SMAC CBC-EIP User manual

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CBC-EIP
USER MANUAL
Version 1.0.5, January 2020

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Disclaimer
The contents of this user manual are intended to be as accurate as possible, but may be subject to
change without prior notification. SMAC shall not be liable for any damages that may arise as a
consequence of the use of information presented in this user manual.
Revision Details:
Number
Updates in document
Date of change
Authorization
1.0.3
STO and I/O connections updated
10/16/2019
VM
1.0.4
List of software troubleshooting is added
12/04/2019
VM
1.0.5
Motor quick stop section has been added
01/02/2020
VM
Copyright SMAC Moving Coil Actuators, 2019.

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Contents
Introduction .....................................................................................................................................5
Setup guide ......................................................................................................................................7
2.1 Hardware..................................................................................................................................7
2.1.1 Power/signal/communication connectors...................................................................... 7
2.1.2 I/O and STO electrical schematics................................................................................... 8
2.1.3 Disabling the STO (OPTIONAL) ...................................................................................... 10
2.1.4 Fully independent STO channels................................................................................... 11
2.1.5 STO Feedback output .................................................................................................... 11
2.1.6 STO abnormal operation............................................................................................... 12
2.2 Software .................................................................................................................................14
2.2.1 Basic drive configuration of CBC-EIP ............................................................................. 14
2.2.2 Modification of IP (Internet Protocol) settings ............................................................. 15
2.2.3 Explicit messaging ......................................................................................................... 15
2.2.4 Implicit (IO) messaging.................................................................................................. 16
Add-On Instructions (AOI) for STUDIO5000/RSLogix5000 PLC software.......................................17
3.1 Position move.........................................................................................................................17
3.2 Softland Move ........................................................................................................................19
3.3 Homing Move.........................................................................................................................21
3.4 Velocity move.........................................................................................................................23
3.5 Force Move.............................................................................................................................24
3.6 SMAC Fault Status ..................................................................................................................25
3.6.1 Performing fault reset ..................................................................................................25
3.7 SMAC Motor halt....................................................................................................................28
3.8 SMAC Motor on......................................................................................................................29
3.9 SMAC Motor off .....................................................................................................................30
3.10 Motor Quick Stop ...................................................................................................................31
4 Step by step software setup .........................................................................................................32
4.1 Allen Bradley PLC with SMAC CBC-EIP drives.........................................................................32
4.2 Any PLC with SMAC CBC-EIP drives........................................................................................38
4.3 Firmware update and PDO parameter setup.........................................................................39
4.3.1 Regular update..........................................................................................................40
4.3.2 Forced update...........................................................................................................41
4.3.3 PDO parameter setup ...............................................................................................41
4.4 Common software troubleshooting.......................................................................................45
4.4.1 IP address alterations................................................................................................45

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4.4.2 Error: Invalid Input/Output size (Code 16#0127)....................................................46
4.4.3 No ethernet data transfer between PLC and CBC-EIP drives..................................46
4.4.4 No ethernet communication...................................................................................46

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Introduction
The CBC-EIP is an Ethernet/IP servo drive with specifications as presented in Table 1. Physically,
the CBC- EIP circuit board can be situated inside a housing as shown in Figure 1. An example of
Ethernet/IP network architecture involving CBC-EIP is shown in Figure 2.
Table 1. CBC-EIP specifications.
Description
Single axis servo motor controller/driver
Supported motor types
3-phase brushless rotary/linear, 1-phase rotary/linear
Control loop update rate
•Position loop: 1 kHz
•Current loop: 10 kHz
Power supply voltage
8 VDC –48 VDC
Power supply current
2 A –7 A
Continuous current
3 Arms
Peak current
6 Arms (for 1 s)
Power stage PWM frequency
20 kHz
Available feedback inputs
Differential digital encoder with index, analog input
Memory
1024 kB of program memory, 512 kB of EEPROM
memory
Digital inputs
4 x PLC level isolated digital inputs
Digital outputs
4 x SSR (solid-state relay) isolated digital outputs
Output supply
1 x 5V output supply for powering external circuitry
Analog input
1 x 0 –5V single ended analog input
Protections
•Driver overtemperature warning at 125 ⁰C
•Driver overtemperature at 150 ⁰C
•Overcurrent
•Reverse polarity protection
STO (Safe Torque Off)
SIL 3 compliant:
•2 x STO inputs, 5 V to 30 V isolated inputs
•1 x STO feedback output (optional)
•External diagnostics capability
•Abnormal operation detection
Communications
•RS232
•Ethernet/IP (2-port):
oODVA certified
oUp to 6 simultaneous Class 3 connections
(explicit messaging)
o1 simultaneous class Class 1 connection
(implicit messaging) of type exclusive owner
oRequested Packet Interval rate: 1 –3200 ms
oDevice Level Ring

