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AMCI SD17060E2 User Manual

Networked stepper indexer/drivers with integral 2-port ethernet switch and device level ring functionality for ethernet/ip media redundancy protocol for profinet
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ADVANCED
MICRO CONTROLS INC.
Manual #: 940-0S172
E2 Technology
E2 Technology
®

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Summary of Contents for AMCI SD17060E2

  • Page 1 ADVANCED MICRO CONTROLS INC. Manual #: 940-0S172 E2 Technology E2 Technology ®...

  • Page 2: General Information

    [18] months. Within this warranty period, AMCI shall, at its option, repair or replace, free of charge, any equipment covered by this warranty which is returned, shipping charges prepaid, within eighteen months from date of invoice, and which upon examination proves to be defective in material or workmanship and not caused by accident, misuse, neglect, alteration, improper installation or improper testing.

  • Page 3: Table Of Contents

    Status LED’s ..........19 Encoder Registration Moves ..40 Front Panel Status LED’s ....19 Assembled Moves ......40 Ethernet Status LED’s ....20 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 4 Trapezoidal S-Curve Accel ... 50 Command Blocks ........73 Determining Waveforms  Absolute Move ......73 by Values ........52 Relative Move ....... 73 Reference: Homing an AMCI  Hold Move ........74 Networked Driver Resume Move ........ 74 Immediate Stop ......75 Definition of Home Position ....
  • Page 5 Connecting the Motor ......100 Without EDS Motor Connector ......100 Host System Configuration ...... 121 Interlock Wiring ......100 Adding the SD17060E2 or SD31045E2 .. 121 Motor Wiring ......... 101 Configuring the SD17060E2 or  SD31045E2 ..........123 Buffering I/O Data ........124 20 Gear Drive, Plymouth Ind.
  • Page 6 Network Interfaces Firewall Settings ........141 Disable All Unused Network Interfaces .. 141 Configure Your Network Interface ..141 Test Your Network Interface ....142 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 7: About This Manual

    With the exception of power requirements and output current, the information in this manual applies equally to the SD17060E2 and SD31045E2 units. The term “Networked Driver” is used when the information applies to all drivers. Navigating this Manual This manual is designed to be used in both printed and on-line forms.

  • Page 8: Manual Conventions

    Internet access. Trademarks and Other Legal Stuff The AMCI logo is a trademark of Advanced Micro Controls Inc. “CIP” is a trademark of Open DeviceNet Vendor Association, Inc. “EtherNet/IP” is a trademark of ControlNet International, Ltd. under license by Open DeviceNet Vendor Association, Inc.

  • Page 9: Manual Layout

     If you need to install and use a Networked Stepper Indexer/Driver product from AMCI, then the rest of the manual is written for you. To simplify installation and configuration, the rest of the manual is broken down into tasks and references.
  • Page 10 Networked Indexer/Driver User Manual BOUT THIS ANUAL Notes ADVANCED MICRO CONTROLS INC.

  • Page 11: Reference: Sd17060E2 & Sd31045E2 Specifications

    Networked Stepper Indexer/Drivers The AMCI SD17060E2 is a 6.0Arms micro-stepping driver with a 170Vdc internal bus voltage. The AMCI SD31045E2 is a 4.4Arms micro-stepping driver with a maximum internal bus voltage of 310Vdc. What makes each drive unique is its built-in indexer that accepts configuration and command data from a host system over the internal Ethernet port.

  • Page 12: Network Data Format

    Vac 50/60 Hz source and they will have a 310 Vdc motor bus voltage with this input supply. The output motor current is fully programmable on these Networked Drivers. The SD17060E2 Drivers can be programmed from 1.0 Arms to 6.0 Arms, while the SD31045E2 Drivers can be programmed from 1.0 Arms to 4.4 Arms.
  • Page 13 When a posi- tion value overflows, the value of the associated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit integer format for continuous rotation applications.

