Moog Animatics offers an array of fieldbus options for your SmartMotor™ servo.

CANopenDeviceNet,   , Modbus, ProfiNet, EtherCAT and EthernetIP

They allow you to customize your SmartMotor™ with the communication option that will best suit your system and design.

With CANopen or DeviceNet you can use combitronic-100, a high speed transparent communication protocol over CANbus that enables you to control up to 120 SmartMotor servos at once.


Moog Animatics CANopen SmartMotor™

Note: Please see each individual motor specs to see availability of this option for each motor.

Features include:

  • I/O Device CAN bus Master (see details below)
  • All basic motion commands available via CiA V402and Motion Control Profile
  • Ability to read/write all SmartMotor variables
  • Use of onboard I/O via CANopen Gateway, SmartMotor program, or RS232 commands
  • Ability to run 1000 SmartMotor subroutines via SMI2 software and RS232 connection
  • Up to 127 nodes
  • 250 micro second interrupt driven subroutine with the -PLS firmware
  • Gateway Baud Rates: 20K, 50K, 125K, 250K, 500K, 1Mpbs default 125Kbps
cnc | ethernet | can | bus can | can open | can bus

I/O Ports E and F are used for communications between the SmartMotor and the CANopen Gateway.

I/O Device CAN Bus Master - SmartMotors can now interface with standard CiA 301 CANopen devices including but not limited to:

  • Remote digital/analog/mixed signal I/O
  • CAN bus absolute or relative encoders
  • Inclinometers
  • Load cells
  • Temperature controllers
  • Pneumatic valve blocks
  • And more

Basic control allows 8, 16, or 32-bit sized data objects with support for both PDO and SDO protocols. The supported profiles include but are not limited to I/O profile, encoder profile, and DS4xx profile. This provides the ability to:

  • Dynamically map SmartMotor PDOs, map another device’s PDOs, start the NMT state
  • A SmartMotor can send/receive up to 5 PDOs each for RX (Receive) and TX (Transmit)
  • Read/write SDOs in expedited mode only; which works up to 32-bit data

Multiple SmartMotors and multiple I/O devices may be on the same CAN bus. This combined with Combitronic motor-to-motor communications allows for complex, multi-axis, multi-I/O-device network control. Now you can achieve full machine control with just the SmartMotors -- no other HMI or bus master is required!

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Moog Animatics DeviceNet SmartMotor™

Features include:

  • Polled I/O and Explicit Messages from your PLC to control all SmartMotor operations
  • Read/Write control over all ODVA Position Controller parameters
  • Use of onboard I/O via DeviceNet, SmartMotor program, or RS232 commands
  • Ability to run 1000 SmartMotor subroutines via DeviceNet and read/write four 32-bit user variables
  • Online diagnostics of the SmartMotor via SMI2 software and RS232 connection
  • Up to 64 DeviceNet nodes
  • 250 micro second interrupt driven subroutine with the -PLS firmware
  • Gateway Baud Rates: 125K, 250K, 500K default 125Kbps
canopen | can controller | devicenet

I/O Ports E and F are used for communications between the SmartMotor and the DeviceNet Gateway.

Note: This option is available to all models:


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Moog Animatics PROFIBUS SmartMotor™

Features include:

  • Command/Response Codes for all SmartMotor commands
  • Use of onboard I/O via PROFIBUS, SmartMotor program, or RS232 commands
  • Ability to run 1000 SmartMotor subroutines via ProfiBus
  • Ability to read/write all SmartMotor variables
  • Online diagnostics of the SmartMotor via SMI2 software and RS232 connection
  • Up to 127 PROFIBUS nodes
  • 250 micro second interrupt driven subroutine with the -PLS firmware
  • Gateway Baud Rates: 9.6, 19.2, 31.25, 45.45, 93.75, 187.5, 500 kbps, 1.5, 3, 6, 12 Mbps default 1.5Mbps

I/O Ports E and F are used for communications between the SmartMotor and the PROFIBUS Gateway.

Note: PROFIBUS baud rates are achievable only with proper cable length and termination connnectors. There is a minimum cable length when operating >= 1MBaud. If the cable is too short, reflected impedance can cause loss of communications data packets and spurious node errors.

Note: This option DOES NOT apply to all models. Currently, models that support this option are:

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Combitronic: High Speed Transparent Communication Protocol Over CAN bus

Moog Animatics has introduced a significant advancement in Integrated Motor Technology. Combitronic™ is a protocol that operates over a standard “CAN” (Controller Area Network) interface. It may coexist with either CANopen or DeviceNet protocols at the same time. Unlike these common protocols however, Combitronic™ requires no single dedicated master to operate. Each Integrated Servo connected to the same network communicates on an equal footing, sharing all information, and therefore, sharing all processing resources. Combitronic communications operate over a standard “CAN” interface, the same basic hardware used in most automobiles as well as in familiar industrial networks such as CANopen and DeviceNet. Unlike these common control networks, however, Combitronic has no master or slave.


