Developer's Guide for Class 5 or Later SmartMotor™ · 2021. 1. 6. · RAC 251 ACOS(value) 254 RACOS(value) 254 ADDR=formula 256 RADDR 256 ADT=formula 258 ADTS=formula 260 af[index]=formula

www.animatics.com

TM

DEVELOPER’S GUIDE FOR

CLASS 5 AND LATER SMARTMOTORS WITH COMBITRONIC™ TECHNOLOGY

DESCRIBES THE COMMANDS AND PROGRAMMING FOR CLASS 5 AND LATER SMARTMOTORS

FULLY INTEGRATED SERVO MOTORS

Rev. O, January 2021

Copyright Notice©2001–2021 Moog Inc.

Moog Animatics SmartMotor™ Developer's Guide, Rev. O, PN: SC80100003-002.

This manual, as well as the software described in it, is furnished under license and may be used orcopied only in accordance with the terms of such license. The content of this manual is furnished forinformational use only, is subject to change without notice and should not be construed as acommitment by Moog Inc., Animatics. Moog Inc., Animatics assumes no responsibility or liability forany errors or inaccuracies that may appear herein.

Except as permitted by such license, no part of this publication may be reproduced, stored in aretrieval system or transmitted, in any form or by any means, electronic, mechanical, recording, orotherwise, without the prior written permission of Moog Inc., Animatics.

The programs and code samples in this manual are provided for example purposes only. It is theuser's responsibility to decide if a particular code sample or program applies to the application beingdeveloped and to adjust the values to fit that application.

Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo, Combitronic andthe Combitronic logo, and SMI are all trademarks of Moog Inc., Animatics. Other trademarks are theproperty of their respective owners.

Please let us know if you find any errors or omissions in this manual so that we can improve it forfuture readers. Such notifications should contain the words "Developer's Guide" in the subject line andbe sent by e-mail to: [email protected]. Thank you in advance for your contribution.

Contact Us:

Americas - WestMoog Animatics2581 Leghorn StreetMountain View, CA 94043USA

Americas - EastMoog Animatics1995 NC Hwy 141Murphy, NC 28906USA

Tel: 1 650-960-4215 Tel: 1 828-837-5115Fax: 1 540-557-6509

Support: 1 888-356-0357

Website: www.animatics.com

Email: [email protected]

