ports, see the Class 6 SmartMotor™ Installation &Startup Guide.

Supported/Not-Supported Functionality

Supported Functionality

A small set of functions are supported for access to these basic SmartMotor operations:

Report commands: RPA, RSP, etc.

Report commands are shown in the SmartMotor Developer's Guide. They can be identified by looking at the command lists (near the end of the guide) for commands that begin with a superscript "R" character, for example:RPA,RSP,RPC etc.

Commands that begin with an "R"character that is not superscript are not report commands, for example: RANDOM=, RESUME, RETURN, RETURNI, RUN, RUN?.

NOTE: Also, refer to the Not-Supported Functionality section.

For more details, refer to Example with a String Response on page 24 and Example with a Numeric Response on page 25.

Assign a variable: a=400

For more details, refer to Example of Assigning a Variable on page 26.

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Not-Supported Functionality

Motion commands

All the motion commands listed in the Motion Control section of the SmartMotor Developer's Guide will work with the exception of the following (as these are not yet supported in Class 6 SmartMotors):

l ADTS l ATS l DTS l VTS l PTS l PRTS l GS l PRTSS l PTSS l RPTSD l RPTST

User program download, run and upload.

For more details, refer to Example of Program Downloading, Running and Uploading on page 27.

Channel 2 is always open (see Not-Supported Functionality)

TCP keepalive feature (requires firmware 6.0.2.41 or higher with netX firmware (NXF) version 3.4.0.5 or higher.)

Not-Supported Functionality

The following SmartMotor functions are not supported:

Serial "data" mode is not supported (for example, RGETCHR)

Report commands specific to the serial port, like RGETCHR, RGETCHR1, etc. (reporting the state of the actual serial ports) will report a value without problem. However, commands like RGETCHR2, RLEN2 are not supported specific to the state of the serial encapsulation channel itself; i.e., you can’t put the serial encapsulation into "data" mode.

Any command that can be performed on the serial port should also work through Ethernet Serial Encapsulation. There are a few operations, however, that don't apply to this environment:

Setting or reading the baud rate specific to that port

OCHN, serial interpolation time sync

Serial addressing

Open channel and change channel (OCHN and CCHN, respectively) commands are not supported

NOTE: Channel 2 is always open.

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Ethernet Serial Encapsulation Communications Setup

This topic contains Ethernet Serial Encapsulation communications setup information.

For a typical Ethernet Serial Encapsulation application:

Ethernet Serial Encapsulation requires the Class 6 "–EIP" SmartMotor model. Verify that you have the correct motor.

Verify the type of motor addressing being used. Note the following:

For dynamic IP (DHCP)addressing (SmartMotor default), there is no need to set an IPaddress on the motor.

For static IPaddressing, you will need to set a static IP address on the motor. For more details, see Setting the IPAddress on page 18.

There is no need to open the Ethernet Serial Encapsulation port, it is already open by default (using TCP port 10001). Therefore, no special program is needed.

There is no need for a node ID—the IP address serves as the motor's identification. Note that the Node ID is typically assumed to be "0" in Ethernet Serial Encapsulation.

Command Purpose Value

ETHCTL(100, value) Enable/disable

ports

ETHCTL(110, value) Keepalive time for

Ethernet serial encapsulated connection.

-1 default

0 disable TCP communications port

and UDP discovery port.

1 enable TCPcommunications port

only

2 enable UDP discovery port only

3 enable TCP communications port

and UDP discovery port. (default)

-1 default (3 seconds)

0 disable

1-127 keepalive time (seconds)

Ethernet Serial Encapsulation Sample Command Sequences

Non-Volatile

Setting

Yes

This topic contains some sample Ethernet Serial Encapsulation command sequences. These examples show the data sent from and received by SMI software communicating with a

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

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Ethernet Serial Encapsulation Sample Command Sequences

SmartMotor. For these examples, an open-source software (Wireshark network protocol analyzer) is used to show the communications between SMI software and the SmartMotor.

NOTE: There are various utilities available for this purpose. Therefore, Moog Animatics does not endorse any particular one—the selection depends on the requirements of your application.

For each of the following sections:

Section title = action being performed

Output = formatted byte stream sent from master to the SmartMotor

Input = formatted byte stream received by the master from the SmartMotor

For the following tables:

NOTE: A table is provided to illustrate the parts of the byte sequence only. The byte sequence must be transmitted as a stream of bytes shown in the Output/Input strings above the table (i.e., no pause or null for the blank cells).

