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Moog SmartMotor User Manual
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P
ar
t 1: P
rogr
amming
Moo
g
An
imati
cs
SmartMot
or
™
Deve
loper'
s
Gu
i
de,
Rev.
L
Page
2
2
4
of
90
9
Spe
cia
l
Fu
nctions
of
I/O
P
o
r
t
s
Th
i
s
ch
apt
e
r
provi
des
i
n
for
mation
on
th
e
speci
al
f
u
n
ction
s
of
I
/O
po
rts
for
Class
5
an
d
Class
6
moto
rs
.
C
la
ss
5
D-
S
ty
l
e
M
otors:
Sp
e
ci
al
F
u
n
c
ti
on
s
of
I/O
Por
ts
2
2
5
C
la
ss
5
M
-
Styl
e
M
ot
ors:
Sp
e
ci
al
F
u
n
c
ti
on
s
of
I/O
Por
ts
2
2
7
C
la
ss
6
M
-
Styl
e
M
ot
ors:
Sp
e
ci
al
F
u
n
c
ti
on
s
of
I/O
Por
ts
2
2
9
Part
1
:
Pr
og
rammi
ng
:
Special
F
u
n
c
t
i
on
s
of
I
/O
Por
t
s
223
225
Table of Contents
Table of Contents
3
Part 2: Smartmotor Command Reference
12
Introduction
27
Overview
28
Combitronic Support
28
Communication Lockup Wizard
30
Safety Information
30
Safety Symbols
30
Environmental Considerations
31
Machine Safety
31
Motor Sizing
31
Other Safety Considerations
31
Documentation and Training
32
Additional Equipment and Considerations
33
Safety Information Resources
33
Additional Documents
34
Other Documents
34
Related Guides
34
Additional Resources
35
Part 1: Programming the Smartmotor
36
Table of Contents
37
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
Additional Notes on Downloaded Programs
53
Syntax Checking, Compiling and Downloading the Program
53
Running a Downloaded Program
54
Using the Program Download Window
55
Creating a Simple Motion Program
56
SMI Software Features
57
Introduction
58
Toolbar
59
Configuration Window
61
Terminal Window
63
Initiating Motion from the Terminal 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
Default Chapter
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
Sleep, Sleep1
99
Wake, Wake1
99
Echo, Echo1
100
Serial Commands
101
Ochn(Type,Channel,Parity,Bit Rate,Stop Bits,Data Bits,Mode,Timeout)
101
Baudrate, BAUD(Channel)=Formula
102
Cchn(Type,Channel)
102
Print(), Print1()
102
A=Chn(Channel)
103
Silent, Silent1
103
Talk, Talk1
103
A=Addr
104
Communicating over
104
Using Data Mode
104
CAN Communications
107
Caddr=Formula
107
CAN, =CAN(Arg)
107
Canctl(Function,Value)
107
Cbaud=Formula
107
Sdord
108
Sdowr
108
Exceptions to NMT, SDORD and SDOWR Commands
109
Nmt
109
RB(2,4), X=B(2,4)
109
I/O Device CAN Bus Master
110
Combitronic Communications
111
Combitronic Features
112
Other Combitronic Benefits
112
Program Loops with Combitronic
112
Combitronic with RS-232 Interface
113
Global Combitronic Transmissions
113
Simplify Machine Support
113
Other CAN Protocols
115
Canopen - CAN Bus Protocol
115
Devicenet - CAN Bus Protocol
115
I²C Communications (D-Style Motors)
115
Cchn(IIC,1)
117
Ochn(IIC,1,N,Baud,1,8,D)
117
Print1(Arg1,Arg2
117
RGETCHR1, Var=Getchr1
117
RLEN1, Var=Len1
117
Motion Details
118
Introduction
120
Motion Command Quick Reference
121
Basic Motion Commands
122
Pt=Formula
122
Target Commands
122
Adt=Formula
123
At=Formula
123
Dt=Formula
123
Prt=Formula
123
Vt=Formula
123
Motion Mode Commands
124
Brake Commands
125
Brkeng
125
Brkrls
125
T=Formula
125
Torque Commands
125
Ts=Formula
125
Brake Command Examples
126
Brksrv
126
Brktrj
126
Eobk(Io)
127
Mtb
127
Index Capture Commands
128
Other Motion Commands
129
O=Formula
130
Off
130
Osh=Formula
130
Commutation Modes
131
Mde
131
Mds
131
Mdt
131
Mdb
132
MDC
132
Minv(0), Minv(1
132
Modes of Operation
133
Dynamically Change from Velocity Mode to Torque Mode
