FieldBus Options

ムーグ アニマティクスはSmartMotorに対応した様々なフィールドバスオプションを用意しています。

CANopenDeviceNet,   Profibus, Ethernet, ProfiNet, EtherCAT and EthernetIP

接続機器間に必要なSmartMotorの通信オプションを選択することでシステムデザインを最適化します。

CANopen又はDeviceNetを使用する場合は、CANバスを使用した高速通信プロトコルによりSmartMotorを120軸まで制御することを可能にします。

CANopen

Moog Animatics CANopen SmartMotor™

注意:各モータの選択可能オプションをご確認してください。

含まれる特徴

  • CANバス マスタとしてI/Oデバイスを制御可能
  • CiA V402&Motion Control Profileに対応した全てのモーションコマンドを利用可能
  • 全SmartMotor変数を呼び出し/書き込み可能
  • CANopenゲートウェイ(SmartMotorプログラム又はRS232コマンド)を通してオンボードI/O使用可能
  • SMI2ソフトウェアとRS232接続によりSmartMotor内のサブルーチン1000個を実行可能
  • 最大ノード数127
  • サブルーチン割込み時間: 250マイクロ秒
  • ゲートウェイボーレート: 20K, 50K, 125K, 250K, 500K, 1Mpbs default 125Kbps
CANopen
cnc | ethernet | can | bus can | can open | can bus

I/OポートEとFはSmartMotorとCANopenゲートウェイ間の通信に使用します。

I/OデバイスCANバスマスタ – SmartMotorは以下の標準CiA 301 CANopen機器とのインターフェースになり、ただし限定されるものではありません。

  • リモートデジタル/アナログ/I/O信号混成
  • CANバス アブソリュート又はインクリメンタルエンコーダ
  • インクリノメーター
  • ロードセル
  • 温度調節器
  • 空圧バルブブロック
  • 上記以外の機器とも使用可能です。

PDOおよびSDOプロトコルをサポートし、基本制御は、8、16、または32ビットサイズのデータオブジェクトです。サポートされているプロファイルとしては、I/ Oプロファイル、符号化プロファイル、およびDS4xxプロファイルに限定されるものではありません。

  • 動的に、別のデバイスのPDOをマッピングし、SmartMotorのPDOをマップし、NMT状態を開始します。
  • SmartMotorは毎回5つのPDOまでもしくは、RX(受信)とTX(送信)を受信/送信することができます。
  • 高速モードでの読み取り/書き込みはSDOのみで、32ビットのデータまで動作します。

複数のSmartMotorとI/ Oデバイスは同じCANバス上に存在可能です。 Combitronicと組み合わせることでモータとモータ通信は、複雑で、多軸、マルチI / Oデバイスのネットワーク制御が可能です。SmartMotorsのみで完全なマシン制御を実現します - HMIまたはバスマスタを必要としません!

For more information, download:

Download Related Files

DeviceNet

Moog Animatics DeviceNet SmartMotor™

Features include:

  • Polled I/O and Explicit Messages from your PLC to control all SmartMotor operations
  • Read/Write control over all ODVA Position Controller parameters
  • Use of onboard I/O via DeviceNet, SmartMotor program, or RS232 commands
  • Ability to run 1000 SmartMotor subroutines via DeviceNet and read/write four 32-bit user variables
  • Online diagnostics of the SmartMotor via SMI2 software and RS232 connection
  • Up to 64 DeviceNet nodes
  • 250 micro second interrupt driven subroutine with the -PLS firmware
  • Gateway Baud Rates: 125K, 250K, 500K default 125Kbps
devicenet
canopen | can controller | devicenet

I/O Ports E and F are used for communications between the SmartMotor and the DeviceNet Gateway.


Note: This option is available to all models:

 

Download Related Files

PROFIBUS

Moog Animatics PROFIBUS SmartMotor™

Features include:

  • Command/Response Codes for all SmartMotor commands
  • Use of onboard I/O via PROFIBUS, SmartMotor program, or RS232 commands
  • Ability to run 1000 SmartMotor subroutines via ProfiBus
  • Ability to read/write all SmartMotor variables
  • Online diagnostics of the SmartMotor via SMI2 software and RS232 connection
  • Up to 127 PROFIBUS nodes
  • 250 micro second interrupt driven subroutine with the -PLS firmware
  • Gateway Baud Rates: 9.6, 19.2, 31.25, 45.45, 93.75, 187.5, 500 kbps, 1.5, 3, 6, 12 Mbps default 1.5Mbps
Profibus
profibus

I/O Ports E and F are used for communications between the SmartMotor and the PROFIBUS Gateway.

Note: PROFIBUS baud rates are achievable only with proper cable length and termination connnectors. There is a minimum cable length when operating >= 1MBaud. If the cable is too short, reflected impedance can cause loss of communications data packets and spurious node errors.