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Figure 1. CBC-EIP.
Figure 2. Typical Ethernet/IP network architecture with CBC-EIPs.
Ethernet/IP
master device, e.g. PLC
CBC-EIPs
Actuators

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Setup guide
2.1 Hardware
2.1.1 Power/signal/communication connectors
Figure 3shows the connectors and status LED indication of the CBC-EIP. Further details about
these connectors are presented in Table 2.
Figure 3. Connectors and status LED indication on the CBC-EIP.
ETH 2
ETH 1
POWER
FAULT
RS232
I/O AND STO
POWER
ENCODER
GND
V+
U
V
W
GND
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
2
3
4
5
6

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Table 2. Details on connectors in Figure 3
CONNECTOR
PIN DEFINITION
POWER (Terminal block header, 5 mm pitch)
1: Ground (DC power Return)
2: +24VDC/+48VDC supply
3: Actuator winding phase U
4: Actuator winding phase V
5: Actuator winding phase W
6: Ground
ENCODER (Standard D-SUB 15 pin, female)
1: A+
2: I+
3: B+
4: +5V
5: +5V
6: +5V
9: A-
10: I-
11: B-
12: Ground
13: Ground
I/O AND STO
(Manufacturer: Phoenix Contact, P/N:
1790357)
1: Digital input 1
2: Digital input 2
3: Digital input 3
4: Digital input 4
5: Digital input common
6: Analog input 1
7: Ground
8: +5VDC supply
9: Digital output 1
10: Digital output 2
11: Digital output 3
12: Digital output 4/STO Feedback (only
available upon request)
13: Digital output common
14: STO 1
15: STO 2
16: STO common
RS232/CAN (RJ-25 Jack)
1: CAN high
2: CAN low
3: RS232 RX
4: RS232 TX
5: Ground
6: NC
ETH 1 & ETH 2 (Standard RJ-45 Ethernet
jacks)
2.1.2 I/O and STO electrical schematics
Note: The Inputs/Outputs to the controller should be supplied with separate power supply
from the field (24V). STO connection should have separate power supply or with 5V onboard
supply. The ground pin 7 should be daisy chained to all the controllers in the network to
facilitate common ground path. (Failure to do this will affect ethernet connection)

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For the purpose of interfacing I/Os and STOs between the CBC-EIP and external devices,
electrical schematics are given in Figures 4 –7.
Figure 4. Digital inputs electrical schematic.
Figure 5. Digital outputs electrical schematic.
Digital input common
Pin 5
Digital input 1
+3.3 V
To CBC’s microcontroller
To CBC’s microcontroller
To CBC’s microcontroller
Digital input 2
Digital input 3
Digital input 4
10KΩ
10KΩ
10KΩ
(5VDC –24 VDC)
Pin 1
(5VDC –24 VDC)
Pin 2
(5VDC –24 VDC)
Pin 3
(5VDC –24 VDC)
Pin 4
To CBC’s microcontroller
10KΩ
Digital output 1
Digital output 2
Digital output 3
Digital output 4 / STO FB
Digital output common
(5 VDC –24 VDC or GND)
Pin 13
(5 VDC –24 VDC or GND)
Pin 12
(5 VDC –24 VDC or GND)
Pin 11
(5 VDC –24 VDC or GND)
Pin 10
(5 VDC –24 VDC or GND)
Pin 9
From CBC’s microcontroller
From CBC’s microcontroller
From CBC’s microcontroller
From CBC’s microcontroller
330Ω
330Ω
330Ω
330Ω
Internal to SMAC
CBC EIP controller
Internal to SMAC
CBC EIP controller

