MOOG ANIMATICS SMARTMOTOR COMBITRONIC Installation manual

www.animatics.com
DESCRIBES THE INSTALLATION AND
STARTUP OF THE CLASS 5 D- AND
M-STYLE SMARTMOTORS
FULLY INTEGRATED
SERVO MOTORS
INSTALLATION AND STARTUP FOR
CLASS 5 SMARTMOTOR™ WITH
COMBITRONIC™ TECHNOLOGY
For the mobile version of this guide, see:
animatics.com/docs/guides-html/c5_install/
Rev. I, February 2020

Copyright Notice
©2001–2020 Moog Inc.
Moog Animatics Class 5 SmartMotor ™ Installation and Startup Guide, Rev. I, PN: SC80100000-002.
This manual, as well as the software described in it, is furnished under license and may be used or
copied only in accordance with the terms of such license. The content of this manual is furnished for
informational use only, is subject to change without notice and should not be construed as a
commitment by Moog Inc., Animatics. Moog Inc., Animatics assumes no responsibility or liability for
any errors or inaccuracies that may appear herein.
Except as permitted by such license, no part of this publication may be reproduced, stored in a
retrieval system or transmitted, in any form or by any means, electronic, mechanical, recording, or
otherwise, without the prior written permission of Moog Inc., Animatics.
The programs and code samples in this manual are provided for example purposes only. It is the
user's responsibility to decide if a particular code sample or program applies to the application being
developed and to adjust the values to fit that application.
Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo, Combitronic and
the Combitronic logo are all trademarks of Moog Inc., Animatics. Other trademarks are the property of
their respective owners.
Please let us know if you find any errors or omissions in this manual so that we can improve it for
future readers. Such notifications should contain the words "Class 5 Installation and Startup Guide" in
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Contact Us:
Americas - West
Moog Animatics
2581 Leghorn Street
Mountain View, CA 94043
USA
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Moog Animatics
1995 NC Hwy 141
Murphy, NC 28906
USA
Tel: [phone] Tel: [phone]
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Support: 1 [phone]
Website: www.animatics.com
Email: [e-mail]

Table Of Contents
Introduction 6
Purpose 7
Combitronic Technology 7
I/ODevice CANBus Master 7
Safety Information 8
Safety Symbols 8
Other Safety Considerations 8
Motor Sizing 8
Environmental Considerations 8
Machine Safety 9
Documentation and Training 9
Additional Equipment and Considerations 10
Safety Information Resources 10
Additional Documents 11
Related Guides 11
Other Documents 11
Additional Resources 11
SmartMotor Overview 13
SmartMotor Introduction 14
SmartMotor Features and Options 15
D-Style Motors 15
M-Style Motors 17
Fieldbus Options 18
CANopen Fieldbus Protocol 18
DeviceNet Fieldbus Protocol 19
PROFIBUS Fieldbus Protocol 20
DEPower Option (D-Style Motors) 21
IP65 and IP67 M-Style Motors 22
SmartMotor Theory of Operation 23
Getting Started 25
Unpacking and Verifying Your Shipment 27
Installing the SMI Software 27
Installation Procedure 27
Installation Verification 30
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Accessing the SMI Software Interface 30
Understanding the Power Requirements 33
SmartMotor Power Requirements 33
D-style CPU, I/O and Communications Power 34
CPU Power Requirements 34
I/O Power Requirements 34
Communications Power Requirements 34
M-Style CPU, I/O and Communications Power 34
CPU Power Requirements 34
I/O Power Requirements 34
Communications Power Requirements 35
M-Style Drive Enable Power 35
Connecting the System 35
Minimum Requirements 36
D-Style Motors: Connectors and Pinouts 36
D-Style Motors: Demo or Development System 37
D-Style Motors: RS-232 Through USB 37
Adding a USBAdapter 37
D-Style Motors: RS-232 with Protective Shunt 39
D-Style Motors: RS-232 Multidrop with Add-A-Motor Cables 39
D-Style Motors: RS-232 Multidrop with Custom X-Y-Z Cable 40
D-Style Motors: DEPower Option Schematic 41
D-Style Motors: CDS Option Schematic 41
CDS on the DA-15 Connector 42
CDS on the 7W2 Connector (CDS7) 42
M-Style Motors: Connectors and Pinouts 46
M-Style Motors: Power, RS-485 Com and CAN Multidrop 47
M-Style Motors: Power Multidrop 47
M-Style Motors: RS-232 to RS-485 Multidrop 48
M-Style Motors: CANopen or DeviceNet Multidrop 49
Understanding the Status LEDs 50
Detecting and Addressing the SmartMotors 51
Understanding the Detection and Addressing Options 51
Using the Find Motors Button 53
Using the Detect Motors Feature 55
Using the Address Motors Feature 57
Checking and Clearing the Status Bits 59
Polling the Motor 60
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Clearing the Overtravel Limits and Fault Bits 61
Moving the SmartMotor 62
Making the Motor Move 62
Setting and Reporting Torque 63
Checking the Motor Position 64
Viewing the Motor Position with a Report Command 64
Viewing the Motor Position with the Motor View Tool 64
Connectors, Pinouts and Examples 66
Class 5 D-Style Connector Pinouts 67
Class 5 D-Style I/O Connection Examples 68
Class 5 M-Style Connector Pinouts 70
Class 5 M-Style I/O Connection Examples 71
Troubleshooting 74
For Further Information... 75
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Introduction
Introduction
This chapter provides information on the purpose of the manual, safety information, and additional
documents and resources.
