Moog Class 5 SmartMotor Manual
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Moog Class 5 SmartMotor Manual

Dmx
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Summary of Contents for Moog Class 5 SmartMotor

  • Page 1 For the mobile version of this guide, see: animatics.com/docs/guides-html/c5_dmx/...
  • Page 2 Moog Inc., Animatics. Moog Inc., Animatics assumes no responsibility or liability for any errors or inaccuracies that may appear herein.

  • Page 3: Table Of Contents

    D-Style Multidrop Signal Cable Diagram M-Style Multidrop Signal Cable Diagram Understanding the Status LEDs DMX on the SmartMotor DMX Implementation Data Storage and Usage Example Status Bits End of Packet DMX Commands Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 3 of 46...
  • Page 4 Close DMX Channel Example Programs Home Against a Hard Stop Example Position Mode Control Example DMX Five Channel Example DMX Packet Test Example Reverse DMX Channel Byte Order Example Troubleshooting Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 4 of 46...

  • Page 5: Introduction

    Introduction Introduction This chapter provides an overview of the DMX features provided by the Moog Animatics SmartMotor. It also provides information on safety, and where to find related documents and additional resources. Purpose Combitronic Technology DMX Overview Safety Information Safety Symbols...

  • Page 6: Purpose

    Purpose Purpose This manual explains the Moog Animatics Class 5 SmartMotor™ support for the Digital MultipleX (DMX) communications protocol. It describes the major concepts that must be understood to integrate a SmartMotor as a DMX slave device. However, it only minimally covers the low-level details of the DMX protocol.
  • Page 7 In short, DMX-equipped SmartMotors retain all the features and benefits of the standard Class 5 SmartMotor, including features like electronic camming, gearing, and Combitronic support. For additional details, see the Class 5 SmartMotor™ Installation & Startup Guide. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C...

  • Page 8: Dmx Overview

    (could be as low as 92 μs) Start code and data channels (11 bits, 4 μs each ) START STOP BITS DATA BITS 7 1 2 DMX Data Transmission Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 8 of 46...

  • Page 9: Safety Information

    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.

  • Page 10: Machine Safety

    Machine Safety IP-rated motors for operating in extreme conditions. For details, see the Moog Animatics Product Catalog. 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.

  • Page 11: Documentation And Training

    There 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...
  • Page 12 Safety Information Resources 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 Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 12 of 46...

  • Page 13: Additional Documents

    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 Class 5 SmartMotor™ Installation & Startup Guide http://www.animatics.com/cl-5-install-startup-guide SmartMotor™ Developer's Guide http://www.animatics.com/smartmotor-developers-guide Other Documents SmartMotor™...

  • Page 14: Additional Resources

    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: General company information: http://www.animatics.com Product information: http://www.animatics.com/products.html Product support (Downloads, How To videos, Forums, Knowledge Base, and FAQs): http://www.animatics.com/support.html...

  • Page 15: Connections, Wiring And Status Leds

    D-Style Motors: Connectors and Pinouts M-Style Motors: Connectors and Pinouts DMX Network Topology System Cable Diagram D-Style Multidrop Signal Cable Diagram M-Style Multidrop Signal Cable Diagram Understanding the Status LEDs Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 15 of 46...

  • Page 16: Connectors And Pinouts

    The following figure provides a brief overview of the connectors and pinouts available on the D-style SmartMotors. For details, see the Class 5 SmartMotor™ Installation & Startup Guide. NOTE: On the SmartMotor, the RS-485 line labeled "A" is the non-inverting line (D+).

  • Page 17: M-Style Motors: Connectors And Pinouts

    The following figure provides a brief overview of the connectors and pinouts available on the M-style SmartMotors. For details, see the Class 5 SmartMotor™ Installation & Startup Guide. NOTE: On the SmartMotor, the RS-485 line labeled "A" is the non-inverting line (D+).

  • Page 18: System Cable Diagram

    These often create multipath signal reflections that cause communication errors. Adhere to the following cabling requirements: The maximum cable length should not exceed 1000 feet at 250 kBd. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 18 of 46...

  • Page 19: D-Style Multidrop Signal Cable Diagram

    D-Style Multidrop Signal Cable Diagram CAUTION: The EIA-485-A standard for the physical connection allows a length of 1000 feet at 250 kBd. However, Moog Animatics does not guarantee this distance under all conditions. The user is responsible for testing and verifying operation in the application environment, including: wire length, DMX host device, and number of DMX nodes.

  • Page 20: M-Style Multidrop Signal Cable Diagram

    NOTE: A terminating resistor is required at the downstream end of the bus! Pin 3 “A” (D+) Pin 2 “B” (D-) Terminating Node M-Style Multidrop Signal Cable Diagram Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 20 of 46...

  • Page 21: Understanding The Status Leds

    • With a program that only disables travel limits and nothing else: LED 0 will be solid red for 500 milliseconds and then begin flashing green. LED 1 will be off. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 21 of 46...

  • Page 22: Dmx On The Smartmotor

    This chapter provides information about DMX operation on the SmartMotor. DMX Implementation Data Storage and Usage Example Status Bits End of Packet DMX Commands Select DMX Channels Special Range Checking Open DMX Channel Close DMX Channel Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 22 of 46...

  • Page 23: Dmx Implementation

    NOTE: Technically, there is no "address" for a DMX slave device. The slave device sees all (possibly 512 bytes) of the data and decides which part it wants to use. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 23 of 46...

  • Page 24: Example

    SmartMotor does that using COMCTL(1,x), where x is the base channel: 1-512. Example Settings: Base DMX channel = 5 Number of DMX channels = 2 SmartMotor Channel Variable aw[0] aw[1] Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 24 of 46...

