Moog SmartMotor Mode d’emploi

Developer’s

Guide

Class 5 & Later SmartMotor

Technology with

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

This manual, as well as the software described in it, is furnished under license and may be

used or copied only in accordance with the terms of such license. The content of this manual is

furnished for informational use only, is subject to change without notice and should not be

construed as a commitment by Moog Inc., Animatics. Moog Inc., Animatics assumes no

responsibility or liability for any errors or inaccuracies that may appear herein.

Except as permitted by such license, no part of this publication may be reproduced, stored in a

retrieval system or transmitted, in any form or by any means, electronic, mechanical,

recording, or otherwise, without the prior written permission of Moog Inc., Animatics.

The programs and code samples in this manual are provided for example purposes only. It is

the user's responsibility to decide if a particular code sample or program applies to the

application being developed and to adjust the values to fit that application.

Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo,

Combitronic and the Combitronic logo, and SMI are all trademarks of Moog Inc., Animatics.

Other trademarks are the property of their respective owners.

Please let us know if you find any errors or omissions in this manual so that we can improve it

for future readers. Such notifications should contain the words "Developer's Guide" in the

subject line and be sent by e-mail to: animatics_marcom@moog.com. Thank you in advance

for your contribution.

Americas - West

Moog Animatics

2581 Leghorn Street

Mountain View, CA 94043

USA

Americas - East

Moog Animatics

750 West Sproul Road

Springfield, PA 19064

USA

Tel: 1 650-960-4215 Tel: 1 610-328-4000 x3999

Fax: 1 610-605-6216

Support: 1 888-356-0357

Website: www.animatics.com

Email: animatics_sales@moog.com

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

Page 3 of 909

Table Of Contents

Introduction 27

Overview 28

Combitronic Support 28

Communication Lockup Wizard 30

Safety Information 30

Safety Symbols 30

Other Safety Considerations 31

Motor Sizing 31

Environmental Considerations 31

Machine Safety 31

Documentation and Training 32

Additional Equipment and Considerations 33

Safety Information Resources 33

Additional Documents 34

Related Guides 34

Other Documents 34

Additional Resources 35

Part 1: Programming the SmartMotor 36

Beginning Programming 47

Setting the Motor Firmware Version 48

Setting the Default Firmware Version 48

Checking the Default Firmware Version 49

Opening the SMIWindow (Program Editor) 49

Understanding the Program Requirements 50

Creating a "Hello World" Program 51

Entering the Program in the SMI Editor 51

Adding Comments to the Code 52

Checking the Program Syntax 52

Saving the Program 52

Downloading a Program to the SmartMotor 52

Syntax Checking, Compiling and Downloading the Program 53

Additional Notes on Downloaded Programs 53

Running a Downloaded Program 54

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Using the Program Download Window 55