These items unique to the UDPDiscovery Example:

Operation Code (Bytes 0-3) = specifies the operation being performed

Reserved (Bytes 4-23) = reserved bytes

MAC address (Bytes 24-29) = the MAC address of the responding motor

These items are common to TCPCommand Examples:

Prefix = required stream prefix (Output always 80; Input = N/A)

Command = Output byte string representing the desired command

Response = Input byte string representing the response from the motor

Terminator = required stream terminator (Output always 20; Input = 0d)

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

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UDP (User Datagram Protocol) Discovery Example

Output: 00 00 00 f6

Input: 00 00 00 f7 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 a2 2b 41 ff

UDP Packet Data Payload

Operation Code

(Bytes 0-3)

Output 00 00 00 f6

Input 00 00 00 f7 00 00 00 00 00 00 00 00 00 00 00

A table is provided to illustrate the parts of the byte sequence only. The byte sequence must be transmitted as a stream of bytes shown in the Output/Input strings above the table (i.e., no pause or null for the blank cells).

Output:

Reserved (Bytes 4-23) MAC addr ess (Bytes 24-29)

00 02 a2 2b 41 ff

00 00 00 00 00 00 00 00 00

Input:

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

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TCP (Transmission Control Protocol) Command Examples

Example with a String Response

This is a TCP example with a string response; the RSP command replies with "06250/6.0.2.30"

Output: 80 52 53 50 20

Input: 30 36 32 35 30 2f 36 2e 30 2e 32 2e 33 30 0d

TCP Stream

Prefix Command Response Terminator

Output 80 52 53 50

("RSP")

Input 30 36 32 35 30 2f 36 2e 30 2e 32 2e 33 30

("06250/6.0.2.30")

Output:

Input:

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

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TCP (Transmission Control Protocol) Command Examples

Example with a Numeric Response

This is a TCP example with a numeric response as a string; the RPA command reports the value 1105.

Output: 80 52 50 41 20

Input: 31 31 30 35 0d

TCP Stream*

Prefix Command Response Terminator

Output 80 52 50 41

("RPA")

Input 31 31 30 35

("1105")

Output:

Input:

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

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TCP (Transmission Control Protocol) Command Examples

Example of Assigning a Variable

This is a TCPexample of assigning a numeric value to a variable: a=400.

Output: 80 61 3D 34 30 30 20

Input: 31 31 30 35 0d

TCP Stream*

Prefix Command Response Terminator

Output 80 61 3D 34 30 30

("a=400")

Input N/A - See Input figure below

Output:

Input:

The following figure shows the SmartMotor ACKnowledgement back to the PC/master. However, it doesn't contain any data to respond to; it is just to keep the TCP connection alive.

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

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TCP (Transmission Control Protocol) Command Examples

Example of Program Downloading, Running and Uploading

This is a TCPexample of downloading, running and uploading the following program:

' My test program

WHILE 1

PRINT2("Hi there Ethernet host",#13)

WAIT=1000

LOOP

END

Downloading the Program

Output: 80 4C 4F 41 44 20 LOAD command s ent to motor

Input: 06 ACK from motor

Output:

Input: 06 ACK from motor

Output:

Input: 06 ACK from motor

Output:

Input: 06 ACK from motor

Output:

Input: 06 ACK from motor

Output: 02 87 00 00 00 59 08

Output: FF FF 20 Output, but no reply expected

Output: 80 52 43 4B 53 20 RCKScommand

Input: 30 30 30 30 30 30 20 30 30 31 31 36 44 20 50 0D Two checksum values and P (pass)

24 36 30 30 30 30 30 31 31 36 44 30 30 30 30 34 30 30 30 30 30 30 30 30 30 30 30 24 57 30 30 33

43 4C 45 20 31 0A 50 52 49 4E 54 32 28 22 48 69 20 74 68 65 72 65 20 45 74 68 65 72 6E 65 74 20

68 6F 73 74 22 2C 23 31 33 29 0A 57 41 49 54 3D 31 30 30 30 0A 24 4C 30 30 30 30 50 0A 45 4E 44

0A FF 24 74 65 73 74 20 65 74 68 65 72 6E 65 74 2E 73 6D 78 00 20 20 20 20 20 20 10 0B 16 13 07

32 character block of program download

Remaining character block of program download

SMISerial Data Analyzer (shows Output and Input)

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

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TCP (Transmission Control Protocol) Command Examples

Running the Program

Output: 80 52 55 4E 20 RUNc ommand

48 69 20 74 68 65 72 65 20 45 74 68 65 72 6E 65 74 20 68 6F 73 74 0D

Input:

Output: 80 45 4E 44 20 END command

. . . 48 69 20 74 68 65 72 65 20 45 74 68 65 72 6E 65 74 20 68 6F 73 74 0D

"Hi there..." messages from program loop

SMISerial Data Analyzer (shows Output and Input)