Note: This option DOES NOT apply to all models. Currently, models that support this option are:

Download Related Files

Combitronic

Combitronic: High Speed Transparent Communication Protocol Over CAN bus

Moog Animatics has introduced a significant advancement in Integrated Motor Technology. Combitronic™ is a protocol that operates over a standard “CAN” (Controller Area Network) interface. It may coexist with either CANopen or DeviceNet protocols at the same time. Unlike these common protocols however, Combitronic™ requires no single dedicated master to operate. Each Integrated Servo connected to the same network communicates on an equal footing, sharing all information, and therefore, sharing all processing resources. Combitronic communications operate over a standard “CAN” interface, the same basic hardware used in most automobiles as well as in familiar industrial networks such as CANopen and DeviceNet. Unlike these common control networks, however, Combitronic has no master or slave.

combitronic_page-1

An array of Moog Animatics SmartMotor servos become one giant parallel-processing system when equipped with the Combitronic™ interface. This powerful technological advancement provides the joint benefits of centralized and distributed control while eliminating their respective historical drawbacks, opening up the possibility to either:

Eliminate PLCs from machine designs
or
Enhancing the performance of existing PLCs by unburdening it from specific tasks

The optional Combitronic™ technology allows any motor’s program to read from, write to, or control any other motor simply by tagging a local variable or command with the other motor’s CAN address. All SmartMotor™ units become one multi-tasking, data-sharing system without writing a single line of communications code or requiring detailed knowledge of the CAN protocol. The only prerequisite is to have matched baud rates and unique addresses.

Up to 120 SmartMotor servos may be addressed on a single array using Combitronic technology.

combitronic_page-2

Combitronics Protocol features:

  • 120 axis node count
  • 1MHz Bandwidth
  • No Master required
  • No scan list or node list set up required
  • All Nodes have full read/write access to all other nodes

For example, SmartMotor servos use a single letter command to start a motion profile, so a line of code to start a motion profile would look like this:

G'Issue Go in local motor
G:2 'Issue Go to Motor 2
G:0'Issue Global Go to all motors on the network
x=PA:5 'Assign Motor 5 Actual position to the variable “x”

Additionally, comparisons or live polling and value comparisons may be made across the bus:

IF PA:3>PA:5 'If motor 3 position exceeds motor 5 position
S:2 'Stop motor 3
ENDIF

WHILEIN (4) : 2==0
LOOP'Wait for Input 4 of motor 2 to go high

New Stand Alone Linear Interpolation:

'Assign commanded positions for x, y, and z
x=123000
y=20000
z=8000
'Use variables to define motor addresses
VTS=100000 'set path velocity
ATS=1000 'set path acceleration
DTS=100 'set path deceleration
PTS(x;1,y;2,z;3) 'set 3-axis synchronized target position
GS 'Go, 3 axis synchronized linear interpolation
TSWAIT 'Wait until 3 axis move is complete

Go to combitronic™ page to read more.

Ethernet

Moog Animatics Ethernet SmartMotor™

Features include:

  • All SmartMotor commands and capabilities fully implemented via Ethernet
  • Standard TCP/IP ASCII over Ethernet protocol via port 10001
  • Use of onboard I/O via Ethernet Gateway, SmartMotor program, or RS232 commands
  • Ability to run 1000 SmartMotor subroutines via Ethernet
  • Online diagnostics of the SmartMotors via SMI2 software and RS232 connection
  • Capable of DHCP addressing or Static IP address
  • 250 micro second interrupt driven subroutine with the -PLS firmware
  • Gateway Baud Rates: 10/100 BASE-T auto-detected
ethernet
can open | can bus | canopen | ethernet

I/O Ports E and F are used for communications between the SmartMotor and the Ethernet Gateway.

Note: This option DOES NOT apply to all models. Please call us at 408-748-8721 to find out the latest status on availability.

PROFINET

Class 6 PROFINET® Fieldbus provides:

  • PROFINET RTC - Real Time Cyclic transfers
  • Class 1 and 2 (certified) - unsynchronized
  • Class 3 (certification pending) - synchronized SmartMotor™ clocks
  • PROFINET RTA – Real Time Acyclic protocol
  • DCP, LLDP, SNMP, MIB-II, and LLDP MIB support

ProfiNet Connectors

Related information:

EtherCAT

EtherCAT® Fieldbus on Class 6 M-Style SmartMotor™ provides:

  • Industry Standard CiA 402 Motion Profile support
    • PP, PV, HM, TQ, CSP, CSV, and CST modes
  • Dynamic Mapping of Process Data Objects (Cyclic Data Exchanges)
  • Real time coordinated control using Distributed Clock (DC)

EtherCat Connectors

Related information:

Download procedure on how to configure TwinCAT 3 for use with the Class 6 EtherCAT SmartMotor

Trio logoAs a Preferred Drives company, Moog Animatics has a special arrangement with Trio Motion Technology, a specialist in high-performance motion control, to offer the Trio MC4N-ECT EtherCAT contollers to our channels at very competitive configurations.

Trio network

EtherNet/IP

EtherNet/IP™ Fieldbus allows the Class 6 M-Style SmartMotor to easily integrate as a Position Controller (10h) device for:

  • Access to unique SmartMotor™ commands and parameters
  • Improved uptime with optional redundant cabling through Device Level Ring (DLR)
  • Optimal performance ensured through Quality of Service (QoS)
  • Simplified, modular programming through Add On Instructions (AOI)

EthernetIP Connectors

Related information:

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スマートモータとベルトドライブアクチュエータHLD60を使用したCNCサーフボード加工機
スマートモータとベルトドライブアクチュエータHLD60を使用したCNCサーフボード加工機
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