Moog Animatics Class 6 SmartMotor User manual

Class 6 SmartMotor
Technology
For the mobile version of this guide, see:
animatics.com/docs/guides-html/c6_pnet/

Copyright Notice
©2012-2019, Moog Inc., Animatics.
Moog Animatics Class 6 SmartMotor™ PROFINET Guide, Rev. D, PN: SC80100007-001.
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. PROFINET
is a registered trademark of PROFIBUS Nutzerorganisation e.V. 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 "PROFINET Guide" in the
subject line and be sent by e-mail to: [e-mail]. Thank you in advance
for your contribution.
Contact Us:
Americas - West
Moog Animatics
2581 Leghorn Street
Mountain View, CA 94043
USA
Americas - East
Moog Animatics
750 West Sproul Road
Springfield, PA 19064
USA
Tel: [phone] Tel: [phone] x3999
Fax: [phone]
Support: 1 [phone]
Website: www.animatics.com
Email: [e-mail]

Table of Contents
Introduction 6
Purpose 7
PROFINET Overview 7
Equipment Required 9
Hardware 9
Software 9
Safety Information 10
Safety Symbols 10
Other Safety Considerations 10
Motor Sizing 10
Environmental Considerations 10
Machine Safety 11
Documentation and Training 12
Additional Equipment and Considerations 12
Safety Information Resources 12
Additional Documents 13
Related Guides 13
Other Documents 13
Additional Resources 14
PROFINET and PROFIBUS Resources 14
PROFINET Motor Pinouts, Connections and Status LEDs 15
PROFINET Motor Connectors and Pinouts 16
Cables and Diagram 17
Moog Animatics Industrial Ethernet Cables 17
M-style to M-style Ethernet Cable 17
M-style to RJ45 Ethernet Cable 17
Ethernet Cable Schematic 17
PROFINET Cable Diagram 18
Maximum Cable Length 18
PROFINET Status LEDs 19
PROFINET Configuration 20
Configure Motor with PC 21
User Program Requirements 21
Required Nonvolatile EEPROM Values 21
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Configure PLC with PC 21
Configure SmartMotor to PROFINET 22
PLC Sends Commands to Motor 22
Network Data Format Example 22
PLCMemory 23
Sequence to Set Report Data to Motor Clock 24
PROFINET Communication Example 25
Sample Command Sequences 29
Overview 30
Command and Response Codes 30
Handshaking of Messages 30
Disabling Limits from Preventing Motion 30
Turning the Motor Shaft 30
Disable Limits and Clear Fault Status 31
Commands 31
PLCMemory 31
Disable positive limit, command EIGN(2) 31
Disable negative limit, command EIGN(3) 32
Clear fault status, command ZS 32
Initiate Mode Torque 33
Commands 33
PLCMemory 33
Set torque value, specify the response data 33
Initiate torque mode, command MT 33
Initiate Relative PositionMove 35
Commands 35
PLCMemory 35
Set acceleration value, command ADT=255 35
Set maximum velocity value, command VT=100000 35
Make a relative position move 36
User Program Commands 38
SNAME("string") 39
IPCTL(function,"string") 39
=ETH, RETH 39
ETHCTL(function, value) 42
Program Example 43
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Output and Input Packets 44
Output and Input Packet Format 45
Command (Output) Packet Notes 50
Response (Input) Packet Notes 51
Alternate Communications Channel 52
Reserved Motor Variables 52
Command and Response Codes 53
Command Packet Codes to Motor Commands 54
Extended 16-bit command codes 61
Response Packet Codes to Motor Commands 64
Extended 16-bit response codes 69
Troubleshooting 72
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Introduction
Introduction
This chapter provides information on the purpose and scope of this manual. It also provides
information on safety notation, related documents and additional resources.