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Figure 6. Analog input electrical schematic.
Figure 7. STO electrical schematic.
2.1.3 Disabling the STO (OPTIONAL)
The CBC drive cannot be operated unless voltages are applied at both STO 1 and STO 2 as in
Figure 7. In case the STO functionality is not required, the on-board +5VDC can be applied to
the STO inputs conveniently without needing an external voltage source. This can be done by
applying jumper connection on the I/O and STO connector as shown in Figure 8.
Figure 8. Disabling the STO on the I/O and STO connector.
The CBC-EIP includes a Safe Torque Off (STO) circuit. The STO is a safety system that prevents motor
torque in an emergency event while CBC-EIP remains connected to the power supply. When STO is
(0 –5VDC)
Analog input
10.33 kΩ
20 kΩ
To CBC’s microcontroller ADC
(10-bit)
STO 1
STO 2
STO Common
Pin 16
(5VDC –30 VDC)
Pin 14
+5V
To STO circuit
To STO circuit
2.5 kΩ
2.5 kΩ
(5VDC –30 VDC)
Pin 15
14
15
16
7
8
➢Connect pins 8, 14, 15 together
➢Connect pins 7, 16 together
Internal to SMAC
CBC EIP controller
Internal to SMAC
CBC EIP controller
Note: The Inputs/Outputs to the controller should be supplied with separate power supply
from the field (24V). STO connection should have separate power supply or with 5V onboard
supply. The ground pin 7 should be daisy chained to all the controllers in the network to
facilitate common ground path. (Failure to do this will affect ethernet connection)

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activated, the power stage is disabled automatically (no matter what control or firmware does), and
the motor shaft will slow down until it stops under its own inertia and frictional forces.
The CBC-EIP STO works with negative logic, deactivating the power stage by default. In order to
activate the power stage, and therefore allow the motor operation, two differential inputs must
energize. These inputs activate two optocouplers that enable the CBC-EIP power stage operation. On
the contrary, if the STO inputs are not energized, the transistors of the power stage are turned
off and a STO fault is notified. During this state, no torque will be applied to the motor no matter
configuration, or state of a command source. This input should not be confused with a digital input
configured as enable input, because enable input is firmware controlled and does not guarantee
intrinsic safety as it can be reconfigured by a user.
The following diagram shows a schematic of the STO circuit.
Figure 9. Schematics of STO circuit.
The CBC-EIP STO has been designed to be compliant with Safety Integrity Level 3 (SIL 3) according to
IEC 61800-5-2. In order to fulfil the requirements, the STO reliability has been increased by means of
the following characteristics:
•Two fully independent STO channels
•STO Feedback output for external diagnostics
•Detection of abnormal STO operation
2.1.4 Fully independent STO channels
The power stage logic is supplied by two cascaded MOSFET transistors. Each transistor is activated by
an independent isolated STO input. The design guarantees that a single failure will not accidentally
activate the power stage.
STO firmware notification:
An STO stop is notified to the control DSP and creates a fault that can be read externally, however its
performance is totally independent from control or firmware. When the STO is not connected it is
virtually impossible to apply power to the drive.
2.1.5 STO Feedback output
By changing a resistor, the isolated output GPO4 can be configured as STO Feedback (STO_FB). The
STO_FB output is normally active, providing a closed contact. When one of the STO inputs becomes
de-energized (low-level), the STO_FB becomes low-state too.

