Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 115 of 909
Other CANProtocols
This section briefly describes two other supported CANprotocols: CANopen and DeviceNet.
NOTE: DeviceNet is currently not available on the Class 6 SmartMotor.
CANopen - CAN Bus Protocol
CANopen is an industrial CAN bus protocol supported on SmartMotors ordered with the
CANopen option. The protocol supports the CiA 402 profile for drives and motion devices. The
hosting controller can use an EDS file supplied by Moog Animatics that provides control of the
SmartMotor over the CANopen network.
One of the more powerful features of the CIA 402 profile is Interpolation mode, which is
supported by both the CANopen-enabled SmartMotor and Moog Animatics’ own coordinated-
motion software, SMNC and Integrated Motion DLL. By itself, the Integrated Motion DLL offers
the host-application developer the means to control SmartMotors using CANopen.
DeviceNet - CAN Bus Protocol
NOTE: DeviceNet is currently not available on the Class 6 SmartMotor.
DeviceNet is an industrial CAN bus protocol supported in the SmartMotor with optional
firmware. The protocol supports the Common Industrial Protocol (CIP) profile for a position
controller. The hosting controller can use an Electronic Data Sheet (EDS) file supplied by Moog
Animatics that allows the SmartMotor to be controlled through DeviceNet.
I²C Communications (D-Style Motors)
The D-style SmartMotors provide open I²C communications capabilities, which expand the
capabilities of the D-style SmartMotor.
The I²C port is comprised of two signals, referred to as ports 4 and 5. These pins are most
often shared with the SmartMotor's RS-485 port. Therefore, to set up I²C communications, a
choice must be made between I²C and RS-485 communications.
There are I²C devices that perform dozens of functions, such as nonvolatile memory, high
resolution A-to-D and D-to-A conversion, analog and digital I/O expansion and more.
The following program example shows how to use I²C communications with a small EEPROM
memory device known as the 24FC512. Only the initialization part runs at power-up.
Thereafter, subroutines 100 and 200 can be called to write or read data into the EEPROM.
Part 1: Programming: Other CANProtocols
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