  • Page 14: Specifications

    Weight is reduced to selected level if there is no motion for 1.5 seconds. Current is restored to full value SD17060E2 Drivers: 2.4 lbs. (1.1 kg.) max. when motion is started. SD31045E2 Drivers: 2.7 lbs. (1.25 kg.) max. Internal Power Fuses Inputs 10 Amp Slow Blow.

  • Page 15: Indexer Functionality

    SD17060E2 & SD31045E2 S Networked Indexer/Driver User Manual PECIFICATIONS Indexer Functionality The table below lists the functionality offered by the indexer built into the AMCI Networked Drivers Feature Description The SD17060E2 and SD31045E2 units can be configured to communicate Multiple Network with EtherNet/IP, PROFINET, or Modbus TCP protocols.

  • Page 16: Driver Functionality

    SD17060E2 & SD31045E2 S Networked Indexer/Driver User Manual PECIFICATIONS Driver Functionality This table summarizes the features of the stepper motor driver portion of the SD17060E2 and SD31045E2. Feature Benefits 170 Vdc or 310 Vdc A high voltage output bus means you can derive more high speed torque Output Bus (power) from your stepper motor.

  • Page 17: Cw Limit Switch Or Ccw Limit Switch

    Capture Encoder Position Input or a Jog Move Stop Input. Additional information on the ways to use an encoder with a Networked Driver is described in the Encoder Functionality section on page 18. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 18: General Purpose Input

    SD17060E2 & SD31045E2 S Networked Indexer/Driver User Manual PECIFICATIONS Available Inputs (continued) General Purpose Input If your application does not require all three inputs, you can configure the unused inputs as General Purpose Inputs. The inputs are not used by the Networked Driver, but the input state is reported in the network data.

  • Page 19: Network Interface Description

    LED’s are also located in this area. Ethernet Interface The Ethernet Interface on the SD17060E2 and SD31045E2 drivers has two standard RJ-45 jacks that accept any standard 100baseT cable. Both jacks are used in EtherNet/IP DLR and PROFINET MRP applications. If you are using the Modbus TCP protocol, or are not using DLR or MRP functionality, then you can connect to either jack.

  • Page 20: Ethernet Status Led's

    SD17060E2 & SD31045E2 S Networked Indexer/Driver User Manual PECIFICATIONS Status LED’s (continued) Ethernet Status LED’s Link Status – On when there is a physical link between the Ethernet port of the Networked Driver and the Ethernet port of the device the driver is plugged into.

  • Page 21: Reference: Ul/Cul Recognized

    ECOGNIZED NSTALLATIONS ® The SD17060E2 and SD31045E2 drivers are Underwriter Laboratory Inc. listed devices. It is listed as “Industrial Control Equipment” under the control number 60GB. The UL file number is E231137. These units are appropriate for UL and cUL applications.
  • Page 22 UL R Networked Indexer/Driver User Manual ECOGNIZED NSTALLATIONS Notes ADVANCED MICRO CONTROLS INC.

  • Page 23: Definitions

    AMCI does not specify a default value in this manual because it is very dependent on motor size and attached load.

  • Page 24: Target Position

    Networked Indexer/Driver User Manual OTION ONTROL Definitions (continued) Target Position The Target Position is the position that you want the move to end at. There are two ways to define the Target Position, with relative coordinates or absolute coordinates. Relative Coordinates Relative coordinates define the Target Position as an offset from the present position of the motor.

  • Page 25: Triangular S-Curve Accel

    Trapezoidal S-Curve acceleration only requires 33% more time to achieve the same velocity as a Linear Acceleration. Programmed Speed TIME TIME 4/3t 4/3t Figure R3.3 Trapezoidal S-Curve Acceleration 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 26: A Simple Move

    Networked Indexer/Driver User Manual OTION ONTROL A Simple Move As shown in the figure below, a move from A (Current Position) to B (Target Position) consists of several parts. POSITION Figure R3.4 A Trapezoidal Profile 1)The move begins at point A, where the motor jumps from rest to the configured Starting Speed. The motor then accelerates at the programmed Acceleration Value until the speed of the motor reaches the Programmed Speed.