133
Torque Mode
133
Torque Mode Example
133
Change Commanded Speed and Acceleration
134
Constant Velocity Example
134
Velocity Mode
134
Absolute (Position) Mode
135
Absolute Move Example
135
Change Speed and Acceleration Example
135
Two Moves with Delay Example
135
Relative Mode Example
136
Relative Position Mode
136
Shift Point of Origin Example
136
Electronic Gearing and Camming over Canopen
137
Follow Mode with Ratio (Electronic Gearing)
137
Electronic Gearing Commands
138
Mf0
138
Mfmul=Formula, Mfdiv=Formula
138
Mfr
138
Ms0
138
Msr
138
Src(Enc_Src)
138
Follow Internal Clock Source Example
139
Mfa(Distance[,M/S])
139
Mfd(Distance[,M/S])
139
Mfslew(Distance[,M/S])
139
Follow Incoming Encoder Signal with Ramps Example
140
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
Mfctp(Arg1,Arg2)
147
Mfhtp=Formula
147
Mfltp=Formula
147
Mfsdc(Distance,2)
147
Ecs(Counts)
148
Mfh(Distance[,M/S])
148
Mfl(Distance[,M/S])
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
Cta(Points,Seglen[,Location])
162
Cte(Table)
162
Ctw(Pos[,Seglen][,User])
162
Mce(Arg)
163
Mcw(Table,Point)
163
MCDIV=Formula
164
Mcmul=Formula
164
O(Arg)=Formula
164
Osh(Arg)=Formula
164
Rcp
164
Rctt
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
Pts(), Prts()
175
Synchronized-Target Commands
175
Vts=Formula
176
A Note about PTS and PTSS
177
Adts=Formula, Ats=Formula, Dts=Formula
177
Ptss(), Prtss()
177
Other Synchronized-Motion Commands
178
Tswait
179
Program Flow Details
181
Introduction
182
Flow Commands
182
GOTO#, GOTO(Label), C
183
Run
183
GOSUB#, GOSUB(Label), RETURN
184
If, Endif
184
Else, Elseif
185
Switch, Case, Default, Break, Ends
186
While, Loop
186
Stack
187
Twait
187
Wait=Formula
187
End
188
Program Flow Examples
189
IF, ELSEIF, ELSE, ENDIF Examples
189
WHILE, LOOP Examples
189
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
Floating Point Functions
197
Integer Operations
197
Logical Operations
197
Math Operations
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
Drive Stage Indications and Faults
201
Fault Bits
201
Overview
201
Error Handling
202
Example Fault-Handler Code
202
Pause
203
Resume
203
Limits and Fault Handling
204
De/Dt Limits
204
Hardware Limits
204
Position Error Limits
204
Velocity Limits
204
Fault Handling
205
Software Limits
205
Monitoring the Smartmotor Status
206
System Status
208
Introduction
209
Retrieving and Manipulating Status Words/Bits
209
System and Motor Status Bits
209
Reset Error Flags
211
System Status Examples
211
Timer Status Bits
212
Interrupt Status Bits
212
I/O Status
213
User Status Bits
213
Multiple Trajectory Support Status Bits
214
Cam Status Bits
215
Interpolation Status Bits
216
Motion Mode Status
216
RMODE, RMODE(Arg)
216
I/O Control Details
217
I/O Port Hardware
218
I/O Connections Example (D-Style Motors)
219
I/O Voltage Spikes
219
Discrete Input and Output Commands
220
Discrete Input Commands
220
Discrete Output Commands
220
Output Condition and Fault Status Commands
221
Output Condition Commands
221
Output Fault Status Reports
221
General-Use Input Configuration
221
Multiple I/O Functions Example
222
Analog Functions of I/O Ports
223
Volt I/O Analog Functions (D-Style AD1 Option Motors, M-Style Motors)
223
Volt Push-Pull I/O Analog Functions (D-Style Motors)
223
Special Functions of I/O Ports
224
Class 5 D-Style Motors: Special Functions of I/O Ports
225
I/O Ports 0 and 1 - External Encoder Function Commands