Purpose 7
PROFINET Overview 7
Equipment Required 9
Hardware 9
Software 9
Safety Information 10
Safety Symbols 10
Other Safety Considerations 10
Motor Sizing 10
Environmental Considerations 10
Machine Safety 11
Documentation and Training 12
Additional Equipment and Considerations 12
Safety Information Resources 12
Additional Documents 13
Related Guides 13
Other Documents 13
Additional Resources 14
PROFINET and PROFIBUS Resources 14
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Purpose
Purpose
This manual explains the Moog Animatics Class 6 SmartMotor™ support for the PROFINET®
protocol. It describes the major concepts that must be understood to integrate a SmartMotor
slave with a PLC or other PROFINET master. However, it does not cover all the low-level
details of the PROFINET protocol.
NOTE: The feature set described in this version of the manual refers to motor
firmware 6.0.2.25 or later.
This manual is intended for programmers or system developers who understand the use of
PROFINET. (The PROFINET v2.2 specifications are detailed in the following IECpublications:
IEC61158-6-10 Ed2.0, IEC61158-5-10 Ed2.0 and IEC61784-2 Ed2.0.) Therefore, this manual is
not a tutorial on those specifications or the PROFINET protocol. Instead, it should be used to
understand the specific implementation details for the Moog Animatics SmartMotor.
Additionally, examples are provided for the various modes of motion and accessing those
modes through PROFINET to operate the SmartMotor.
The Command and Response Code chapter of this manual includes details about the specific
commands available in the SmartMotor through the PROFINET protocol. The commands
include those required by the specification and those added by Moog Animatics. For details,
see Command and Response Codes on page 53. Also, see User Program Commands on page
38.
In addition to this manual, it is recommended that you visit the PROFINET/PROFIBUS website
(at http://www.profibus.com), where you will find documentation, tutorials, and other useful
resources.
PROFINET Overview
PROFINET is an independent, open fieldbus standard that allows different manufacturers of
automation products to communicate without special interface adjustments. Specifically,
PROFINET, which is optimized for high speed, is designed to communicate between control
systems and distributed I/O at the device level.
Moog Animatics has defined a set of 8-bit command and response codes to be transmitted and
received over PROFINET. For details, see Command Packet Codes to Motor Commands on
page 54. These codes generally correspond to Class 5 and Class 6 SmartMotor™ commands.
To set target position, for example, the "set target position" command code is transmitted
together with the data consisting of the target position value.
The PROFINET SmartMotor is a SmartMotor with the addition of the PROFINET connectors and
interface board, which then accepts commands as a slave over a PROFINET network. In
addition to communicating over PROFINET, SmartMotor commands may be sent through other
communication interfaces of the SmartMotor. Depending on the SmartMotor model, it may
also communicate over RS-232, RS-485 and/or USB.
The Moog Animatics communications profile over PROFINET is intended to integrate well with
a PLC that continuously transmits and receives cyclic data. The command and response codes
achieve this through a handshaking mechanism.
Certain configuration data is held in nonvolatile storage in the SmartMotor. Therefore, the
motor data EEPROM must be correctly initialized before PROFINET operation.
A PROFINET Generic Station Description (GSD) configuration file, which is an XML file (also
referred to as a "GSDML" file), is necessary for the host to configure the PROFINET master
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PROFINET Overview
and to connect to the slave motor. Make sure you obtain the latest version of the file, which is
available from the Moog Animatics website Download Center. For more details, see Software
on page 9.
Document sections include Output and Input data formats (PROFINET cargo), a list of the
Moog Animatics PROFINET command codes explained in terms of the equivalent SmartMotor
commands, and a list of Moog Animatics PROFINET response codes explained in terms of the
equivalent SmartMotor commands.
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Equipment Required
Equipment Required
The section describes the required PROFINET hardware and software.
