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.

I/O Messages

The breakdown of the I/O messages is shown below.

T2O (Input) Message

The input message is 32 bytes long.

Byte	Name	Data Type
0-3	us50Counter	DINT
4-7	ActualPosition	DINT
8-11	MotionTarget	DINT
12-15	ActualSpeed	DINT
16-17	MotorStatus	INT
18-19	PercentActualCurrent	INT
20-21	PercentOverloadTorque	INT
22-23	AnalogIN	INT
24-25	DCVoltage	INT
26-27	PAD	INT
28	DigitalIN	SINT
29	Temperature	SINT
30	ModeOfOperationDisplay	SINT
31	ErrorCode	SINT

O2T (Output) Message

The output message is 20 byes long

Byte	Name	Data Type
0-3	TargetPosition	DINT
4-7	TargetSpeed	DINT
8-9	TargetTorque	INT
10-11	TargetAccelertion	INT
12-13	TargetDeceleration	INT
14-15	Controlword	INT
16	ModeOfOperation	SINT
17	DigitalOUT	SINT
18-19	PAD	INT

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 (see I/O Messages). 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.

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

The control modes are mapped to the ModeOfOperation value from the CM1T_ControlMode AOI:

Control Mode	CM1T_ControlMode AOI value	O2T ModeOfOperation Value
Position	0	3
Speed	1	3
Torque	2	11

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.
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. The torque is set in 0.1% of rated torque. The range is [0,1100]. By default the torque is set to 1100 when using the AOIs supplied.

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.

Setting the Start bit to 0 will NOT halt motion. The HALT bit must be used to interrupt motion.

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.

Start Bit Usage

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 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.
		1	Execute any changes in any of the profile registers immediately.

Motion Parameters

Position moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

Name	Unit	Data Type	Access
PositionTarget	counts	DINT	AOI⁽²⁾ or Axis tag
SpeedTarget	counts/s	DINT	AOI or Axis tag
AccelerationTarget	1000 counts/s²	INT	AOI or Axis tag
DecelerationTarget⁽¹⁾	1000 counts/s²	INT	AOI or Axis tag
TorqueTarget	0.1% rated torque	SINT	Axis Tag

(1) If the deceleration is set to 0 the acceleration value will be used
(2) MoveAbsolute or MoveRelative AOI

Speed Mode

A speed move has no target position and will continue to run at the target speed. Setting a -ve speed value will reverse direction.

Start Bit Usage

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.
		1	Execute any changes in any of the profile registers immediately.

Motion Parameters

Speed moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

Name	Unit	Data Type	Access
SpeedTarget	counts/s	DINT	AOI⁽²⁾ or Axis tag
AccelerationTarget	1000 counts/s²	INT	AOI or Axis tag
DecelerationTarget⁽¹⁾	1000 counts/s²	INT	AOI or Axis tag
TorqueTarget	0.1% rated torque (11	SINT	Axis Tag

(1) If the deceleration is set to 0 the acceleration value will be used
(2) MoveSpeed AOI

Torque Mode

A torque move only uses a target torque and maximum speed. Acceleration of the motor should be limited by adjusting the target torque or speed.

Setting a -ve torque value will reverse direction.

Start Bit Usage

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.
		1	Execute any changes in any of the profile registers immediately.

Motion Parameters

Torque moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

Name

Unit

Data Type

Access

SpeedTarget

counts/s

DINT

AOI⁽¹⁾ or Axis tag

TorqueTarget

0.1% rated torque

Range: ± 1100

Where:

1100 = peak torque
1000 = rated torque

SINT

AOI or Axis Tag

(1) MoveTorque AOI

RSLogix Resources

CM1T_Axis Data Type

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

Name	Data Type	Description
Input	SINT[32]	Data coming from the CM1-T
Output	SINT[20]	Data going to the CM1-T
us50Counter	DINT	Motor 50us counter
ModeOfOperation	SINT	Select control mode
ModeOfOperationDisplay	SINT	Current control mode
Controlword	CM1T_Controlword	Control operation
DriveStatus	CM1T_DriveStatus	Drive status
PositionTarget	DINT	Target position for position move
SpeedTarget	DINT	Max speed for target move
TorqueTarget	INT	Max torque for target move
AccelerationTarget	INT	Acceleration for target move
DecelerationTarget	INT	Deceleration for target move
PositionActual	DINT	Actual position of the motor
TargetActual	DINT	1ms target position of the motor
PositionError	DINT	Error between actual and target
SpeedActual	DINT	Actual speed of the motor
CurrentActual	INT	Actual current percentage of the motor (0.1% rated)
OverloadActual	INT	0.1% of overload torque
DCVoltage	INT	24V DC input value at 0.1V
AnalogIN	INT	10bit analog input (0-1023)
DigitalIN	SINT	Read digital inputs
DigitalOUT	SINT	Set digital outputs
Temperature	SINT	Drive temperature in °C
ErrorCode	SINT	Error in communication module

CM1T_Controlword

Name	Data Type	Description
Start	BOOL	Start/New set point
Halt	BOOL	Halt current motion
Relative_Move	BOOL	Execute position move as relative
Speed_Control	BOOL	Execute move as a speed only move
Disable	BOOL	Disable the drive
Reset_Error	BOOL	Reset error with rising edge
Set_to_Zero	BOOL	Set the current position to zero with rising edge
Home	BOOL	Home the motor with rising edge

CM1T_DriveStatus

Name	Data Type	Description
StatusValue	SINT	Motor status and error type
StatusValue1	SINT	Additional motor status
In_Position	BOOL	Motor is in position and ready to move
Moving	BOOL	Motor is currently moving
Disabled	BOOL	Drive is disabled
Error	BOOL	Drive is in error state
MoveComplete	BOOL	Move is completed
NewStartRequired	BOOL	Rising edge required to restart motion
HomeAchieved	BOOL	Homing has been achieved

Cool Muscle User Guides

Servo Gearboxes - Inline and Right Angle

SR Joint Spherical Rolling Joints

Estun ProNet Servo Systems

Contact Information

Tables of Contents

Introduction

Device Profile

I/O Messages

T2O (Input) Message

O2T (Output) Message

Control Modes

Position Mode

Start Bit Usage

Motion Parameters

Speed Mode

Start Bit Usage

Motion Parameters

Torque Mode

Start Bit Usage

Motion Parameters

RSLogix Resources

CM1T_Axis Data Type

CM1T_Controlword

CM1T_DriveStatus

Add-On Instructions