Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 350 of 909
CADDR=formula
CAN Address
APPLICATION: Communications control
DESCRIPTION: Set and read the CAN address (also used for DeviceNet and
PROFIBUS); it can be different from the serial address. Value is
retained in EEPROM between power cycles.
EXECUTION: Requires reboot of motor for change to take effect
CONDITIONAL TO: N/A
LIMITATIONS: Requires reboot of motor for change to take effect
READ/REPORT:
PRINT(CADDR), <variable>=CADDR,
RCADDR
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: 1 to 127, -1 and 255 available for SL17 motor only
TYPICAL VALUES: 1 to 127
DEFAULT VALUE: 63 (factory EEPROM setting)
FIRMWARE VERSION: 5.x series and SL17 only
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The CADDR command is used to set and read the CANaddress of the motor. The CANaddress
can be different from the serial address. The PROFIBUS firmware will also use this to set/read
the PROFIBUS address.
The SmartMotor supports different protocols over the optional CAN port. CANopen and
DeviceNet are popular industrial networks that use CAN. If a master is communicating to a
group of SmartMotors as slaves under either of these standard protocols, the Combitronic
protocol can still function, and it will not be detected by the CANopen or DeviceNet master.
NOTE: To operate properly, the CAN network must have all devices set to the same
baud rate.
The following commands set up and support the CAN port of the motor:
CADDR=formula
where formula may be from 1 to 127. The setting is stored in the EEPROM, but you must
reboot the motor to activate the setting.
CBAUD=formula
where formula may be one of the following: 1000000, 800000, 500000, 250000, 125000,
50000 or 20000.
Part 2: Commands: CADDR=formula

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English