  • Page 27: Controlled And Immediate Stops

    If you perform the same action with Absolute Moves, you would have to calculate your 30° position followed by your 60° position, followed by your 90° position, etc. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 28: Absolute Move

    Current Position. 1) The Home Position of the machine must be set before running an Absolute Move. See the reference section, Homing an AMCI Networked Driver, which starts on page 55, for infor- mation on homing the machine. 2) The Motor Position must be valid before you can use an Absolute Move. The Motor Posi- tion becomes valid when you preset the position or home the machine.

  • Page 29: Cw/Ccw Jog Move

    For example, a CW Jog Move can be issued while the CCW limit switch is active. This allows you to move off of an activated end limit switch. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 30 Networked Indexer/Driver User Manual OTION ONTROL Basic Move Types (continued) CW/CCW Jog Move (continued) As shown below, a Jog Moves begins at the programmed Starting Speed, accelerates at the programmed rate to the Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the Networked Driver will decelerate the motor to the starting speed and stop without losing position.

  • Page 31: Cw/Ccw Registration Move

    Minimum Registration Move Dis- tance is reached. Controlled Stop Condition POSITION Controlled Stop Condition POSITION Figure R3.10 Min. Registration Move Distance 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 32: Encoder Registration Move

    Networked Indexer/Driver User Manual OTION ONTROL Basic Move Types (continued) CW/CCW Registration Move (continued) Controlled Stop Conditions  The Registration Move Command bit is reset to “0”.  A positive transition on an input configured as a Stop Jog or Registration Move Input. Starting a Registration Move with a Stop Jog or Registration Move Input in its active state will result in a move of (Minimum Registration Distance + Programmed Number of Steps).

  • Page 33: Assembled Moves

    Networked Driver will stop between each move for a programed Dwell Time. Because motion stops between each segment, a Dwell Move allows you to reverse direction during the move. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 34: Blend Move

    Networked Indexer/Driver User Manual OTION ONTROL Assembled Moves (continued) Blend Move 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 Networked Driver before the move can be initiated.

  • Page 35: Dwell Move

    The sign of the target position for the segment determines the direction of motion for that segment. Positive segments will result in clockwise shaft rotation while a negative segment will result in a counter-clock- wise shaft rotation. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 36 Networked Indexer/Driver User Manual OTION ONTROL Assembled Moves (continued) Dwell Move (continued) The following figure shows a drilling profile that enters the part in stages and reverses direction during the drill- ing operation so chips can be relieved from the bit. You could accomplish this Dwell Move with a series of six relative moves that are sent down to the Networked Driver sequentially.

  • Page 37: Assembled Move Programming

    With a limit of 10,000 write cycles, the design decision that requires you to cycle power to the Networked Driver was made to prevent an application from damaging the module by continuously writing to it. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 38: Indexed Moves

    Networked Indexer/Driver User Manual OTION ONTROL Indexed Moves All of the moves that have been explained in the chapter up to this point can be started by a transition on one of the inputs instead of a command from the network. If the Indexed Move bit is set when the command is issued, the Networked Driver will not run the move until the configured input makes an inactive-to-active transition.

  • Page 39: Synchrostep (Virtual Axis) Moves

    A proportional constant is available to control the sharpness of the control. AMCI suggests a value of 1 or 2 when using the motor position to control the loop. AMCI suggests a value between 10 and 50 when using the encoder position to control the loop.

  • Page 40: Controlling Moves In Progress

    Networked Indexer/Driver User Manual OTION ONTROL Controlling Moves In Progress Each Networked Driver has the ability to place a running move on hold and later resume the move if an error did not occur while the move was in its Hold state. One potential application for this feature is bringing a move to a controlled stop when your controller senses an end-of-stock condition.