Purpose 7
Combitronic Technology 7
I/ODevice CANBus Master 7
Safety Information 8
Safety Symbols 8
Other Safety Considerations 8
Motor Sizing 8
Environmental Considerations 8
Machine Safety 9
Documentation and Training 9
Additional Equipment and Considerations 10
Safety Information Resources 10
Additional Documents 11
Related Guides 11
Other Documents 11
Additional Resources 11
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Purpose
Purpose
The Class 5 SmartMotor™ Installation and Startup Guide provides an overview of the Class 5
SmartMotor, along with information on unpacking, installation and start up. This guide is meant to be
used in conjunction with the SmartMotor Developer's Guide , which describes the SmartMotor features,
SMIsoftware, programming, commands, and other topics related to SmartMotor application
development.
The information in this guide is meant to be used by properly trained technical personnel only. Moog
Animatics conducts classroom-style SmartMotor training several times per year, as well as product
seminars and other training opportunities. For more information, please see the Moog Animatics
website or contact your Moog Animatics representative.
Combitronic Technology
The most unique feature of the SmartMotor is its ability to communicate with other SmartMotors and
share resources using Moog Animatics’ Combitronic™ technology. Combitronic is a protocol that
operates over a standard CAN interface. It may coexist with either CANopen or DeviceNet protocols. It
requires no single dedicated master to operate. Each SmartMotor connected to the same network
communicates on an equal footing, sharing all information, and therefore, sharing all processing
resources.
For additional details, see the SmartMotor™ Developer's Guide .
I/ODevice CANBus Master
Expanded I/Ocapability allows the SmartMotor to interface with standard CiA 301 CANopen devices
and function as the I/O device CAN bus master (i.e., no external bus master needed). For more details,
see the SmartMotor™ Developer's Guide . For CANopenobject descriptions, see the Class 5
SmartMotor™ CANopen Guide .
CANopen
ABS Encoder
Be sure to follow proper guidelines for CAN bus cabling and termination.
CANopen Valve Block
CANopen
REMOTE I/O
Without data collision!
TM
Motor to Motor
Motor to I/O
®
SmartMotor as I/ODevice CAN Bus Master
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Safety Information
Safety Information
This section describes the safety symbols and other safety information.
Safety Symbols
The manual may use one or more of the following safety symbols:
WARNING: This symbol indicates a potentially nonlethal mechanical hazard,
where failure to follow the instructions could result in serious injury to the
operator or major damage to the equipment.
CAUTION: This symbol indicates a potentially minor hazard, where failure to
follow the instructions could result in slight injury to the operator or minor damage
to the equipment.
NOTE: Notes are used to emphasize non-safety concepts or related information.
Other Safety Considerations
The Moog Animatics SmartMotors are supplied as components that are intended for use in an
automated machine or system. As such, it is beyond the scope of this manual to attempt to cover all
the safety standards and considerations that are part of the overall machine/system design and
manufacturing safety. Therefore, the following information is intended to be used only as a general
guideline for the machine/system designer.
It is the responsibility of the machine/system designer to perform a thorough "Risk Assessment" and
to ensure that the machine/system and its safeguards comply with the safety standards specified by
the governing authority (for example, ISO, OSHA, UL, etc.) for the locale where the machine is being
installed and operated. For more details, see Machine Safety on page 9.
