FAQ

CM2 communication cable (CM2RS2-2000W) and 100VAC to 240VAC power supply are required.
* 200VAC to 240VAC is required for CM2-x-60A20C,60A40C

CM2s, a communication cable (CM2RS2-2000W) and Daisy Chain cable(s) (CM2DC2-xxxxW) are required. Optional network cables CM2DC2-xxxxW (xxxx is length) may not be needed when the distance between motors is less than 600mm.

There is no CM2 with a brake. Please mount a brake externally if needed.

Absolute encoder is not available with CM2. The current position will be cleared when powered off.

CM1 and CM2 can be linked via IO ports. Otherwise, EtherCAT COOL MUSCLE Bridge can control both CM1 and CM2 in the same network with EtherCAT.

CM2 supports RS-232C and EtherCAT. To control via EtherCAT, please use the CM2 “-EB” model, and EtherCAT COOL MUSCLE Bridge.

Communication protocols are ASCII code without hand shake and Modbus RTU for RS-232C and CiA402 for EtherCAT.

In a normal operating environment, the communication cables, IO cable and power cable are recommended to be shorter than 2m.

Yes, power must be supplied to all motors separately.

When simple commands are used, theoretically there will be a delay of approximately 4 msec. Please note that the delay time depends on the host controller and/or operating condition.
Otherwise, by using EtherCAT COOL MUSCLE Bridge, real-time network communication is available.

The powers have to be supplied to all the motors in the Daisy Chain network at the same time since the motor ID will be assigned automatically when powered on.

The maximum number of program bank is 30 and ladder logic bank is 30. The total step is up to 500 in each banks.

The rotation speed can be calculated from the CM2’s resolution and Speed value.
Speed [RPM] = S x K37 speed unit [100pps or 10pps] x 60 / resolution

Example: Rotational speed when K37=3 (Speed unit 100pps, Resolution 1000 pulse/rotation）, and S=100.
Speed [RPM] = 100 x 100[pps] x 60[s/m] / 1000 [pulse/rotation] = 600[RPM]

Speed unit conversion is available with using the speed calculation tool in COOL WORKS LITE.

The value of A represents the increment per second of the motor speed. [Unit: kpps2]
CM2 will accelerate with the acceleration set by A until the speed set by S.

Example: Acceleration time for S=500 and A=100
*Let the unit of S be [100pps]
Acceleration Time = 500 [100pps] / 100 [1000 pps2]
= 50000[pps] / 100000 [pps2]
= 0.5 [s]

K parameter will be saved in EEPROM automatically. However, data command such as position and speed, and program bank will not be saved in EEPROM until save command “$.ID” is sent to COOL MUSCLE. Please be careful that created program will be disappear if you turn off the power without sending the save command.

Ix value is expressed by the following equation.
Ix = Current output torque / Maximum torque [Unit: %]

Alarm can be reset and motor becomes enable by the enable command ” (“.
The input functions can be assigned by either “1: Alarm Reset/Pause” or “2: Enable the Motor” to reset the alarm status from input signal.

Since a motor is free when an alarm is occurred, please check what alarm occured by the query “?99”, and enable the motor with command ” (“ to reset the alarm.

Use the enable motor command ” ( ” to enable motor.
When using the input functions, a motor can be enabled by an input signal to enable motor. The input functions can be assigned by either 1: Alarm Reset/Pause or 2: Enable Motor.

2-dimensional linear and circular interpolation are possible when using 2 pieces of R-type CM2s. As for the detailed program, please see the CML user’s guide.

You can use the Rotational Pulse Output function. Please refer to the User’s Guide for more information.

It is possible. Please refer to the CML User’s Guide for details.

Please double check the connection of the cable, start the communication software on PC, and turn on the CM2. If nothing is shown in the software, the communication is not established because baudrate setting is wrong, COM port number is different, COM port is already used by other program or etc.

The definition of a program bank must begin with ” B1.1″ and end with “END” command. Please confirm that the program banks have been properly downloaded to CM2 by sending the query command “?1000.1” and if a ladder logic bank that prevents a program bank from being executed is executed in back ground at the same time.

A buffer for communication data processing may be overflowed when a lot of data is transferred and over-written constantly at a high baud rate. Please refer to the “Communication Time” in the CM2 User’s Guide.

COOL MUSCLE 2 suppports tuningless system. When adjustment is required, you can adjust a “Servo Stiffness” from the Response Adjustment Window of COOL WORKS LITE.

Servo Stiffness may not be appropriate or there may be noise influences.

