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.

Read Registers

Register	Description
CPUTime	CPU clock time in 50us counts
ActualPosition	The actual position of the motor in encoder counts
ActualTargetPosition	The actual instantaneous position the motor is currently moving to.
MotorStatus	The motors status (error, homing, in position, etc)
ActualRatedCurrent	Percentage (0.1%) of rated current. 1000 = rated, 1100 = peak.
ActualOverloadTorque	Percentage (0.1%) of overload torque.
AnalogIN	10 bit analog input value (0-1023)

DigitalIN

DigitalIO

Digital

IN

IO status.

B3-B0

-B3 = IN1-IN4

= IN4-IN1 B5-B4 = OUT2 - OUT1
Temperature	Drive temperature in ºC
DCVoltage	24V DC bus voltage in 0.1V
DigitalOUT	Digital OUT status. B0-B1 = OUT1-OUT2
ModeOfOperationDisplay	Indicates the mode of operation currently set
ActualSpeed	Actual speed of the motor in encoder counts/s

Write Registers

Register	Description
TargetPosition	Final target position
TargetSpeed	Maximum speed
TargetTorque	Maximum torque
TargetAcceleration	Acceleration (used when accelerating to target speed)
TargetDeceleration	Deceleration (used when stopping)
Controlword	Control the motor operation
ModeOfOperation	Set the required mode of operation
DigitalOUT	Set the 2 digital outputs. Requires K34=44.

Setting Mode Of Operation
Anchor
Setting Mode of Operation
Setting Mode of Operation

...

Mode of Operation	Value	Description
CML Mode	0	Standard CML mode. No control registers associated
Profile Mode	2	Profile mode using P1, S1, A1, A2, R1 and N1
Profile Mode	3	Profile mode using Modbus control registers (see registers starting 41029). EtherNet/IP IO messaging TCP/UDP port 10002
Dynamic Position Mode	4	Dynamic position mode using P1, A1, R1 and N1
Dynamic Position Mode	5	Dynamic position mode using Modbus control registers (see registers starting 41029). EtherNet/IP IO messaging TCP/UDP port 10002
Torque Mode	10	Torque mode using N1, S1 and R1
Torque Mode	11	Torque mode using Modbus control registers (see registers starting 41029). EtherNet/IP IO messaging TCP/UDP port 10002

...

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".
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[2016] in TCP/UDP Port 10002

Registers

...

Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Description
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Description
Controlword	R1	41039	1814-1915	14-15	N/A	See below

Bit Descriptions:

...

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

TargetPosition

Statusword
Anchor
statusword
statusword

The Statusword returns information on the status of The TargetPosition sets a new target position for the motor.

Scroll Table Layout

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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	RangeDescription
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	RangeDescription
TargetPositionStatuswordP1	Query ?99	4102940009	416-717	016-3	pulses (counts)	-2^{^31} to +2^{^31}

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.

...

Profile Mode = 2

...

Profile Mode = 3

...

17

N/A

See below

Bit Descriptions:

BIT	Name
B0	Position overflow alarm
B1	Overspeed alarm
B2	Overload alarm
B3	Inposition
B4	Disable
B5	Pushmode limit
B6	Communication error alarm
B7	Over temperature alarm
B8	Pushmode Timeout warning
B9	E-Stop active
B10	N/A
B11	N/A
B12	N/A
B13	N/A
B14	New start required
B15	Home achieved

TargetPosition

The TargetPosition sets a new target position for the motor.

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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Range
TargetPosition	P1	41029	0-3	0-3	pulses (counts)	-2^{^31} to +2^{^31}

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.

Scroll Table Layout

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sortDirection	ASC
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widths	16%,14%,13%,13%,16%,12%,14%
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cellHighlighting	true

Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Range
TargetSpeed	S1	41031	4-7	4-7	pulses/second 10 pulses/second 100 pulses/second	-2^{^31} to +2^{^31}

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.

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sortDirection	ASC
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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Range
TargetTorque	N1	41033	8-9	8-9	0.1% rated torque	0-1100 (±1100 in Torque mode)

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.

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sortDirection	ASC
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widths	16%,14%,13%,13%,16%,12%,14%
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cellHighlighting	true

Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP IO Bytes	Unit	Range
TargetAcceleration	A1	41035	10-11	10-11	Kpulses/second²	± 32767

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

TargetDeceleration

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Register Name	Profile Mode = 2	Profile Mode = 3			Unit	Range
Register Name	CML Registers	Modbus Registers	TCP/UPD Bytes	Ethernet/IP O2T Bytes	Unit	Range
TargetDeceleration	A2	41037	12-13	12-13	Kpulses/second²	± 32767

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

CML Mode

CML mode is the standard mode that the Cool Muscle motor typically operates in. There are no specific control registers. See the CM1 documentation for CML mode usage.