Moog Animatics SmartMotor™ Developer's Guide, Rev. O

Page 3 of 948

Table Of Contents

Introduction 27Overview 28

Combitronic Support 28

Combitronic with the DS2020 Combitronic System 29

Communication Lockup Wizard 30

Safety Information 30

Safety Symbols 30

Other Safety Considerations 30

Motor Sizing 31

Environmental Considerations 31

Machine Safety 31

Documentation and Training 32

Additional Equipment and Considerations 32

Safety Information Resources 32

Additional Documents 34

Related Guides 34

Other Documents 34

Additional Resources 35

Part 1: Programming the SmartMotor 36Beginning Programming 45

Setting the Motor Firmware Version 46

Setting the Default Firmware Version 46

Checking the Default Firmware Version 47

Opening the SMI Window (Program Editor) 47

Understanding the Program Requirements 48

Creating a "Hello World" Program 49

Entering the Program in the SMI Editor 49

Adding Comments to the Code 50

Checking the Program Syntax 50

Saving the Program 50

Downloading a Program to the SmartMotor 50

Syntax Checking, Compiling and Downloading the Program 51

Additional Notes on Downloaded Programs 51

Running a Downloaded Program 52


Page 4 of 948

Using the Program Download Window 53

Using the Terminal Window and Run Program Button 53

Using the RUN Command in the Terminal Window 53

Creating a Simple Motion Program 54

SMI Software Features 55

Introduction 56

Menu Bar 57

Toolbar 57

Configuration Window 59

Terminal Window 62

Initiating Motion from the Terminal Window 64

Information Window 64

Program Editor 65

Motor View 67

SMI Trace Functions 68

Monitor Window 71

Serial Data Analyzer 73

Chart View 74

Chart View Example 75

Macros (Keyboard Shortcuts or Hotkeys) 78

Tuner 80

SMI Options 84

SMI Help 85

Context-Sensitive Help Using F1 85

Context-Sensitive Help Using the Mouse 85

Help Buttons 85

Hover Help 85

Table of Contents 85

Projects 86

SmartMotor Playground 87

Opening the SmartMotor Playground 88

Moving the Motor 89

Communication Details 91

Introduction 93

Connecting to a Host 94

Daisy Chaining Multiple D-Style SmartMotors over RS-232 95

ADDR=formula 97

SLEEP, SLEEP1 97


Page 5 of 948

WAKE, WAKE1 97

ECHO, ECHO1 98

ECHO_OFF, ECHO_OFF1 98

Serial Commands 99

OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout) 99

CCHN(type,channel) 100

BAUDrate, BAUD(channel)=formula 100

PRINT(), PRINT1() 100

SILENT, SILENT1 101

TALK, TALK1 101

a=CHN(channel) 101

a=ADDR 101

Communicating over RS-485 102

Using Data Mode 102

CAN Communications 105

CADDR=formula 105

CBAUD=formula 105

=CAN, =CAN(arg) 105

CANCTL(function,value) 105

SDORD(...) 106

SDOWR(...) 106

NMT 107

RB(2,4), x=B(2,4) 107

Exceptions to NMT, SDORD and SDOWR Commands 107

I/O Device CAN Bus Master 108

Combitronic Communications 109

Combitronic Features 110

Other Combitronic Benefits 110

Program Loops with Combitronic 110

Global Combitronic Transmissions 111

Simplify Machine Support 111

Combitronic with RS-232 Interface 111


Other CAN Protocols 114

CANopen - CAN Bus Protocol 114

DeviceNet - CAN Bus Protocol 114

I²C Communications (D-Style Motors) 114

OCHN(IIC,1,N,baud,1,8,D) 116


Page 6 of 948

CCHN(IIC,1) 116

PRINT1(arg1,arg2, … ,arg_n) 116

RGETCHR1, Var=GETCHR1 116

RLEN1, Var=LEN1 116

Motion Details 117

Introduction 118

Motion Command Quick Reference 119

Basic Motion Commands 120

Target Commands 120

PT=formula 120

PRT=formula 121

ADT=formula 121

AT=formula 121

DT=formula 121

VT=formula 121

Motion Mode Commands 122

MP 122

MV 122

MT 122

Torque Commands 123

TS=formula 123

T=formula 123

Brake Commands 123

BRKRLS 123

BRKENG 123

BRKSRV 124

BRKTRJ 124

Brake Command Examples 124

EOBK(IO) 125

MTB 126

Index Capture Commands 126

DS2020 Combitronic System Index Capture 127

Other Motion Commands 128

G 128

S 128

X 128

O=formula 128

OSH=formula 129


Page 7 of 948

OFF 129

SCALEA(m,d), SCALEP(m,d), SCALEV(m,d) 129

Commutation Modes 130

MDT 130

MDE 130

MDS 130

MDC 131

MDB 131

MINV(0), MINV(1) 131

Modes of Operation 132

Torque Mode 132

Torque Mode Example 132

Dynamically Change from Velocity Mode to Torque Mode 132

Velocity Mode 133

Constant Velocity Example 133

Change Commanded Speed and Acceleration 133

Absolute (Position) Mode 134

Absolute Move Example 134

Two Moves with Delay Example 134

Change Speed and Acceleration Example 134

Shift Point of Origin Example 135

Relative Position Mode 135

Relative Mode Example 135

Follow Mode with Ratio (Electronic Gearing) 136

Electronic Gearing and Camming over CANopen 136

Electronic Gearing Commands 136

SRC(enc_src) 137

MFR 137

MSR 137

MF0 137

MS0 137

MFMUL=formula, MFDIV=formula 137

MFA(distance[,m/s]) 138

MFD(distance[,m/s]) 138

MFSLEW(distance[,m/s]) 138

Follow Internal Clock Source Example 138

Follow Incoming Encoder Signal With Ramps Example 139

Electronic Line Shaft 140


Page 8 of 948

ENCD(in_out) 141

Spooling and Winding Overview 142

Relative Position, Auto-Traverse Spool Winding 142

MFSDC(distance,mode) 143

Dedicated, Absolute Position, Winding Traverse Commands 145

MFSDC(distance,2) 146

MFLTP=formula 146

MFHTP=formula 146

MFCTP(arg1,arg2) 146

MFL(distance[,m/s]) 147

MFH(distance[,m/s]) 147

ECS(counts) 147

Single Trajectory Example Program 148

Chevron Wrap Example 149

Other Traverse Mode Notes 151

Traverse Mode Status Bits 152

Cam Mode (Electronic Camming) 152

Electronic Camming Details 155

Understanding the Inputs 155

Should I choose Source Counts or Intermediate Counts? 156

Should I choose Variable or Fixed cam? 156

Electronic Camming Notes and Best Practices 158

Examples 160


Electronic Camming Commands 161

CTE(table) 161

CTA(points,seglen[,location]) 161

CTW(pos[,seglen][,user]) 161

MCE(arg) 162

MCW(table,point) 162

RCP 162

RCTT 163

MC 163

MCMUL=formula 163

MCDIV=formula 163

O(arg)=formula 163

OSH(arg)=formula 163

Cam Example Program 164


Page 9 of 948

Mode Switch Example 167

Position Counters 169

Modulo Position 170

Modulo Position Commands 170

Dual Trajectories 171

Commands That Read Trajectory Information 173

Dual Trajectory Example Program 174

Synchronized Motion 175

Synchronized-Target Commands 175

PTS(), PRTS() 175

VTS=formula 176

ADTS=formula, ATS=formula, DTS=formula 176

PTSS(), PRTSS() 176

A Note About PTS and PTSS 177

Other Synchronized-Motion Commands 178

GS 178

TSWAIT 178

Program Flow Details 180

Introduction 181

Flow Commands 181

RUN 181

RUN? 182

GOTO#, GOTO(label), C# 182

GOSUB#, GOSUB(label), RETURN 183

IF, ENDIF 183

ELSE, ELSEIF 184

WHILE, LOOP 184

SWITCH, CASE, DEFAULT, BREAK, ENDS 185

TWAIT 185

WAIT=formula 186

STACK 186

END 186

Program Flow Examples 188

IF, ELSEIF, ELSE, ENDIF Examples 188

WHILE, LOOP Examples 188

GOTO(), GOSUB() Examples 189

SWITCH, CASE, BREAK, ENDS Examples 190

Interrupt Programming 191


Page 10 of 948

ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI 191

TMR(timer,time) 193

Variables and Math 194

Introduction 195

Variable Commands 195

EPTR=formula 195

VST(variable,number) 195

VLD(variable,number) 196

Math Expressions 196

Math Operations 196

Logical Operations 196

Integer Operations 196

Floating Point Functions 196

Math Operation Details and Examples 197

Array Variables 197

Array Variable Examples 198

Error and Fault Handling Details 199

Motion and Motor Faults 200

Overview 200

Drive Stage Indications and Faults 200

Fault Bits 200

Error Handling 201

Example Fault-Handler Code 201

PAUSE 202

RESUME 202

Limits and Fault Handling 203

Position Error Limits 203

dE/dt Limits 203

Velocity Limits 204

Hardware Limits 204

Software Limits 204

Fault Handling 205

Monitoring the SmartMotor Status 206

System Status 209

Introduction 210

Retrieving and Manipulating Status Words/Bits 210

System and Motor Status Bits 210

Reset Error Flags 213


Page 11 of 948

System Status Examples 213

Timer Status Bits 214

Interrupt Status Bits 214

I/O Status 215

User Status Bits 215

Multiple Trajectory Support Status Bits 216

Cam Status Bits 217

Interpolation Status Bits 218

Motion Mode Status 218

RMODE, RMODE(arg) 218

I/O Control Details 219

I/O Port Hardware 220

I/O Connections Example (D-Style Motors) 221

I/O Voltage Spikes 221

Discrete Input and Output Commands 222

Discrete Input Commands 222

Discrete Output Commands 222

Output Condition and Fault Status Commands 223

Output Condition Commands 223

Output Fault Status Reports 223

General-Use Input Configuration 224

Multiple I/O Functions Example 224

Analog Functions of I/O Ports 226

5 Volt Push-Pull I/O Analog Functions (Class 5 D-Style Motors) 226

24 Volt I/O Analog Functions (Class 5 D-Style AD1 Option Motors, Class 5 M-Style Motors) 226

24 Volt I/O Analog Functions (Class 6 M-Style Motors) 226

Special Functions of I/O Ports 228

Class 5 D-Style Motors: Special Functions of I/O Ports 229

I/O Ports 0 and 1 – External Encoder Function Commands 229

I/O Ports 2 and 3 – Travel Limit Inputs 229

I/O Ports 4 and 5 – Communications 229

I/O Port 6 – Go Command, Encoder Index Capture Input 230

Class 5 M-Style Motors: Special Functions of I/O Ports 231

COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes 231


I/O Port 5 – Encoder Index Capture Input 231

I/O Port 6 – Go Command 232



Page 12 of 948



I/O Port 4 and 5 – Encoder Index Capture Input 233


I/O Brake Output Commands 234

I²C Expansion (D-Style Motors) 234

Tuning and PID Control 235

Introduction 236

Tuning and PID Control on the DS2020 Combitronic System 236

Understanding the PID Control 236

Tuning the PID Control 237

Using F 238

Setting KP 238

Setting KD 238

Setting KI and KL 239

Setting EL=formula 239

Other PID Tuning Parameters 239

KG=formula 240