・When Servo Stiffness is not appropriate
Please confirm that the required torque is under the motor’s rated torque and adjust Servo Stiffness from Response window of COOL WORKS LITE.

・When there are noise influences
When using COOL MUSCLE with open collector output circuit with a cable longer than appx. 1m, it will be more likely to have an electrical noise influence from environments. The reduction of noise influence will be expected by using shielded cables and twist pair cables for the pulse signal cables. Also the more reduction will be expected by the use of the line-driver output circuit.

Please supply the power to all the motors in the Daisy Chain network. In this case, the motors failed the identification that is done when motors are powered up then 2 pieces of ID1 motors exsited.

Motor produces regenerative voltage by turning the motor shaft when the power is off. This generated power will turn on the motor’s drive circuit and it makes the LED indicator lid and motor shaft locked. Please free a motor after supplying the power and turn a shaft. Frequent regenerative voltage causes the damage to CM2.

Please contact your supplier with information as the damaged motor’s product & serial No. and the damage information as damaged part, how it damaged and etc.

CM3, cables and DC24V power supplies are required.
Interface Cable A, Communication Cable A and Power Supply Cable A are required to connect to PC.

【CM3 Cable】

Interface Cable A (CMIFA1-0400WR)

Intermediate cable for connecting CM3 and the following cable

Communication Cable A (CMRSA1-1000W)

Communication Cable for RS232C

I/O Cable A (CMIOA1-1000S)

I/O Cable for CM3

Power Supply Cable A (CMPWA1-1000S)

DC24V Power Supply Cable

When selecting a power supply, its wattage has to be large enough for the peak current. Usually, a single axis motor requires a Muscle 150W power supply. When using multiple axes, please select a power supply that wattage is large enough for the all motors’ peak current.

One-turn absolute is installed as standard.
Battery-powered multi-rotation absolutes are available as an optional specification for CM3+.

There is no CM3 with a brake. If necessary, please mount an external brake.

CM3 support RS-232C

It is ASCII code without handshake.

The rotation speed can be calculated from the CM3’s resolution and Speed value.
Speed [RPM] = S x speed unit x 60 / resolution

The value of A represents the increment per second of the motor speed. [Unit: kpps2]CM3 will accelerate with the acceleration set by A until the speed set by S.

Example: Acceleration time for S=500 and A=100
*Let the unit of S be [100pps]
Acceleration Time = 500 [100pps] / 100 [1000 pps2]= 50000[pps] / 100000 [pps2]= 0.5 [s]

You must send a “$.” save command to write.
Please be careful that created program will be disappear if you turn off the power without sending the save command

Alarm can be reset and motor becomes enable by the enable command ” (1“.
The input functions can be assigned by either “Servo ON / Alarm Reset” to reset the alarm status from input signal.

Since a motor is free when an alarm is occurred, please check what alarm occurred by the query “?99”, and enable the motor with command ” (1“ to reset the alarm.

Use the enable motor command “(” to enable motor.
When using the input functions, a motor can be enabled by an input signal to enable motor. The input functions can be assigned by either “ Servo ON / Alarm Reset” Enable Motor.

Please double check the connection of the cable. Start the communication software on your PC and turn on the CM3. If nothing is shown in the software, the communication is not established because baud rate setting is wrong, COM port number is different, COM port is already used by other program or etc.

CM3’s gain tunings may not be appropriate or there may be electrical noise influences.

・When gain tunings are not appropriate
Please refer to the “How to Adjust Gain” in the User’s Guide for details.

・When there are electrical noise influences
When using open collector output circuit, it will be more likely to have an electrical noise influence from environments when the cables for pulse signals are long. But the reduction of noise influence will be expected by using shielded cables and twist pair cables for the pulse signal cables. Also the more reduction will be expected by use of the line-driver output circuit.

CM3 is tuning-less.
If fine tuning is required, change the stiffness setting at the time of tuning-less.
If you need to adjust the gain, change it to PPI control and set the gain.

Motor produces regenerative voltage by turning the motor shaft when the power is off. This generated power will turn on the motor’s drive circuit and it makes the LED indicator lid and motor shaft locked. Please free a motor after supplying the power and turn a shaft. Frequent regenerative voltage causes the damage to CM3.

Please contact your supplier with information as the damaged motor’s product & serial No. and the damage information as damaged part, how it damaged and etc.

CM3+, cables and DC24V power supplies are required.
Interface Cable B, Communication Cable A and Power Supply Cable A are required to connect to PC.