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.

Scroll Table Layout

orientation	default
sortDirection	ASC
repeatTableHeaders	default
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widths	16%,14%,13%,13%,16%,26%
sortByColumn	1
tableStyling	confluence
sortEnabled	false
cellHighlighting	true

Register Name	Profile Mode = 2	Profile Mode = 3			Description
Register Name	CML Registers	Modbus Registers⁽¹⁾	TCP/UPD Bytes⁽²⁾	Ethernet/IP O2T Bytes⁽³⁾	Description
TargetPosition	P1	41029	0-3	0-3	The target position the motor will move to. Used as an absolute position Used as an incremental position in a relative control⁽¹⁾ move Not used in speed control⁽¹⁾ (1) See the Controlword for switching to speed or relative control.
TargetSpeed	S1	41031	4-7	4-7	The maximum speed of the profile trajectory. the sign of S1 is ignored in a position control move. +ve S1 in speed control will run the motor in a +ve direction (typically CW) -ve S1 in speed control will run the motor in a -ve direction (typically CCW)
TargetTorque	N1	41033	8-9	8-9	The maximum torque the motor will use.
TargetAcceleration	A1	41035	10-11	10-11	Acceleration is used when the profile is accelerating to the target speed. This is regardless of whether the target speed will be reached or not
TargetDeceleration	A2	41037	12-13	12-13	Deceleration is used when the profile is decelerating to the target position.
Controlword	R1	41039	14-15	14-15	Bits in the Controlword dictate profile execution. A more detailed description can be found below.
ModeOfOperation	Set with "_mop"	41041	16	16	Sets the mode of operation see Setting Mode of Operation
DigitalOUT	N/A	41043	17	17	Binary value to set the digital output (Register K34=44 to enable this function)

(1) See Modbus-TCP for additional details
(2) See TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

Controlword Usage

Profile mode uses some specific bits in the Controlword

BIT	Name	Value	Description
B0	Start/New Set Point	0	Do not execute any changes in profile registers Do not start a new profile Any profile currently in motion will be completed
		0 → 1	Start a profile move defined by the profile registers 0 → 1 transition is required to start a profile after an error has been cleared a home has been completed a stop command has been given from CML or an input. In relative mode transition is required to start the next incremental move. The move is incremented from the current target position not the actual position.
		1	Execute any changes in any of the profile registers immediately.
B1	Halt	0	Do nothing
B1	Halt	1	Halt the current profile being executed Prohibit execution of a profile if no profile is being run
B2	Relative mode	0	TargetPosition is an absolute position
B2	Relative mode	1	TargetPosition is a relative incremental position
B3	Speed control	0	Position control mode
B3	Speed control	1	Speed control mode
B7-B4	See Controlword

Profile Mode Examples

The following example uses the standard registers to run an absolute move. This could be run from a Control Room CML script.

Code Block

language	cpp
title	Absolute Move Example

R1=0		//clear the controlword before setting the mode
_mop=2		//set the mode of operation to 2. Profile mode
P1=10000	//set target position
S1=100		//set target speed
A1=10		//set target acceleration
A2=10		//set target deceleration
N1=1100		//set the target torque to peak
R1=1		//start the profile move

//While R1=1 any change in the profile registers will execute an immediate change

The following example uses the standard registers to run a speed move. This could be run from a Control Room CML script.

Code Block

language	cpp
title	Speed Move Example

R1=0		//clear the controlword before setting the mode
_mop=2		//set the mode of operation to 2. Profile mode
S1=100		//set target speed
A1=10		//set target acceleration
A2=10		//set target deceleration
N1=1100		//set the target torque to peak
R1=9		//start the profile move with the speed mode bit set.

//While R1=9 any change in the profile registers will execute an immediate change

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.

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.

...

Profile Mode = 2

...

Profile Mode = 3

...

0-1100
(±1100 in Torque mode)

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.

...

Profile Mode = 2

...

Profile Mode = 3

...

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

TargetDeceleration

...

Profile Mode = 2

...

Profile Mode = 3

...

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

CML Mode

CML mode is the standard mode that the Cool Muscle motor typically operates in. There are no specific control registers. See the CM1 documentation for CML mode usage.

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.