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The objective of the STO_FB is to allow external diagnostics of the STO circuit, allowing an increase of
the system reliability. A common-practice in the diagnostics is to delay the stop of the power stage
from the deactivation of the STO_FB and from the deactivation of the STO inputs. This way, short
pulses can be applied for testing the STO circuit without stopping the system operation.
The following figure shows the timings corresponding to the CBC-I-3/6-C STO:
Figure 10. Timing corresponding to CBC-I-3/6-C STO.
2.1.6 STO abnormal operation
Abnormal operation of the STO is when only one of the channels is energised. In case that only one
channel is energised for more than 1.6 s, a dangerous failure in the system is considered and the STO
is activated in latching mode. The fault cannot be reset until a supply reset is performed.
The following figure shows an example of the STO abnormal operation.
Figure 11. Example timing of the STO abnormal operation.

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The following table shows a summary of the STO performance.
Mode
Status
STO1
input
STO2
input
Power
stage
state
STO_FB
Drive function
Normal
operation
STO
ACTIVE
(No torque to
the motor)
0
0
Disabled
0
Drive cannot start or
provide power to the
motor. STO trip reported
to the DSP and to STO_FB.
This is intended safe
torque off with dual
channel operation.
STO
INACTIVE
(Ready to
run)
1
1
Enabled
1
Drive is enabled to run
under firmware control.
The drive can supply
power to the motor.
Diagnostic
STO ACTIVE
PULSE (1 ms <
t < 23 ms)
x
0
Enabled
0
A short STO ACTIVE ("0")
pulse does not stop the
motor operation.
However, it activates the
STO FEEDBACK. It can be
used for performing
system diagnosis and
increasing system
reliability.
STO ACTIVE
PULSE (1 ms <
t < 23 ms)
0
x
Enabled
0
Abnormal
operation
Abnormal STO
ACTIVE
0
1
Disabled
0
Drive cannot start or
provide power to the
motor. STO trip reported
to MCU. If this persists for
> 2.3 s the STO will lock in
FAULT state. To reset this
fault a power cycle is
needed.
Abnormal STO
ACTIVE
1
0
Disabled
0
STO FAULT
x
x
Disabled
(latched)
AND
(STO1,
STO2)
After > 2.3 s of abnormal
STO active the driver will
stay latched in this state
untill power cycle.

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2.2 Software
Remark: in order to work with the software part of CBC-EIP, the user is expected to be familiar
with SMAC’s LCC Control Center software and the embedded motion control library (EMCL)
manual.
2.2.1 Basic drive configuration of CBC-EIP
Essentially, the CBC-EIP consists of an improved version of SMAC CBC controller and an
Ethernet/IP hardware/software interface. The improved version of the CBC controller shares
the basic functionalities of SMAC CBC/LCC controller and therefore, controller configuration
software such as LCC Control Center, Motionlab and Composer can be used (further details
can be found here: https://www.smac-mca.com/lcc-single-axis-brushless-controller-p-
125.html?cPath=1_10 ).
The typical steps to perform a basic configuration of CBC-EIP are as follow:
1. Establish a physical connection between a PC (with LCC Control Center software) and the
RS232 connector on the CBC-EIP.
2. Download the actuator configuration file and if necessary, controller tuning can be
performed and the parameters can be saved to the non-volatile memory.
In the case of CBC/LCC controllers, after the above steps, motion programs are written in the
available macros (0-59). However, in CBC-EIP, a set of default macros have been defined and
stored in the drive to allow motion programming through Ethernet/IP. These macros (listed in
Table 3) contain registers that are accessible through a default implicit message setting of the
CBC-EIP, as further discussed in section 2.2.4 of this manual. Note that macro 0 is executed
automatically at controller startup and by default this contains a jump to macro 40. In certain
cases, it is convenient to have actuator motion initialization routines (homing and/or phasing)
implemented in macro 0. If this is done, a jump to macro 40 must be added after the routines
are executed.
Table 3. Default macros in CBC-EIP.
Macro
Function
37
Motor halt
38
Motor on
40
Main program loop
41
Homing
42
Phasing
43
Position move
44
Velocity move
45
Force move
46-48
Softland
61-63
Standard SMAC system macros

