Communication
Various types of communication methods are supported by COOL MUSCLE and its related products.
※ Pulse, IO and analog voltage controls are also supported. Please refer to User’s Guides for details
RS-232C
Serial communication port is implemented on the integrated AC servo systems, CM1 & CM2. The following communication protocols are supported.
ASCII(CM1&CM2)
MUSCLE’s own unique CML (COOL MUSCLE Language) by ASCII without hand shake lets you set and control CM1 and CM2. You can easily but precisely control a motor by writing simple data as position (P), speed (S), acceleration (A) and etc. Also functions can be easily assigned to CM1 and CM2 by parameters by using CML.
You can build the Daisy Chain network with up to 15 axes of CM1 or CM2 from one (1) serial port and the motors in the network can be controlled by CML.

※ Programs in the CM1 and CM2 that were written by ASCII can be saved and executed by DIOs.
Related Documents
CM1 User’s Guide
CML User’s Guide
※ Please download them after the registration
Modbus RTU(CM2)
Modbus protocol, developed by Modicon Inc, is a communication protocol for PLC industry. The protocol is also widely used in FA and PA fields because its specifications are open to the public and the protocol structure is simple.

COOL MUSCLE 2 in that RS-232 is implemented can communicate with Modbus devices by only setting simple parameters. There is no extra protocol converter needed.

There are host and slave devices in Modbus communication. One device (the host) can initiate transactions (called queries). The other devices (the slaves) respond by replying the requested data to the host or by taking the action requested in the query. COOL MUSCLE can be programmed as either a host or a slave device.
Modbus Host Communication
Modbus Slave Communication
Related Documents
CML User’s Guide
※ Please download them after the registration
EtherCAT(CM1&CM2)
EtherCAT (Ethernet for Control Automation Technology) is real-time Ethernet field-bus developed by German company called Beckoff Automation in 2003. ETG (EtherCAT Technology Group) made the specifications of EtherCAT open and is maintaining it.

The EtherCAT benefit is high real-time capability and precise synchronization by its very efficient communication method. By the efficient communication, a master outputs data to all devices (nodes) in the network and a master receives input data from all devices in one (1) transaction. The high real-time capability is achieved by the ESC (EtherCAT Slave Controller) on the slaves so the high real-time capability is kept even with a master with standard Ethernet hardware. DC (Distributed Clock) is the function to synchronize the clock of slaves in network. Slave set the appropriate output timing by detecting the difference between the distributed clock and its local clock.
CiA402
“EtherCAT COOL MUSCLE Bridge” is the interface (device) that adapts / connects MUSCLE CORPORATION’s Integrated AC Servo System, COOL MUSCLE to EtherCAT field network system.

The application layer of EtherCAT Salve is conformed to CiA402 Drive Profile and the operation mode meets Cyclic Synchronous Position mode (csp) and Homing mode (hm).
EtherCAT Master sends position commands to EtherCAT Slave at the communication cycle 1msec and at the same cycle time EtherCAT Slave sends the COOL MUSCLE’s current position back to EtherCAT Master. Also various motion and data settings are possible by using manufacturer specific.
By the effective combination of EtherCAT’s high speed data communication and COOL MUSCLE’s servo controllability and drivability, you can create the multi-axis, high speed and precise position control system.
Related Documents
EtherCAT COOL MUSCLE Bridge User Guide
EtherCAT Object Dictionary
※ Please download them after the registration