KV=formula 240

KA=formula 240

Current Limit Control 241

AMPS=formula 241

Part 2: SmartMotor Command Reference 242(Single Space Character) 243

a...z 244

aa...zz 244

aaa...zzz 244

Ra...Rz 244

Raa...Rzz 244

Raaa...Rzzz 244

ab[index]=formula 247

Rab[index] 247

ABS(value) 250

RABS(value) 250

AC 251

RAC 251

ACOS(value) 254


Page 13 of 948

RACOS(value) 254

ADDR=formula 256

RADDR 256

ADT=formula 258

ADTS=formula 260

af[index]=formula 262

Raf[index] 262

Ai(arg) 265

Aij(arg) 267

Aj(arg) 269

Aji(arg) 271

al[index]=formula 273

Ral[index] 273

AMPS=formula 276

RAMPS 276

ASIN(value) 279

RASIN(value) 279

AT=formula 281

RAT 281

ATAN(value) 284

RATAN(value) 284

ATOF(index) 286

RATOF(index) 286

ATS=formula 287

aw[index]=formula 289

Raw[index] 289

B(word,bit) 292

RB(word,bit) 292

Ba 296

RBa 296

BAUD(channel)=formula 298

RBAUD(channel) 298

Be 300

RBe 300

Bh 302

RBh 302

Bi(enc) 304

RBi(enc); supports the DS2020 Combitronic system over RS-232 only 304


Page 14 of 948

Bj(enc) 307

RBj(enc) 307

Bk 310

RBk 310

Bl 311

RBl 311

Bls 313

RBls 313

Bm 315

RBm 315

Bms 317

RBms 317

Bo 319

RBo 319

Bp 320

RBp 320

Bps 322

RBps 322

Br 324

RBr 324

BREAK 326

BRKENG 328

BRKRLS 330

BRKSRV 332

BRKTRJ 334

Brs 336

RBrs 336

Bs 338

RBs 338

Bt 340

RBt 340

Bv 342

RBv 342

Bw 344

RBw 344

Bx(enc) 346

RBx(enc) 346

C{number} 348


Page 15 of 948

CADDR=formula 350

RCADDR 350

CAN, CAN(arg) 352

RCAN, RCAN(arg) 352


CASE formula 355

CBAUD=formula 358

RCBAUD 358


CHN(channel) 361

RCHN(channel) 361

CLK=formula 363

RCLK 363

COMCTL(function,value) 364

COS(value) 366

RCOS(value) 366

CP 368

RCP 368


CTE(table) 372

CTR(enc) 374

RCTR(enc) 374

CTT 376

RCTT 376


DEA 380

RDEA 380

DEFAULT 382

DEL=formula 384

RDEL 384

DELM(arg) 386

DFS(value) 387

RDFS(value) 387

DITR(int) 388

DT=formula 390

RDT 390

DTS=formula 393

EA 395


Page 16 of 948

REA 395

ECHO 397

ECHO0 399

ECHO1 400

ECHO_OFF 401

ECHO_OFF0 402

ECHO_OFF1 403

ECS(counts) 404

EIGN(...) 406

EILN 409

EILP 411

EIRE 413

EIRI 415

EISM(x) 417

EITR(int) 418

EL=formula 420

REL 420

ELSE 422

ELSEIF formula 424

ENC0 426

ENC1 427

ENCCTL(function,value) 429

ENCD(in_out) 431

END 433

ENDIF 435

ENDS 437

EOBK(IO) 439

EOFT(IO) 441

EOIDX(number) 443

EPTR=formula 444

REPTR 444

ERRC 445

RERRC 445

ERRW 447

RERRW 447

ETH(arg) 449

RETH(arg) 449

ETHCTL(function,value) 450


Page 17 of 948

F 451

FAUSTS(x) 453

FD=expression 455

FABS(value) 457

RFABS(value) 457

FSA(cause,action) 459

FSAD(n,m) 461

FSQRT(value) 463

RFSQRT(value) 463

FW 465

RFW 465

G 467

GETCHR 470

RGETCHR 470

GETCHR1 472

RGETCHR1 472

GOSUB(label) 474

GOTO(label) 476

GROUP(function,value) 478

GS 481

HEX(index) 483

RHEX(index) 483

I(enc) 485

RI(enc); supports the DS2020 Combitronic system over RS-232 only 485

IDENT=formula 487

RIDENT 487

IF formula 489

IN(...) 492

RIN(...) 492

INA(...) 495

RINA(...) 495

IPCTL(function,"string") 498

ITR(Int#,StatusWord,Bit#,BitState,Label#) 500

ITRD 503

ITRE 505

J(enc) 507

RJ(enc) 507

KA=formula 509


Page 18 of 948

RKA 509

KD=formula 511

RKD 511

KG=formula 513

RKG 513

KI=formula 515

RKI 515

KII=formula 517

RKII 517

KL=formula 518

RKL 518

KP=formula 520

RKP 520

KPI=formula 522

RKPI 522

KS=formula 523

RKS 523

KV=formula 525

RKV 525

LEN 527

RLEN 527

LEN1 528

RLEN1 528

LFS(value) 530

RLFS(value) 530

LOAD 531

LOCKP 534

LOOP 536

MC 538

MCDIV=formula 540

RMCDIV 540

MCE(arg) 541

MCMUL=formula 543

RMCMUL 543


MDB 547

MDC 549

MDE 551


Page 19 of 948

MDH 553

MDHV 555

MDS 557

MDT 559

MF0 561




MFDIV=formula 571


MFHTP=formula 575


MFLTP=formula 579

MFMUL=formula 581

MFR 583



MINV(arg) 590

MODE 592

RMODE 592

MP 595

MS0 598

MSR 600

MT 602

MTB 604

MV 606

NMT 608

N/A 608

O=formula, O(trj#)=formula 610

OC(...) 612

ROC(...) 612

OCHN(...) 614

OF(...) 616

ROF(...) 616

OFF 618

OR(value) 620

OS(...) 622

OSH=formula, OSH(trj#)=formula 624


Page 20 of 948

OUT(...)=formula 626

PA 628

RPA 628

PAUSE 630

PC, PC(axis) 632

RPC, RPC(axis) 632

PI 635

RPI 635

PID# 636

PMA 639

RPMA 639

PML=formula 641

RPML 641

PMT=formula 643

RPMT 643

PRA 645

RPRA 645

PRC 648

RPRC 648

PRINT(...) 651

PRINT0(...) 655

PRINT1(...) 659

PRINT8(...) 662

PRT=formula 665

RPRT 665

PRTS(...) 667

PRTSS(...) 669

PT=formula 671

RPT 671

PTS(...) 673

PTSD 676

RPTSD 676

PTSS(...) 677

PTST 679

RPTST 679

RANDOM=formula 680

RRANDOM 680

RCKS 682


Page 21 of 948

RES 683

RRES 683

RESUME 685

RETURN 687

RETURNI 689

RSP 691

RSP1 693

RSP5 694

RUN 695

RUN? 697

S (as command) 699

SADDR# 701

SAMP 703

RSAMP 703

SCALEA(m,d) 705

SCALEP(m,d) 707

SCALEV(m,d) 709

SDORD(...) 711

RSDORD 711

SDOWR(...) 713

SILENT 715

SILENT1 717

SIN(value) 719

RSIN(value) 719

SLD 721

SLE 723

SLEEP 725

SLEEP1 727

SLM(mode) 729

RSLM 729

SLN=formula 731

RSLN 731

SLP=formula 733

RSLP 733

SNAME("string") 735

SP2 736

RSP2 736

SP6 737


Page 22 of 948

RSP6 737

SQRT(value) 738

RSQRT(value) 738

SRC(enc_src) 740

STACK 742

STDOUT=formula 745

SWITCH formula 747

T=formula 750

RT 750

TALK 752

TALK1 754

TAN(value) 756

RTAN(value) 756

TEMP, TEMP(arg) 758

RTEMP, RTEMP(arg) 758

TH=formula 760

RTH 760

TMR(timer,time) 763

RTMR(timer) 763

TRQ 765

RTRQ 765

TS=formula 767

RTS 767

TSWAIT 769

TWAIT(gen#) 770

UIA 772

RUIA 772

UJA 774

RUJA 774

UO(...)=formula 776

UP 778

UPLOAD 780

UR(...) 782

US(...) 784

USB(arg) 786

RUSB 786

VA 788

RVA 788


Page 23 of 948

VAC(arg) 791

VC 796

RVC 796

VL=formula 799

RVL 799



VT=formula 809

RVT 809

VTS=formula 812

W(word) 814

RW(word) 814

WAIT=formula 816

WAKE 818

WAKE1 820

WHILE formula 822

X 825

Z 827

Z(word,bit) 829

Za 831

Ze 832

Zh 833

Zl 834

Zls 835

Zr 836

Zrs 837

Zs 838

ZS 839

Zv 841

Zw 842

Part 3: Example SmartMotor Programs 843Move Back and Forth 844

Move Back and Forth with Watch 844

Home Against a Hard Stop (Basic) 845

Home Against a Hard Stop (Advanced) 845

Home Against a Hard Stop (Two Motors) 846

Home to Index Using Different Modes 848


Page 24 of 948

Maintain Velocity During Analog Drift 849

Long-Term Storage of Variables 850

Find Errors and Print Them 850

Change Speed on Digital Input 851

Pulse Output on a Given Position 851

Stop Motion if Voltage Drops 852

Camming - Variable Cam Example 853

Camming - Fixed Cam with Input Variables 854

Camming - Demo XY Circle 856

Chevron Traverse & Takeup 858

CAN Bus - Timed SDO Poll 860

CAN Bus - I/O Block with PDO Poll 861

CAN Bus - Time Sync Follow Encoder 864

Text Replacement in an SMI Program 872

Appendix 874Motion Command Quick Reference 876

Array Variable Memory Map 878

ASCII Character Set 880

Binary Data 881

Commands Affected by SCALE 884

Command Error Codes 887

Decoding the Error 887

Finding the Error Source 888

Glossary 889

Math Operators 896

Moment of Inertia 897

Matching Motor to Load 897

Improving the Moment of Inertia Ratio 897

RCAN, RCHN and RMODE Status 898

RCAN Status Decoder 898

RCHN Status Decoder 898

Clearing Serial Port Errors 898

RMODE Status Decoder 899

Mode Status Example 899

Scale Factor Calculation 900

Sample Rates 900

PID Sample Rate Command 900


Page 25 of 948

Encoder Resolution and the RES Parameter 900

Native Velocity and Acceleration Units 901

Velocity Calculations 901

Acceleration Calculations 901

Status Words - SmartMotor 902

Status Word: 0 Primary Fault/Status Indicator 902

Status Word: 1 Index Registration and Software Travel Limits 903

Status Word: 2 Communications, Program and Memory 903

Status Word: 3 PID State, Brake, Move Generation Indicators 904

Status Word: 4 Interrupt Timers 904

Status Word: 5 Interrupt Status Indicators 905

Status Word: 6 Drive Modes 905

Status Word 7: Multiple Trajectory Support 906

Status Word 8: Cam Support 907

Status Word 9: SD Card Information 907

Status Word 10: RxPDO Arrival Notification 907

Status Word 12: User Bits Word 0 908

Status Word 13: User Bits Word 1 908

Status Word: 16 On Board Local I/O Status: D-Style Motor 909

Status Word: 16 On Board Local I/O Status: M-Style Class 5 Motor 909

Status Word: 16 On Board Local I/O Status: Class 6 Motor 910

Status Word: 17 Expanded I/O Status: D-Style AD1 Motor 910

Fault and Status Words - DS2020 Combitronic System 911

Fault Words 911

Fault Tables 911

Fault Word 0 912

Fault Word 1 912

Fault Word 2 913

Status Words 913

Status Word 0: Primary Fault/Status Indicator 913

Status Word 1: Current CiA DS402 State 914

Status Word 2: Control and Hardware Faults 914

Status Word 3: Position/Velocity sensor and Brake Feedback Faults 914

Status Word 4: Communication Faults 915

Status Word 5: Software and Memory Faults 915

Status Word 6: I/O States 916

Torque Curves 917

Understanding Torque Curves 917


Page 26 of 948

Peak Torque 917

Continuous Torque 917

Ambient Temperature Effects on Torque Curves and Motor Response: 918

Supply Voltage Effects on Torque Curves and Motor Response: 918

Example 1: Rotary Application 919

Example 2: Linear Application 919

Dyno Test Data vs. the Derated Torque Curve 919

Proper Sizing and Loading of the SmartMotor 920

SmartMotor Troubleshooting 922

Troubleshooting - First Steps 922

Commands Listed Alphabetically 925

Commands Listed by Function 933Communications Control 934

Data Conversion 935

EEPROM (Nonvolatile Memory) 935

I/O Control 935

Math Function 936

Motion Control 936

Program Access 939

Program Execution and Flow Control 939

Reset Commands 940

System 940

Variables 941

Commands for Combitronic 942

Commands for DS2020 Combitronic 946

Introduction


Page 27 of 948

IntroductionThis chapter provides introductory reference material.