Motor Sizing
It is the responsibility of the machine/system designer to select SmartMotors that are properly sized
for the specific application. Undersized motors may: perform poorly, cause excessive downtime or
cause unsafe operating conditions by not being able to handle the loads placed on them. The System
Best Practices document, which is available on the Moog Animatics website, contains information and
equations that can be used for selecting the appropriate motor for the application.
Replacement motors must have the same specifications and firmware version used in the approved
and validated system. Specification changes or firmware upgrades require the approval of the system
designer and may require another Risk Assessment.
Environmental Considerations
It is the responsibility of the machine/system designer to evaluate the intended operating environment
for dust, high-humidity or presence of water (for example, a food-processing environment that requires
water or steam wash down of equipment), corrosives or chemicals that may come in contact with the
machine, etc. Moog Animatics manufactures specialized IP-rated motors for operating in extreme
conditions. For details, see the Moog Animatics Product Catalog .
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Machine Safety
Machine Safety
In order to protect personnel from any safety hazards in the machine or system, the machine/system
builder must perform a "Risk Assessment", which is often based on the ISO 13849 standard. The
design/implementation of barriers, emergency stop (E-stop) mechanisms and other safeguards will be
driven by the Risk Assessment and the safety standards specified by the governing authority (for
example, ISO, OSHA, UL, etc.) for the locale where the machine is being installed and operated. The
methodology and details of such an assessment are beyond the scope of this manual. However, there
are various sources of Risk Assessment information available in print and on the internet.
NOTE: The following list is an example of items that would be evaluated when performing the Risk
Assessment. Additional items may be required. The safeguards must ensure the safety of all
personnel who may come in contact with or be in the vicinity of the machine.
In general, the machine/system safeguards must:
lProvide a barrier to prevent unauthorized entry or access to the machine or system. The barrier
must be designed so that personnel cannot reach into any identified danger zones.
lPosition the control panel so that it is outside the barrier area but located for an unrestricted
view of the moving mechanism. The control panel must include an E-stop mechanism. Buttons
that start the machine must be protected from accidental activation.
lProvide E-stop mechanisms located at the control panel and at other points around the
perimeter of the barrier that will stop all machine movement when tripped.
lProvide appropriate sensors and interlocks on gates or other points of entry into the protected
zone that will stop all machine movement when tripped.
lEnsure that if a portable control/programming device is supplied (for example, a hand-held
operator/programmer pendant), the device is equipped with an E-stop mechanism.
NOTE: A portable operation/programming device requires many additional system design
considerations and safeguards beyond those listed in this section. For details, see the
safety standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for
the locale where the machine is being installed and operated.
lPrevent contact with moving mechanisms (for example, arms, gears, belts, pulleys, tooling, etc.).
lPrevent contact with a part that is thrown from the machine tooling or other part-handling
equipment.
lPrevent contact with any electrical, hydraulic, pneumatic, thermal, chemical or other hazards
that may be present at the machine.
lPrevent unauthorized access to wiring and power-supply cabinets, electrical boxes, etc.
lProvide a proper control system, program logic and error checking to ensure the safety of all
personnel and equipment (for example, to prevent a run-away condition). The control system
must be designed so that it does not automatically restart the machine/system after a power
failure.
lPrevent unauthorized access or changes to the control system or software.
Documentation and Training
It is the responsibility of the machine/system designer to provide documentation on safety, operation,
maintenance and programming, along with training for all machine operators, maintenance technicians,
programmers, and other personnel who may have access to the machine. This documentation must
include proper lockout/tagout procedures for maintenance and programming operations.
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Additional Equipment and Considerations
It is the responsibility of the operating company to ensure that:
lAll operators, maintenance technicians, programmers and other personnel are tested and
qualified before acquiring access to the machine or system.
lThe above personnel perform their assigned functions in a responsible and safe manner to
comply with the procedures in the supplied documentation and the company safety practices.
lThe equipment is maintained as described in the documentation and training supplied by the
machine/system designer.
