MUSCLE CORPORATION

What is the pricing of Cool Muscle?

You can buy Muscle's product only from Muscle's distributors. Please contact Muscle's local distributor shown in Muscle website.

May I have a catalog?

You can download catalogs from Muscle website for free. If you would like to have a hard copy, please contact our distributor that is shown in Muscle website.

Is there manuals?

You can download User's Guides from Muscle website after registration.

Is there drawings?

You can download drawings from Muscle website.

Is there 3D drawings of Cool Muscle?

You can download drawings from Muscle website.

How do you select motor sizes?

Cool Muscle's allowable load inertia is less than 10 times of motor inertia. Please refer to your machinery's inertia and Cool Muscle's motor inertia (Rotor inertia moment) that are shown in User's Guides. Or you can download the Motor Selection Tool from Muscle website.

May I borrow a motor for evaluation?

You can borrow a Cool Muscle. Please contact the company you will buy Cool Muscle from or our distribtutor shown in Muscle website.

What certifications does the Cool Muscle 1 have?

Cool Muscle (CM1 only) is CE approved and RoHS complianced.
* CM1 is not applied to UL because it's operation voltage is 24VDC

What is required for Cool Muscle operation?

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

What are required for networking multiple Cool Muscles?

Each axis requires one network card ( The first axis/Master Set, The second and later axes/Slave Sets ). Also the same number of straight cables as the number of axes are required. For example, when 3 Cool Muscles are in the daisy-chain network, one master card for the first axis, two network cards for the 2nd and the 3rd axis and 3 straight cables are required. Please refer to the User’s Guide for details.

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 Cool Muscle?

A varistor's functionality is to clip the over-voltage such as the re-generated voltage that is produced by motion and the rotation of the shaft during the power is off, motor free and etc. So the bundled varistor must be used.

Can master & slave board be mounted on the back of motor?

Master & slave board can be mounted on the back of CM1-x-17S/L & CM1-x-23S/L by spacers.
However, the boards can not 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 not be linked via RS232-C communication but can be linked via IO ports.

Is there Cool Muscle with a brake?

There is no Cool Muscle with a brake. Please mount a brake externally to Cool Muscle.

What is the maximum cable length?

In a normal operating environment, the motor cable that comes with the motor is recommended to be shorter than 40cm, and RS-232C cable to be shorter than 2m.

Is there any delay between Cool Muscles in the daisy-chain network?

There is a slight delay. Even 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?

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 24VDC without resistor?

Input voltage is from 5VDC to 24VDC. Resistor is not needed.

What communication method does Cool Muscle support besides RS-232C?

Cool Muscle supports only RS-232C. When another method is required, a communication signal level converter will be required.

What is the communication protocol for Cool Muscle?

The communication protocol for Cool Muscle is ASCII code without hand shake.

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

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

How can the rotational speed be calculated from Cool Muscle speed value?

The rotation speed can be calculated from the Cool Muscle’s resolution and Speed value.
RPM = S x Speed unit set by K37 (100pps/10pps) x 60 / resolution
The speed calculation function is available in COOLWORKS LITE to automatically calculate the rotation speed.

How can the acceleration be calculated?

Acceleration value is the speed that the motor reaches in a second after its revolution starts.
A x 1000(Kpps^2) x 60 / resolution = speed a second after
The motor accelerates to reach this speed in a second but does not exceed the speed set by S.

Is Data writen in EEPROM everytime it is transferred to Cool Muscle?

The save command "$.ID" has to be sent to write data in EEPROM. The parameters are writen in EEPROM everytime sent to Cool Muscle.

How can an alarm be reset?

Since a motor is free when an alarm is occurred, the enable motor command " ( " will reset the alarm and enable the motor.
An alarm can be reset by an input signal. The input functions can be assigned by either 1: Alarm Reset/Pause or 2:Enable the Motor.
Please refer to the User’s Guide for details.

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 a input signal to enable motor. The input functions can be assigned by either 1:Alarm Reset/Pause or 2:Enable Motor. Please refer to the User’s Guide for more information.

Can encoder pulse be output?

You can use the Position Mark function. Please refer to the User's Guide for more information.

There is no communication between a PC and Cool Muscle.

1. Please supply the power to Cool Muscle when a PC is running.
2. Please check the baud rate on a PC. Please refer to the User’s Guide for details.

A program bank can not be executed.

The definition of a program bank must begin with " B1.1". Please confirm if the program banks have been properly downloaded to Cool Muscle by entering 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 and over-written constantly in a high baud rate. Please refer to the "Communication Time with Cool Muscle" in the User's Guide.

P Type Cool Muscle does not rotate.

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 motor. How can the positioning be precise?

Cool Muscle'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 Cool Muscle with open collector output circuit, it will be more likely to have an electrical noise influence from envirouments 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" 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?

Turning a motor shaft when the power is off produces a re-generative voltage. It will cause the damage to Cool Muscle to apply re-generative voltage frequently. Please free a motor when the power is on and turn a shaft.

