Support
FAQ
Frequently Asked Questions are shown below.
As for the other questions, please use the inquiry form.
Note   Please refer to the User’s Guide for details of each answer.
You can download User’s Guides after registration to MUSCLE’s website.
Product
COOL MUSCLE 1 (CM1) Setup

What is required for CM1 operation?

  • CM1, communication cable (CM1C2-2000A) and 24VDC power supply are required.

What are required for networking multiple CM1s?

  • ‘Each axis requires one network card (The first axis/Master Card, The second and later axes/Slave Cards). Also the same number of straight cables as the number of axes are required. For example, when 3 CM1s are in the Daisy Chain network, one Master Card for the first axis, two Slave Cards for the 2nd and the 3rd axis and 3 straight cables are required.

What wattage power supply is required?

  • 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.

Is there any problem not to use a varistor bundled with CM1?

  • Please be sure to use the varistor since a varistor has a function to clip the over-voltage which is regenerated by sudden motion and the rotation of the shaft during the power is off, motor free and etc. Please refer to the attached document for usage.

Can boards of Master & Slave Cards be mounted on the back of the CM1?

  • The boards of Master & Slave Card can be mounted on the back of CM1-x-17S/L & CM1-x-23S/L by spacers. However, the boards can’t be mounted on CM1-x-11S/L so that please set them at appropriate location in your machinery near motors.

Is an absolute encoder available?

  • Absolute encoder is not available with CM1. The current position will be cleared when powered off.

Can CM1 and CM2 be linked in the network?

  • CM1 and CM2 can be linked via I/O ports. Otherwise, EtherCAT COOL MUSCLE Bridge can control both CM1 and CM2 in the same network.

Is there CM1 with a brake?

  • There is no CM1 with a brake. If necessary, please mount an external brake.

What is the maximum cable length?

  • In a normal operating environment, the bandled motor cable is recommended to be shorter than 40cm, and RS-232C cable and D-SUB straight cable to be shorter than 2m.

Is there any communication delay in the Daisy Chain network?

  • 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.

Does the power need to be supplied to each motor in the Daisy Chain network?

  • The power can be supplied either “to each motor separately” or “at the same time via the communication cable in the network”. However it is recommended that power is supplied to each motor to obtain more stable power.

Is there an order of powering up motors in Daisy Chain network when supplying powers to master and slave motors from different power supply?

  • 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.

What is the voltage to Input1+ and Input2+? Is it ok to apply DC+24V without resistor?

  • Input voltage is from 5VDC to 24VDC. Resistor is not required.
COOL MUSCLE 1 (CM1) Function / Motion / Operation

What communication does CM1 support?

  • CM1 supports RS-232C and EtherCAT. To control via EtherCAT, please use the CM1 “-EB” model, and EtherCAT COOL MUSCLE Bridge.

What is the communication protocol for CM1?

  • It is ASCII code without hand shake.

What is the maximum number of program banks that can be stored in CM1?

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

How can the rotational speed be calculated from CM1 speed value?

  • The rotation speed can be calculated from the CM1’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.

How can the acceleration of CM1 be calculated?

  • The value of A represents the increment per second of the motor speed. [Unit: kpps2]
    CM1 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]

Can the program, data command, and parameters be saved automatically to the EEPROM?

  • 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.

How can an alarm be reset?

  • 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.

How can the motor shaft be enabled from motor free status?

  • 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.

Can encoder pulse be output?

  • You can use the Position Mark function. Please refer to the User’s Guide for details.

What is the unit of Ix which is obtained by the torque query?

  • The value of Ix can be converted to torque. Please see “Torque Conversion” in the User’s Guide for more details.
COOL MUSCLE 1 (CM1) Troubleshooting

There is no communication with a PC.

  • Please double check the connection of the cable. Start the communication software on your PC, and turn on the CM1. 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.

A program bank can not be executed.

  • 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 CM1 by sending the query command “?1000.1”.

Program banks can not be written.

  • 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” in the User’s Guide.

CM1 does not move though Pulse is sent to P-type CM1.

