Related Manuals for AMCI SD17060E
Summary of Contents for AMCI SD17060E
- Page 1 ADV ANC ED MIC RO CON T RO L S INC. Manual #: 940-0S090 SD17060E Ethernet/IP Stepper Motor Indexer/Drive...
- Page 2 Please direct all comments to: Technical Documen- tation, AMCI, 20 Gear Drive, Terryville CT 06786, or fax us at (860) 584-1973. You can also e-mail your questions and comments to techsupport@amci.com...
- Page 3 Position Preset Command ....13 SD17060E ........30 Find Home CW & Minimize Voltages in the Find Home CCW Commands ..13 System Enclosure ....... 31 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
- Page 4 (As Needed) ........ 45 Conduits to Enclosure ....32 Configuring a Built-in Ethernet Port (As Needed) ..46 Installing a SD17060E ......32 Adding the SD17060E ....46 Chapter 4: Installing the SD17060E RSLogix 500 Configuration ..... 47 Outline Drawing ........33 Using Message Instructions in a Airflow and Wiring Space ......
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Page 5: Audience
This manual explains the set-up, installation, and operation of AMCI’s SD17060E Stepper Motor Indexer / Drive. It is written for the engineer responsible for incorporating the SD17060E into a design, as well as the engineer or technician responsible for its actual installation. -
Page 6: Revision Record
Anyone that must install a SD170650E on a machine. Includes infor- SD17060E mation on mounting, grounding, and wiring specific to the unit. IP ADDRESS Anyone that must set the IP address of the SD17060E using a BOOTP CONFIGURATION server. Anyone that needs information on configuring a host controller. -
Page 7: The Sd17060E
AMCI you will find programming to be very similar to these products. In addition to power and motor hookups, the SD17060E has three DC inputs and one DC output that are used by the indexer. Configuration data from the host sets the function of these points. The output can be config- ured to be a Fault Output or a general purpose output. -
Page 8: Indexer Functionality
INTRODUCTION Indexer Functionality The table below lists the functionality offered by the indexer built into the SD17060E Feature Description Allows easy setup and communication with a wide range of host controllers Ethernet/IP such as the latest PLC’s from Allen-Bradley. Each of the three inputs can be programmed as a Home Limit, Over Travel Programmable Inputs Limit, Capture Input, Manual Jog Stop, or E-Stop Input. -
Page 9: Ethernet Port
Table 1.2 Drive Functionality Ethernet Port The Ethernet Port is located on the top of the SD17060E. The connector is a standard RJ-45 jack that will accept any standard 100baseT cable. The Ethernet port on the SD17060E has “auto switch” capability. This means that a standard cable can be used when connecting the SD17060E to any device. -
Page 10: Specifications
90° C (195° F) Over Temp Fault Interlock Missing No Motor ..The motor interlock terminals are not connected. The SD17060E will only detect motor errors when the motor current is enabled. Motor Current Programmable from 1.0 to 6.0A in 0.2 Connectors Amp steps. -
Page 11: Motor Position
SD17060E. The SD17060E directly controls the current through each winding to achieve motion. This gives the SD17060E the ability to control not only the speed the motor rotates at, but also the position that the motor stops at. Therefore we can talk about the position of the motor (angle of the shaft) and moving the motor from one position to another (rotating the shaft n degrees). -
Page 12: Acceleration Jerk
Figure 2.3 Trapezoidal S Curve Acceleration Available Inputs The SD17060E has three DC inputs that accept 3.5 to 27Vdc signals. (5 to 24Vdc nominal) They can be wired as differential, sinking, or sourcing inputs. How the SD17060E uses these inputs is fully programma- ble as well as their active states. -
Page 13: Emergency Stop Input
The other way to home the machine is to attach a discrete DC sensor to one of the inputs and configure the SD17060E to use this sensor as a Home Limit Switch. You can optionally configure one or both of the other inputs as CW or CCW Overtravel Limits to define the mechanical limits of your travel. - Page 14 1) Begin move at the Starting Speed and accelerate to Programmed Speed. 2) Run at the Programmed Speed until Home Input activates. 3) Unit hits end of travel limit and immediately stops. The SD17060E waits 2 seconds before continuing. 4) Accelerate to the Programmed Speed in the direction opposite of the commanded direction.