Overview 28

Combitronic Support 28

Communication Lockup Wizard 30

Safety Information 30

Additional Documents 34

Additional Resources 35

Introduction

Introduction


Page 28 of 948

OverviewThe SmartMotor™ Developer's Guide is designed to be used by system developers and programmerswhen developing applications for the SmartMotor. Before using the SmartMotor™ Developer's Guide, itis strongly recommended that you first read the SmartMotor™ Installation & Startup Guide for yourSmartMotor, which describes how to install and start up the SmartMotor, and test initialcommunications with the motor. After that, use this guide to learn about advanced SmartMotorfeatures, how to develop SmartMotor applications, and the details of each command.

Part One of this guide provides information on basic to advanced programming, along with relatedinformation on key SMI software features, communications, motion control, program flow control, errorand fault handling, and more.

Part Two of this guide lists all the SmartMotor commands in alphabetical order. Each command isdescribed in detail. Code snippets and examples are provided where applicable. These are shown in aCourier font. Comments are included and separated with a single quotation mark as they would be inyour own programs.

NOTE: The programs and code samples in this manual are provided for example purposes only. It isthe user's responsibility to decide if a particular code sample or program applies to theapplication being developed and to adjust the values to fit that application.

Also, where appropriate, a Related Commands section is included, which is located at the end of thecommand page. It is designed to guide you to other commands that offer similar functionality, andensure you are aware of every programming option the SmartMotor provides to address your specificapplication requirements.

Part Three of this guide provides a library of useful example SmartMotor programs. These can be usedas "how to" examples for using a particular SmartMotor feature or solving a particular applicationproblem, or as starting points for your application.

NOTE: The programs and code samples in this manual are provided for example purposes only. It isthe user's responsibility to decide if a particular code sample or program applies to theapplication being developed and to adjust the values to fit that application.

The Appendix of this guide contains additional topics such as an array map, ASCII character set,command error codes, and other information that is useful to have handy during applicationdevelopment.

A quick-reference command list is also included at the end of this guide.

Combitronic SupportNOTE: For the Class 6 SmartMotor, Combitronic communication is currently available only on -EIPoption motors. For details, see the Class 6 SmartMotor™ EtherNet/IP Guide.

A large number of the commands provide Combitronic™ support. Combitronic is a protocol thatoperates over a standard "CAN" (Controller Area Network) interface. It may coexist with eitherCANopen 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 thesame network communicates on an equal footing, sharing all information, and therefore, sharing allprocessing resources. For more details on Combitronic features, see Combitronic Communications onpage 109, and also see the overview on the Moog Animatics website at:https://www.animatics.com/support/combitronic.html.

For applicable commands, a table row titled "COMBITRONIC:" provides the Combitronic commandsyntax for addressing a specific SmartMotor in the network. Those commands also display theCombitronic logo ( ) at the top of their reference pages.

Introduction: Overview

https://www.animatics.com/support/combitronic.html

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Combitronic Logo Location

COMBITRONIC: Table Row

Combitronic with the DS2020 Combitronic SystemThe Moog Animatics DS2020 Combitronic system is a cabinet mount servo drive connected to a MoogCompact Dynamic brushless servo motor. Compared to the smaller 17 to 34 frame SmartMotorproducts, the DS2020 Combitronic system provides access to a higher torque motor-drivecombination, with torque range and power inputs to include AC mains voltages and motors above 1KW. However, similar to other SmartMotor products, the DS2020 Combitronic system has thecapability of responding to Combitronic commands.

The DS2020 Combitronic system is not fully programmable but is connected as a slave to aSmartMotor master. The DS2020 Combitronic system has a CAN address, which you can set throughSMI along with baud rates as you would with any SmartMotor. It is then commanded by theSmartMotor through Combitronic communications using standard Combitronic syntax, e.g.,ADT:3=1234, where "3" is the CAN address of the DS2020 Combitronic system.

The DS2020 Combitronic system supports a subset of the full AniBasic command set. Supportedcommands are primarily Combitronic type, but there are a few others, also. The DS2020 Combitronicsystem supported commands are flagged with "; supports the DS2020 Combitronic system" text onthe command's APPLICATION line or READ/REPORT line.

NOTE: DS2020 support requires: SmartMotor ver 5.0.4.55 (D-series), 5.98.4.55 (M-series); DS2020ver ds2020_sa_1.0.0_combican or later.

For a list of DS2020 Combitronic system supported commands, see Commands for DS2020Combitronic on page 946

For details on the DS2020 Combitronic system installation and startup, see the DS2020 CombitronicInstallation and Startup Guide.

Introduction: Combitronic with the DS2020 Combitronic System

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Communication Lockup WizardImproper use of some commands, like Z and OCHN, can lock you out of the motor and prevent furthercommunication. If you are unable to communicate with the SmartMotor, you may be able to recovercommunications using the Communication Lockup Wizard, which is on the SMI softwareCommunications menu (see the following figure). This tool sends an "E" character to the motor atstartup, which prevents the motor from running its program. For more details on the CommunicationLockup Wizard, see the SMI software online help, which is accessed by pressing the F1 key orselecting Help from the SMI software main menu.

Communication Menu - Communication Lockup Wizard

Safety InformationThis section describes the safety symbols and other safety information.

Safety SymbolsThe manual may use one or more of the following safety symbols:

WARNING: This symbol indicates a potentially nonlethal mechanical hazard,where failure to follow the instructions could result in serious injury to theoperator or major damage to the equipment.

CAUTION: This symbol indicates a potentially minor hazard, where failure tofollow the instructions could result in slight injury to the operator or minor damageto the equipment.

NOTE: Notes are used to emphasize non-safety concepts or related information.

Other Safety ConsiderationsThe Moog Animatics SmartMotors are supplied as components that are intended for use in anautomated machine or system. As such, it is beyond the scope of this manual to attempt to cover allthe safety standards and considerations that are part of the overall machine/system design andmanufacturing safety. Therefore, the following information is intended to be used only as a generalguideline for the machine/system designer.

It is the responsibility of the machine/system designer to perform a thorough "Risk Assessment" andto ensure that the machine/system and its safeguards comply with the safety standards specified bythe governing authority (for example, ISO, OSHA, UL, etc.) for the locale where the machine is beinginstalled and operated. For more details, see Machine Safety on page 31.

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Motor Sizing

It is the responsibility of the machine/system designer to select SmartMotors that are properly sizedfor the specific application. Undersized motors may: perform poorly, cause excessive downtime orcause unsafe operating conditions by not being able to handle the loads placed on them. The SystemBest Practices document, which is available on the Moog Animatics website, contains information andequations that can be used for selecting the appropriate motor for the application.

Replacement motors must have the same specifications and firmware version used in the approvedand validated system. Specification changes or firmware upgrades require the approval of the systemdesigner and may require another Risk Assessment.

Environmental Considerations

It is the responsibility of the machine/system designer to evaluate the intended operating environmentfor dust, high-humidity or presence of water (for example, a food-processing environment that requireswater or steam wash down of equipment), corrosives or chemicals that may come in contact with themachine, etc. Moog Animatics manufactures specialized IP-rated motors for operating in extremeconditions. For details, see the Moog Animatics Product Catalog.