  • Page 41: Electronic Gearing

    This mode is sometimes referred to as encoder following, because the motor will change position in response to a change in position of the encoder. AMCI refers to it as Electronic Gearing because the Networked Driver has three parameters that allow you to set any turns ratio you want between the encoder and the motor.

  • Page 42: Advanced Ratio Control

    Networked Indexer/Driver User Manual OTION ONTROL Electronic Gearing (continued) Advanced Ratio Control The ELGearing Multiplier and Divisor values give you a great deal of control over the ratio of motor turns per encoder turn, but you can achieve even finer control by adjusting the Motor_Resolution parameter. The Z pulse is not used to correct the encoder position once per turn, so you can actually program the Motor_Resolution parameter to any value you want within its valid range.

  • Page 43: Current Loop Gain

    “1” for standard motor performance. Assuming a stable line voltage of 115Vac, the following gains can be used for AMCI motors. These gain set- tings are factory suggestions and are average settings for our motors. Your system may benefit from increas- ing or decreasing these settings.
  • Page 44 Current Loop Gain (continued) When using the SD31045E2 with a stable 230 Vac line voltage, the following gains can be used for AMCI motors. These gain settings are factory suggestions and are average settings for our motors. Your system may benefit from increasing or decreasing these settings.

  • Page 45: Profiles

    TIME  D = Number of Steps needed to complete the acceleration or D or deceleration phase of the move 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 46 Networked Indexer/Driver User Manual ALCULATING ROFILES Constant Acceleration Equations (continued) Figure R4.1 gives the equations to calculate Time, Distance, and Acceleration values for a constant accelera- tion move. or T or D Acceleration Type (Time to Accelerate (Distance to Accelerate (Average or Decelerate) or Decelerate)

  • Page 47: Total Time Equations

    You can then calculate your total profile time, (T below), from the second equation. = (Total Number of Steps) – (D For Triangular Profiles, the total time of travel is simply: 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 48: S-Curve Acceleration Equations

    Networked Indexer/Driver User Manual ALCULATING ROFILES S-Curve Acceleration Equations When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the Networked Driver uses this value to smoothly change the acceleration value applied during the move. In this case, the speed of the move does not increase linearly, but exponentially, resulting in an “S”...
  • Page 49 20,000 steps/sec , then the acceleration phase will take 4.0 seconds and the Accel- eration Jerk parameter should be set to 50 (200/4.0) 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 50: Trapezoidal S-Curve Accel

    Networked Indexer/Driver User Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Trapezoidal S-Curve Acceleration Figure R4.4 shows the speed profile of a move during its acceleration phase. The figure shows the desired trapezoidal S-curve acceleration in red along with the equivalent constant acceleration in blue. The equivalent constant acceleration is equal to the change in speed divided by the time it takes to achieve the change in speed.
  • Page 51 50% and the Acceleration Jerk parameter should be adjusted accordingly. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 52: Determining Waveforms By Values

    Networked Indexer/Driver User Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Determining Waveforms by Values If your programmed acceleration and deceleration values are the same, then your move’s acceleration and decelerations will be identical. If these two programmed values are different, use the above methods to deter- mine the Acceleration Jerk parameter for either the move’s acceleration or deceleration phases and use the following calculations to determine the shape of the other phase.
  • Page 53 The time for this acceleration phase is 2(t1 + t2), which equals 2(0.2500 sec + 0.1336 sec) or 0.7672 seconds. Time spent in the constant acceleration period is (2(0.1336))/0.7672) or 34.8% of the entire phase. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 54 Networked Indexer/Driver User Manual ALCULATING ROFILES Notes ADVANCED MICRO CONTROLS INC.

  • Page 55: Networked Driver

    You must program your host to control the state of this bit. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 56: Homing Configurations

    2) The homing diagrams show CW and CCW direction on their vertical axes. These are the directions that will occur if using an AMCI motor that is wired as shown in this manual. It is possible to reverse the direction of rotation by swapping one connections on one of the motor windings.

