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This manual covers all Ethernet functionality of the CM1-T. For CML programming see the CM1-C User Guide. |
Introduction
The CM1-T is an Ethernet based Cool Muscle. It offers all the functionality of the standard Cool Muscle but enables connections over TCP/IP, UDP and , Modbus-TCP and EtherNet/IP. This variant of the Cool Muscle cannot be daisy chained.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..
The following terminology is important to understand how to understand this document and how to operate the motor.
| Term | Description |
|---|---|
| Protocols | The protocols are the different Ethernet languages the user can implement to communicate to the controls methods. They are
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| Control method | The control method indicates how the motor controller is communicated with, updated and controlled. Control methods are
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| Mode of operation | The mode of operation is how the motor controller operates in Direct Control. This is how the motor's motion controller generates a set of outputs to the motor driver. These are typically
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| TCP/UDP | This refers to any port or protocol that can be connected using TCP/IP and/or UDP. |
The following diagram shows how the protocols break down to the different modes of operation
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Connections and Port
Any TCP/IP enabled client device can connect and communicate with the CM1-T. 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 Port | 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 |
| Information Port | 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.
General Usage and Operation
CML Programming
Refer to the RT3 Programming Manual for CM1-C User Guide for details on using CML. You will find information on the following in this manual:
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- Executing motion on another motor
- I.e Program and logic banks can only reference motor ID 1.
- Reading input and setting outputs on another motor
- Coordinated motion with another motor
Modbus-TCP
All of the motor registers are available over Modbus-TCP reads and writes to all motor registers.
- CML Control - Typical usage would be executing logic and program banks with Modbus registers reading and/or writing to get motor information as well as intervening in operation as required.
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- Direct Control - A set of registers can run the motor directly (see
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EtherNet/IP
See the EtherNet/IP section of this document for details on using the CM1-T with EtherNet/IP
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Search Button
- If any motors are available they will be displayed by IP with their MAC address
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Enable Modbus Mode Checkbox
- If Modbus mode is required then the motor is set to modbus check the Enable Modbus Mode before opening the connection. This will allow the Control Room modbus window to operate.
Note: The Web Configuration is not available on the CM1-T. Use the Network Configuration Tool to setup network related parameters.
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Overview
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