Machine Safety

In order to protect personnel from any safety hazards in the machine or system, the machine/systembuilder must perform a "Risk Assessment", which is often based on the ISO 13849 standard. Thedesign/implementation of barriers, emergency stop (E-stop) mechanisms and other safeguards will bedriven by the Risk Assessment and the safety standards specified by the governing authority (forexample, ISO, OSHA, UL, etc.) for the locale where the machine is being installed and operated. Themethodology and details of such an assessment are beyond the scope of this manual. However, thereare various sources of Risk Assessment information available in print and on the internet.

NOTE: The following list is an example of items that would be evaluated when performing the RiskAssessment. Additional items may be required. The safeguards must ensure the safety of allpersonnel who may come in contact with or be in the vicinity of the machine.

In general, the machine/system safeguards must:

l Provide a barrier to prevent unauthorized entry or access to the machine or system. The barriermust be designed so that personnel cannot reach into any identified danger zones.

l Position the control panel so that it is outside the barrier area but located for an unrestrictedview of the moving mechanism. The control panel must include an E-stop mechanism. Buttonsthat start the machine must be protected from accidental activation.

l Provide E-stop mechanisms located at the control panel and at other points around theperimeter of the barrier that will stop all machine movement when tripped.

l Provide appropriate sensors and interlocks on gates or other points of entry into the protectedzone that will stop all machine movement when tripped.

l Ensure that if a portable control/programming device is supplied (for example, a hand-heldoperator/programmer pendant), the device is equipped with an E-stop mechanism.

NOTE: A portable operation/programming device requires many additional system designconsiderations and safeguards beyond those listed in this section. For details, see thesafety standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) forthe locale where the machine is being installed and operated.

l Prevent contact with moving mechanisms (for example, arms, gears, belts, pulleys, tooling, etc.).

Introduction: Motor Sizing

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l Prevent contact with a part that is thrown from the machine tooling or other part-handlingequipment.

l Prevent contact with any electrical, hydraulic, pneumatic, thermal, chemical or other hazardsthat may be present at the machine.

l Prevent unauthorized access to wiring and power-supply cabinets, electrical boxes, etc.

l Provide a proper control system, program logic and error checking to ensure the safety of allpersonnel and equipment (for example, to prevent a run-away condition). The control systemmust be designed so that it does not automatically restart the machine/system after a powerfailure.

l Prevent unauthorized access or changes to the control system or software.

Documentation and Training

It is the responsibility of the machine/system designer to provide documentation on safety, operation,maintenance and programming, along with training for all machine operators, maintenance technicians,programmers, and other personnel who may have access to the machine. This documentation mustinclude proper lockout/tagout procedures for maintenance and programming operations.

It is the responsibility of the operating company to ensure that:

l All operators, maintenance technicians, programmers and other personnel are tested andqualified before acquiring access to the machine or system.

l The above personnel perform their assigned functions in a responsible and safe manner tocomply with the procedures in the supplied documentation and the company safety practices.

l The equipment is maintained as described in the documentation and training supplied by themachine/system designer.

Additional Equipment and Considerations

The Risk Assessment and the operating company's standard safety policies will dictate the need foradditional equipment. In general, it is the responsibility of the operating company to ensure that:

l Unauthorized access to the machine is prevented at all times.

l The personnel are supplied with the proper equipment for the environment and their jobfunctions, which may include: safety glasses, hearing protection, safety footwear, smocks oraprons, gloves, hard hats and other protective gear.

l The work area is equipped with proper safety equipment such as first aid equipment, firesuppression equipment, emergency eye wash and full-body wash stations, etc.

l There are no modifications made to the machine or system without proper engineeringevaluation for design, safety, reliability, etc., and a Risk Assessment.

Safety Information ResourcesAdditional SmartMotor safety information can be found on the Moog Animatics website; open thetopic "Controls - Notes and Cautions" located at:

https://www.animatics.com/support/downloads/knowledgebase/controls---notes-and-cautions.html

OSHA standards information can be found at:

https://www.osha.gov/law-regs.html

Introduction: Documentation and Training

https://www.animatics.com/support/downloads/knowledgebase/controls---notes-and-cautions.htmlhttps://www.osha.gov/law-regs.html

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ANSI-RIA robotic safety information can be found at:

http://www.robotics.org/robotic-content.cfm/Robotics/Safety-Compliance/id/23

UL standards information can be found at:

http://ulstandards.ul.com/standards-catalog/

ISO standards information can be found at:

http://www.iso.org/iso/home/standards.htm

EU standards information can be found at:

http://ec.europa.eu/growth/single-market/european-standards/harmonised-standards/index_en.htm

Introduction: Safety Information Resources

http://www.robotics.org/robotic-content.cfm/Robotics/Safety-Compliance/id/23http://ulstandards.ul.com/standards-catalog/http://www.iso.org/iso/home/standards.htmhttp://ec.europa.eu/growth/single-market/european-standards/harmonised-standards/index_en.htm

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Additional DocumentsThe Moog Animatics website contains additional documents that are related to the information in thismanual. Please refer to the following list.

Related Guidesl Moog Animatics SmartMotor™ Installation & Startup Guides

http://www.animatics.com/install-guides

l SmartMotor™ System Best Practices

http://www.animatics.com/system-best-practices-application-note

Other Documentsl SmartMotor™ Certifications

https://www.animatics.com/certifications.html

l SmartMotor Developer's Worksheet(interactive tools to assist developer: Scale Factor Calculator, Status Words, CAN Port Status,Serial Port Status, RMODE Decoder and Syntax Error Codes)

https://www.animatics.com/support/downloads.knowledgebase.html

l Moog Animatics Product Catalog

http://www.animatics.com/support/moog-animatics-catalog.html

Introduction: Additional Documents

http://www.animatics.com/install-guideshttp://www.animatics.com/system-best-practices-application-notehttps://www.animatics.com/certifications.htmlhttps://www.animatics.com/support/downloads.knowledgebase.htmlhttp://www.animatics.com/support/moog-animatics-catalog.html

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Additional ResourcesThe Moog Animatics website contains useful resources such as product information, documentation,product support and more. Please refer to the following addresses:

l General company information:

http://www.animatics.com

l Product information:

http://www.animatics.com/products.html

l Product support (Downloads, How To videos, Forums, Knowledge Base, and FAQs):

http://www.animatics.com/support.html

l Contact information, distributor locator tool, inquiries:

https://www.animatics.com/contact-us.html

l Application ideas (including videos and sample programs):

http://www.animatics.com/applications.html

Introduction: Additional Resources

http://www.animatics.com/http://www.animatics.com/products.htmlhttp://www.animatics.com/support.htmlhttps://www.animatics.com/contact-us.htmlhttp://www.animatics.com/applications.html

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Part 1: Programming the SmartMotor

Part 1 of this guide provides information on programming, SMI software features, communications,variables, error and fault handling, I/O control, and other details required for system and applicationdevelopment.