  • Page 57: Profile With Network Backplace_Proximity_Bit

    4, the Networked Driver starts to hunt for the home position as soon and the Backplane  Backplace_Proximity_Bit makes a 0 1 transition 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 58: Profile With Overtravel Limit

    AMCI N Networked Indexer/Driver User Manual OMING AN ETWORKED RIVER Homing Profiles (continued) Profile with Overtravel Limit Figure R5.3 below shows the move profile generated by a +Find Home command when you use:  CW Overtravel Limit  Home Input without the Backplace_Proximity_Bit The profile is generated when you encounter an overtravel limit in the direction of travel.

  • Page 59: Data Format

    This chapter covers the formats of the Network Output Data used to configure the AMCI Networked Driver as well as the formats of the Network Input Data that contains the responses from the device. An AMCI Networked Driver requires ten 16-bit words (20 bytes) for Output Data as well as ten 16-bit words for Input Data.

  • Page 60: Multi-Word Data Format

    Networked Indexer/Driver User Manual ONFIGURATION ORMAT Configuration Mode Data Format (continued) Multi-Word Data Format Sixteen bit integers support a range of values from -32,768 to 32,767 or 0 to 65,535. The Starting Speed parameter, which is programmed as part of the configuration data, can exceed this range. In applications that do not use an EDS file, this parameter is transmitted in two separate words.

  • Page 61: Output Data Format

    When any of the three position values overflow, the value of the associ- ated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit integer format for continuous rotation applications.

  • Page 62: Configuration Word 0 Format

    Networked Indexer/Driver User Manual ONFIGURATION ORMAT Output Data Format (continued) Configuration Word 0 Format Configuration Word 0 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 RESERVED: Bit must equal zero. Figure R6.1 Configuration Word 0 Format Bit 15: Mode –...
  • Page 63 When using a quadrature encoder, you must set bit 10, the Use_Encoder Bit, in addition to programming the inputs to accept quadrature signals. You must also program the Encoder_Resolution parameter in configuration word 6. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 64: Configuration Word 1 Format

    Sample code from AMCI includes this functionality. 2) The endurance of the Flash memory is a minimum of 10,000 write cycles.

  • Page 65: Notes On Other Configuration Words

    Normally Open (NO) contacts and current flows through the input when it is active. The AMCI Networked Driver does not report the state of the inputs when they are configured as encoder inputs (ABZ). The driver reports the state of the Active Level Bit for the input.

  • Page 66: Input Data Format

    Networked Indexer/Driver User Manual ONFIGURATION ORMAT Input Data Format The correct format for the Network Input Data when the Networked Driver is in Configuration Mode is shown below. EtherNet/IP Modbus/TCP or PRIOFINET Configuration Data Register Word Configuration Word 0 Mirror of Output Data Config Word Mirror of Starting Speed.

  • Page 67: Format

    This chapter covers the formats of the Network Output Data used to command the SD17060E2 or SD31045E2 as well as the formats of the Network Input Data that con- tains the responses from the device. The Networked Driver requires ten 16-bit words (20 bytes) for Output Data as well as ten 16-bit words for Input Data.

  • Page 68: Command Bits Must Transition

    When any of the three position values overflow, the value of the associ- ated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit integer format for continuous rotation applications.

  • Page 69: Command Word 0

    “1” for Configuration Mode Programming “0” for Command Mode Programming. A factory default SD17060E2 or SD312045E2 powers up in Command Mode and shows a configu- ration error. (Hexadecimal value of 6408h.) The Networked Driver will not power the motor or accept commands until a valid configuration is written to it.
  • Page 70 Switch in the counter-clockwise direction. A full explanation of homing can be found in the Homing an AMCI Networked Driver reference chapter starting on page 55. When set to “1” the Networked Driver will attempt to move to the Home Limit Bit 5: Find_Home_CW –...

