Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 113 of 909
Global Combitronic Transmissions
Global Combitronic transmissions are especially fast because they do not involve node
responses at the protocol level. This fact can be leveraged to speed applications by having
certain motors globally broadcast infrequent but relevant state changes. For example, if a
machine had a "door" and that door could be opened or closed, the motor performing that
function could set every motor's variable "d" equal to 1 when the door is opened and 0 when
the door is closed, like this:
d:0=1
d:0=0
The program in each motor can simply check its own variable "d" for the status of the door.
Through this technique, the programmer has created a new type of "global" variable.
A clever way to program a network of SmartMotors is to write one program and download that
same program to all motors. Then have the program first look to the motor's CAN address and
execute only the portion of the master program that pertains to that motor address. This
makes supporting a large network much easier because there is only one program. Make sure
"global" variables, as created in the previous example, are all unique.
Simplify Machine Support
Combitronic features can also be used to simplify the support of a SmartMotor-based
machine. To do this:
1.
Allocate a small group of I/O, or the analog value of an input, to be unique in each
motor position through the wiring leading to that motor.
2.
Have the program set its CAN address in accordance with that unique input status.
With this technique, a spare SmartMotor containing the master program could quickly replace
any failed motor in the system without any special configuration. Even its own address would
be automatically set.
Combitronic with RS-232 Interface
Any SmartMotor may be used as a master access through RS-232 to all SmartMotors on its
network. The following figure demonstrates 12 motors in a network where four SmartMotors
are in a serial daisy chain over RS-232. Each of those four banks may have up to 119 motors
on its Combitronic network.
Part 1: Programming: Global Combitronic Transmissions
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