Animatics (SmartMotor series) Protocol v 1.00

Overview

The Animatics serial downloadable protocol is for communication between the Animatics SmartMotor drives and an OCS. This is a Master/Slave protocol.

CSCAPE Configuration

To configure the OCS for the Animatics SmartMotor protocol, select the Protocol Configuration from the Program menu in CSCAPE software. Select the appropriate protocol type on the desired port. To make sure that the Software is able to configure the equipment for the correct protocol, make sure the Animatics.dll file is in Protocols directory of the current working/open Cscape.

Protocol Revisions

Animatics SmartMotor Protocol supports master communications to the slave using ASCII commands.

Serial Port Format

The default link settings are : 9600 baud, No parity, Eight data bits, No handshaking and RS232 Communications mode.

Communications in 232 mode is via the 7 way male D-sub port located on the top of the motor and the selected port.

Station Node Address

The station node address for the drive is default to 0 unless changed via the SADDR or ADDR= commands. If there is more than 1 motor on the bus, access is different. Sending 0x80 (0 in decimal) prior to the command will send the selected command to all motors on the bus (default on power up of drive). To specifically address one motor, send the specific address of the required motor before sending the command.

Commands

Each motor parameter is accessed as a command as described in the following section. When these commands are being accessed in CSCAPE the name of each command may be directly used.

Note: Every command must be configured as a 32-bit memory location for accessibility reasons i.e. even if the command is 8-bit, 16-bit or 32-bit the register must be given 32-bit of memory space. So if %R1 contains one command, %R3 should be used not %R2 for the next command.

ECHO Command

On boot up of the OCS devices, the ECHO is set to ECHO_OFF. This is because on boot up the device does not know what the drive is set to. So to make sure the echo is on, ECHO_ON command must be set.

Address	Name	Address	Name	Address	Name	Address	Name	Address	Name
0	@P	55	aaa	110	BRKG	165	MF1	220	UAO
1	@PE	56	bbb	111	BRKI	166	MF2	221	UB
2	@V	57	ccc	112	BRKRLS	167	MF4	222	UBA
3	a	58	ddd	113	BRKSRV	168	MFDIV	223	UBI
4	b	59	eee	114	BRKTRJ	169	MFMUL	224	UBO
5	c	60	fff	115	CCHN	170	MFR	225	UC
6	d	61	ggg	116	CHN0	171	MP	226	UCA
7	e	62	hhh	117	CHN1	172	MS	227	UCI
8	f	63	iii	118	CLK	173	MS0	228	UCO
9	g	64	jjj	119	CTR	174	MSR	229	UCP
10	h	65	kkk	120	D	175	MT	230	UD
11	i	66	lll	121	E	176	MV	231	UDA
12	j	67	mmm	122	ECHO	177	MTB	232	UDI
13	k	68	nnn	123	ECHO_OFF	178	O	233	UDM
14	l	69	ooo	124	ECHO1	179	OCHN	234	UDO
15	m	70	ppp	125	ECHO1_OFF	180	OFF	235	UE
16	n	71	qqq	126	ENC0	181	P	236	UEA
17	o	72	rrr	127	ENC1	182	PID1	237	UEI
18	p	73	sss	128	EPTR	183	PID2	238	UEO
19	q	74	ttt	129	ES400	184	PID4	239	UF
20	r	75	uuu	130	ES1000	185	PID8	240	UFA
21	s	76	vvv	131	F	186	PRINT	241	UFI
22	t	77	www	132	F=1	187	PRINT1	242	UFO
23	u	78	xxx	133	F=4	188	Q	243	UG
24	v	79	yyy	134	F=8	189	RCHN	244	UGA
25	w	80	zzz	135	F=32	190	RCS	245	UGI
26	x	81	al	136	F=64	191	RCS1	246	UGO
27	y	82	aw	137	G	192	RES	247	UIA
28	z	83	ab	138	GETCHR	193	RMODE	248	UJA
29	aa	84	A	139	GETCHR1	194	RPE	249	UP
30	bb	85	ADDR	140	I	195	RPW	250	UPLOAD
31	cc	86	AMPS	141	KA	196	RS	251	V
32	dd	87	Ba	142	KD	197	RW	252	VLD
33	ee	88	Bb	143	KG	198	S	253	VST
34	ff	89	Bc	144	KGOFF	199	SADDR	254	WAKE
35	gg	90	DBd	145	KGON	200	SILENT	255	WAKE1
36	hh	91	Be	146	KI	201	SILENT1	256	X
37	ii	92	Bf	147	KL	202	SIZE	257	Z
38	jj	93	Bi	148	KP	203	SLD	258	Za
39	kk	94	Bk	149	KS	204	SLE	259	Zb
40	ll	95	Bl	150	KV	205	SLEEP	260	Zc
41	mm	96	Bm	151	LEN	206	SLEEP1	261	Zd
42	nn	97	Bo	152	LEN1	207	SLD	262	Zf
43	oo	98	Bn	153	LIMD	208	SLP	263	Zl
44	pp	99	Bp	154	LIMH	209	STACK	264	Zr
45	qq	100	Br	155	LIML	210	T	265	Zs
46	rr	101	Bs	156	LIMN	211	TALK	266	Zu
47	ss	102	Bt	157	LOAD	212	TALK1	267	Zw
48	tt	103	Bu	158	MC	213	TEMP	268	ZS
49	uu	104	Bw	159	MC2	214	TH
50	vv	105	Bx	160	MC4	215	THD
51	ww	106	BASE	161	MC8	216	TWAIT
52	xx	107	BAUD	162	MD	217	UA
53	yy	108	BRKC	163	MD50	218	UAA
54	zz	109	BRKENG	164	MF0	219	UAI

