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Tables of Contents

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.

CM1T_Axis Data Type

The CM1-T_Axis data type defines how the bytes are assigned withing the IO message.

CM1T_Controlword


CM1T_DriveStatus

Control Modes

This section focuses on controlling the motor with the provided Add on Instructions (AOIs). These will satisfy most applications, however, if required, the motor can be controlled by setting the CM1-T objects directly. Understanding the Modes Of Operation will be important in this case.

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.


All modes use common objects such as position, speed, torque, acceleration and controlword. Switching parameters in another mode will change the value in the existing mode.

Torque can be limited in all modes. Running in torque mode will disable errors such as position error which can still occur in other modes if the set torque is too low.

Position Mode

Absolute position and relative position both use the position mode. The key difference in operation between the two is the usage of the start bit in the CM1T_Controlword. An absolute move will accept a new position immediately if the start bit is 1. A relative move requires a rising edge to start the next relative mode.

BITNameValueDescription
B0Start/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 1ms target position not the actual position.
      • This will be the same if there is no position error
      • This is to account for possible drift in a repetitive motion.
1Execute any changes in any of the profile registers immediately.


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