Moog SmartMotor SM34165MT-IP Parts list manual

EtherNet/IP
Guide
Class 6 SmartMotor
Technology
For the mobile version of this guide, see:
animatics.com/docs/guides-html/c6_eip_pc/

Copyright Notice
©2015, Moog Inc., Animatics.
Moog Animatics Class 6 SmartMotor™ EtherNet/IP Guide, Rev. B, SC80100010-001.
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 con-
strued as a commitment by Moog Inc., Animatics. Moog Inc., Animatics assumes no respons-
ibility 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, record-
ing, 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 applic-
ation being developed and to adjust the values to fit that application.
Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo, Com-
bitronic and the Combitronic logo are all trademarks of Moog Inc., Animatics. CIP, DeviceNet
and EtherNet/IP are trademarks of ODVA, Inc. 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 "EtherNet/IP Guide" in the sub-
ject line and be sent by e-mail to: [e-mail]. Thank you in advance for
your contribution.
Contact Us:
Moog Inc., Animatics
1421 McCarthy Boulevard
Milpitas, CA 95035
USA
Tel: [phone]
Fax: [phone]
Support: 1 [phone]
www.animatics.com

Table of Contents
Introduction 7
Purpose 8
Abbreviations and Definitions 9
Safety Information 11
Safety Symbols 11
Other Safety Considerations 11
Safety Information Resources 13
Additional Documents 14
Additional Resources 15
EtherNet/IP Overview 17
EtherNet/IP Introduction 18
The OSI Model 18
EtherNet/IP Adaptation of CIP 19
Objects 21
Objects 21
Classes, Instances and Attributes 22
Messaging 23
Explicit (Non-cyclic) Messages 23
Implicit (Cyclic) Messages 23
Explicit/Implicit Messaging Example 23
Connections, Wiring and Status LEDs 25
Connectors and Pinouts 26
M-Style Motor Connectors and Pinouts 26
Moog Animatics Industrial Ethernet Cables 27
EtherNet/IP Custom Cable 27
Cable Diagram 28
EtherNet/IP Cable Diagram 28
Status LEDs 29
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 3 of 160

EtherNet/IP on Class 6 SmartMotors 31
EtherNet/IP Implementation 32
EtherNet/IP Identity 32
EtherNet/IP Software Version Numbers 32
Device Profile 32
SmartMotor Device Profile Overview 33
CIP Objects for EtherNet/IP Devices 33
Application Objects for Position Controller Devices 34
Additional Objects 34
EDS File 35
EtherNet/IP User Program Commands 37
Network Settings and Status Commands 38
Program Example 40
Status and Diagnostic Codes 41
Status/Error Codes 41
Diagnostic Codes 41
Position Controller Device (0x10) 43
Position Controller Device Application Objects 44
Position Controller Device Object Model 44
Position Controller Implicit I/O Messages 45
General Command and Response Message Types 45
Attribute GET/SET Command Types 0x1A and 0x1B 50
Error Response Message Type (0x14) 51
Semantics for Command and Response Messages 52
Position Controller I/O Handshaking 55
Profile Moves 56
Torque Command 57
Control Mode Change - Change Dynamic 57
Position Controller Implicit I/O Message Examples 58
SmartMotor Notes 58
Set Acceleration 58
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 4 of 160

Set Velocity, Leave Drive ON 59
Set Target Position, Perform Move 59
Disable Hardware Limits (Object 0x25, Attribute 49) 59
Extended Position Move (32-byte frame) 60
Object Reference 61
Required Objects 62
Identity Object (0x01) 63
Instance Attributes Semantics 65
Message Router Object (0x02) 67
Assembly Object (0x04) 68
Connection Manager Object (0x06) 69
TCP/IP Interface Object (0xF5) 70
Instance Attributes Semantics 74
Ethernet Link Object (0xF6) 77
Instance Attributes Semantics 80
Application Objects 83
Position Controller Supervisor (0x24) 84
Position Controller (0x25) 86
Additional Objects 91
Device Level Ring (DLR) Object (0x47) 92
Instance Attributes Semantics 93
QoS Object (0x48) 94
SmartMotor I/O Object (0x71) 96
AOI Descriptions - Allen Bradley PLC 99
SM6_Attribute_Ext_Clear - Clear Attribute to Get (Extended Command) 100
SM6_Attribute_Ext_Get - Load Attribute to Get ID & Wait (Extended Command) 101
SM6_Attribute_Ext_Load - Load Attribute to Get ID (Extended Command) 102
SM6_Attribute_Ext_Value - Return Attribute data (Extended Command) 104
SM6_Clear_Flags - Reset System State Flag 106
SM6_Disable - Disable Drive 107
SM6_Drive - Drive Data Exchange 108
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 5 of 160