  • Pulse signal ports (Input1 & Input2) may be working as communication ports. Please refer to the “Automatic Identification” in “Before Setting Parameters” in the User’s Guide for details.

There’s mis-positioning with P type. How can the positioning be precise?

  • CM1’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 the use of the line-driver output circuit.

How do you optimize the gain tunings?

  • Please refer to the “How to Adjust Gain” section in the User’s Guide for more information.

May I turn a motor shaft when the power is off? Will it not cause the damage?

  • Motor produces regenerative voltage by turning the motor shaft when the power is off. It may cause a damage on a driver board. Frequent regenerative voltage causes the damage to CM1. Please make sure to use an bandled varistor.

CM1 is damaged.

  • 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.
COOL MUSCLE 2 (CM2) Setup

What is required for CM2 operation?

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

What are required for networking multiple CM2s?

  • 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.

Is there CM2 with a brake?

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

Is an absolute encoder available?

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

Can CM1 and CM2 be linked in the network?

  • 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.

What communication method does COOL MUSCLE support besides RS-232C?

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

What is the communication protocol for CM2?

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

What is the maximum cable length?

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

Does the power need to be supplied to each motor in the Daisy Chain network?

  • Yes, power must be supplied to all motors separately.

Is there any communication delay when using in the Daisy Chain network?

  • 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.

Is there an order of powering up motors in Daisy Chain network?

  • 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.
COOL MUSCLE 2 (CM2) Function / Motion / Operation

What is the maximum number of program banks that can be stored in CM2?

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

How can the rotational speed be calculated from CM2 speed value?

  • 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.

How can the acceleration be calculated?

  • 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]

Can the program, data command, and parameters be saved automatically to the EEPROM?

  • 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.

What is the unit of Ix that is replied to the torque query?

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

How can an alarm be reset?

  • 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.

How can the motor be enabled from motor free status?

  • 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.

Are linear and circular interpolation possible with CM2?

  • 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.

Can encoder pulse be output?

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

Can the Z phase signal be used for origin search?

  • It is possible. Please refer to the CML User’s Guide for details.
COOL MUSCLE2(CM2) Troubleshooting

There is no communication with a PC.

  • 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.

A program bank can not be executed.

  • 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.

Program banks can not be written.

  • 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.

How do you optimize the gain tunings?

  • 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.

There’s mis-positioning with P type motor. How can the positioning be precise?

  • 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.

When using 2 pieces of CM2 in the Daisy Chain network and send a command to one motor, 2 motors made the same motion. When checking the COOL WORKS LITE, there is only 1 ID.

  • 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.

When the power is off and turning a motor shaft, the LED indicator is lid and motor shaft is locked. Is it ok to turn a motor shaft when the power is off? Will it not cause the damage?

  • 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.

CM2 is damaged.

  • 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.
COOL MUSCLE 3 (CM3) Setup

What is required for CM3 operation?

  • 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

What wattage power supply is required?

  • 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.

Is an absolute encoder available?

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

Is there CM3 with a brake?

  • There is no CM3 with a brake. If necessary, please mount an external brake.
COOL MUSCLE 3 (CM3) Function / Motion / Operation

What communication does CM3 support?

  • CM3 support RS-232C

What is the communication protocol for CM3?

  • It is ASCII code without handshake.

How can the rotational speed be calculated from CM3 speed value?

  • 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]

How can the acceleration of CM3 be calculated?

  • 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]

Can the program, data command, and parameters be saved automatically to the EEPROM?

  • 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

How can an alarm be reset?

  • 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.

How can the motor shaft be enabled from motor free status?

  • 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.
COOL MUSCLE 3 (CM3) Troubleshooting

There is no communication with a PC

  • 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.

There’s mis-positioning with Pulse type. How can the positioning be precise?

  • 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.

How do you optimize the gain tunings?

  • 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.

When the power is off and turning a motor shaft, the LED indicator is lid and motor shaft is locked. Is it ok to turn a motor shaft when the power is off? Will it not cause the damage?

  • 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.

CM3 is damaged.