Additional Equipment and Considerations
The Risk Assessment and the operating company's standard safety policies will dictate the need for
additional equipment. In general, it is the responsibility of the operating company to ensure that:
lUnauthorized access to the machine is prevented at all times.
lThe personnel are supplied with the proper equipment for the environment and their job
functions, which may include: safety glasses, hearing protection, safety footwear, smocks or
aprons, gloves, hard hats and other protective gear.
lThe work area is equipped with proper safety equipment such as first aid equipment, fire
suppression equipment, emergency eye wash and full-body wash stations, etc.
lThere are no modifications made to the machine or system without proper engineering
evaluation for design, safety, reliability, etc., and a Risk Assessment.
Safety Information Resources
Additional SmartMotor safety information can be found on the Moog Animatics website; open the file
"109_Controls, Warnings and Cautions.pdf" located at:
http://www.animatics.com/support/moog-animatics-catalog.html
OSHA standards information can be found at:
https://www.osha.gov/law-regs.html
ANSI-RIA robotic safety information can be found at:
http://www.robotics.org/robotic-content.cfm/Robotics/Safety-Compliance/id/23
UL standards information can be found at:
http://ulstandards.ul.com/standards-catalog/
ISOstandards information can be found at:
http://www.iso.org/iso/home/standards.htm
EUstandards information can be found at:
http://ec.europa.eu/growth/single-market/european-standards/harmonised-standards/index_en.htm
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Additional Documents
Additional Documents
The Moog Animatics website contains additional documents that are related to the information in this
manual. Please refer to the following list.
Related Guides
lMoog Animatics SmartMotor™ Installation & Startup Guides
http://www.animatics.com/install-guides
l
SmartMotor™ Developer's Guide
http://www.animatics.com/smartmotor-developers-guide
l
SmartMotor™ System Best Practices
http://www.animatics.com/system-best-practices-application-note
Other Documents
l
SmartMotor™ Product Certificate of Conformance
http://www.animatics.com/download/Declaration of Conformity.pdf
l
SmartMotor™ ULCertification
http://www.animatics.com/download/MA_UL_online_listing.pdf
l
SmartMotor Developer's Worksheet
(interactive tools to assist developer: Scale Factor Calculator, Status Words, CAN Port Status,
Serial Port Status, RMODE Decoder and Syntax Error Codes)
http://www.animatics.com/tools
l
Moog Animatics Product Catalog
http://www.animatics.com/support/moog-animatics-catalog.html
Additional Resources
The Moog Animatics website contains useful resources such as product information, documentation,
product support and more. Please refer to the following addresses:
lGeneral company information:
http://www.animatics.com
lProduct information:
http://www.animatics.com/products.html
lProduct support (Downloads, How To videos, Forums, Knowledge Base, and FAQs):
http://www.animatics.com/support.html
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Additional Resources
lSales and distributor information:
http://www.animatics.com/sales-offices.html
lApplication ideas (including videos and sample programs):
http://www.animatics.com/applications.html
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SmartMotor Overview
SmartMotor Overview
This chapter provides an overview of the design philosophy and functionality of the Moog Animatics
SmartMotor. It also provides information on SmartMotor features and options, and where to find
related documents and additional resources.
SmartMotor Introduction 14
SmartMotor Features and Options 15
D-Style Motors 15
M-Style Motors 17
Fieldbus Options 18
CANopen Fieldbus Protocol 18
DeviceNet Fieldbus Protocol 19
PROFIBUS Fieldbus Protocol 20
DEPower Option (D-Style Motors) 21
IP65 and IP67 M-Style Motors 22
SmartMotor Theory of Operation 23
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SmartMotor Introduction
SmartMotor Introduction
The Moog Animatics SmartMotor™ servo is an industrial servo motor with motion controller integrated
into a compact package. Its design is based on the following objectives:
1. Reduce development time
2. Lower machine-production cost
3. Simplify the machine (design, build and support)
D-Style Cast and Extruded SmartMotors
NOTE: Information in this guide applies to both the cast and extruded motors.
M-Style SmartMotors
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SmartMotor Features and Options
The SmartMotor is powerful and unique because of its ability to control an entire machine. The
combination of programmability, networking, I/O and servo performance is unmatched. The
SmartMotor brings savings and value to the machine builder by removing complex and costly
elements in the machine design, such as PLCs, sensors, I/O blocks, cabinets, etc.
SmartMotor Features and Options
NOTE: All specifications are subject to change without notice. Consult the factory for the latest
information.