SM6_Enable - Enable Drive 110
SM6_Get_Attribute - Get Drive Attribute 111
SM6_Move_Position_Ext - Position Move(Extended Command) 112
SM6_Move_Velocity_Ext - Velocity Move(Extended Command) 114
SM6_Move_Torque - Apply Torque 116
SM6_Set_Acceleration - Set Drive Acceleration 117
SM6_Set_Attribute - Set Drive Attribute 118
SM6_Set_Deceleration - Set Drive Deceleration 119
SM6_Set_Mode - Set Drive Mode 120
SM6_Set_Position - Set Drive Position 121
SM6_Set_Variable_u - Set Drive Variable "u" 122
SM6_Set_Velocity - Set Drive Target Velocity 123
SM6_Stop_Hard - Perform a Hard Stop 124
SM6_Stop_Smooth - Perform a Smooth Stop 125
Adding AOI Support - Allen Bradley PLC 127
Extracting the SmartMotor Support files 128
Adding a SmartMotor Module 129
Importing the UDTs 136
Importing the AOIs 140
SmartMotor AOI Example 144
Troubleshooting 155
Reference Documents 157
ODVA Specifications 157
ODVA Libraries 157
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 6 of 160

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 8
Abbreviations and Definitions 9
Safety Information 11
Safety Symbols 11
Other Safety Considerations 11
Safety Information Resources 13
Additional Documents 14
Additional Resources 15
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 7 of 160

Purpose
Purpose
This manual explains the Moog Animatics Class 6 SmartMotor™ support for the EtherNet/IP™
protocol. It describes the major concepts that must be understood to integrate a SmartMotor
slave with a PLC or other EtherNet/IP master. However, it does not cover all the low-level
details of the EtherNet/IP protocol.
NOTE: The feature set described in this manual requires a specific motor firmware
version. Please consult Moog Animatics for the proper software version.
This manual is intended for programmers or system developers who have read and under-
stand THECIPNETWORKSLIBRARYVolume1-CommonIndustrialProtocol(CIP™) and THE
CIPNETWORKSLIBRARYVolume2-EtherNet/IPAdaptationofCIP, which are published and
maintained by ODVA.org (http://www.odva.org). Therefore, this manual is not a tutorial on
those specifications or the EtherNet/IP protocol. Instead, it should be used to understand the
specific implementation details for the Moog Animatics SmartMotor. For a general overview of
EtherNet/IP, see EtherNet/IP Overview on page 17.
The reference chapters of this manual include details about the specific commands available
in the SmartMotor through the EtherNet/IP protocol. The commands include those required by
the specifications and those added by Moog Animatics.
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 8 of 160

Abbreviations and Definitions
Abbreviations and Definitions
The following table provides a list of abbreviations and definitions of terms that may be used
in this manual or related documents.
Abbreviation/
Term Description
API Actual Packet Interval
ASCII American Standard Code for Information Interchange
AT Acceleration Target
BOI Buss-Off Interrupt
Client A device that sends a request to, and expects a response from, a server.
Consumer Network device that reads messages from a producer device.
CoS Change of State I/O trigger
DC Direct Current
DLR Device Level Ring. A ring topology that allows the Ethernet devices to
keep communicating if there is a break in the ring.
DT Deceleration Target
EDS Electronic Data Sheet. A text file that contains configuration information
for the device.
EPR Expected Packet Rate
EtherNet/IP Ethernet Industrial Protocol
Explicit mes-
saging
(Non-cyclic) Not time-sensitive, typically used for network and device
configuration, and setup of cyclic connections.
FOC Field Oriented Current
FTP File Transfer Protocol
IE Industrial Ethernet
Implicit mes-
saging
(Cyclic) Timely, repetitive transfer of data, typically used for I/O control
(e.g., PID loop closure).
IN Input
LAN Local Area Network
MACID Media Access Control Identifier
NASM Network Access State Machine
ODVA Open DeviceNet Vendors Association, Inc, which is the standards organ-
ization that maintains the specifications for the CIP industrial network pro-
tocols.
OUT Output
PDU Protocol Data Unit
PLC Programmable Logic Controller
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 9 of 160