Scroll Table Layout

orientation	default
sortDirection	ASC
repeatTableHeaders	default
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widths	16%,14%,13%,13%,16%,26%
sortByColumn	1
tableStyling	confluence
sortEnabled	false
cellHighlighting	true

Register Name	Profile Mode = 24	Profile Mode = 35			Description
Register Name	CML Registers	Modbus Registers⁽¹⁾	TCP/UPD Bytes⁽²⁾	Ethernet/IP O2T Bytes⁽³⁾	Description
TargetPosition	P1	41029	4-7	0-3	The target position the motor will move to. Used as an absolute position Used as an incremental position in a relative control⁽¹⁾ move Not used in speed control⁽¹⁾ (1) See the Controlword for switching to speed or relative control.		0-3	0-3	The target position the motor will move to. Used as an absolute position	TargetSpeed	S1	41031	8-11	4-7	The maximum speed of the profile trajectory. the sign of S1 is ignored in a position control move. +ve S1 in speed control will run the motor in a +ve direction (typically CW) -ve S1 in speed control will run the motor in a -ve direction (typically CCW)
TargetTorque	N1	41033	128-139	8-9	The maximum torque the motor will use.
TargetAccelerationFilter Gain	A1	41035	1410-1511	10-11	Acceleration is used when the profile is accelerating to the target speed. This is regardless of whether the target speed will be reached or not	TargetDeceleration	A2	41037	16-17	12-13	Deceleration is used when the profile is decelerating to the target position The A1 register is used to store the filter gain.
Controlword	R1	41039	1814-1915	14-15	Bits in the Controlword dictate profile the execution. A more detailed description can be found below.
ModeOfOperation	Set with "_mop"	41041	2016	16	Sets the mode of operation see 51511389 Setting Mode of Operation
DigitalOUT	N/A	41043	2117	17	Binary value to set the digital output (Register K34=44 to enable this function)

(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

Controlword Usage

Profile mode uses some specific bits in the Controlword

Speed control mode

BIT	Name	Value	Description
B0	Start/New Set Point	0	Do not execute any changes in profile registerstarget position register Do not start a new profilemode Any profile currently in motion active move will be completed
		0 → 1	Start a profile move defined by the profile registers 0 → 1 transition is required to start a profile after an error has been cleared a home has been completed a stop command has been given from CML or an input. In relative mode transition is required to start the next incremental move. a stop command has been given from CML or an input The move is incremented from the current target position not the actual position.
		1	Execute any changes in any of the profile registers immediately.
B1	Halt	0	Do nothing
B1	Halt	1	Halt the current profile being tracking position executed Prohibit execution of a profile if no profile is being run
B2	Relative mode	0	TargetPosition is an absolute position
B2	Relative mode	1	TargetPosition is a relative incremental position
B3	Speed control	0	Position control mode
B3	Speed control	B3-B2	N/A	1
B7-B4	See Controlword

Profile Mode Examples

The following example uses the standard registers to run an absolute move. This could be run from a Control Room CML script.

Code Block

language	cpp
title	Absolute Move Example

R1=0		//clear the controlword before setting the mode
_mop=2		//set the mode of operation to 2. Profile mode
P1=10000	//set target position
S1=100		//set target speed
A1=10		//set target acceleration
A2=10		//set target deceleration
N1=1100		//set the target torque to peak
R1=1		//start the profile move

//While R1=1 any change in the profile registers will execute an immediate change

The following example uses the standard registers to run a speed move. This could be run from a Control Room CML script.

Code Block

language	cpp
title	Speed Move Example

R1=0		//clear the controlword before setting the mode
_mop=2		//set the mode of operation to 2. Profile mode
S1=100		//set target speed
A1=10		//set target acceleration
A2=10		//set target deceleration
N1=1100		//set the target torque to peak
R1=9		//start the profile move with the speed mode bit set.

//While R1=9 any change in the profile registers will execute an immediate change

Torque Mode

Dynamic Position Mode Example

The following example uses the standard registers to continuously update the motor position

Code Block

language	cpp
title	Dynamic Position Mode Example

K87=10
V1="mop"	//assign V1 to set the mode of operation

a1=10		//set the filter gain to 10 (1-1024)
p1=0		//target position	
p2=10		//amount to increment each iteration of the logic scan
N1=1100		//run motor at full torque

|2			//reset position to 0


L1.1		//Logic bank 1 to init all parameters
R1=0		//clear control word
V1=4		//set mode of operation to 4
|2			//set motor position to 0
P1=0		//set target position to 0
R1=1		//set control word to start running dynamic position
JL2.1		//jump to L2		
END.1

L2.1		//L2 will continuously loop every #ms set in K87. 
p1=p1+p2;	//increment target position by P2 
end.1

Torque Mode
Anchor
Torque
Torque

Torque 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.

