SmartMotor™ User's Guide
126Pages

The Series 4 User's Guide > Revision 5 size="-1">

Animatics SmartMotor is patented by US Patent # 5,912,541. ҩ2001, 2002, 2003, 2004, 2005, 2007, 2008 Animatics Corp. All rights reservedAnimatics SmartMotor Series 4 User's Guide, Revision 5.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 Animatics Corporation. Animatics Corporation assumes no responsibility or liability for any...

Motion Control Functions 7 System Control Functions 7 Communication Functions 8 I/O Functions 8 > PID Filter 79 Software Installation 10 SmartMotor Background 10 A quick look at the SmartMotor Interface 11 > Creating Motion 21 Program Flow 31 Variables 39 Reporting Commands 43 Encoder and Pulse Train Following 47 System State Flags 55 Inputs and Outputs 57 Communications 69 The > SMI Software 85 SMI Projects 85 Terminal Window 85 Configuration Window 86 Program Editor 86 Information Window 87 Serial Data Analyzer 87 Motor View 88 >

Continued from preceding page Monitor Window 88 Chart View 89 Macros 89 Tuner 90 SMI Options 92 SMI Help 92 > Commands 101 Changing speed upon digital input 116 Pulse output upon a given position 117 > Data Variables Memory Map 111 > Example Programs 113 Moving back and forth 113 Moving back and forth with watch 113 Homing against a hard stop 114 Homing to the index 114 Analog Velocity 115 Long term variable storage 116 Look for errors and print them 116 >

Stop motion if voltage drops 117 Measuring command execution time 118 Custom parser with checksum 1 19 >

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SmartMotor is an entire servo control system built inside of a servo motor. It includes a controller, an amplifier and an encoder. All that is required for it to operate is power, and either an internal program, or serial commands from outside (or both). To make the SmartMotor move, the program or serial host must state a target position, a maximum velocity at which to travel to that target, and a maximum acceleration. Once these three parameters are set, a "Go" signal, or statement will start the motion profile. > The controller portion of the SmartMotor performs many functions. When the...

programs can define interactions between the I/O, the SmartMotor's shaft motion and also other peripherals like Sensors, Light Curtains, Bar Code Readers, etc., even other SmartMotors. RP ", for example, the current position is output in the form of ASCII text to the main channel, regardless of whether the request was made over the main channel serial network, or by internal program. If a request for data arrives from the secondary serial channel, or other serial network, however, the data is reported to that channel. The SmartMotor uses both Spaces and Carriage Returns as delimiters. >...

In order to make the SmartMotor run, the following will be needed at a minimum:1. A SmartMotor 2. A computer running MS Windows 95/98, 2000, NT or XP 3. A DC power supply for those SmartMotors that requre DC voltage. 4. A data cable to connect the SmartMotor to the computer's serial port or serial adapter.5. Host level software to communicate with the SmartMotorThe rst time user of the SM1700 through SM3400 series motors should purchase the Animatics SMDEVPACK. It includes the CBLSM1-10 data and power cable, the SMI software, the manual and a connector kit.The CBLSM1-10 cable (right) is...

Connecting a SM2320D SmartMotor using a CBLSM1-10 cable assembly and PS24V8A power supply > Follow standard procedures for software installation using either the Animatics SMI CD-ROM or les downloaded from the Animatics Website at www.animatics.com.After the software is installed, be sure to reset your computer before running the SMI program.With the SMI Software loaded and your SmartMotor connected as shown above, you are ready to start making motion. Turn the SmartMotor's power on and start the SMI Program. > The SmartMotor is an entire Servo Control System in a single component. Of...

Every SmartMotor has an ASCII interpreter built in. It is not necessary to use > The SmartMotor Playground allows the user to immediately begin making motion without having to know anything about the programming. The SMI software connects a SmartMotor, or a series of SmartMotors to a com-puter or workstation and gives a user the capability to control and monitor the status of the motors directly from a standard computer. SMI also allows the user the ability to write programs and download them into the SmartMotors long- term memory.For the bene t of the rst-time user, the SMI software starts...

MotorView gives you a window into the status of a SmartMotor > "Close" button at the bottom and launch the SMI development software. > The SMI main screen shows a menu section accross the top, a Configuration Window on the left, an Information Window and a Terminal Window in the center colored blue.With your motor connected and on, click on the purple Information Window. If the motor is not found, check your connections and make sure the serial port on your PC is operational. located mid way on the toolbar. If everything is connected and working properly, the motor should be identified in...

To get the motor to make a trajectory, enter the following into the Terminal . A=100 sets the Acceleration V=1000000 ёsets the maximum Velocity P=300000 sets the target Absolute Position G ёGo, initiates motor movement After the nal G command has been entered, the SmartMotor will accelerate up to speed, slew and then decelerate to a stop at the absolute target position. The progress can be seen in the MotorView . > In addition to taking commands over the serial interface, SmartMotors can run programs. To begin writing a program, press the 1000000 Scaled Counts/Sample= about 1860 RPM for...