Abbreviations and Definitions
Abbreviation/
Term Description
Producer A device that puts messages on the network for "consumer" devices
(other network devices that will read the messages).
PU Position Units
PV Profile Velocity (mode)
PT Position Target
RTE Real-Time Ethernet
Rx Receive
Server A device that receives requests from clients and sends responses to
them.
Slave device Device consuming data transfers from a Network Master. A PLC (Pro-
grammable Logic Controller) is a good example of a Master.
SMI SmartMotor Interface (software)
STD State Transition Diagram
TCP Transmission Control Protocol
TQ Torque (mode)
Tx Transmit
UDP User Datagram Protocol
UCMM Unconnected Message Manager
VU Velocity Units
VT Velocity Target
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 10 of 160

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 non-lethal 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 potential minor hazard, where failure to fol-
low the instructions could result in slight injury to the operator or minor dam-
age 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 Assess-
ment" and to ensure that the machine/system and its safeguards comply with the safety stand-
ards 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 12.
Motor Sizing
It is the responsibility of the machine/system designer to select SmartMotors that are prop-
erly sized for the specific application. Undersized motors may: perform poorly, cause excess-
ive downtime or cause unsafe operating conditions by not being able to handle the loads
placed on them. The MoogAnimaticsProductCatalog, which is available on the Moog Anim-
atics website, contains information and equations that can be used for selecting the appro-
priate 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
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 11 of 160

Other Safety Considerations
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, 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) mech-
anisms 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 assess-
ment are beyond the scope of this manual. However, there are various sources of Risk Assess-
ment information available in print and on the internet.
NOTE: The following list is an example of items that would be evaluated when per-
forming 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 unres-
tricted view of the moving mechanism. The control panel must include an E-stop mech-
anism. 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 pro-
tected 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 sec-
tion. For details, see the safety standards specified by the governing author-
ity (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-hand-
ling 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.
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 12 of 160

Safety Information Resources
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 con-
trol system must be designed so that it does not automatically restart the machine/sys-
tem 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, main-
tenance 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
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 13 of 160

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-stand-
ards/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:
lClass6SmartMotor™Installation&StartupGuide
http://www.animatics.com/smartmotor-install-startup-guides
lSmartMotor™Developer'sGuide
http://www.animatics.com/smartmotor-developers-guide
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
http://www.animatics.com/support/moog-animatics-catalog.html
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 14 of 160

Additional Resources
Additional Resources
The Moog Animatics website contains additional resources such as product information, doc-
umentation, 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
EtherNet/IP is a common standard maintained by by ODVA.org:
lODVA.org website:
http://www.odva.org/
lAn EtherNet/IP Quick Start for Vendors Handbook is available at:
http://www.odva.org/Portals/0/Library/Publications_Numbered/PUB00213R0_Ether-
NetIP_Developers_Guide.pdf
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 15 of 160

EtherNet/IP Overview
EtherNet/IP Overview
This chapter provides an overview of EtherNet/IP features. These sections briefly summarize
the technical information provided on the ODVA.org website. To view the fully detailed inform-
ation or to obtain the specifications, see the ODVA.org website at: http://www.odva.org.
EtherNet/IP Introduction 18
The OSI Model 18
EtherNet/IP Adaptation of CIP 19
Objects 21
Objects 21
Classes, Instances and Attributes 22
Messaging 23
Explicit (Non-cyclic) Messages 23
Implicit (Cyclic) Messages 23
Explicit/Implicit Messaging Example 23
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 17 of 160