Beginning Programming 45



















SMI Software Features 55

Introduction 56

Menu Bar 57

Toolbar 57


Terminal Window 62



Program Editor 65

Motor View 67


Monitor Window 71


Chart View 74


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Tuner 80

SMI Options 84

SMI Help 85



Help Buttons 85

Hover Help 85


Projects 86



Moving the Motor 89

Communication Details 91

Introduction 93

Connecting to a Host 94

Daisy Chaining Multiple D-Style SmartMotors over RS-232 95

ADDR=formula 97

SLEEP, SLEEP1 97

WAKE, WAKE1 97

ECHO, ECHO1 98

ECHO_OFF, ECHO_OFF1 98

Serial Commands 99

OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout) 99


BAUDrate, BAUD(channel)=formula 100

PRINT(), PRINT1() 100

SILENT, SILENT1 101

TALK, TALK1 101

a=CHN(channel) 101

a=ADDR 101

Communicating over RS-485 102

Using Data Mode 102

CAN Communications 105

CADDR=formula 105

CBAUD=formula 105

=CAN, =CAN(arg) 105



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SDORD(...) 106

SDOWR(...) 106

NMT 107

RB(2,4), x=B(2,4) 107

Exceptions to NMT, SDORD and SDOWR Commands 107

I/O Device CAN Bus Master 108

Combitronic Communications 109

Combitronic Features 110

Other Combitronic Benefits 110

Program Loops with Combitronic 110

Global Combitronic Transmissions 111

Simplify Machine Support 111

Combitronic with RS-232 Interface 111


Other CAN Protocols 114

CANopen - CAN Bus Protocol 114

DeviceNet - CAN Bus Protocol 114

I²C Communications (D-Style Motors) 114

OCHN(IIC,1,N,baud,1,8,D) 116

CCHN(IIC,1) 116

PRINT1(arg1,arg2, … ,arg_n) 116

RGETCHR1, Var=GETCHR1 116

RLEN1, Var=LEN1 116

Motion Details 117

Introduction 118

Motion Command Quick Reference 119

Basic Motion Commands 120

Target Commands 120

PT=formula 120

PRT=formula 121

ADT=formula 121

AT=formula 121

DT=formula 121

VT=formula 121

Motion Mode Commands 122

MP 122

MV 122

MT 122

Torque Commands 123


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TS=formula 123

T=formula 123

Brake Commands 123

BRKRLS 123

BRKENG 123

BRKSRV 124

BRKTRJ 124

Brake Command Examples 124

EOBK(IO) 125

MTB 126

Index Capture Commands 126

DS2020 Combitronic System Index Capture 127

Other Motion Commands 128

G 128

S 128

X 128

O=formula 128

OSH=formula 129

OFF 129

SCALEA(m,d), SCALEP(m,d), SCALEV(m,d) 129

Commutation Modes 130

MDT 130

MDE 130

MDS 130

MDC 131

MDB 131

MINV(0), MINV(1) 131

Modes of Operation 132

Torque Mode 132

Torque Mode Example 132

Dynamically Change from Velocity Mode to Torque Mode 132

Velocity Mode 133

Constant Velocity Example 133

Change Commanded Speed and Acceleration 133

Absolute (Position) Mode 134

Absolute Move Example 134

Two Moves with Delay Example 134

Change Speed and Acceleration Example 134

Shift Point of Origin Example 135

Relative Position Mode 135


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Relative Mode Example 135

Follow Mode with Ratio (Electronic Gearing) 136


Electronic Gearing Commands 136

SRC(enc_src) 137

MFR 137

MSR 137

MF0 137

MS0 137

MFMUL=formula, MFDIV=formula 137




Follow Internal Clock Source Example 138

Follow Incoming Encoder Signal With Ramps Example 139

Electronic Line Shaft 140

ENCD(in_out) 141

Spooling and Winding Overview 142

Relative Position, Auto-Traverse Spool Winding 142


Dedicated, Absolute Position, Winding Traverse Commands 145

MFSDC(distance,2) 146

MFLTP=formula 146

MFHTP=formula 146




ECS(counts) 147

Single Trajectory Example Program 148

Chevron Wrap Example 149

Other Traverse Mode Notes 151

Traverse Mode Status Bits 152

Cam Mode (Electronic Camming) 152

Electronic Camming Details 155

Understanding the Inputs 155

Should I choose Source Counts or Intermediate Counts? 156

Should I choose Variable or Fixed cam? 156

Electronic Camming Notes and Best Practices 158

Examples 160



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Electronic Camming Commands 161

CTE(table) 161



MCE(arg) 162


RCP 162

RCTT 163

MC 163

MCMUL=formula 163

MCDIV=formula 163

O(arg)=formula 163

OSH(arg)=formula 163

Cam Example Program 164

Mode Switch Example 167

Position Counters 169

Modulo Position 170

Modulo Position Commands 170

Dual Trajectories 171

Commands That Read Trajectory Information 173

Dual Trajectory Example Program 174

Synchronized Motion 175

Synchronized-Target Commands 175

PTS(), PRTS() 175

VTS=formula 176

ADTS=formula, ATS=formula, DTS=formula 176

PTSS(), PRTSS() 176

A Note About PTS and PTSS 177

Other Synchronized-Motion Commands 178

GS 178

TSWAIT 178

Program Flow Details 180

Introduction 181

Flow Commands 181

RUN 181

RUN? 182

GOTO#, GOTO(label), C# 182

GOSUB#, GOSUB(label), RETURN 183

IF, ENDIF 183


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ELSE, ELSEIF 184

WHILE, LOOP 184

SWITCH, CASE, DEFAULT, BREAK, ENDS 185

TWAIT 185

WAIT=formula 186

STACK 186

END 186

Program Flow Examples 188

IF, ELSEIF, ELSE, ENDIF Examples 188

WHILE, LOOP Examples 188

GOTO(), GOSUB() Examples 189

SWITCH, CASE, BREAK, ENDS Examples 190

Interrupt Programming 191

ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI 191

TMR(timer,time) 193

Variables and Math 194

Introduction 195

Variable Commands 195

EPTR=formula 195



Math Expressions 196

Math Operations 196

Logical Operations 196

Integer Operations 196

Floating Point Functions 196

Math Operation Details and Examples 197

Array Variables 197

Array Variable Examples 198

Error and Fault Handling Details 199

Motion and Motor Faults 200

Overview 200

Drive Stage Indications and Faults 200

Fault Bits 200

Error Handling 201

Example Fault-Handler Code 201

PAUSE 202

RESUME 202

Limits and Fault Handling 203


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Position Error Limits 203

dE/dt Limits 203

Velocity Limits 204

Hardware Limits 204

Software Limits 204

Fault Handling 205

Monitoring the SmartMotor Status 206

System Status 209

Introduction 210

Retrieving and Manipulating Status Words/Bits 210

System and Motor Status Bits 210

Reset Error Flags 213

System Status Examples 213

Timer Status Bits 214

Interrupt Status Bits 214

I/O Status 215

User Status Bits 215

Multiple Trajectory Support Status Bits 216

Cam Status Bits 217

Interpolation Status Bits 218

Motion Mode Status 218

RMODE, RMODE(arg) 218

I/O Control Details 219

I/O Port Hardware 220

I/O Connections Example (D-Style Motors) 221

I/O Voltage Spikes 221

Discrete Input and Output Commands 222

Discrete Input Commands 222

Discrete Output Commands 222

Output Condition and Fault Status Commands 223

Output Condition Commands 223

Output Fault Status Reports 223

General-Use Input Configuration 224

Multiple I/O Functions Example 224

Analog Functions of I/O Ports 226

5 Volt Push-Pull I/O Analog Functions (Class 5 D-Style Motors) 226

24 Volt I/O Analog Functions (Class 5 D-Style AD1 Option Motors, Class 5 M-Style Motors) 226

24 Volt I/O Analog Functions (Class 6 M-Style Motors) 226

Special Functions of I/O Ports 228


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Class 5 D-Style Motors: Special Functions of I/O Ports 229

I/O Ports 0 and 1 – External Encoder Function Commands 229


I/O Ports 4 and 5 – Communications 229

I/O Port 6 – Go Command, Encoder Index Capture Input 230




I/O Port 5 – Encoder Index Capture Input 231





I/O Port 4 and 5 – Encoder Index Capture Input 233


I/O Brake Output Commands 234

I²C Expansion (D-Style Motors) 234

Tuning and PID Control 235

Introduction 236

Tuning and PID Control on the DS2020 Combitronic System 236

Understanding the PID Control 236

Tuning the PID Control 237

Using F 238

Setting KP 238

Setting KD 238

Setting KI and KL 239

Setting EL=formula 239

Other PID Tuning Parameters 239

KG=formula 240

KV=formula 240

KA=formula 240

Current Limit Control 241

AMPS=formula 241


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Beginning ProgrammingThis chapter provides information on beginning programming with the SmartMotor. It introduces you tousing the SMI™ Program Editor, understanding program requirements, creating a program, downloadingthe program and then running it in the SmartMotor. It concludes with a sample for creating your firstmotion program.



















Part 1: Programming: Beginning Programming

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Setting the Motor Firmware VersionNOTE: In addition to the software information in this section, there is context-sensitive helpavailable within the SMI software interface, which is accessed by pressing the F1 key or selectingHelp from the SMI software main menu.

When programming the SmartMotor, it is important that the SMI software compiler's firmware versionsetting matches the firmware version of the connected SmartMotor.

CAUTION: The compiler's firmware version must match the firmware version ofthe connected motor. If it does not match, the SMI software may not catch syntaxerrors and may download incompatible code to the SmartMotor.

This procedure assumes that:

l The SmartMotor is connected to the computer. For details, see Connecting the System in theSmartMotor Installation & Startup Guide for your motor.

l The SmartMotor is connected to a power source. (Certain models of SmartMotors requireseparate control and drive power.) For details, see Understanding the Power Requirements inthe SmartMotor Installation & Startup Guide for your motor.

l The SMI software has been installed and is running on the computer. For details, see Installingthe SMI Software in the SmartMotor Installation & Startup Guide for your motor.