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Page 15: Gear Drive, Plymouth Ind. Park, Terryville, Ct
3) Decelerate to a stop and wait 2 seconds. 4) Return to the Home Input at the programmed Starting Speed. Stop when the Home Input transitions from Inactive to Active. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com... -
Page 16: Manual, Relative, And Absolute Moves
Find Home CW & Find Home CCW Commands (continued) In addition to homing the machine with a discrete DC sensor, the SD17060E can be homed to an encoder Z- Pulse. This encoder is typically mounted on the motor but it can be mounted anywhere on the machine. In most cases, the encoder completes multiple rotations over the complete travel of the machine. -
Page 17: Relative Moves
Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop condi- tion, the SD17060E will decelerate the motor to the starting speed and stop without losing position. If it is an Immediate Stop condition, the motion stops immediately and the position becomes invalid. -
Page 18: Absolute Moves
MOTION CONTROL Manual, Relative, and Absolute Moves (continued) Relative Moves (continued) Controlled Stop Conditions The move completes without error. You toggle the Hold Move control bit in the Network Input Data and do not resume the move. Note that your holding position will most likely not be the final position you commanded. The use of the Hold Move and Resume Move bits is explained the Controlling Moves In Progress section starting on... -
Page 19: Encoder Moves
Encoder Moves When the SD17060E is configured to use a quadrature encoder, the position value from the encoder can be used to control the move instead of the position of the motor. Absolute and relative type moves are both sup- ported. -
Page 20: Blend Moves
Each Relative Move defines a segment of the Blend Move. The following restrictions apply when program- ming Blend Moves. 1) Each segment of the Blend Move must be written to the SD17060E before the move can be initiated. The SD17060E supports Blend Moves with up to sixteen segments. -
Page 21: Blend Move Programming
Blend Move Programming All of the segments in a Blend Move must be written to the SD17060E before a Blend Move can be run. Seg- ment programming is controlled with two bits in the Network Output Data and two bits in the Network Input Data. -
Page 22: Controlling Moves In Progress
Controlling Moves In Progress The SD17060E has the ability to place a running move on hold and later resume the move if an error has not occurred while the move was in its Hold state. One potential application for this ability is bringing a move to a controlled stop when your controller senses an end-of-stock condition. -
Page 23: Absolute, Relative And Encoder Moves
This is the same parameter explained at the beginning of this chapter. It sets the number of steps required to complete one rotation of the shaft of the motor driven by the SD17060E. It has a range of 200 to 32,767. -
Page 24: Advanced Ratio Control
The final feature available when using an encoder is stall detection. The encoder must be mounted on the motor controlled by the SD17060E, which means that you cannot use Stall Detection when using the Elec- tronic Gearing feature. When Stall Detection is enabled, the SD17060E monitors the encoder inputs for changes while a move is in progress. -
Page 25: Current Loop Gain
Current Loop Gain This feature gives you the ability to adjust the gain of the power amplifiers in the SD17060E to match the electrical characteristics of your motor. The value of this parameter can range from 1 to 40 with 40 represent- ing the largest gain increase. - Page 26 MOTION CONTROL Notes ADVANCED MICRO CONTROLS INC.
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Page 27: Grounding
Ground Bus AMCI strongly suggests the use of a ground bus in each system enclosure. The ground bus is simply a metal bar with studs or tapped holes for accepting grounding connections in the enclosure. The ground bus is the only component in the enclosure that is directly connected to your Grounding Electrode System. -
Page 28: Grounding Electrode Conductor
Grounding Wires Grounding wires are used to connect the pieces of equipment to your ground bus. AMCI strongly suggests using #8 AWG stranded wire or 1" wire braid for all grounding connections. The American NEC allows the use of solid wire for grounding wires but this should be avoided for the same reasons they should not be used for the Grounding Electrode Conductor. -
Page 29: Surge (Emi) Suppression
Grounding problems occur when the grounding system carries currents during normal operation or when it cannot shunt high frequency electrical currents to earth. AMCI generally encounters three types of grounding problems in systems that use AMCI equipment. A ground loop occurs when AC or DC return currents can travel through the system Ground Loops: ground path in addition to their normal return path. -
Page 30: Inductive Loads
When checking the quality of the AC power for your system, be sure to check every machine that may be powered by the same feeder circuit. It has been in AMCI's experience that nuisance faults can be caused by another system on the same feeder circuit that does not have adequate surge suppression devices. -
Page 31: Minimize Voltages In The System Enclosure
AC output modules on the right side, and medium power I/O in the center. This should help you maximize the spacing of I/O wiring within the enclosure. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com... -