DLL for use with the OCS range in CSCAPE

Command

The drop down list contains all the commands that are supported. Commands that don’t send any data are set by writing any value to that register e.g “BRKG” is set by writing a value to it or else triggering it with a key.

Byte Array (ab[0-200])

The Index is the array position to be accessed. The value may be written / read to / from the array position pointed to by the index.

Word Array (aw[0-100])

The Index is the array position to be accessed. The value may be written / read to / from the array position pointed to by the index.

Long Array (al[0-50])

The Index is the array position to be accessed. The value may be written / read to / from the array position pointed to by the index.

Variable Load (VLD)/ Variable Store (VST)

These functions are used to implement the Variable Load (VLD) / Variable Store (VST) commands. The syntax form is VLD/VST (var, number). The variable may be any system or array variable. Choose the variable to store first and then write the number of variables to the local register in the OCS.

Variable Assignment ( var = U{Pin}I or var = U{Pin}A)

This Motor I/O function allows the user to assign digital or analog values of a I/O pin to a variable. In the command box the user selects both the variable and the pin. Writing the pin “x-y” in the pin box where “x” is the pin and “y” is either A or I for analog or digital. Then triggering or writing any value to this, completes the command.

RS-232 Serial Daisy Chain - MultiDrop Access

Multidrop access to different drive parameters is done using the ID in the Scan List. Select the ID to communicate with in the ID field of the data mapping section of the Protocol Configuration. Address the drives correctly before doing this. Writing a parameter to an ID that doesn’t exist, causes a corrupt or invalid response from the OCS.

Note: For RS-232 Multidrop mode, the OCS in ECHO_OFF Mode so it is necessary to set the ECHO ON for each drive.

Network Communication Errors

In order to access the Network statistics, user must assign the “Network status register” in network configuration. The table below gives the details of statistics.

Number	Statistics	Location	Description
1	Update interval exceeded count	%Rx	This register explains number of times that the actual transaction scan time to complete all transactions exceeded specified update interval. Generally used as an indicator that an excessive number of triggered transfers or failed communication retries are occurring that is lengthening the expected transaction scan time. If the Update interval is set to zero (update as fast as possible), this 32-bit register alternately specifies the actual transaction scan time in mSec resolution.
2	No response count	%R(x+2)	This register explains number of times that a device(s) did not respond to a transaction. This includes ALL failed transaction, not just those after the retry count is exceeded.
3	Corrupt Response Count	%R(x+4)	This register explains number of times that a device(s) returned an invalid or failed response to a transaction. This includes ALL failed. Transaction, not just those after the retry count is exceeded.
4	Valid Response Count	%R(x+6)	This register explains total number of valid responses.

Note: %Rx: 32-bit network status register configured in Network configuration. For example: %R500(501).

Device Communication Errors

Error	Error Number	Description
INVALID_BLOCK	-203	Invalid size for data type.
NO_RESPONSE_FROM_PLC	-204	Timeout while waiting for remote node response.
INVALID_RESPONSE_FROM_PLC	-205	Corrupted response from remote node.
INVALID_INITIALISATION	-207	Internal Error - Unable to open port.

Connection Details

Illustrations below show the various end-of-cable connectors required:

25-Pin D-Type Male	10-Pin Weidmuller Cage Clamp	8-Pin RJ 45 Plug	9-Pin DB Male

CN1	CN1	MJ1/MJ2	Port 1

Port 1 — DB9 (Female at OCS end)

MJ1/MJ2 — RJ45 (Female at OCS end)

CN1 — 10-Pin Weidmuller Cage Clamp (Female at OCS end)

CN1 — DB25 (Female at OCS end)

Note:

Do not connect to unlisted pins.
Recommended Cable: Beldon 9503, twisted multipair, screened.
Connect the screens together at the shield / earth pin of the PLC.