Setting the Default Firmware Version

To set the default firmware version, from the SMI software main menu, select:

Compile > Compiler default firmware version

Setting the Compiler’s Default Firmware Version

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From the list, select the firmware version that most closely matches the firmware version of theconnected SmartMotor, as shown in the previous figure. After the default firmware version has beenselected, the list closes.

Checking the Default Firmware Version

To check the default firmware version, from the SMI software main menu, select:

Compile > Compiler default firmware version

On the list, locate the blue dot to the left of the firmware version number. The dot indicates thecurrently-selected default firmware version.

Opening the SMI Window (Program Editor)NOTE: In addition to the software information in this section, there is context-sensitive helpavailable within the SMI software interface, which is accessed by pressing the F1 key or selectingHelp from the SMI software main menu.

In addition to taking commands over the serial interface, the SmartMotor can run programs. The SMIwindow is used to write and edit user programs for the SmartMotor(s). After the program has beenwritten, it can be checked and then downloaded to the desired SmartMotor(s).

The SMI window is typically closed (default setting) when the SMI software is opened. To open thewindow, click the New button ( ) on the toolbar, or select:

File > New

SMI Window

After the SMI window opens, you can type your program directly into the editor, or you can copy andpaste existing code from any text-based software such as Windows Notepad.

NOTE: Some word-processing software, such as Microsoft Word, has an option for "smart quotes",which use angled single (ˊ) and double (˝) quotation marks . The angled quotation marks are not

Part 1: Programming: Checking the Default Firmware Version

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recognized by the SMI editor. Therefore, any "smart quotes" option must be disabled beforecopying and pasting the program code.

Understanding the Program RequirementsSmartMotors use a simple form of code called "AniBasic", which is similar to the BASIC programminglanguage. Various commands include means to create continuous loops, jump to different locations ongiven conditions and perform general math functions.

Note the following AniBasic program requirements:

l The code is case sensitive:

l All commands begin with or use all UPPER CASE letters.

l All variables are preassigned and must use lower case.

l Command names are reserved and cannot be used as variables.

l A space is a programming element.

l Comments require an apostrophe or ASCII character 39 (') between the commands and thecomment text.

NOTE: When copying and pasting code from another text editor, make sure that your texteditor is not inserting "smart quotes" (angled single or double quotation marks). These arenot the same as ASCII characters 39 (') and 34 ("), and the SMI program editor doesn'trecognize them.

l Each program must contain at least one occurrence of the END statement.

l Each subroutine call must have a label with a RETURN statement somewhere below it.

l Each Interrupt subroutine must end with the RETURNI statement.

l The default syntax colors for the SMI editor are: commands (blue), program flow controls (pink),and comments (green). All other program text is shown in black. You can change the syntaxcolors through the Editor tab in the Options window. For details on the Options window, seeSMI Options on page 84.

l There is no syntax checking performed until you do one of the following:

l From the main menu, select Compile > Scan file for errors

l Select the Scan File for Errors button on the toolbar

l Press Ctrl+F7

l As in BASIC, you can use the PRINT command to print to the screen, as shown in the "HelloWorld" example. For details, see Creating a "Hello World" Program on page 49.

Part 1: Programming: Understanding the Program Requirements

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l When the SmartMotor power is turned on, there is a 500 ms "pause" before any program orcommand is processed:

l For all industrial networks, every node (or motor) must immediately send out a "Who amI?" info data packet when power is turned on, which tells the network host who it'stalking to. This is a requirement for all industrial communications protocols (likeCANopen, DeviceNet and PROFIBUS).

l The stored program does not execute until the 500 ms pause expires. Any serialcommands sent during that time are buffered and then accepted after that pause expires.Because incoming commands take priority over the internal program, any bufferedcommands are executed before the internal program begins.

l Commands coming in over the network have priority over the program running within theSmartMotor. For example, while a program is running, you could issue a GOSUB command fromthe terminal and send the program off to run the specified subroutine. When the subroutine isdone, the program would resume at the point where the GOSUB command was issued.

l The RUN? command can be used at the beginning of a program to prevent it from automaticallyrunning when the SmartMotor power is turned on, as shown in the "Hello World" example. Fordetails, see Creating a "Hello World" Program on page 49.

l The SmartMotor will not execute any code past the RUN? line until it receives a RUNcommand through the serial port.

l Using the serial port, the motor can be commanded to run subroutines even if the storedprogram is not running.

Creating a "Hello World" ProgramThis procedure describes how to create and save a simple "Hello World" program.

NOTE: When copying and pasting code from another text editor, make sure that your text editor isnot inserting "smart quotes" (angled single or double quotation marks). These are not the same asASCII characters 39 (') and 34 ("), and the SMI program editor doesn't recognize them.

Entering the Program in the SMI Editor

To create the program, type the following code into the SMI software program editor:

RUN?PRINT("Hello World",#13)END

NOTE: The program will not run when the SmartMotor power is turned on (because of the RUN?command on the first line).

When you run this program, it outputs the following text to the Terminal window:

Hello World

To run this program, you must download it to the SmartMotor and then enter the RUN command in theTerminal window. For more details on downloading the program, see Downloading a Program to theSmartMotor on page 50. For more details on running the downloaded program, see Running aDownloaded Program on page 52.

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Adding Comments to the Code

You can add comments to the code by inserting a single quotation mark (') between the commands andyour comment text.

NOTE: Comments do not get sent to the SmartMotor.

RUN? 'The program stops here until it receives a RUN commandPRINT("Hello World",#13) '#13 is a carriage returnEND 'The required END command

Checking the Program Syntax

You can syntax check the program by doing one of the following:

l From the main menu, select Compile > Scan file for errors

l Select the Scan File for Errors button on the toolbar

l Press Ctrl+F7

If errors are found, correct them and re-check the syntax.

The program will also be syntax checked as part of the download procedure. For details, seeDownloading a Program to the SmartMotor on page 50.

Saving the Program

After entering the program, you can save it as follows:

1. From the main menu, select: File > Save As, or click the Save button ( ) on the toolbar. TheSave As window opens.

2. Select a drive/folder on your PC or use the default location.

3. Assign a name, such as "HelloWorld.sms".

4. Click Save to write the program to the specified location and close the window.

If you attempt to syntax check or compile and download an unsaved program, the SMI softwareautomatically opens the Save As window, which requires you to save the program before continuing.

Downloading a Program to the SmartMotorNOTE: In addition to the software information in this section, there is context-sensitive helpavailable within the SMI software interface, which is accessed by pressing the F1 key or selectingHelp from the SMI software main menu.

After you've created a program, it must be downloaded to the SmartMotor. This section explains howto syntax check and download the program.


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Syntax Checking, Compiling and Downloading the Program

The program can be syntax checked, compiled and transmitted to the SmartMotor in one operation.

To compile the program and then transmit it to the SmartMotor:

NOTE: SMI transmits the compiled version of the program to the SmartMotor.

1. Click the Compile and Download Program button ( ) on the toolbar or press the F5 key. TheSelect Motor window opens, which is used to specify which motor(s) will receive the program.

2. Select the desired motor(s) from the list. The SMI software compiles the program during thisstep and also checks for errors. If errors are found, make the necessary corrections and tryagain.

3. Click OK to close the window and transmit the program. A progress bar shows the status of thetransmission.

Because the SmartMotor's EEPROM (long-term memory) is slow to write, the terminal software usestwo-way communications to regulate the download of a new program.

Additional Notes on Downloaded Programs

Keep the following items in mind regarding programs that have been downloaded to the SmartMotor:

l After the program has been downloaded into the SmartMotor, it remains there until replaced.

l The downloaded program executes every time power is applied to the motor.

l There is a 500 ms timeout before the motor will accept commands on the serial port. Anycommands sent during that time are buffered and then accepted once the 500 mstimeout expires. Because incoming commands take priority over the internal program,buffered commands run before the internal program begins.

l If you do not want the program to execute every time power is applied, you must add aRUN? command as the first line/command of the program. For an example, see Creating a"Hello World" Program on page 49.

l To get a program to operate continuously, write a loop. For details, see Program FlowDetails on page 180.

l A program cannot be erased; it can only be replaced. To effectively replace a program withnothing, download a program with only one command: END.

Remember that all programs, even "empty" ones, must contain at least one END command. Formore details on program requirements, see Understanding the Program Requirements on page48.

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Running a Downloaded Program

WARNING: The larger SmartMotors can shake, move quickly and exert great force.Therefore, proper motor restraints must be used, and safety precautions must beconsidered in the workcell design (see Other Safety Considerations on page 30).