Page 32: Conduits To Enclosure
Installing a SD17060E The SD17060E is designed to be mounted in an enclosure that is close to the motor. On small machines, this may be the same enclosure that the rest of the control system in mounted in. On large machines, this is typi- cally a small enclosure that only houses the SD17060E. -
Page 33: Outline Drawing
CHAPTER 4 INSTALLING THE SD17060E This chapter gives detailed information on installing the SD17060E. The person responsible for installing the SD17060E should be familiar with the general installation guidelines given in the previous chapter. Outline Drawing There are two ways to #10-32 UNF-2B. -
Page 34: Grounding And Powering The System
SD17060E enclosure and is a sufficient grounding point for most applications. When mounted the SD17060E on a surface that is electrically conductive and grounded, you should also take steps to ensure that the two are electrically bonded together. If necessary, remove paint for the bolt mounting surfaces of the panel to ensure adequate electrical bonding. -
Page 35: Installing The Stepper Motor
They’re available as Adobe Acrobat pdf files. A document that is simply called wiring lists all of the wiring color codes for all AMCI motors. If you do not have internet access contact AMCI and we will fax the information to you. -
Page 36: Connecting The Motor
PDF Documents section of the website. It is under the Stepper Motor heading, and link is simply called “wiring”. The figure on the following page shows how to wire a motor to the SD17060E in series, parallel, or center-tap configurations. - Page 37 Refer to the torque vs. speed curves Four Lead Connected on your motor's specifications sheet Motor Case to determine if you should wire the INTERLOCK motor to the SD17060E in series, LEAD B CTAP MOTOR parallel, or center-tap configuration. SHIELDS 2) Motor connections should be tight.
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Page 38: I/O Wiring
Figure 4.4 below shows how to wire discrete DC differential, sourcing, and sinking sensors to Inputs 1, 2, and 3 of the SD17060E. Encoders typically have differential outputs, but must be wired to the SD17060E in a specific way. More information on wiring an encoder is given later. -
Page 39: Output Wiring
Figure 4.6 Output Wiring Encoder Wiring The figure below shows how to wire a 5Vdc differential encoder to the SD17060E. The ±A channel must be wired to Input 1 for proper operation The ±B channel must be wired to Input 2 for proper operation The ±Z channel is optional. -
Page 40: Network Status Led's
Ethernet Connection The Ethernet connector is located on the top of the SD17060E. The connector is a standard RJ-45 jack that will accept any standard 100baseT cable. Because the port can run at 100 Mbit speeds, Category 5, 5e, or 6 cable should be used. -
Page 41: Factory Default
Configure Your Network Interface Card (NIC) Ideally, the NIC that you will use when configuring the SD17060E is not the NIC that attaches your computer to your corporate network. It is far easier to configure the SD17060E with a stand-alone laptop or when your computer has two NIC’s in it, one for the corporate network and one for the SD17060E. -
Page 42: Multiple Network Cards
Attach the SD17060E The next step in configuring the SD17060E is attaching it to your computer. Any Cat5, 5e, or 6 cable can be used. You can attach the SD17060E directly to your computer or use a network switch. The SD17060E has an “auto-switch”... -
Page 43: Changing The Ip Address
Testing the New IP Address The easiest way to test the new address of the SD17060E is with the “ping” command. Before you can use the command, you have to be sure the SD17060E and your computer are still on the same subnet. For exam- ple, if the new address of the SD17060E is 192.168.0.42 and your computer has and address of 192.168.0.1,... - Page 44 Testing the New IP Address (continued) Once you are sure your computer and SD17060E are on the same subnet, open the DOS terminal if necessary by clicking on the [Start] button, and clicking on [Run...]. A dialog box will open. Enter ‘cmd’ on the text line and press [Enter] on the keyboard.
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Page 45: Rslogix 5000 Configuration
If the Ethernet port is built into processor, the only step you have to take before adding the SD17060E is to create a new project with the correct processor or modify an existing project. Once this is done, the Ethernet port will automatically appear in the Project Tree. -
Page 46: Configuring A Built-In Ethernet Port (As Needed)
SD17060E. Adding the SD17060E You can add the SD17060E to the project once the Ethernet port (built-in or bridge module) is configured. 1) As shown in figure 6.3 on the right, the Ethernet port will be listed under the I/O Configuration tree. -
Page 47: Rslogix 500 Configuration
An Integer file to contain the data from the SD17060E. This file must have enough elements to contain all of the data read from the drive. An Integer file to contain the data sent to the SD17060E. This file must be large enough to con- tain all of the data written to the drive. - Page 48 , select “CIP Generic” and press Enter. 6) If the Message Instruction is being used to read data from the SD17060E, enter the integer file where the data will be placed in the Data Table Address (Received) field and press enter.