Cool Muscle is damaged.

Please contact our distributor with information as the damaged motor's product & serial No. and the damage information as damaged part, how it damaged and etc.

What is required for Cool Muscle 2 operation?

Cool Muscle 2, communication cable (CM2RS2-2000W) and 100VAC to 240VAC power supply are required.
* 200VAC to 240VAC is required for CM2-x-60A40A

What are required for networking multiple Cool Muscles 2?

Cool Muscle 2 motors, a communication cable (CM2RS2-2000W) and optional network cables CM2DC2-xxxxW (xxxx is length) when the distance between motors becomes more than 60cm are required.

Is there Cool Muscle 2 with a brake?

There is no Cool Muscle 2 with a brake. Please mount a brake externally to Cool Muscle 2.

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 not be linked via RS232-C communication but can be linked via IO ports.

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.

Is there any delay between Cool Muscles in the daisy-chain network?

There is a slight delay. Even 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.

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. This is because the number of motors are identified automatically when powered on.

What communication method does Cool Muscle support besides RS-232C?

Cool Muscle supports only RS-232C and Modbus. When another method is required, a communication signal level converter will be required.

What is the communication protocol for Cool Muscle?

The communication protocol for Cool Muscle is ASCII code without hand shake.

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

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 Cool Muscle speed value?

The rotation speed can be calculated from the Cool Muscle’s resolution and Speed value.
RPM = S x Speed unit set by K37 (100pps/10pps) x 60 / resolution
The speed calculation function is available in COOLWORKS LITE to automatically calculate the rotation speed.

How can the acceleration be calculated?

Acceleration value is the speed that the motor reaches in a second after its revolution starts.
A x 1000(Kpps^2) x 60 / resolution = speed a second after
The motor accelerates to reach this speed in a second but does not exceed the speed set by S.

Is Data writen in EEPROM everytime it is transferred to Cool Muscle?

The save command "$.ID" has to be sent to write data in EEPROM. The parameters are writen in EEPROM everytime sent to Cool Muscle.

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

The unit is % from motor's peak torque.

How can an alarm be reset?

Since a motor is free when an alarm is occurred, the enable motor command " ( " will reset the alarm and enable the motor.
An alarm can be reset by an input signal. The input functions can be assigned by either 1: Alarm Reset/Pause or 2:Enable the Motor.
Please refer to the User’s Guide for details.

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 a input signal to enable motor. The input functions can be assigned by either 1:Alarm Reset/Pause or 2:Enable Motor. Please refer to the User’s Guide for more information.

Are linear and circular interpolation possible when using 2 pieces of Cool Muscle 2 in the daisy-chain network?　

2 dimensional linear and circular interpolation are possible when using 2 pieces of R-type Cool Muscle 2.

Can encoder pulse be output?

You can use the Position Mark 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.

There is no communication between a PC and Cool Muscle.

1. Please supply the power to Cool Muscle when a PC is running.
2. Please check the baud rate on a PC. Please refer to the User’s Guide for details.

A program bank can not be executed.

The definition of a program bank must begin with " B1.1". Please confirm if the program banks have been properly downloaded to Cool Muscle by entering the query command “?1000.1” and if a ladder logic bank that prevents a program bank from being 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 in a high baud rate. Please refer to the "Communication Time with Cool Muscle" in the User's Guide.

How do you optimize the gain tunings?

Please refer to the "How to Adjust Gain" in the User’s Guide for more information.Cool Muscle 2 suppports tuningless system. When adjustment is required, you can adjust a "Servo Stiffness" from the Response Adjustment Window of CoolWorks 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 CoolWorks Lite.
・When there are noise influences
When using Cool Muscle with open collector output circuit with a cable longer than appx. 1m, it increase a chance to be influenced by noises. In this case, please confirm the noise reduction by a shielded cable, twist pair and linedriver output circuit in order.

When using 2 pieces of Cool Muscle in the daisy-chain network and send a command to one motor, 2 motors made the same motion. When checking the CoolWorks 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 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?

Turning a motor shaft when the power is off generates the power. 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. Applying re-generated voltage frequently may damage Cool Muscle 2.

Cool Muscle is damaged.

Please contact our distributor with information as the damaged motor's product & serial No. and the damage information as damaged part, how it damaged and etc.

Is the Coolworks Lite WINDOWS7 compatible?

The coolworks Lite is WINDOWS 98/2000/ME/XP compatible.

The terminal window can not be opened from top window of the CoolWorks Lite by clicking "Open COM" botton.

Windows can be opened only when Cool Muscle is connected.

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

When using 1 motor, the X coordinate is time-series and the unit is
Sampling Time x X coordinate scale = 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, pisition : pulse or torque : Iq.

There is no communication between a PC and Cool Muscle.

Please confirm the Device Manager if Cool Muscle is connected to the selected ComPort. Please refer to the CoolWorks User's Manual for details.