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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, Modbus-TCP and EtherNet/IP. This variant of the Cool Muscle cannot be daisy chained.
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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.
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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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Search Button
- If any motors are available they will be displayed by IP with their MAC address
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Overview
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