Hardware
The following hardware is required:
lMoog Animatics PROFINET SmartMotor™
lMoog Animatics power supply or user-supplied equivalent
lMoog Animatics RS-485 or USB communications cable that is compatible with the
SmartMotor
lUser-supplied PC with the Microsoft Windows operating system
lUser-supplied PLC with PROFINET master or other PROFINET master
lMoog Animatics PROFINET cable, or equivalent, to connect the PLC to the SmartMotor's
industrial Ethernet port (for details, see PROFINET Motor Connectors and Pinouts on
page 16)
Software
The following software is required:
lUser-supplied PLC configuration software
lMoog Animatics SMI software (latest version), which is available on the Moog Animatics
website at:
http://www.animatics.com/support/download-center.html
lMoog Animatics PROFINET GSDML file, which is available on the Moog Animatics
website at:
http://www.animatics.com/support/download-center.html
NOTE: The PROFINET GSD configuration file name will have the form
"GSDML-Vx.x-MOOG ANIMATICS-SMC06DEV01-date.XML", where 'x.x' is the
version and 'date' is the release date. Make sure you obtain the latest version
of the file.
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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 11.
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
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Machine Safety
IP-rated motors for operating in extreme conditions. For details, see the Moog Animatics
Product Catalog, which is available on the Moog Animatics website.
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.
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Documentation and Training
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.
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
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Additional Documents
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
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
lClass 6 SmartMotor™ Installation & Startup Guide
http://www.animatics.com/cl-6-install-startup-guide
lMoog Animatics SmartMotor™ Developer's Guide
http://www.animatics.com/smartmotor-developers-guide
Other Documents
lSmartMotor™ System Best Practices
http://www.animatics.com/system-best-practices-application-note
lSmartMotor™ Product Certificate of Conformance
http://www.animatics.com/download/Declaration of Conformity.pdf
lSmartMotor™ ULCertification
http://www.animatics.com/download/MA_UL_online_listing.pdf
lSmartMotor 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
lMoog Animatics Product Catalog, which is available on the Moog Animatics website
http://www.animatics.com/support/moog-animatics-catalog.html
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Additional Resources
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
lSales and distributor information:
http://www.animatics.com/sales-offices.html
lApplication ideas (including videos and sample programs):
http://www.animatics.com/applications.html
PROFINET and PROFIBUS Resources
PROFINET and PROFIBUS are common standard maintained by PROFIBUS and PROFINET
International (PI):
lPROFIBUS and PROFINET International (PI) website:
http://www.profibus.com/
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PROFINET Motor Pinouts, Connections and Status LEDs
PROFINET Motor Pinouts,
Connections and Status LEDs
The following sections describe the motor pinouts, system connections and the status LEDs.
PROFINET Motor Connectors and Pinouts 16
Cables and Diagram 17
Moog Animatics Industrial Ethernet Cables 17
M-style to M-style Ethernet Cable 17
M-style to RJ45 Ethernet Cable 17
Ethernet Cable Schematic 17
PROFINET Cable Diagram 18
Maximum Cable Length 18
PROFINET Status LEDs 19
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PROFINET Motor Connectors and Pinouts
PROFINET Motor Connectors and Pinouts
The following figure provides an overview of the PROFINET connectors and pinouts available
on the Class 6 SmartMotors.