The Class 5 SmartMotor is available in D-style and M-style configurations. All SmartMotors offer the
following features:
lFull floating-point math and trigonometric functions with 32-bit precision results
lDual trajectory generators enabling relative and absolute position moves or velocity moves on
top of gearing or camming
lAdvanced gearing allowing preset traverse and take-up winding parameters including dwells
and wrap counts
lAdvanced camming including cubic spline interpolation and dynamic frequency and amplitude
changes. Add onto gearing for complex traverse and take-up winding patterns.
lStand-alone, multi-axis linear interpolation with as many as 120 SmartMotors at a time
lVirtual-axis mastering into camming through gearing, which enables stand-alone, multi-axis
coordinated motion
lProgrammable and non-programmable protection features (both hardware and software)
The following sections describe the similarities and differences between the D-style and M-style
configurations.
In addition to this information, there is Product Foldout available on the Moog Animatics website,
which illustrates the standard and optional features of the D-style and M-style motors. To access the
foldout, use the following address:
http://www.animatics.com/support/download-center.html
and select the Product Info Center tab.
A note about SmartMotor part numbers:
The SmartMotor uses a coded part number, which contains characters that describe the motor number,
frame style and options. For details on decoding the SmartMotor part number, refer the Understanding
SmartMotor Part Numbers document at this address:
https://www.animatics.com/download/Understanding%20SmartMotor%20Part%20Numb
ers.pdf
D-Style Motors
All D-style SmartMotors have:
lA primary RS-232 communications port
lA secondary RS-485 communications port
lSeven channels of 5 VDC TTL non-isolated I/O
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D-Style Motors
lTen optional channels of expanded 24 VDC isolated I/O
lA dedicated, single-ended encoder output
The following industrial (Fieldbus protocol) communications options are available on the D-style
motors. (Availability varies by model number; contact the factory for details.)
lCANopen option
lPROFIBUS option
lDeviceNet option
For more details, see Fieldbus Options on page 18.
All firmware options include:
lModbus Remote Terminal Unit (RTU) Slave (RS-485 COM 1)
lDMX Slave (RS-485 COM 1)
In addition, a hardware DEpower option is available, which allows the controller and drive amplifier to
be powered from separate power sources. For more details, see DEPower Option (D-Style Motors) on
page 21.
CAUTION: For D-style SmartMotors, pins 14 and 15 of the 15-pin D-sub port are
intended for use with DE series motors for control power only. Attempts to power
a non-DE motor through those pins as main servo drive power could result in
immediate damage to the electronics and will void the warranty.
The D-style motors are available in the following NEMAframe sizes:
lNEMA 17
lNEMA 23
lNEMA 34
The following figure shows the connector and LED locations for the D-style motors. For details on the
D-style motor connectors, see D-Style Motors: Connectors and Pinouts on page 36. For details on the
LED functions, see Understanding the Status LEDs on page 50.
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M-Style Motors
15-Pin D-Sub I/O
7-Pin Combo D-Sub
Power & I/O
CAN Fault LED
CAN Status LED
CAN Connector
Expanded I/O Connector
Power/Servo LED
Trajectory LED
D-Style Motor Connectors and LEDs
M-Style Motors
All M-style SmartMotors have:
lA primary RS-485 communications port
lEleven channels of general purpose 24 VDC isolated I/O
lA dedicated Drive-Enable Input and NOT-FAULT Output
lA dedicated differential ±5V encoder bus
The following industrial (Fieldbus protocol) communications options are available on the M-style
motors. (Availability varies by model number; see the Moog Animatics Product Catalog for details.)
lCANopen option
lDeviceNet option
NOTE: The PROFIBUS fieldbus protocol is not available on the M-style motors.
All firmware options include:
lModbus Remote Terminal Unit (RTU) Slave (RS-485 COM 0)
lDMX Slave (RS-485 COM 0)
In addition, a hardware DEpower option is available, which allows the controller and drive amplifier to
be powered from separate power sources. For more details on the Fieldbus and DE options, see
Fieldbus Options on page 18 and DEPower Option (D-Style Motors) on page 21.
The M-style motors are available in the following NEMAframe sizes:
lNEMA 23
lNEMA 34
The following figure shows the connector and LED location for the M-style motors. For details on the
M-style motor connectors, see M-Style Motors: Connectors and Pinouts on page 46. For details on the
LED functions, see Understanding the Status LEDs on page 50.
