Direct Control

Introduction

All the protocols can use the Direct Control method. Using Direct Control allows the user to directly control the motors position, torque and speed. All values can be updated dynamically which allows for very flexible operation. Not only does Direct Control allow you to control the motor but the read registers give a full array of motor information for program use and diagnostics. Direct Control can be executed in motor logic or standard serial communication by writing to specific CML registers. The documentation below describes how to use Direct Control. For additional details on each of the protocols please see their specific sections

• Modbus-TCP

• Direct Control Port

• EtherNet/IP - EtherNet/IP includes AOIs that setup all required mappings.

• CML - The CML registers used are detailed below in the Direct Control documentation

Though all the protocols utilize the same set of variables they can work concurrently. If multiple protocols are to be used concurrently then the user should be aware of how the write operations function:

• EtherNet/IP - Cyclical (1ms)

• Modbus-TCP - On write

• TCP/UDP - On write

As can be seen  above, if EtherNet/IP is used it will overwrite any of the other protocols in a write operation. The other protocols can still be used for read operations and diagnostics.

IEC 61131-3 Library

The CM1-T library can be use in all IEC 61131-3 development environments such as Codesys, Schneider's Machine Expert, WAGO’s e!COCKPIT, Beckhoff's TwinCAT and more.

The CM1-T Library can be used with the following protocols

• EtherNet/IP

• Modbus/TCP

• TCP/IP

• UDP

Read Registers

Write Registers

Setting Mode Of Operation  

There are a number of modes of operation the motor can be set to.

1. Standard operation - this is the standard and default operation mode. If no mode is selected, this is the mode the motor Cool Muscle operates in. This is not a Direct Control mode. See Motor Operation.

2. Direct Control Modes

   1. Profile mode - run position or speed profiles.

   2. Torque mode - run the motor by adjusting the torque and maximum speed values.

   3. Dynamic Position mode - this mode allows you to stream new target positions. Though useful in certain applications it is recommended to use EtherCAT or Contours if custom non-linear motion profiles are required.

The control registers in the mode selected use either standard CML registers or registers set directly such as through Modbus-TCP. The mode of operation selected indicates where the control registers will be received

The following table lists the mode of operation and the associated registers

• Bit0 of the mode of operation selects the register source. I.e. P1 to N1 or the direct control registers.

Set the mode of operation by the following

1. CML

   1. Send "_mop=x" on the CML port when x is the value of the mode of operation

   2. Assign a variable to "mop" and write the variable in a logic bank. E.g. V0="mop".

2. Direct

   1. Set modbus register 41041 to the value of the required mode of operation.

   2. Set Byte[16] in EtherNet/IP

   3. Set Byte[16] in TCP/UDP Port 10002

Registers

The following registers are used in the different Direct Control modes of operation.

Controlword 

The Controlword is used to control the motor. The usage does depend on the mode that is selected. See the mode for bit usage. B4-B7 are common to all modes.

Bit Descriptions:

(1) Set the home search parameters with K parameters K42-K48

Statusword

The Statusword returns information on the status of the motor. 

Bit Descriptions:

TargetPosition

The TargetPosition sets a new target position for the motor.

The motor has a maximum resolution of 50,000 counts per revolution. Regardless of the resolution defined in K37 the motor internally will convert the target position to a position based on 50,000. As such the maximum range depends on the motor resolution. For example if K37=3 and the resolution is 1000 pulses/revolution, the maximum target position is 2^{^31} ÷ (50,000/1,000) = 2^{^31} ÷ 50  = 42,949,672.

TargetSpeed

The TargetSpeed sets a new maximum speed.

The unit depends on the motor resolution (K37) value selected. See K37 for more details.

TargetTorque

The TargetTorque sets the maximum torque used by the motor.

The torque is set in a percentage of rated torque. The Cool Muscle will only use the torque required so typically this value should be set to 1100 unless the application requires that the torque is limited.

TargetAcceleration

The TargetAcceleration sets the acceleration used by the motion profile.

If the TargetAcceleration=0 the profile shall be undefined and may result in an unexpected motion profile.

TargetDeceleration

If the TargetDeceleration=0 the TargetAcceleration shall be used. This allows the user to only change the acceleration if a trapezoid type profile is required.

Modes of Operation

Standard Operation

If no direct control mode is set the Cool Muscle motor operates using its standard internal logic and programming. Details on direct mode and program mode can be found in the CM1-C motor operation.

Profile Mode (Position and Speed)

Profile mode would be a typical mode used in point-to-point motion and/or continuous velocity motion. The following registers are used depending on the profile mode selected.

Torque Mode

Torque mode would be used where there is no target position but the motor is required to continuously hold or move at a required maximum torque. In this mode the toque set is a maximum torque and the torque will only be reached if required.

Dynamic Position Mode

This mode can be used to dynamically stream a target position only and have the motor track it. There is a filter that filters the responsiveness of the position change as no speed or acceleration is defined. For best performance try used a fixed time interval on the position update.