Moog Animatics offers an array of fieldbus options for your SmartMotor™ servo. Between

logo_CANopen-thlogo_devicenet-th,   logo_Profibus-th and logo_ethernet-th

connections, you may customize your SmartMotor™ for the communication option that will best suit your system and design.

With CANopen or DeviceNet you can use combitronic-100, a high speed transparent communication protocol over CANbus that enables you to control up to 120 SmartMotor servos at once.

CANopen

Moog Animatics CANopen SmartMotor™

Note: Please see each individual motor specs to see availability of this option for each motor.

Features include:

  • All basic motion commands available via CiA V402and Motion Control Profile
  • Ability to read/write all SmartMotor variables
  • Use of onboard I/O via CANopen Gateway, SmartMotor program, or RS232 commands
  • Ability to run 1000 SmartMotor subroutines via SMI2 software and RS232 connection
  • Up to 127 nodes
  • 250 micro second interrupt driven subroutine with the -PLS firmware
  • Gateway Baud Rates: 20K, 50K, 125K, 250K, 500K, 1Mpbs default 125Kbps
CANopen
cnc | ethernet | can | bus can | can open | can bus

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


Note: This option is available to all models:

 

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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:

 

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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:

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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.

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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.

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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.

Product Category

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Watch the SmartMotor™ in action

CNC Surfboard Machine using SmartMotor and HLD60 Belt Drive Actuator
CNC Surfboard Machine using SmartMotor and HLD60 Belt Drive Actuator
Click to go to the Application page

Have Questions?

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