Related Manuals for MOOG ANIMATICS Smart Motor SM23166MT
Summary of Contents for MOOG ANIMATICS Smart Motor SM23166MT
- Page 1 For the mobile version of this guide, see: animatics.com/docs/guides-html/c6_enetse/ Ethernet Serial Encapsulation Guide Class 6 SmartMotor Technology...
- Page 2 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.
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Page 3: Table Of Contents
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 Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 3 of 32... -
Page 4: Introduction
Purpose Safety Information Safety Symbols Other Safety Considerations Safety Information Resources Additional Documents Related Guides Other Documents Additional Resources Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 4 of 32... -
Page 5: Purpose
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. -
Page 6: Safety Information
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. - Page 7 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...
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Page 8: Safety Information Resources
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... -
Page 9: Additional Documents
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. Related Guides Class 6 SmartMotor™ Installation and Startup Guide http://www.animatics.com/cl-6-install-startup-guide... -
Page 10: Additional Resources
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 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... -
Page 11: Motor Pinouts, Connections And Status Leds
The following sections describe the motor pinouts, system connections and the 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 Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 11 of 32... -
Page 12: Connecting The System
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. Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 12 of 32... -
Page 13: Moog Animatics Industrial Ethernet Cables
Moog Animatics Industrial Ethernet Cables 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. -
Page 14: Cable Diagram
NOTE: Either Ethernet port can be - etc. - etc. used to connect the motors. NOTE: Unlike other fieldbus protocols, this configuration does not require terminators at each end of the network. Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 14 of 32... -
Page 15: Understanding The Status Leds
LED 1 off Hardware Negative Limit Reached Software Positive Travel Limit Reached Software Negative Travel Limit Reached *Busy LED pauses for 2 seconds before flashing the code Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 15 of 32... -
Page 16: Using Ethernet Serial Encapsulation
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 Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 16 of 32... -
Page 17: Ethernet Serial Encapsulation Description
Ethernet Serial Encapsulation Description 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. -
Page 18: Detecting The Motors In Smi
(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") Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 18 of 32... -
Page 19: Supported/Not-Supported Functionality
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. Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 19 of 32... -
Page 20: Not-Supported Functionality
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. Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 20 of 32... -
Page 21: Ethernet Serial Encapsulation Communications Setup
Command Sequences 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 Page 21 of 32... - Page 22 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 Page 22 of 32...
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Page 23: Udp (User Datagram Protocol) Discovery Example
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: Input: Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 23 of 32... -
Page 24: Tcp (Transmission Control Protocol) Command Examples
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: Input: Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 24 of 32... - Page 25 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: Input: Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 25 of 32...
- Page 26 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 Page 26 of 32...
- Page 27 30 30 30 30 30 30 20 30 30 31 31 36 44 20 50 0D Two checksum values and P (pass) SMI Serial Data Analyzer (shows Output and Input) Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B Page 27 of 32...
- Page 28 Output: 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 Page 28 of 32...
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Page 29: Troubleshooting
Troubleshooting 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 Control power is off, Check that control power is connected to the proper pins and... - Page 30 Compile menu to select a default firmware version recognized closest to the motor's firmware version. In the SMI software, view during compiling. 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...
- Page 32 PN: SC80100017-001, Rev. B Ethernet Serial Encapsulation...
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