Uploading the Program

Output: 80 55 50 4C 4F 41 44 20 UPLOAD command sent to motor

Input: 57 48 49 4C 45 20 31 0A 16 character block of upload from motor

Output: 06 ACK from host

Input: 50 52 49 4E 54 32 28 22 16 character block of upload from motor

Output: 06 ACK from host

Input: 48 69 20 74 68 65 72 65 16 character block of upload from motor

Output: 06 ACK from host

Input: 20 45 74 68 65 72 6E 65 16 character block of upload from motor

Output: 06 ACK from host

Input: 74 20 68 6F 73 74 22 2C 16 character block of upload from motor

Output: 06 ACK from host

Input: 23 31 33 29 0A 57 41 49 16 character block of upload from motor

Output: 06 ACK from host

Input: 54 3D 31 30 30 30 0A 4C 16 character block of upload from motor

Output: 06 ACK from host

Input: 4F 4F 50 0A 45 4E 44 0A 16 character block of upload from motor

SMISerial Data Analyzer (shows Output and Input)

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

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Troubleshooting

The following table provides troubleshooting information for solving common problems. For additional support resources, see the Moog Animatics Support page at:

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

Issue Cause Solution

Communication and Control Issues

Motor control power light does not illuminate.

Motor does not communicate with SMI.

Motor not detected or not communicating through TCP (Ethernet port in SMI).

Motor disc onnects from SMI sporadically.

Red PWR SERVO light illuminated.

Common Faults

Bus voltage fault. Bus voltage is either too

Overcurrent occurred.

Excessive temperature fault.

Control power is off, disc onnected or incorrectly wired.

Motor has routed drive power through driveenable pins.

Motor is equipped with the DE option.

Transmit, receive or ground pins are not connected correctly.

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

IP address and/or netmask not set.

Feature disabled See ETHCTL(100,<value>) command.

COM port buffer settings are too high.

Poor connection on serial cable.

Power supply unit (PSU) brownout.

Critical fault. To discover the source of the fault, use the Motor View tool located

high or too low for operation.

Motor intermittently drew more than its rated level of curr ent. Does not cease motion.

Motor has exceeded temperature limit of 85°C. Motor will remain unresponsive until it cools down below 80°C.

Check that control power is connected to the proper pins and turned on. For connection details, see Connecting the System on page 12.

Ensure cabling is correct and drive power is not being delivered through the 15-pin connector.

To energize control power, apply 24-48 VDC to pin 15 and ground to pin 14.

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

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

See IPCTL command, or check DHCP s erver.

Adjust the COM port buffer settings to their lowest values.

Check the serial c able connections and/or replace it.

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

on the SMI software Tools menu.

Check servo bus voltage. If motor uses the DE power option, ensure that both drive and control power are connected.

Consider making motion less abrupt with softer tuning parameters or acceleration profiles.

Motor may be undersized or ambient temperature is too high. Consider adding heat sinks or forced air cooling to the system.

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

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Troubleshooting

Issue Cause Solution

Excessive position error.

Historical positive/negative hardware limit faults.

Programming and SMI Issues

Several commands not recognized during compiling.

The motor's commanded position and actual position differ by more than the user-supplied error limit.

A limit switch was tripped in the past.

Motor does not have limit switches attached.

Compiler default firmware version set incorrectly.

Increase error limit, decrease load or make movement less aggress ive.

Clear errors with the ZS command.

Configure the motor to be used without limit switches by setting their inputs as general use.

Use the Compiler default firmware version option in the SMI software Compile menu to select a default firmware version closest to the motor's firmware version. In the SMI software, view the motor's firmware version by right-clicking the motor and selecting Properties.

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

Page 30 of 32

PN: SC80100017-001, Rev. B

Ethernet Serial Encapsulation

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

Motor Pinouts, Connections and Status LEDs

Connecting the System

Class 6 M-Style EIP Motors: Connectors and Pinouts

Moog Animatics Industrial Ethernet Cables

Ethernet Custom Cable

Cable Diagram

Understanding the Status LEDs

Using Ethernet Serial Encapsulation

Ethernet Serial Encapsulation Description

UDP Port

Detecting the Motors in SMI

Supported/Not-Supported Functionality

Supported Functionality

Not-Supported Functionality

Ethernet Serial Encapsulation Communications Setup

Ethernet Serial Encapsulation Sample Command Sequences

UDP (User Datagram Protocol) Discovery Example

TCP (Transmission Control Protocol) Command Examples

Troubleshooting