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:
- Connect on port 10001 for CML communication.
- Send and receive ASCII strings within the data packet.
- 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
Overview
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