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sortByColumn	1
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Register Name	Profile Mode =

2

10	Profile Mode =

3

11			Description
CML Registers	Modbus Registers⁽¹⁾	TCP/UPD Bytes⁽²⁾	Description	Ethernet/IP O2T Bytes⁽³⁾
TargetSpeed	S1	41031

8

4-

11

7	4-7	The maximum speed of the profile
TargetTorque	N1	41033

12

8-

13

9

8-9

The maximum torque the motor will use while moving.

+ve N1 will rotate the motor in a +ve direction (typically CW)
-ve N1 will rotate the motor in a -ve direction (typically CCW)

Controlword

R1

41039

18

14-

19

15	14-15	Bits in the Controlword dictate torque execution. A more detailed description can be found below.
ModeOfOperation	Set with "mop"	41041

20

16

Sets the mode of operation see

51511389

Setting Mode of Operation
DigitalOUT	N/A	41043

21

17

Binary value to set the digital output (Register K34=44 to enable this function)

(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

Controlword Usage

Torque mode uses some specific bits in the Controlword

BIT	Name	Value	Description
B0	Start/New Set Point	0	Do not follow the N1 target torque Target Speed S1 is still executed Do not start a new torque move
		0 → 1	Start a torque move defined by the torque registers 0 → 1 transition is required to start a torque move after an error has been cleared a home has been completed a stop command has been given from CML or an input.
		1	Following N1 target torque
B1	Halt	0	Do nothing
B1	Halt	1	Halt all motion and inhibit further motion Halt all torque related parameters (torque & speed)
B3-B2	N/A
B7-B4	See Controlword

The interaction of the halt bit and the new set point (nsp) bit is quite specific. See the table below for additional important interaction.

B0 (nsp)	B1 (Halt)	Description
1	0	Motion profile follows torque and speed values
1	0 → 1	All motion stops
1	1	Motion is inhibited Changes in speed are NOT followed Changes in torque are NOT followed
0	1	Operation is the same as above.
0	0	Motion may resume based on values Torque will NOT be updated Motion will continue if speed > 0

Note

It is important to understand that the halt bit temporarily halts operation. It does not interrupt motion. This means that a rising edge (0 → 1) is not required on B0 to continue operation. To keep prohibiting motion the following could be use

Keep the halt bit at 1
Set target velocity = 0
Move out of torque mode

...

Cool Muscle User Guides

Versions Compared

Old Version 42

New Version Current

Key

Read Registers

Write Registers

Setting Mode Of Operation
Anchor
Setting Mode of Operation
Setting Mode of Operation

Registers

TargetPosition

Statusword
Anchor
statusword
statusword

TargetSpeed

TargetPosition

TargetSpeed

TargetTorque

TargetAcceleration

TargetDeceleration

Modes of Operation

CML Mode

Profile Mode (Position and Speed)

Controlword Usage

Profile Mode Examples

Dynamic Position Mode

TargetTorque

TargetAcceleration

TargetDeceleration

Modes of Operation

CML Mode

Profile Mode (Position and Speed)

Controlword Usage

Profile Mode Examples

Torque Mode

Dynamic Position Mode Example

Torque Mode
Anchor
Torque
Torque

Controlword Usage

Cool Muscle User Guides

Page History

Versions Compared

Old Version 42

New Version Current

Key

Read Registers

Write Registers

Setting Mode Of Operation AnchorSetting Mode of OperationSetting Mode of Operation

Registers

TargetPosition

Statusword Anchorstatuswordstatusword

TargetSpeed

TargetPosition

TargetSpeed

TargetTorque

TargetAcceleration

TargetDeceleration

Modes of Operation

CML Mode

Profile Mode (Position and Speed)

Controlword Usage

Profile Mode Examples

Dynamic Position Mode

TargetTorque

TargetAcceleration

TargetDeceleration

Modes of Operation

CML Mode

Profile Mode (Position and Speed)

Controlword Usage

Profile Mode Examples

Torque Mode

Dynamic Position Mode Example

Torque Mode AnchorTorqueTorque

Controlword Usage

Setting Mode Of Operation
Anchor
Setting Mode of Operation
Setting Mode of Operation

Statusword
Anchor
statusword
statusword

Torque Mode
Anchor
Torque
Torque