Introduction

This section explains how to use the CM1-T Cool Muscle motor with EtherNet/IP. It is assumed there is a basic knowledge of EtherNet/IP and PLC programming. The implementation makes use of the different Modes Of Operation in the motor. It does not use CML logic and bank programming. However, setup (K) and controller gain (H) parameters are used for things like motor resolution, s-curve, software limits, etc. These are all accessible to be setup with Control Room or over explicit messages.

Device Profile

The CM1-T uses a generic device profile. This is to allow it to be flexible and operate in a number of control modes.

Control Modes

There are currently 3 main control modes available while running the motor over EtherNet/IP. 

1. Position - this mode sets the motor to run to a target position. The position could be absolute or relative
2. Speed - this mode allows the motors speed to be controlled for continuous motion
3. Torque - this mode allows the motors torque to be controlled.

In addition:

• Homing is an additional mode that can be executed at any point. Homing should start from a known safe state to avoid unexpected changes in motion
• All modes can be switched to during motion. It is recommended the state is switched during a known safe state.