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Fieldbus Options
8-Pin COM Encoder Bus
CAN Fault LED
CAN Status LED
CAN Connector
12-Pin I/O Connector
Power/Servo LED
Trajectory LED
4-Pin Power Input
5-Pin Limit Inputs
M-Style Motor Connectors and LEDs
Fieldbus Options
This section details the Fieldbus communications protocol options that are available on certain
models of SmartMotors.
CANopen Fieldbus Protocol
NOTE: This protocol is available on D-style and M-style motors.
The CANopen fieldbus protocol provides the following features:
lAll basic Motion commands available through the CiA V4.02 specification
lAbility to read/write all SmartMotor variables
lUse of on-board I/O through CANopen gateway, SmartMotor program or serial commands
lAbility to run 1000 SmartMotor subroutines through CANopen
lOnline diagnostics of the SmartMotor through SMI software and serial connection
lUp to 127 nodes
l250 microsecond interrupt-driven subroutine
lBaud rates of 20 Kbps, 50 Kbps, 125 Kbps (default), 250 Kbps, 500 Kbps and 1 Mbps
lExpanded I/Ocapability allows the SmartMotor to interface with standard CiA 301 CANopen
devices and function as the I/O device CAN bus master (i.e., no external bus master needed).
For more details, see the SmartMotor™ Developer's Guide . For CANopenobject descriptions,
see the Class 5 SmartMotor™ CANopen Guide .
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DeviceNet Fieldbus Protocol
The following figure shows the location of the CANopen port and the corresponding pinouts.
5-Pin CANopen Connector
(female is standard)
Not Connected
+V (not connected)
-V (ground)
CANopen Pinout:
NOTES:
Pin 2 is not connected, except on DeviceNet systems.
Pin 3 is isolated on D-style motors and unisolated on M-style motors.
Male connector is an option on M-style motors.
CAN-H
CAN-L
M-Style D-Style
1
2
3
4
5
CANopen Connector Location and Pinouts
For more connector/pinout details, see Connecting the System on page 35
DeviceNet Fieldbus Protocol
NOTE: This protocol is available on D-style and M-style motors.
The DeviceNet Fieldbus protocol provides the following features:
lPolled I/O and Explicit Messages from your PLC to control all SmartMotor operation
lRead/write control over all Open DeviceNet Vendor Association (ODVA) position-controller
parameters
lUse of on-board I/O through DeviceNet, SmartMotor program or serial commands
lAbility to run 1000 SmartMotor subroutines through DeviceNet and read/write four 32-bit user
variables
lOnline diagnostics of the SmartMotors through SMI software and serial connection
lUp to 64 DeviceNet nodes
l250 microsecond interrupt-driven subroutine
lBaud rates of 125 Kbps, 250 Kbps and 500 Kbps (the default is 125 Kbps)
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PROFIBUS Fieldbus Protocol
The following figure shows the location of the DeviceNet port and the corresponding pinouts.
5-Pin DeviceNet Connector
(female is standard)
Not Connected
+24V (connected)
-V (ground)
CAN-H
CAN-L
M-StyleM-Style
NOTES:
Pin 2 is connected only on DeviceNet systems; input current < 10mA.
Pin 3 is isolated on D-style motors and unisolated on M-style motors.
Male connector is an option on M-style motors.
M-Style D-Style
DeviceNet Pinout:
1
2
3
4
5
DeviceNet Connector Location and Pinouts
For more connector/pinout details, see Connecting the System on page 35
PROFIBUS Fieldbus Protocol
NOTE: The PROFIBUS fieldbus protocol is not available on the M-style motors.
The PROFIBUS fieldbus protocol provides the following features:
lCommand/Response Codes for all Class 5 SmartMotor commands
lUse of on-board I/O through PROFIBUS, SmartMotor program, or RS-232 commands
lAbility to run 1000 SmartMotor subroutines through PROFIBUS
lAbility to read/write all SmartMotor variables
lOnline diagnostics of the SmartMotors through SMI software and RS-232 connection
lUp to 127 PROFIBUS nodes
l250 microsecond interrupt-driven subroutine
lBaud rates of 9.6 Kbps, 19.2 Kbps, 31.25 Kbps, 45.45 Kbps, 93.75 Kbps, 187.5 Kbps,
500 Kbps, 1.5 Mbps, 3 Mbps, 6 Mbps and 12 Mbps (the default is 1.5 Mbps)
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