1
2 3
4
POWER INPUT
PIN FUNCTION DESCRIPTION
1 24 VDC CONTROL I/O POWER
2 EARTH CHASSIS GROUND
3 GND MOTOR COMMON GROUND
4 48 VDC MOTOR POWER
COMMUNICATION
PIN FUNCTION
1 GND-COMMON
2 RS-485B CH0
3 RS-485A CH0
4 ENC A+ (IN/OUT)
5 ENC B- (IN/OUT)
6 ENC A- (IN/OUT)
7 5 VDC OUT
8 ENC B+ (IN/OUT)
1
2
3
4
5
6
7
8
1
2
3
4
5
678
9
10
11
12
I/Os
PIN FUNCTION DEFAULT
1 IN0 GENERAL PURPOSE
2 IN1 GENERAL PURPOSE
3 IN2/POSLIMIT POSITIVE LIMIT
4 IN3/NEGLIMIT NEGATIVE LIMIT
5 IN/OUT4 GENERAL PURPOSE
6 IN /OUT 5 GENERAL PURPOSE
7 IN6 GENERAL PURPOSE
8 IN7-DRVEN DRIVE ENABLE
9 OUT8/BRAKE BRAKE OUTPUT
10 OUT9-NOFAULT NOT FAULT
11 24 VDC OUT* CONTROL I/O POWER
12 GND MOTOR COMMON GROUND
INPUT OR OUTPUT
INPUT, DISCRETE OR ANALOG
POSSIBLE (SELECTABLE) FUNCTIONS
INPUT, DISCRETE OR ANALOG
INPUT
INPUT
INPUT/OUTPUT
INPUT/OUTPUT
INPUT
INPUT
OUTPUT
OUTPUT
POWER OUTPUT**
N/A
GENERAL PURPOSE
GENERAL PURPOSE
POSITIVE LIMIT OR GENERAL PURPOSE
NEGATIVE LIMIT OR GENERAL PURPOSE
GENERAL PURPOSE, OR EXTERNAL ENCODER
INDEX CAPTURE
GENERAL PURPOSE, OR INTERNAL ENCODER
INDEX CAPTURE
GENERAL PURPOSE, G COMMAND, OR
HOMING INPUT (ETHERCAT ONLY)
N/A
NOT FAULT
BRAKE OUTPUT OR GENERAL-PURPOSE OUTPUT
DRIVE ENABLE
*NOTE: 2 AMPS MAX **SUPPLIED FROM POWER INPUT PIN 1
CONTROL I/O POWER
RS-485 serial communication uses a
voltage differential signal. Appropriate
terminating resistors should be included
on the RS-485 network to ensure reliable
performance. For details, see the section
Power and RS-485 Com Multidrop.
1
2
34
Shield tied to motor
housing
LED 4: PROFINET Link 1 Port LED
LED 2: PROFINET System Fail LED
LED 0: Motor Drive LED
LED 5: PROFINET Link 2 Port LED
LED 3: PROFINET Bus Fail LED
LED 1: Motor Busy LED
USB Port LED
SD Card LED
PIN FUNCTION
1 +TD
2 +RD
3 -TD
4 -RD
PROFINET
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Cables and Diagram
Cables and Diagram
This section provides information on Moog Animatics industrial Ethernet cables and a
PROFINET system cable diagram.
Moog Animatics Industrial Ethernet Cables
The following cables are available from Moog Animatics.
M-style to M-style Ethernet Cable
This cable has M12 male threaded connectors at both ends. It is available in 1, 3, 5 and 10
meter lengths. For the standard cable, use part number CBLIP-ETH-MM-xM, where "x"
denotes the cable length. A right-angle version is also available; use part number
CBLIP-ETH-MM-xMRA.
M-style to RJ45 Ethernet Cable
This cable has an M12 male threaded connector at one end, and an RJ45 male connector at the
opposite end. It is available in 1, 3, 5 and 10 meter lengths. For the standard cable, use part
number CBLIP-ETH-MR-xM, where "x" denotes the cable length. A right-angle version is also
available; use part number CBLIP-ETH-MR-xMRA.
Ethernet Cable Schematic
The following figure provides details for creating a custom industrial Ethernet shielded cable.
NOTE: The motor end of the cable requires an industrial Ethernet connector.
Industrial Ethernet Connector
(Motor end of cable)
PIN
1
2
3
4
+TX
+RX
-TX
-RX
DESCRIPTION
Shield tied to motor housing
RJ45 Connector
(EtherCAT master end of cable)
1
2
3
4
5
6
7
8
+TX
-TX
+RX
No Connection
No Connection
-RX
No Connection
No Connection
PIN DESCRIPTION
Shield tied to RJ45 connector
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PROFINET Cable Diagram
PROFINET Cable Diagram
PROFINET can support line, tree or star device-connection topology. The supported network
topology and maximum number of devices depends on the selected PROFINET mode and
network class. For example, higher performing modes, like PROFINET IRT, require
specialized equipment. For PROFINET network design and installation details, see the
information available at:
http://www.profinet.com
CAUTION: To minimize the possibility of electromagnetic interference (EMI),
all connections should use shielded Ethernet Category 5 (Cat 5), or better,
cables.