NOTE: In addition to the software information in this section, there is context-sensitive helpavailable within the SMI software interface, which is accessed by pressing the F1 key or selectingHelp from the SMI software main menu.

After the program has downloaded to the SmartMotor, the Program Download window opens, whichcontains options relating to running the program.

Program Download Window

Run will run the program immediately. Reset will clear all user variables and run the program as if itwere power cycled. Close will close the window without running the newly-downloaded program.

"Check to disable this message" will prevent the window from being shown after a program isdownloaded to the SmartMotor. Select that option if you always want to run the program using theTerminal window and the Run Program in Selected Motor button ( ), which is on the SMI softwaretoolbar.

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Using the Program Download Window

(Refer to the previous figure.)

To run the program on all motors:

1. Select the All Motors on this channel option.

2. Click Run.

To run the program on just the selected motor:

1. Deselect the All Motors on this channel option.

2. Click Run.

Using the Terminal Window and Run Program Button

To run the program using the Terminal window and the Run Program button:

1. Use the motor selector in the Terminal window (see the following figure) to select the motor—itmust be the same motor that received the program.

2. Click the Run Program in Selected Motor button ( ) to run the program in the selected motor.

Selected Motor and Run Program Button

Using the RUN Command in the Terminal Window

To run the program using commands in the Terminal window, do one of the following:

l Type RUN in the text box and click Send or press Enter

l Type RUN directly on the terminal screen (blue) area and click Send or press Enter.

RUN Command in the Terminal Window

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Creating a Simple Motion Program

WARNING: The larger SmartMotors can shake, move quickly and exert great force.Therefore, proper motor restraints must be used, and safety precautions must beconsidered in the workcell design (see Other Safety Considerations on page 30).

Enter the following motion program in the SMI editing window. Pay close attention to spaces andcapitalization.

As described previously, it’s only necessary to enter text on the left side of the single quote, as thetext from the single quotation mark to the right end of the line is a comment and for information only.That said, it is always good programming practice to create well-commented code. Nothing is morefrustrating than trying to debug or decipher code that is sparsely commented.


EIGN(2) 'Disable left limitEIGN(3) 'Disable right limitZS 'Reset errorsADT=100 'Set target accel/decelVT=1000000 'Set target velocityPT=100000 'Set target positionG 'Go, starts the moveTWAIT 'Wait for move to completePT=0 'Set buffered move back to homeG 'Start motionEND 'End program

After entering the program code, you can download it to the motor and then run it. For details ondownloading the program, see Downloading a Program to the SmartMotor on page 50. For details onrunning the downloaded program, see Running a Downloaded Program on page 52.

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SMI Software FeaturesThis chapter provides information on SMI software features.

Introduction 56

Menu Bar 57

Toolbar 57


Terminal Window 62



Program Editor 65

Motor View 67


Monitor Window 71


Chart View 74



Tuner 80

SMI Options 84

SMI Help 85



Help Buttons 85

Hover Help 85


Projects 86



Moving the Motor 89

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IntroductionNOTE: In addition to the software information in this section, there is context-sensitive helpavailable within the SMI software interface, which is accessed by pressing the F1 key or selectingHelp from the SMI software main menu.

The SMI software interface provides access to a variety of tools that are used to communicate with,program and monitor the SmartMotor.

The SMI software also provides limited support for the DS2020 Combitronic system. The followingtools/features are supported:

l Tools menu items:

l Macro

l Motor View

l Chart View

l Configuration tree right-click menu items:

l Motor View

l Set Motor Address

l Configure DS2020

The SMI software interface can be accessed from the Windows Desktop icon or from the WindowsStart menu. For details, see Accessing the SMI Software Interface in the SmartMotor Installation &Startup Guide for your motor.

Menu bar

Toolbar

Con!gurationwindow

Terminalwindow

Informationwindow

Programeditor

Main Features of the SMI Software

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NOTE: Depending on your version of SMI software, your screens may look slightly different thanthose shown.

The primary software features are briefly described in the following sections. In addition to thisinformation, there are detailed descriptions of all SMI software features in the software's online help,which can be accessed from the software's Help menu or by pressing the F1 key.

Menu BarNOTE: In addition to the software information in this section, there is context-sensitive helpavailable within the SMI software interface, which is accessed by pressing the F1 key or selectingHelp from the SMI software main menu.

The SMI software menu bar provides access to all SMI software features, which are grouped byfunctional area.

The Menu Bar

NOTE: Frequently-used features are also available from the SMI software's Toolbar. For details,see Toolbar on page 57.

Each functional area is described in the following table.

Menu DescriptionFile Access standard file commands (New, Open, Close, etc.).

Edit Edit an SMI program (Cut, Copy, Paste, etc.). Note that an SMI Program Editorwindow must be open to use these features.

View Show or hide windows or items in the SMI software interface (Toolbar, Statusbar, Terminal window, etc.).

Communication Control communications with motors (Settings, Detect Motors, Upload Program,Communication Setup Wizard, etc.).

CompileScan a program for errors and compile SMX or project files (Scan for errors,Compile Downloadable SMX file, Compile and Transmit SMX file, Compile Pro-ject, etc.).

Tools Access SmartMotor tools, monitoring features and options (Macro, Tuner, MotorView, Monitor View, Options, etc.)

Window Control the appearance of the SMI software windows (Cascade, Tile Hori-zontally/Vertically, Arrange Icons, etc.).

Help Access online help features of the SMI software (Contents, Index, SmartMotorProgrammer's Guide, etc.).

Each menu item is described in detail in the SMI software's online help file, which can be accessedfrom the Help menu or by pressing the F1 key.

ToolbarNOTE: In addition to the software information in this section, there is context-sensitive helpavailable within the SMI software interface, which is accessed by pressing the F1 key or selectingHelp from the SMI software main menu.

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The SMI software toolbar provides quick access to the SMI software's frequently-used features. Eachitem is represented by an icon, as shown in the following figure.

The Toolbar

NOTE: The entire set of SMI software features can be accessed from the menu bar. For details, seeMenu Bar on page 57.

Each icon is described in the following table.

Icon MenuCommand Description

New Create a new document.

Open Open an existing document.

Save Save the active document.

Save All Save the Project and all open documents.

Cut Cut the selection and put it on the Clipboard.

Copy Copy the selection and put it on the Clipboard.

Paste Insert Clipboard contents.

Configuration Show or hide the Configuration window.

Terminal Show or hide the Terminal window.

Information Show or hide the Information window.Serial Data Ana-lyzer Show or hide the Serial Data Analyzer ("sniffer").

Find Motors Detect all available motors connected to the defined serial ports ofthe computer.

Detect Motors Detect motors connected to the currently-selected port in the Ter-minal window.Compile and Down-load Project

Compile and download all user programs defined in the project totheir associated motors.

Compile and Trans-mit SMX File

Compile and download the program in the active view to its asso-ciated motor.

Scan for errors Scan the program in the active view.

Upload Program Upload the program in a motor to an SMI file.

Run Program Send a RUN command to the selected motor in the Terminal window.

Stop Running Pro-gram

Send an END command to the selected motor in the Terminal win-dow.

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Icon MenuCommand Description

Stop all Motors Send an END and then an S command to all motors.

Decelerate allMotors to a Stop Send an END and then an X command to all motors.

SmartMotor Play-ground

Opens the SmartMotor Playground, where you can monitor and jog asingle motor in Position, Velocity and Torque modes.

Context Help Opens the context help for the selected item.

Each item is described in detail in the SMI software's online help file, which can be accessed from theHelp menu or by pressing the F1 key.

Configuration WindowNOTE: In addition to the software information in this section, there is context-sensitive helpavailable within the SMI software interface, which is accessed by pressing the F1 key or selectingHelp from the SMI software main menu.

The Configuration window shows the current configuration and allows access to specific ports andmotors. The Configuration window is essential to keeping multiple SmartMotor systems organized,especially in the context of developing multiple programs and debugging their operation.

The Configuration window is typically visible when the SMI software opens. If the window has beenclosed, you can open it from the SMI software main menu by selecting:

View > Configuration

NOTE: When the window is visible, the menu item will have a check mark next to it.

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Configuration Window

The Configuration window is essential to keeping multiple SmartMotor systems organized.

To use the Configuration window:

l Click Find Motors to analyze your system, or

Right-click on an available port to display a menu, and select either "detect motors" or "addressmotors" to find motors attached to that port.


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l You can double-click on any port to view its properties, as shown in the following figure.

Port Properties Window

l You can also double-click on any motor to open the Motor View tool for that motor, as shown inthe following figure.

Motor View Window


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l By right-clicking the motor, you