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2.2.2 Modification of IP (Internet Protocol) settings
By default, the IP address of the CBC-EIP is: 192.168.1.80
Table 4 presents the objects within CBC-EIP that can be modified.
Table 4. IP-settings-related objects of CBC-EIP
Index
Subindex
Name
Type
Default value
Description
0x2005
0x01
IP address
UINT32
0x5001A8C0
(192.168.1.80)
x.y.z.n → 0xNNZZYYXX
0x2005
0x02
Subnet mask
UINT32
0x00FFFFFF
(255.255.255.0)
x.y.z.n → 0xNNZZYYXX
0x2005
0x03
Gateway
UINT32
0
x.y.z.n → 0xNNZZYYXX
0x2005
0x04
Enable DHCP
UINT32
0 (disabled)
0x00 disabled, 0xFF enabled
0x2005
0x05
DNS 1
UINT32
0
x.y.z.n → 0xNNZZYYXX
0x2005
0x06
DNS 2
UINT32
0
x.y.z.n → 0xNNZZYYXX
The procedure to modify parameters in Table 4 are as follow (assuming RS232 communication
is used, see https://www.smac-mca.nl/Downloads/TechNote-SerialToPC-LCC.pdf ):
1. Write the desired values to the objects
2. Save the parameters to non-volatile memory through the command:
0x00 W 0x11010 1702257011
3. Power cycle the CBC-EIP or perform a reset through Ethernet/IP explicit message
(service: 0x05, Class ID: 0x01, Instance: 1)
Another alternative to modify parameters in Table 3 is by through Anybus webserver of the
CBC-EIP (accessible through a web browser using the IP address 192.168.1.80), wherein a
table of parameter list can be found and changes can be performed.
2.2.3 Explicit messaging
The CBC-EIP supports up to 6 simultaneous Class 3 connections. The explicit messaging service
provides access to standard Ethernet/IP objects such as Identity, TCP/IP Interface and Ethernet
Link, as well as all the objects belonging to the drive functionalities of CBC-EIP, as can be found
from object dictionary list in the embedded motion control library manual (https://www.smac-
mca.com/documents/PDFs/Embedded%20Motion%20Control%20Library.pdf).
The supported explicit message CIP service codes are:
•0x0E: Get attribute single
•0x10: Set attribute single
Meanwhile, the mapping between CIP addressing and the CBC-EIP objects are:
•Class ID: 0x64
•Instance ID: CBC-EIP object Index from Embedded Motion Controller Library manual
•Attribute ID: CBC-EIP object Subindex from EMCL manual

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Example: to obtain the value of object Max torque through Explicit messaging →service code:
0x0E, Class: 0x64, Instance: 0x6072, Attribute: 0x00
2.2.4 Implicit (IO) messaging
The CBC-EIP supports a simultaneous class 1 connection type of exclusive owner, with the
specifications:
•Input data assembly (T→O, Target to Originator): Instance 100
oMax. number of mapped objects: 8
oMax. mapping length: 32 bytes
•Output data assembly (O→T, Originator to Target): Instance 150
oMax. number of mapped objects: 8
oMax. mapping length: 32 bytes
SMAC has defined a default mapping between the above IO data assemblies and CBC-EIP
objects to allow the execution of macros discussed in section 2.2.1 of this manual. The default
mapping is presented in Tables 5 and 6, which have been tailored to work with Add-on
instructions in the programming environment of Allen-Bradley PLCs, as further described in
Section 3 of this manual. Please contact SMAC if a different object mapping is desired.
Table 5. Default mapping between CBC-EIP and input data assembly.
CBC-EIP object
Description
Input data byte location
(total: 26 bytes)
Status word
Actuator motion status
0 - 1
W4
Macro status
2 - 5
Position actual value
Encoder actual position
6 - 9
Current actual value
Force/current value
10 - 13
Following error value
Position error value
14 - 15
Error code
Actuator fault code
16 - 19
W5
Reserved
20 - 21
W6
Reserved
22 - 25
Table 6. Default mapping between CBC-EIP and output data assembly.
CBC-EIP object
Description
Output data byte location
(total: 24 bytes)
W30
Macro-specific parameter
0 - 3
W31
Macro-specific parameter
4 - 7
W32
Macro-specific parameter
8 - 11
W33
Macro-specific parameter
12 - 15
W34
Macro-specific parameter
16 - 19
W35
Macro-specific parameter
20 - 23