  • Page 25: Status Bits

    The system programmer may choose a lower channel for value if the upper channels are not used or if the DMX master does not send all 512 channels. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 25 of 46...
  • Page 26 Data configuration: Selected data COMCTL(1,3), COMCTL(2,4) Status bit B(12,0) Bit set Status bit B(12,1) Status bit B(12,2), e.g., when COMCTL(3,256) a) Bit set when this byte is complete Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 26 of 46...

  • Page 27: Dmx Commands

    COMCTL(4,value) Allows for the selection of the aw[ ] register where the DMX data begins loading; default is 0 at power-up. For example, COMCTL(4,10) will start loading DMX data at aw[10]. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 27 of 46...

  • Page 28: Special Range Checking

    Values in the aw[ ] array are left as is NOTE: Data in the aw[ ] array may be only partially updated if the channel closes at the moment the DMX data is being loaded. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 28 of 46...

  • Page 29: Example Programs

    Home Against a Hard Stop Example Position Mode Control Example DMX Five Channel Example DMX Packet Test Example Reverse DMX Channel Byte Order Example Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 29 of 46...

  • Page 30: Home Against A Hard Stop Example

    VT=20000 'Set higher maximum velocity PT=0 'Set target position to be home 'Start motion TWAIT 'Wait for motion to complete AMPS=1000 'Restore current limit to maximum 'End Program Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 30 of 46...
  • Page 31 Home o set Bump hard stop Move toward hard stop Move out to specified count (home value) Set motor posi on to zero Homing Against a Hard Stop Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 31 of 46...

  • Page 32: Position Mode Control Example

    'Status word 12 bit 2 will be set to the value 1 'when channel "q" arrives. COMCTL(4,s) 'Set start of array index storage (good for 'bypassing cam mode dynamic array). Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 32 of 46...
  • Page 33 Home Motor C100 'Set up parameters (edit as required) rr=-1 'Home direction vv=10000 'Home speed aa=1000 'Home accel ee=100 'Home error limit tt=3000 'Home torque limit hh=4000 'Home offset Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 33 of 46...
  • Page 34 'Switch to Torque mode in case bounce off hard stop. 'Start motion. WAIT=50 'Wait 50 milliseconds. O=hh*rr 'Set origin to home offset. AMPS=1023 'Set power back to max. PT=0 G TWAIT 'Set motor to zero. RETURN Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 34 of 46...

  • Page 35: Dmx Five Channel Example

    'increase "m". Jerky motion may result by using just a single 'channel with only 8-bit resolution. vvv=2000   'Scale factor for velocity target times max of 255 aaa=10     'Scale factor for Accel/Decel times max of 255 Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 35 of 46...
  • Page 36 WHILE nn>=0  'Byte shifting and summing data.       p=p*256+aw[nn+ss]       nn=nn-1 LOOP 'Loop takes 4 msec when using three 'channels (24 bit). VT=aw[s]*vvv     'Set velocity target off of first channel 'x multiplier. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 36 of 46...
  • Page 37 'Switch to Torque mode in case bounce off hard stop. 'Start motion. WAIT=50 'Wait 50 milliseconds. O=hh*rr 'Set origin to home offset. AMPS=1023 'Set power back to max. PT=0 G TWAIT 'Set motor to zero. RETURN Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 37 of 46...

  • Page 38: Dmx Packet Test Example

    'bypassing cam mode dynamic array). OCHN(DMX,1,N,250000,2,8,D)  'Open DMX channel: COM1, no parity, '250 kBd, 2 stop, 8 data, datamode. 'GOSUB(100) 'Always run a homing routine before DMX '(see other examples) Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 38 of 46...
  • Page 39 'Loop takes 4 milliseconds when using three 'channels (24 bit).           pp=p     'Total for data collected. ENDIF LOOP 'End of the main program. '=================================================================== '     Fault Routine Code (place here) RETURNI '=================================================================== Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 39 of 46...

  • Page 40: Reverse Dmx Channel Byte Order Example

    'Limit "n" based on a max of 3 bytes. b>(513-n) PRINT("b too large.",#13) END ENDIF 'Limit "b" based on max data slot. s>(102-n) PRINT("s too large.",#13) END ENDIF 'Limit "s" to max array value. Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 40 of 46...
  • Page 41 'Clear flag so we know when next packet arrives. 'Zero data value. '=== Reverse Byte Order for DMX Channels (see program header) ==== n==2 ' 16-bit (unsigned) reverse order: ab[40]=aw[11] ab[41]=aw[10] ' ( ab[42]=0) Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 41 of 46...
  • Page 42 'Switch to Torque mode in case of bounce off hard stop. 'Start motion. WAIT=50 'Wait 50 milliseconds. O=hh*rr 'Set origin to home offset. AMPS=1023 'Set power back to max. PT=0 G TWAIT 'Set motor to zero. RETURN Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 42 of 46...

  • Page 43: Troubleshooting

    Troubleshooting Troubleshooting The following table provides troubleshooting information for solving common problems. For additional support resources, see the Moog Animatics Support page at: http://www.animatics.com/support.html Issue Cause Solution Communication and Control Issues Motor control power Motor is equipped with To energize control power, apply 24-48 light does not the DE option.
  • Page 44 SmartMotor not Varies. Check status bits (see Status Bits on page responding to DMX 25). Use Packet Test program (see DMX commands. Packet Test Example on page 38). Moog Animatics Class 5 SmartMotor™ DMX Guide, Rev. C Page 44 of 46...
  • Page 46 PN: SC80100004-001 Rev. C...

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