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Note

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.

TermDescription
Protocols

The protocols are the different Ethernet languages the user can implement to communicate to the controls methods. They are

  • TCP/IP and UDP
  • Modbus-TCP
  • EtherNet/IP
Control method

The control method indicates how the motor controller is communicated with, updated and controlled. Control methods are

  • CML- the motor runs logic and program banks
  • Direct Control - the motor receives position, speed, acceleration/deceleration and torque values to dynamically move between targets
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

  • CML mode - traditional operation of the motor
  • Profile mode - operate the motor by in position and/or speed control
  • Torque mode - operate the motor by limiting torque and speed.
TCP/UDPThis 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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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


ProtocolPort #

# TCP

# UDP

Description
CML1000111

Protocol used by the standard motor. Program the motor to run from IO, etc.

Direct Control Port1000211

Directly control the motor in a number of modes such as position, speed and torque

Modbus-TCP50210Modbus access to all motor registers including CML and Direct Control.
Motor Information Port3071801
  1. Query the motors configuration (Network configuration, serial number, etc)
  2. Qeury/Stream the motors information (status, position, speed, etc)
EtherNet/IP44818
2222		2
0

1
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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