Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 107 of 909
CAN Communications
NOTE: DeviceNet is currently not available on the Class 6 SmartMotor.
The SmartMotor supports different protocols over the CAN port if equipped. CANopen and
DeviceNet are popular industrial networks that use CAN. If a master is communicating to a
group of SmartMotors as slaves through either of these standard protocols, the Combitronic
protocol can still function without being seen by the CANopen or DeviceNet master.
NOTE: The CAN network must have all devices set to the same baud rate to
operate.
For more details about the CANopen implementation on the SmartMotor, see the CANopen
fieldbus guide for your SmartMotor.
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 238.
CADDR=formula
Set CAN address
Where formula may be from 1 to 127. The setting is stored in the EEPROM. However, for it to
take effect, the user must cycle power to the motor.
CBAUD=formula
Set CANbaud rate
Where formula may be one of the following: 1000000, 800000, 500000, 250000, 125000,
100000, 50000, 20000. The setting is stored in the EEPROM. However, for it to take effect, the
user must cycle power to the motor.
=CAN, =CAN(arg)
Get CANerror
The CANcommand is used to get (read) an error or other status information about the
CANbus. For example:
RCAN(0), x=CAN(0): Report/get status bits relating to CAN.
RCAN(1), x=CAN(1): Report/get the current NMT state of this motor.
RCAN(4), x=CAN(4): Report/get the result code of the most recent SDO read or write, or
NMT command as a master.
For more details, see CAN, CAN(arg) on page 352.
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
CANCTL(function,value)
Control network features
Commands execute based on the function argument to control CAN functions. For example:
function = 1: Reset the CAN MAC and all errors. Resets the CANopen stack, PROFIBUS stack
or DeviceNet stack depending on firmware type. Value is ignored.
function = 5: Set timeout for Combitronic. Value is in milliseconds; the default is 30.
Part 1: Programming: CAN Communications

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English