225
I/O Ports 2 and 3 - Travel Limit Inputs
225
I/O Ports 4 and 5 - Communications
225
I/O Port 6 - Go Command, Encoder Index Capture Input
226
Class 5 M-Style Motors: Special Functions of I/O Ports
227
COM Port Pins 4, 5, 6, and 8 - A-Quad-B or Step-And-Direction Modes
227
I/O Port 5 - Encoder Index Capture Input
227
I/O Ports 2 and 3 - Travel Limit Inputs
227
I/O Port 6 - Go Command
228
Class 6 M-Style Motors: Special Functions of I/O Ports
229
COM Port Pins 4, 5, 6, and 8 - A-Quad-B or Step-And-Direction Modes
229
I/O Port 4 and 5 - Encoder Index Capture Input
229
I/O Ports 2 and 3 - Travel Limit Inputs
229
I/O Port 6 - Go Command
230
I/O Brake Output Commands
230
I²C Expansion (D-Style Motors)
230
Tuning and PID Control
231
Introduction
232
Understanding the PID Control
232
Tuning the PID Control
233
Using F
233
Setting KD
234
Setting KI and KL
234
Setting KP
234
Setting El=Formula
235
Ka=Formula
236
Current Limit Control
237
Part 2: Smartmotor Command Reference
238
A...z
241
Ab[Index]=Formula
245
Abs(Value)
248
Acos(Value)
253
Addr=Formula
255
Adt=Formula
257
Adts=Formula
259
Af[Index]=Formula
261
Ai(Arg)
264
Aij(Arg)
266
Aj(Arg)
268
Aji(Arg)
270
Al[Index]=Formula
272
Amps=Formula
275
Asin(Value)
278
At=Formula
280
Atan(Value)
282
Atof(Index)
284
Ats=Formula
286
Aw[Index]=Formula
288
B(Word,Bit)
291
Baud(Channel)=Formula
297
Bi(Enc)
304
Bj(Enc)
307
Rbls
313
Rbms
317
Rbps
322
Break
326
Brkeng
328
Brkrls
330
Brksrv
332
Brktrj
334
Rbrs
336
Bx(Enc)
346
C{Number}
348
Caddr=Formula
350
CAN, CAN(Arg)
352
Canctl(Function,Value)
354
CASE Formula
355
Cbaud=Formula
358
Cchn(Type,Channel)
360
Chn(Channel)
361
Clk=Formula
363
Comctl(Function,Value)
364
Cos(Value)
366
Cta(Points,Seglen[,Location])
370
Cte(Table)
372
Ctr(Enc)
374
Rctt
376
Ctw(Pos[,Seglen][,User])
377
Rdea
380
Default
382
Del=Formula
384
Delm(Arg)
386
Dfs(Value)
387
Ditr(Int)
388
Dt=Formula
390
Dts=Formula
392
Echo
396
Echo0
398
Echo1
399
Echo_Off
400
Echo_Off0
401
Echo_Off1
402
Ecs(Counts)
403
Eign(...)
405
Eiln
408
Eilp
410
Eire
412
Eiri
414
Eism(6)
416
Eitr(Int)
417
El=Formula
419
Else
421
ELSEIF Formula
423
Enc0
425
Enc1
426
Encctl(Function,Value)
428
Encd(In_Out)
430
Endif
433
Ends
435
Eobk(Io)
437
Eoidx(Number)
439
Eptr=Formula
440
Errc
441
Errw
443
Eth(Arg)
444
Ethctl(Function,Value)
445
Fabs(Value)
448
Fsa(Cause,Action)
450
Fsqrt(Value)
452
Getchr
459
Getchr1
461
Gosub(Label)
463
Goto(Label)
465
Hex(Index)
469
I(Enc)
471
Ident=Formula
473
IF Formula
475
In(...)
478
Ina(...)
481
Ipctl(Function,"String")
484
Itr(Int#,Statusword,Bit#,Bitstate,Label#)
486
Itrd
489
Itre
491
J(Enc)
493
Ka=Formula
495
Kd=Formula
497
Kg=Formula
499
Ki=Formula
501
Kii=Formula
503
Kl=Formula
504
Kp=Formula
506
Kpi=Formula
508
Ks=Formula
509
Kv=Formula
511
Rlen
513
Len1
514
Lfs(Value)
516
Load
518
Lockp
521
Loop
522
MCDIV=Formula
527
Mce(Arg)
528
Mcmul=Formula
530
Mcw(Table,Point)
532
Mdhv
542
Mfa(Distance[,M/S])
550
Mfctp(Arg1,Arg2)
553
Mfd(Distance[,M/S])
555
Mfdiv=Formula
558
Mfh(Distance[,M/S])
560
Mfhtp=Formula
562
Mfl(Distance[,M/S])
564
Mfltp=Formula
566
Mfmul=Formula
568
Mfsdc(Distance,Mode)
573
Mfslew(Distance[,M/S])
575
Minv(Arg)
577
Mode
579
O=Formula, O(Trj#)=Formula
597
Oc(...)
599
Ochn(...)
601
5
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Moog SmartMotor Specifications
General
Brand
Moog
Model
SmartMotor
Category
Servo Drives
Language
English
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