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Add-On Instructions (AOI) for STUDIO5000/RSLogix5000 PLC
software
3.1 Position move
This AOI is used to perform a linear or rotary position move.
Position Move AOI: input and output parameters
Parameter
Unit
Description
INPUT
Busy bit
N/A
This bit is active when the AOI is being
executed, until Done bit is active.
Done bit
N/A
This bit is active when the target position has
been reached.
Actual_position
Counts
Actual position of the actuator/motor.
OUTPUT
Mode_SetPoint
N/A
1: Enables absolute position move
3: Enables relative position move
Target_Position
Counts
Final position to be reached by the actuator
Profile_Velocity
Counts/s
Max. velocity of the motion profiler
Profile_Acceleration
Counts/s2
Max. acceleration of the motion profiler
Profile_Deceleration
Counts/s2
Max. deceleration of the motion profiler
Max_Torque
‰ of motor
rated current
Max. permissible torque/force. Unless this
parameter is specified, the default value from
config. file is used.
Enable bit
N/A
Enables the AOI. Tis needs to be included in the
program after the AOI rung is energized.
Mapping between position move AOI parameters and PLC IO data assemblies
Byte address
Description
Input: 2 - 5
43: Position move in progress
53: Target position has been reached
Input: 6 - 9
Actual Position
Output: 0 - 3
Macro value of position move (Table 3)
Output: 4 - 5
Setpoint mode
Output: 6 - 7
Max. torque
Output: 8 - 11
Target position
Output: 12 - 15
Profile velocity
Output: 16 - 19
Profile acceleration
Output: 20 –23
Profile deceleration

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Ladder logic example:

19
3.2 Softland Move
This AOI is used to perform SMAC’s softland move.
Softland Move AOI: input and output parameters
Parameter
Unit
Description
INPUIT
Done bit
N/A
This bit is active when the target position has
been reached.
Soft landed Position
Counts
Position of the actuator after softland action
Busy bit
N/A
This bit is active when the AOI is being
executed, until the Done bit is active
OUTPUT
Soft land direction
N/A
0-positive direction 1- negative direction
Soft land action
N/A
This bit is used to specify the action of the
actuator after softland operation
1: Apply force
2: Hold force
3: Hold position
4: Motor off
Soft land velocity
Counts/s
Max. velocity of the motion profiler
Soft land acceleration
Counts/s2
Max. acceleration of the motion profiler
Soft land sensitivity
Counts
This tag is used to set the sensitivity of softland.
Smaller value means higher sensitivity.
Max Torque
‰ of motor
rated current
Max. permissible torque/force. Unless this
parameter is specified, the default value from
config. file is used.
Enable bit
N/A
Enables the AOI. Tis needs to be included in the
program after the AOI rung is energized.

20
Ladder logic example:
Mapping between softland move AOI parameters and PLC IO data assemblies
Byte address
Description
Input: 2 - 5
46: Softland move in progress
56: Softland is complete
Input: 6 - 9
Softlanded Position
Output: 0 - 3
Macro value of softland move (Table 3)
Output: 4
Direction
Output: 5
Action after land
Output: 6 - 7
Max. torque/force
Output: 8 - 11
Profile velocity
Output: 12 - 15
Profile acceleration
Output: 16 - 17
Position error
Output: 18 - 19
Force
Other manuals for CBC-EIP
1
Table of contents
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