The following diagram shows an example PROFINET network with the SmartMotors daisy
chained to the master device. An optional "ring" configuration can be created if it is supported
by the selected PROFINET mode and network devices.
PROFINET Bus
Other PROFINET device:
- I/O block,
- Servo drive,
- etc.
PROFINET Master
- PC,
- PLC,
- etc.
Moog Animatics
SmartMotor
Moog Animatics
SmartMotor
Optional ring for cable redundancy*
*Ring conguration requires specic PROFINET modes and supporting devices
NOTE: Unlike other fieldbus protocols, PROFINET does not require terminators at
each end of the network bus.
Maximum Cable Length
For transmission speeds of 100 Megabits/second on shielded Ethernet Cat 5 cable, EtherCAT
and PROFINET allow cable lengths up to 100 meters between network nodes.
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PROFINET Status LEDs
PROFINET Status LEDs
This following figure and tables describe the functionality of the PROFINET Status LEDs on the
SmartMotor.
Off No power
Solid green Drive on
Blinking green Drive off, no faults
Triple red flash Watchdog fault
Solid red Faulted or no drive enable input
Off Not busy
Solid green Drive on, trajectory in progress
Flashing # red Flashes fault code* (see below)
when Drive LED is solid red
Refer to the corresponding SmartMotor
fieldbus guide
Refer to the corresponding SmartMotor
fieldbus guide
Refer to the corresponding SmartMotor
fieldbus guide
Refer to the corresponding SmartMotor
fieldbus guide
Under cover:
USB Active LED
SD Card LED (for SD
Card-equipped motors)
LED 4: PROFINET Link 1 Input LED
LED 2: PROFINET System Fail LED
LED 0: Motor Drive LED
LED 5: PROFINET Link 2 Output LED
LED 3: PROFINET Bus Fail LED
LED 1: Motor Busy LED
LED 0: Motor Drive LED LED 1: Motor Busy LED
LED 3: (Network specific) LED
LED 5: Link LED
LED 2: (Network specific) LED
LED 4: Link LED
LED Status on Power-up:
• With no program and the travel limit inputs are low:
LED 0 solid red; motor is in fault state due to travel limit fault
LED 1 off
• With no program and the travel limits are high:
LED 0 solid red for 500 milliseconds then flashing green
LED 1 off
• With a program that only disables travel limits:
LED 0 red for 500 milliseconds then flashing green
LED 1 off
Flash
1
2
3
4
5
6
7
8
9
10
11
Description
NOT Used
Bus Voltage
Over Current
Excessive Temperature
Excessive Position
Velocity Limit
dE/Dt - First derivative of position error is excessive
Hardware Positive Limit Reached
Hardware Negative Limit Reached
Software Positive Travel Limit Reached
Software Negative Travel Limit Reached
LED 1 Fault Codes:
*Busy LED pauses for 2 seconds before flashing the code
Flickering = On/Off in 0.1 sec; Blinking = On/Off in 0.5 sec; Flashing = separated by 1 sec for PROFINET LEDs and 2 sec for Fault Codes
Flashing green Active
Flashing red Suspended
Solid red USB power detected, no
configuration
USB Active LED
Blinking green Busy, do not remove card
Solid green Card detected
Solid red Card with no SmartMotor data
SD Card LED (for SD Card-equipped motors)
No card, bad or damaged cardO
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PROFINET Configuration
PROFINET Configuration
The following sections describe how to configure your SmartMotor to communicate over
PROFINET.
Configure Motor with PC 21
User Program Requirements 21
Required Nonvolatile EEPROM Values 21
Configure PLC with PC 21
Configure SmartMotor to PROFINET 22
PLC Sends Commands to Motor 22
Network Data Format Example 22
PLCMemory 23
Sequence to Set Report Data to Motor Clock 24
PROFINET Communication Example 25
Moog Animatics Class 6 PROFINET Guide Rev. D
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