Using the Terminal Window and Run Program Button 55

Using the RUN Command in the Terminal Window 55

Creating a Simple Motion Program 56

SMISoftware Features 57

Introduction 58

Menu Bar 58

Toolbar 59

Configuration Window 61

Terminal Window 63

Initiating Motion from the Terminal Window 65

Information Window 65

Program Editor 66

Motor View 68

SMI Trace Functions 70

Monitor Window 73

Serial Data Analyzer 75

Chart View 76

Chart View Example 77

Macros 80

Tuner 82

SMIOptions 86

SMIHelp 87

Context-Sensitive Help Using F1 87

Context-Sensitive Help Using the Mouse 87

Help Buttons 87

Hover Help 87

Table of Contents 87

Projects 88

SmartMotor Playground 89

Opening the SmartMotor Playground 90

Moving the Motor 91

Communication Details 93

Introduction 95

Connecting to a Host 96

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

ADDR=formula 98

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SLEEP, SLEEP1 99

WAKE, WAKE1 99

ECHO, ECHO1 100

ECHO_OFF, ECHO_OFF1 100

Serial Commands 101

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

CCHN(type,channel) 102

BAUDrate, BAUD(channel)=formula 102

PRINT(), PRINT1() 102

SILENT, SILENT1 103

TALK, TALK1 103

a=CHN(channel) 103

a=ADDR 104

Communicating over RS-485 104

Using Data Mode 104

CAN Communications 107

CADDR=formula 107

CBAUD=formula 107

=CAN, =CAN(arg) 107

CANCTL(function,value) 107

SDORD(...) 108

SDOWR(...) 108

NMT 109

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

Exceptions to NMT, SDORD and SDOWR Commands 109

I/O Device CAN Bus Master 110

Combitronic Communications 111

Combitronic Features 112

Other Combitronic Benefits 112

Program Loops with Combitronic 112

Global Combitronic Transmissions 113

Simplify Machine Support 113

Combitronic with RS-232 Interface 113

Other CANProtocols 115

CANopen - CAN Bus Protocol 115

DeviceNet - CAN Bus Protocol 115

I²C Communications (D-Style Motors) 115

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

CCHN(IIC,1) 117

PRINT1(arg1,arg2, … ,arg_n) 117

RGETCHR1, Var=GETCHR1 117

RLEN1, Var=LEN1 117

Motion Details 118

Introduction 120

Motion Command Quick Reference 121

Basic Motion Commands 122

Target Commands 122

PT=formula 122

PRT=formula 123

ADT=formula 123

AT=formula 123

DT=formula 123

VT=formula 123

Motion Mode Commands 124

MP 124

MV 124

MT 124

Torque Commands 125

TS=formula 125

T=formula 125

Brake Commands 125

BRKRLS 125

BRKENG 125

BRKSRV 126

BRKTRJ 126

Brake Command Examples 126

EOBK(IO) 127

MTB 127

Index Capture Commands 128

Other Motion Commands 129

G 129

S 129

X 130

O=formula 130

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OSH=formula 130

OFF 130

Commutation Modes 131

MDT 131

MDE 131

MDS 131

MDC 132

MDB 132

MINV(0), MINV(1) 132

Modes of Operation 133

Torque Mode 133

Torque Mode Example 133

Dynamically Change from Velocity Mode to Torque Mode 133

Velocity Mode 134

Constant Velocity Example 134

Change Commanded Speed and Acceleration 134

Absolute (Position) Mode 135

Absolute Move Example 135

Two Moves with Delay Example 135

Change Speed and Acceleration Example 135

Shift Point of Origin Example 136

Relative Position Mode 136

Relative Mode Example 136

Follow Mode with Ratio (Electronic Gearing) 137

Electronic Gearing and Camming over CANopen 137

Electronic Gearing Commands 138

SRC(enc_src) 138

MFR 138

MSR 138

MF0 138

MS0 138

MFMUL=formula, MFDIV=formula 138

MFA(distance[,m/s]) 139

MFD(distance[,m/s]) 139

MFSLEW(distance[,m/s]) 139

Follow Internal Clock Source Example 139

Follow Incoming Encoder Signal With Ramps Example 140

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Electronic Line Shaft 142

ENCD(in_out) 142

Spooling and Winding Overview 143

Relative Position, Auto-Traverse Spool Winding 143

MFSDC(distance,mode) 144

Dedicated, Absolute Position, Winding Traverse Commands 146

MFSDC(distance,2) 147

MFLTP=formula 147

MFHTP=formula 147

MFCTP(arg1,arg2) 147

MFL(distance[,m/s]) 148

MFH(distance[,m/s]) 148

ECS(counts) 148

Single Trajectory Example Program 150

Chevron Wrap Example 150

Other Traverse Mode Notes 152

Traverse Mode Status Bits 153

CamMode (Electronic Camming) 153

Electronic Camming Details 156

Understanding the Inputs 156

Should I choose Source Counts or Intermediate Counts? 157

Should I choose Variable or Fixed cam? 157

Electronic Camming Notes and Best Practices 159

Examples 161

Electronic Gearing and Camming over CANopen 161

Electronic Camming Commands 162

CTE(table) 162

CTA(points,seglen[,location]) 162

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

MCE(arg) 163

MCW(table,point) 163

RCP 164

RCTT 164

MC 164

MCMUL=formula 164

MCDIV=formula 164

O(arg)=formula 164

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

Page 9 of 909

OSH(arg)=formula 164

Cam Example Program 165

Mode Switch Example 168

Position Counters 170

Modulo Position 171

Modulo Position Commands 171

Dual Trajectories 172

Commands That Read Trajectory Information 174

Dual Trajectory Example Program 175

Synchronized Motion 175

Synchronized-Target Commands 175

PTS(), PRTS() 175

VTS=formula 176

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

PTSS(), PRTSS() 177

A Note About PTS and PTSS 177

Other Synchronized-Motion Commands 178

GS 178

TSWAIT 179

Program Flow Details 181

Introduction 182

Flow Commands 182

RUN 183

RUN? 183

GOTO#, GOTO(label), C# 183

GOSUB#, GOSUB(label), RETURN 184

IF, ENDIF 184

ELSE, ELSEIF 185

WHILE, LOOP 186

SWITCH, CASE, DEFAULT, BREAK, ENDS 186

TWAIT 187

WAIT=formula 187

STACK 187

END 188

Program Flow Examples 189

IF, ELSEIF, ELSE, ENDIF Examples 189

WHILE, LOOPExamples 189

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GOTO(), GOSUB() Examples 190

SWITCH, CASE, BREAK, ENDS Examples 191

Interrupt Programming 192

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

TMR(timer,time) 194

Variables and Math 195

Introduction 196

Variable Commands 196

EPTR=formula 196

VST(variable,number) 196

VLD(variable,number) 197

Math Expressions 197

Math Operations 197

Logical Operations 197

Integer Operations 197

Floating Point Functions 197

Math OperationDetails and Examples 198

Array Variables 198

Array Variable Examples 199

Error and Fault Handling Details 200

Motion and Motor Faults 201

Overview 201

Drive Stage Indications and Faults 201

Fault Bits 201

Error Handling 202

Example Fault-Handler Code 202

PAUSE 203

RESUME 203

Limits and Fault Handling 204

Position Error Limits 204

dE/dt Limits 204

Velocity Limits 204

Hardware Limits 204

Software Limits 205

Fault Handling 205

Monitoring the SmartMotor Status 206

System Status 208

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