You are viewing an old version of this page. View the current version.

Compare with Current View Page History

« Previous Version 9 Next »


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. 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.

Connection

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:

  1. Connect on port 10001 for CML communication.
  2. Send and receive ASCII strings within the data packet.
  3. Modbus-TCP can be connected on port 502. This gives modbus access to all the motor's registers.

Usage and Operation

CML Programming

Refer to the RT3 Programming Manual for details on using CML. You will find information on the following in this manual:

  • K parameters (setup parameters)
  • H parameters (postion controller gain parameters)
  • Motor registers (position, speed, acceleration, torque, etc)
  • Variable registers
  • Program banks
  • Logic banks
  • Inputs and Outputs

As stated in the introduction the CM1-T is a standalone motor and cannot be used in a daisy-chain configuration. As such there are features in CML related to multiple motor networks which will not function if programmed.

Features that cannot be used in the CM1-T:

  • 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. 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.

In addition a set of registers can run the motor directly (see Modes Of Operation).  

Connecting in Control Room

Control Room is the Cool Muscle Windows application to program the motors. It is typically not used for run-time operation but this can depend on the user's requirements. Control Room can open up a connection in either standard CML mode or by Modbus-TCP. Two instances of Control Room can be opened if the user needs to use Modbus-TCP and CML simultaneously.

Note: You cannot program in CML mode if the connection is opened in Modbus Mode and you cannot use the Modbus Window if the connection is opened not in Modbus Mode.

To connect to a motor use the TCP/IP options, Connect to IP and Enable Modbus Mode functions on the Connection tab as shown below.

Search Button

  • If any motors are available they will be displayed by IP with their MAC address

Connect to IP Button

  • Once the correct motor is selected in the IP Address drop down list click the Connect to IP button to connect to the motor

Enable Modbus Mode Checkbox

  • If Modbus mode is required then check the Enable Modbus Mode before opening the connection.


  • No labels