【CM3+ Cable】

Interface Cable B (CMIFB1-0400WR)

Intermediate cable for connecting CM3 and the following cable

Communication Cable A (CMRSA1-1000W)

Communication Cable for RS232C

I/O Cable B (CMIOB1-1000S)

I/O Cable for CM3

Power Supply Cable A (CMPWA1-1000S)

DC24V Power Supply Cable

Daisy Chain Cable A (CMDCA1-1000W)

Extension cable for Daisy Chain connectionC

When selecting a power supply, its wattage has to be large enough for the peak current. Usually, a single axis motor requires a Muscle 150W power supply. When using multiple axes, please select a power supply that wattage is large enough for the all motors’ peak current.

One-turn absolute is installed as standard.
Battery-powered multi-rotation absolutes are available as an optional specification for cm3+.

There is no CM3+ with a brake. If necessary, please mount an external brake.

When simple commands are used, theoretically there will be a delay of approximately 4 msec. Please note that the delay time depends on the host controller and/or operating condition.

All motors must be supplied individually.

The powers have to be supplied to all the motors in the Daisy Chain network at the same time. This is because the number of motors are identified automatically when powered on.

CM3+ support RS-232C
CM3+ is compatible with RS-485 as an optional specification.

It is ASCII code without hand shake.
For RS-485, Modbus RTU is supported.

The maximum number of program bank is 30 and the total step is up to 500.

The rotation speed can be calculated from the CM3+’s resolution and Speed value.
Speed [RPM] = S x speed unit x 60 / resolution

Example: Rotational speed when Speed unit 100pps, Resolution 1000 pulse/rotation, and S=100.
Speed [RPM] = 100 x 100[pps] x 60[s/m] / 1000 [pulse/rotation]= 600[RPM]

The value of A represents the increment per second of the motor speed. [Unit: kpps2]
CM3 will accelerate with the acceleration set by A until the speed set by S.

Example: Acceleration time for S=500 and A=100
*Let the unit of S be [100pps]
Acceleration Time = 500 [100pps] / 100 [1000 pps2]= 50000[pps] / 100000 [pps2]= 0.5 [s]

You must send a “$.” save command to write.
Please be careful that created program will be disappear if you turn off the power without sending the save command.

Alarm can be reset and motor becomes enable by the enable command ” (1“.
The input functions can be assigned by either “Servo ON / Alarm Reset” to reset the alarm status from input signal.
Since a motor is free when an alarm is occurred, please check what alarm occurred by the query “?99”, and enable the motor with command ” (1“ to reset the alarm.

Use the enable motor command “(” to enable motor.
When using the input functions, a motor can be enabled by an input signal to enable motor. The input functions can be assigned by either “ Servo ON / Alarm Reset” Enable Motor.

Please double check the connection of the cable. Start the communication software on your PC and turn on the CM3+. If nothing is shown in the software, the communication is not established because baud rate setting is wrong, COM port number is different, COM port is already used by other program or etc.

Program bank might not be written properly. The definition of a program bank must begin with ” B1.1″ and end with “END” command. Please confirm that the program banks have been properly downloaded to CM3+ by sending the query command “?1000.1”.

A buffer for communication data processing may be overflowed when a lot of data is transferred at a high baud rate. Please refer to the “Communication Time with COOL MUSCLE 3+” in the User’s Guide.

CM3+ is tuning-less.
If fine tuning is required, change the stiffness setting at the time of tuning-less.
If you need to adjust the gain, change it to PPI control and set the gain.

Motor produces regenerative voltage by turning the motor shaft when the power is off. This generated power will turn on the motor’s drive circuit and it makes the LED indicator lid and motor shaft locked. Please free a motor after supplying the power and turn a shaft. Frequent regenerative voltage causes the damage to CM3+.

Please contact your supplier with information as the damaged motor’s product & serial No. and the damage information as damaged part, how it damaged and etc.

EtherCAT master, EtherCAT COOL MUSCLE Bridge, power cable, LAN cable, CM1/CM2 for EtherCAT, and communication cables for each motors are required.

CM1/CM2 for EtherCAT with “-EB” at the end of product code is required.
Ex) CM1-C-17L30C-EB, CM2-C-60A40C-K-EB Please contact the distributor for details.

EtherCAT COOL MUSCLE Bridge “EB12” can control 2 pcs of CM1 and 2 pcs of CM2 as maximum.

EtherCAT master should be able to control the number of COOL MUSCLE you use.
Example: When controlling 4pcs of CM1s via 1pcs of EB01 from EtherCAT master, EtherCAT master for 4 motor control is needed.

Currently, we support Beckhoff TwinCAT and Trio Motion Technology MC4N.
Please contact the distributor if you are considering other brands of EtherCAT master.