- Page 49 Using Message Instructions in a MicroLogix 1100 PLC (continued) The figure below show a typical configuration for Message Instructions being used to read data from a SD17060E. Please note that the Data Table Address (Receive) and Size in Bytes (Receive) fields may be dif- ferent in your application.
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Page 50: Troubleshooting
PLC. Troubleshooting If you are unable to communicate with the SD17060E, the problem may be that the Ethernet port of your Micrologix 1100 has not been configured. To check this, double click on Channel Configuration in the Project Tree and then select the Channel 1 tab. -
Page 51: Modes Of Operation
Multi-Word Format Many of the hosts that can be used with the SD17060E only support 16 bit integers, which limits the range of values from -32,768 to 32,767 or 0 to 65,535. Many parameters of the SD17060E exceed this range. These parameters are transmitted in two separate words. -
Page 52: Configuration Mode
NETWORK DATA FORMATS Configuration Mode Network Output Data (Configuration Mode) The correct format for the Network Output Data when the SD17060E is in Configuration Mode is shown below. Word Configuration Data Range Control Word See below Config Word See below... - Page 53 Command Mode Network Output Data. This output is in an ON state when power is applied to the SD17060E and it has not yet been configured. Bit 13: Output 1 on Network Connection Lost Bit –...
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Page 54: Notes On Other Configuration Words
When the Configuration data is valid and accepted, this word mirrors the value of the Control Word written to the SD17060E. When the SD17060E is not configured, or the data written to it is invalid, then this word has the same format of Status Word 1 when the SD17060E is in Command Mode. This format is explained in the Status Word 1 Format section starting on page 59. -
Page 55: Invalid Configurations
3) You configure two or more inputs to have the same function, such as two CW Limit Switches. 4) You configure the SD17060E to use an encoder, but you do not configure Inputs 1 and 2 as Quadrature Encoder Inputs. -
Page 56: Electronic Gearing Mode Data Format
Bit 15: Mode Bit – SD17060E powers up in Configuration Mode and will not switch to Command Mode until a valid configuration is written to the drive. Power is also removed from the motor until the SD17060E has a valid configuration written to it. -
Page 57: Control Word 2 Format
When the SD17060E is configured to use the Home Proximity bit, the SD17060E will ignore the state of the Home Input as long as this bit equals “0”. This bit must equal “1” before a transition on the Home Input can be used to home the machine. Further information on using the Home Proximity bit can be found in the Find Home CW &... -
Page 58: Description Of Motor Current Keys
Control Word 2: Bit 0 – “1” The SD17060E will respond by changing the motor current and writing the new value into the Network Input Data, Word 8. Once the motor current has been set, reset the key bits to all zeros to prevent further changes to the motor current. -
Page 59: Status Word 1 Format
Set to “1” when the present Absolute, Relative, or Blend Move command completes without error. This bit is reset to “0” when the next move command is written to the SD17060E or when the position is preset. This bit is not set at the end of Manual Moves or homing operations. -
Page 60: Status Word 2 Format
Will always equal zero. Bit 8: Reserved Bit – If the driver section of the SD17060E is enabled, this bit will be a “1” during a Bit 7: Driver Fault Bit – Overtemperature Fault, a Short Circuit Fault, or when the Interlock Jumper is missing. -
Page 61: Motor Position Data
53. Motor Position Data These two inputs words report the motor position based on the number of steps output by the SD17060E. The range for the position value is -32,768,000 to 32,767,999. The data is transmitted in the Multi-Word Format described on page 51. - Page 62 ADV ANC ED MIC RO CONTROLS INC. ADV ANC ED MIC RO CONTROLS INC. ADV ANC ED MIC RO CONTROLS INC. ADV ANC ED MIC RO CONTROLS INC. 20 GEAR DRIVE, TERRYVILLE, CT 06786 T: (860) 585-1254 F: (860) 584-1973 www.amci.com LEADERS IN ADVANCED CONTROL PRODUCTS...
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