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In additional to the standard CML programming other modes of operation have been implemented which gives the application direct access the motion routines. See Modes Of Operation for additional details. This chapter focuses on the standard operation of the motor using CML.
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Connections and Port
Any TCP/IP enabled client device can connect and communicate with the CM1-T. Additional connection information can be found in Network Configuration but in general:
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The table below lists the ports and protocols they are associated with
| Protocol | Port # | # TCP | # UDP | Description |
|---|---|---|---|---|
| CML | 10001 | 1 | 1 | Protocol used by the standard motor. Program the motor to run from IO, etc. |
| Direct Control | 10002 | 1 | 1 | Directly control the motor in a number of modes such as position, speed and torque |
| Modbus-TCP | 502 | 1 | 0 | Modbus access to all motor registers including CML and Direct Control. |
| Motor Configuration and Information | 30718 | 0 | 1 |
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| EtherNet/IP | 44818 2222 | 2 0 | 1 | EtherNet/IP CIP EtherNet/IP IO |
Additional connection information can be found in Network Configuration
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Usage and Operation
CML Programming
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Overview
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