EtherNet/IP Introduction
EtherNet/IP Introduction
Ethernet/Industrial Protocol (EtherNet/IP) is a fieldbus communications protocol that was ini-
tially developed in the 1990s. It is now a CIP-based technology that is managed by the Open
DeviceNet Vendors Association (ODVA), which is a standards organization that manages all
CIP network technologies.
EtherNet/IP and DeviceNet are two CIP network technologies that are supported by Moog
Animatics (see OSI Model for EtherNet/IP and DeviceNet on page 18). These networks share
the same CIP layers and use objects to describe the network devices (this collection of objects
specific to a device is the device profile). Because of this, they are able to communicate with
each other. For example, a device on an EtherNet/IP network can communicate with one on a
DeviceNet network. For more information on CIP objects, see Objects on page 21.
The Class 6 EtherNet/IP SmartMotor is designed to operate as a device on an EtherNet/IP net-
work. This allows the system designer to take advantage of SmartMotor technology through
its device profile (for example, start a user program stored in the SmartMotor). For details on
the SmartMotor device profile using the Position Controller device, see SmartMotor Device
Profile Overview on page 33.
The full specification for EtherNet/IP is available from the ODVA.org website. For details, see
THECIPNETWORKSLIBRARYVolume1-CommonIndustrialProtocol(CIP™) and THECIP
NETWORKSLIBRARYVolume2-EtherNet/IPAdaptationofCIP.
The OSI Model
The OSI model describes the architecture for the CIP-based industrial network protocols.
Moog Animatics supports EtherNet/IP and DeviceNet using the Position Controller Supervisor
and Position Controller profiles. The other profiles shown are not currently supported.
EtherNet/IPTM DeviceNetTM
Physical
Data Link
Network
Transport
Session
Presentation
Application,
Proles
Common
Industrial
Protocol
(CIP)
CIP
Network
Adaptations
OSI Model Layers
Semicond.
Pro les
I/O
Pro les
Transducer
Pro les
Motion Ctrl
Pro les
CIP MotionTM
Proles
Other
Pro les
Safety Serv.
& Messages
Safety Obj.
Library
CIP SafetyTM
Proles
Connection Management and Routing
Data Management Services
(Explicit and I/O Messages)
Object Library
(Communications, Applications, Time Synchronization)
DeviceNet Physical Layer
CAN CSMA/NBA
DeviceNet Network and Transport
Ethernet Physical Layer
Ethernet CSMA/CD
Internet Protocol
TCP/UDP
OSIModelforEtherNet/IPandDeviceNet
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 18 of 160

EtherNet/IP Adaptation of CIP
The following table provides a brief description of each of the seven OSI model layer.
Layer Description
Physical The physical properties—electrical and mechanical—of the network
(e.g., cables, connectors, pin-outs, voltages, flow control, etc.). For
EtherNet/IP, it is based on IEEE 802.3 technology.
Data Link How packets of data will be transmitted between devices (MAC, CRC,
etc.). For EtherNet/IP, it is based on IEEE 802.3 technology.
Network The switching and routing layer, i.e, anything related to the device
IP address, DNS, datagrams, cyclic and non-cyclic. For EtherNet/IP,
uses the TCP/IP Suite.
Transport Controls how much data (size of block) that will be sent and received,
manages the delay time between messages, maintains the quality of ser-
vice (QoS). For EtherNet/IP, uses the TCP/IP Suite, uses both TCP and
UDP.
Session Opens/closes and manages the connection between devices and applic-
ations, explicit and implicit messages are used. This layer is part of CIP.
Presentation Delivers and formats information to/from the application layer (trans-
lates data from the network to the application or from the application to
the network). This layer is part of CIP.
Application Handles the application that provides the user interaction. This layer is
part of CIP.
For more details, see the ODVA.org website.
EtherNet/IP Adaptation of CIP
EtherNet/IP is an implementation of Ethernet technology with the addition of CIP layers. Like
other ODVA industrial network protocols, it is based on the OSI model. Therefore, it is spe-
cifically tailored for industrial environments and applications. Refer to the following figure.
Peer-to-peer, multicast, unicast
Ethernet
Internet Protocol (IP)
Transmission Control Protocol (TCP)
User Datagram Protocol (UDP)
Explicit
Messages
Device Proles and
Application Objects
Physical
Data Link
Network
Transport
Session
Presentation
Application
Implicit
Messages
IEEE
Standards
TCP/IP
Suite
Common
Industrial
Protocol
(CIP)
OSI Model Layers
OSIModel:EtherNet/IPImplementation
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 19 of 160

EtherNet/IP Adaptation of CIP
As shown in the previous figure, EtherNet/IP uses two communication protocols for message
transport:
lTransmission Control Protocol (TCP) is used for Explicit messages—these are non-cyclic
messages for device configuration and setup of cyclic connection content.
lUser Datagram Protocol (UDP) is used for Implicit (I/O) messages—these are cyclic
messages that handle time-critical control data.
For more details on messages, see Messaging on page 23. Also, see Position Controller
Implicit I/O Messages on page 45.
EtherNet/IP is designed to be reliable, easily expanded for future growth, and can the-
oretically handle an unlimited number of devices. Note, however, that there may be other
factors that impose limitations on the size of the network.
For more details, see the ODVA.org website.
Moog AnimaticsClass 6 EtherNet/IP Guide, Rev. B
Page 20 of 160