Table of Contents
Usage
All the protocols can use the Direct Control method.
Setting Mode Of Operation
There are a number of modes of operation the motor can be set to.
- CML mode - this is the standard and default mode. If no mode is selected, this is the mode the motor Cool Muscle operates in.
- Profile mode - run position or speed profiles.
- Torque mode - run the motor by adjusting the torque and maximum speed values.
The control registers in the mode selected use either standard CML registers or registers set directly such as through Modbus-TCP. The mode of operation selected indicates where the control registers will be received
The following table lists the mode of operation and the associated registers
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 |
3 | Profile mode using
| |
Torque Mode | 10 | Torque mode using N1, S1 and R1 |
11 | Torque mode using Modbus control registers (see registers starting 41029). |
- Bit0 of the mode of operation selects the register source. I.e. P1 to N1 or the Modbus control registers.
Set the mode of operation by the following
- CML
- Send "_mop=x" on the CML port when x is the value of the mode of operation
- Assign a variable to "mop" and write the variable in a logic bank. E.g. V0="mop".
- Direct
- Set modbus register 41041 to the value of the required mode of operation.
- Set Byte[16] in EtherNet/IP or TCP/UDP
Registers
The following registers are used in the different modes of operation. They are NOT use on CML mode.
Controlword
The Controlword is used to control the motor. The usage does depend on the mode that is selected. See the mode for bit usage. B4-B7 are common to all modes.
Register Name | CML Register | Modbus Register | Unit | Range |
---|---|---|---|---|
Controlword | R1 | 41039 | N/A | See below |
Bit Descriptions:
BIT | Name | Value | Description |
---|---|---|---|
B0 | Operation mode specific | ||
B1 | Operation mode specific | ||
B2 | Operation mode specific | ||
B3 | Operation mode specific | ||
B4 | Disable | 0 1 1 → 0 | Enable the motor Disable the motor Reset any error |
B5 | Reset Error | 0 → 1 | Reset any error |
B6 | Set to Zero | 0 → 1 | Set the current position to 0 |
B7 | Home | 0 → 1 | Start a home search(1) |
(1) Set the home search parameters with K parameters K42-K48
TargetPosition
The TargetPosition sets a new target position for the motor.
Register Name | CML Register | Modbus Register | Unit | Range |
---|---|---|---|---|
TargetPosition | P1 | 41029 | 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.
Register Name | CML Register | Modbus Register | Unit | Range |
---|---|---|---|---|
TargetSpeed | S1 | 41031 | 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.
Register Name | CML Register | Modbus Register | Unit | Range |
---|---|---|---|---|
TargetTorque | N1 | 41033 | 0.1% rated torque | 0-1100 |
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.
Register Name | CML Register | Modbus Register | Unit | Range |
---|---|---|---|---|
TargetAcceleration | A1 | 41035 | Kpulses/second2 | ± 32767 |
If the TargetAcceleration=0 the profile shall be undefined and may result in an unexpected motion profile.
TargetDeceleration
Register Name | CML Register | Modbus Register | Unit | Range |
---|---|---|---|---|
TargetDeceleration | A2 | 41037 | 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.
Register Name | Profile Mode = 2 | Profile Mode = 3 | Description | ||
---|---|---|---|---|---|
CML Registers | Modbus Registers (1) | TCP/UPD Bytes (2) | Ethernet/IP IO Bytes (3) | ||
TargetPosition | P1 | 41029 | 0-3 | 0-3 | The target position the motor will move to.
(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.
|
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. |
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/IP
(3) See EtherNet/IP for additional details
Controlword Usage
Profile mode uses some specific bits in the Controlword
BIT | Name | Value | Description |
---|---|---|---|
B0 | Start/New Set Point | 0 |
|
0 → 1 |
| ||
1 | Execute any changes in any of the profile registers immediately. | ||
B1 | Halt | 0 | Do nothing |
1 |
| ||
B2 | Relative mode | 0 | TargetPosition is an absolute position |
1 | TargetPosition is a relative incremental position | ||
B3 | Speed control | 0 | Position control mode |
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.
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.
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
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.
Register Name | Profile Mode = 2 | Profile Mode = 3 | Description | ||
---|---|---|---|---|---|
TargetSpeed | S1 | 41031 | The maximum speed of the profile | ||
TargetTorque | N1 | 41033 | The maximum torque the motor will use while moving.
| ||
Controlword | R1 | 41039 | Bits in the Controlword dictate torque execution. A more detailed description can be found below. | ||
ModeOfOperation | Set with "mop" | 41041 | |||
DigitalOUT | N/A | 41043 |
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 | NSet with "mop"A | 41043 | 17 | 17 | Binary value to set the digital output (Register K34=44 to enable this function) |
Controlword Usage
Torque mode uses some specific bits in the Controlword
BIT | Name | Value | Description |
---|---|---|---|
B0 | Start/New Set Point | 0 |
|
0 → 1 |
| ||
1 | Following N1 target torque | ||
B1 | Halt | 0 | Do nothing |
1 |
| ||
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
|
0 | 1 | Operation is the same as above. |
0 | 0 | Motion may resume based on values
|
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
Torque Mode Examples
The following example uses the standard registers to run a torque move. This could be run from a Control Room CML script.
R1=0 //clear the controlword before setting the mode _mop=10 //set the mode of operation to 10. Torque mode S1=100 //set target speed N1=300 //set the target torque to 30.0% of rated R1=1 //start the profile move //While R1=1 any change in the torque register will execute an immediate change