  • 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.
COOL MUSCLE 3+ (CM3+) Setup

What is required for CM3+ operation?

  • 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

What wattage power supply is required?

  • 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.

Is an absolute encoder available?

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

Is there CM3+ with a brake?

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

Is there any communication delay in the Daisy Chain network?

  • 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.

Does the power need to be supplied to each motor in the Daisy Chain network?

  • All motors must be supplied individually.

Is there an order of powering up motors in Daisy Chain network when supplying powers to master and slave motors from different power supply?

  • 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.
COOL MUSCLE 3+ (CM3+) Function / Motion / Operation

What communication does CM3+ support?

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

What is the communication protocol for CM3+?

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

What is the maximum number of program banks that can be stored in CM3+?

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

How can the rotational speed be calculated from CM3+ speed value?

  • 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]

How can the acceleration of CM3+ be calculated?

  • 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]

Can the program, data command, and parameters be saved automatically to the EEPROM?

  • 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.

How can an alarm be reset?

  • 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.

How can the motor shaft be enabled from motor free status?

  • 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.
COOL MUSCLE 3 (CM3+) Troubleshooting

There is no communication with a PC

  • 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.

A program bank can not be executed.

  • 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”.

Program banks can not be written.

  • 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.

How do you optimize the gain tunings?

  • 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.

When the power is off and turning a motor shaft, the LED indicator is lid and motor shaft is locked. Is it ok to turn a motor shaft when the power is off? Will it not cause the damage?

  • 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+.

CM3+ is damaged.

  • 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 COOL MUSCLE Bridge Setup

What is needed to drive CM1/CM2 by EtherCAT?

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

Can the standard CM1/CM2 be used with EtherCAT COOL MUSCLE Bridge?

  • 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.

Is it possible to use CM1 and CM2 with the same EtherCAT COOL MUSCLE Bridge?

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

EtherCAT COOL MUSCLE Bridge is an EtherCAT slave for 4 motors. How many motors should EtherCAT master be able to control?

  • 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.

What EtherCAT master does EtherCAT COOL MUSCLE Bridge support?

  • Currently, we support Beckhoff TwinCAT and Trio Motion Technology MC4N.
    Please contact the distributor if you are considering other brands of EtherCAT master.
EtherCAT COOL MUSCLE Bridge Function / Motion / Operation

Is the EtherCAT commumnication available with the EtherCAT COOL MUSCLE Bridge?

  • Yes, EtherCAT communication is available.

What is the communication protocol of ETherCAT COOL MUSCLE Bridge?

  • It is CiA402 Drive Profile.

What operation modes does the EtherCAT COOL MUSCLE Bridge support?

  • 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.
Software
COOL WORKS LITE

What OS does the COOL WORKS LITE supports?

  • The COOL WORKS LITE supports Windows 7 and Windows 10.

“Open COM” does not work and the terminal window can not be opened.

  • 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.

There is no communication between a PC and CM1/CM2.

  • ・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.

How can I check the motor’s position or speed in a graph?

  • 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.

What is the unit for X coordinate and Y coordinate in the graph window?

  • 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.

COOL WORKS LITE does not work.

  • 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.
COOL WORKS LITE EB

What is the difference between “COOL WORKS LITE” and “COOL WORKS LITE EB”?

  • 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 cannot be started.

  • 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.

Motion of COOL MUSCLE is unstable in CSP window.

  • 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.

Communication cannot be established because of network error.

  • 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.

  • 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.
Other Inquiries
Purchasing / RFQ

What is the pricing?

  • For quotation and purchasing our products, please contact our distributor.
Catalog / Manual / Drawing

May I have a catalog?

  • 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.

Are there detailed materials such as product manual?

Are there dimensional drawings of the products?

  • You can download drawings from MUSCLE’s website.

Are there 3D drawings of the products?

  • You can download drawings from MUSCLE’s website.
Motor Sizing

How do you select motor size?

  • 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.
Motor for Evaluation

May I rent a motor for evaluation?

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

What certifications does the COOL MUSCLE have?

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