Yes, EtherCAT communication is available.

It is CiA402 Drive Profile.

EtherCAT COOL MUSCLE Bridge supports csp (Cyclic Synchronous Position) mode and hm (Homing) mode. Also various motion and data settings are possible by using manufacturer specific.

The COOL WORKS LITE supports Windows 7 and Windows 10.

Is the correct COM port number selected? Please check the connection of the COOL MUSCLE then COM port number from device manager in control panel.

・Window of COOL WORKS LITE is gray and cannot do anything.
CM1/CM2 may not be powered up, or communication cable may not be connected properly. Please check the connection again.

・Commands got garbled
Baudrate of the software and the CM1/CM2 may not match. Please go back to the initial window, and try other baudrates.

You can plot the motor information such as position, speed, and torque in the graph by using the graph window of COOL WORKS LITE. Up to 2 motors’ inforamtion can be plotted in a graph. Please refer to the COOL WORKS LITE User’s Manual for more information.

When using a single motor, the X coordinate is time-series and the unit is sampling time[msec].
Ex: (X coordinate scale) x (Sampling Time) = Time
The Data Type in Data Selection window is reflected in Y coordinate (also in X coordinate when using 2 motors) and the unit is speed : pps, position: pulse or torque : Iq.

Please check your software is the latest version. Please download the latest version of the COOL WORKS LITE. If your PC is not supported by the COOL WORKS LITE, freeware terminal software which supports RS-232C can also communicate with the COOL MUSCLE.

The “COOL WORKS LITE” is the software for standard RS-232C communication. The “COOL WORKS LITE EB” is the software EtherCAT communication.

COOL WORKS LITE EB supports 32 bit and 64bit Windows 7, Windows 8.1 and Windows 10. With other OS, the COOL WORKS LITE EB may not be operated properly.
Please install the WinPcap. COOL WORKS LITE EB utilizes the packet capture function of WinPcap. As for the installation of WinPcap, please see the COOL WORKS LITE EB User’s Manual.

Communication interval of COOL WORKS LITE EB is set 30msec to be able to control by CiA402 from a general PC without real time hardware. Therefore, there is no real-time control from COOL WORKS LITE EB and motion can be different from the control from EtherCAT master. Please use CSP window only to confirm the motion by CiA402.

Please check that the EtherCAT COOL MUSCLE Bridge’s connection is correct then please restart COOL WORKS LITE EB. If other software is running, please shut them down. Please initialize COOL MUSCLE again from the “Initialize COOL MUSCLE” window and execute the scan.
Please refer to the EtherCAT COOL MUSCLE Bridge User’s Guide for details.

The software gets frozen if you power off the COOL MUSCLE EtherCAT Bridge when software is activated. Please shut down the software first and then power off the EtherCAT Bridge.

The COOL WORKS QUICK supports Windows 10.

Cool Muscle may not be powered on or the communication cable may not be properly connected. Please check the connection once again. The baudrate of the software and the baudrate of the motor may not match. Return to the initial screen and try another baudrate.

You can plot the motor information such as position, speed, and torque in the graph by using the graph window of COOL WORKS QUICK. Please refer to the COOL WORKS QUICK User’s Manual for more information.

Please check your software is the latest version. Please download the latest version of the COOL WORKS QUICK. If your PC is not supported by the COOL WORKS QUICK, freeware terminal software which supports RS-232C can also communicate with the COOL MUSCLE.

For quotation and purchasing our products, please contact our distributor.

You can download catalogs from MUSCLE’s website.

If you would like to have a hard copy, please contact our distributor that is shown in MUSCLE’s website.

You can download User’s Guides from MUSCLE’s website after registration.

You can download drawings from MUSCLE’s website.

You can download drawings from MUSCLE’s website.

Select a motor of which load torque and moment of inertia on a motor shaft are within the motor’s allowable values on a catalog or user’s guide.

・Torque
Make sure load torque on a motor shaft is under the torque curve which shows motor’s speed and output torque. Please be aware of the CM1’s torque goes down at higher speed by the motor’s specification.

・Moment of Inertia
COOL MUSCLE’s allowable load inertia is less than 10 times of motor inertia. Please make sure the load inertia on the motor shaft is within a motor’s allowable value.

Also, you can download the Motor Selection Tool from our website after registration.

You can lease CM1 and CM2. Please contact our distributor.

You can lease CM1 and CM2. Please contact our distributor.

COOL MUSCLE is CE approved and RoHS certificated.
You can download the certifications from the download page.