An array of Moog Animatics SmartMotor servos become one giant parallel-processing system when equipped with the Combitronic™ interface. This powerful technological advancement provides the joint benefits of centralized and distributed control while eliminating their respective historical drawbacks, opening up the possibility to either:

Eliminate PLCs from machine designs
Enhancing the performance of existing PLCs by unburdening it from specific tasks

The optional Combitronic™ technology allows any motor’s program to read from, write to, or control any other motor simply by tagging a local variable or command with the other motor’s CAN address. All SmartMotor™ units become one multi-tasking, data-sharing system without writing a single line of communications code or requiring detailed knowledge of the CAN protocol. The only prerequisite is to have matched baud rates and unique addresses.

Up to 120 SmartMotor servos may be addressed on a single array using Combitronic technology.


Combitronics Protocol features:

  • 120 axis node count
  • 1MHz Bandwidth
  • No Master required
  • No scan list or node list set up required
  • All Nodes have full read/write access to all other nodes

For example, SmartMotor servos use a single letter command to start a motion profile, so a line of code to start a motion profile would look like this:

G'Issue Go in local motor
G:2 'Issue Go to Motor 2
G:0'Issue Global Go to all motors on the network
x=PA:5 'Assign Motor 5 Actual position to the variable “x”

Additionally, comparisons or live polling and value comparisons may be made across the bus:

IF PA:3>PA:5 'If motor 3 position exceeds motor 5 position
S:2 'Stop motor 3

WHILEIN (4) : 2==0
LOOP'Wait for Input 4 of motor 2 to go high

New Stand Alone Linear Interpolation:

'Assign commanded positions for x, y, and z
'Use variables to define motor addresses
VTS=100000 'set path velocity
ATS=1000 'set path acceleration
DTS=100 'set path deceleration
PTS(x;1,y;2,z;3) 'set 3-axis synchronized target position
GS 'Go, 3 axis synchronized linear interpolation
TSWAIT 'Wait until 3 axis move is complete

Go to combitronic™ page to read more.


Modbus® on the Moog Animatics SmartMotor™

Modbus is a widely used, open-source, industrial communications protocol. It provides robust, easily implemented communications between a PLC, or other master device, and downstream slave devices on the bus.

Moog Animatics offers the following versions of Modbus:
  • Modbus RTU (RS-485 serial) on Class 5 SmartMotors (both D-Style and M-Style)
  • Modbus RTU (RS-485 serial) on Class 6 SmartMotors with the –EEC, –EPN or –EIP option
  • Modbus TCP/IP (Ethernet) on Class 6 SmartMotors with the –EIP option
Although the Modbus RTU version has strict cabling requirements, which include the use of terminating resistors at each end of the bus, the Modbus TCP/IP version offers different cabling configurations to fit the particular application (see the following figures).

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Class 6 PROFINET® Fieldbus provides:

  • PROFINET RTC - Real Time Cyclic transfers
  • Class 1 and 2 (certified) - unsynchronized
  • Class 3 (certification pending) - synchronized SmartMotor™ clocks
  • PROFINET RTA – Real Time Acyclic protocol
  • DCP, LLDP, SNMP, MIB-II, and LLDP MIB support

ProfiNet Connectors

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EtherCAT® Fieldbus on Class 6 M-Style SmartMotor™ provides:

  • Industry Standard CiA 402 Motion Profile support
    • PP, PV, HM, TQ, CSP, CSV, and CST modes
  • Dynamic Mapping of Process Data Objects (Cyclic Data Exchanges)
  • Real time coordinated control using Distributed Clock (DC)

EtherCat Connectors

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Trio logoAs a Preferred Drives company, Moog Animatics has a special arrangement with Trio Motion Technology, a specialist in high-performance motion control, to offer the Trio MC4N-ECT EtherCAT contollers to our channels at very competitive configurations.

Trio network


EtherNet/IP™ Fieldbus allows the Class 6 M-Style SmartMotor to easily integrate as a Position Controller (10h) device for:

  • Access to unique SmartMotor™ commands and parameters
  • Improved uptime with optional redundant cabling through Device Level Ring (DLR)
  • Optimal performance ensured through Quality of Service (QoS)
  • Simplified, modular programming through Add On Instructions (AOI)

EthernetIP Connectors

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