  • Page 71: Command Word 1

    Assembled Move Programming section of this manual starting on page 37.  Description of Motor Current Keys on the following page. Motor_Current_Key2 - 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 72: Description Of Motor Current Keys

    Mode. Invalid values are:  Value whose last digit is not even  Values outside the range of 1.0 to 6.0 amps on the SD17060E2  Values outside the range of 1.0 to 4.4 amps on the SD31045E2 ADVANCED MICRO CONTROLS INC.

  • Page 73: Command Blocks

    1032 Motor Current 0.1 A SD31045E2: 10 to 44 Even numbers only. 1033 Acceleration Jerk 0 to 5000 Table R7.3 Relative Move Command Block 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 74: Hold Move

    Speed and 2,999,999 1030 Acceleration Steps/ms/sec 1 to 5000 1031 Deceleration Steps/ms/sec 1 to 5000 SD17060E2: 10 to 60 1032 Motor Current 0.1 A SD31045E2: 10 to 44 Even numbers only. 1033 Acceleration Jerk 0 to 5000 Table R7.5 Resume Move Command Block Unused words are ignored by the Networked Driver and can be any value, including parameter values in the previous command.

  • Page 75: Immediate Stop

    Table R7.7 Find Home CW Command Block Unused words are ignored by the Networked Driver and can be any value, including parameter values in the previous command. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 76: Find Home Ccw

    Speed and 2,999,999 1030 Acceleration Steps/ms/sec 1 to 5000 1031 Deceleration Steps/ms/sec 1 to 5000 SD17060E2: 10 to 60 1032 Motor Current 0.1 A SD31045E2: 10 to 44 Even numbers only. 1033 Acceleration Jerk 0 to 5000 Table R7.8 Find Home CCW Command Block Unused words are ignored by the Networked Driver and can be any value, including parameter values in the previous command.

  • Page 77: Registration Move Cw

    9 is the Network Delay value. If the value is between 21 and 65,535, the move is considered a Circu- lar Axis Move and the value in word 9 is the Position Unwind value. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 78: Jog Ccw

    Speed and 2,999,999 1030 Acceleration Steps/ms/sec 1 to 5000 1031 Deceleration Steps/ms/sec 1 to 5000 SD17060E2: 10 to 60 1032 Motor Current 0.1 A SD31045E2: 10 to 44 Even numbers only. 1033 Acceleration Jerk 0 to 5000 Table R7.12 Jog CCW Command Block Unused words are ignored by the Networked Driver and can be any value, including parameter values in the previous command.

  • Page 79: Encoder Follower Move

    Unused words are ignored by the Network Driver and can be any value, including parameter values in the previous command. Presetting the position will also reset the Move_Complete status bit in the Network Input Data. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 80: Reset Errors

    1029 Unused See Note Below 1030 Unused See Note Below 1031 Unused See Note Below SD17060E2: 10 to 60 1032 Motor Current 0.1 A SD31045E2: 10 to 44 Even numbers only. Unused with Blend Move 1033 milliseconds 0 to 65,535 Dwell Time with Dwell Move Table R7.17 Run Assembled Move Command Block...

  • Page 81: Preset Encoder Position

    Table R7.18 Preset Encoder Position Command Block Unused words are ignored by the Networked Driver and can be any value, including parameter values in the previous command. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 82: Programming Blocks

    Networked Indexer/Driver User Manual OMMAND ORMAT Programming Blocks The following blocks are used to program an Assembled Move. Both of the moves, Blend Move, and Dwell Move, are programmed exactly the same way. The bit configuration used when starting the move determines which type of Assembled Move is run.

  • Page 83: Input Data Format

    When any of the three position values overflow, the value of the associ- ated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit integer format for continuous rotation applications.
  • Page 84 Reset_Errors bit, Command Word 0, Bit 10. Note that setting the motor current to a value outside the range of 1.0 to 6.0 amps on the SD17060E2, or 1.0 to 4.4 amps on the SD31045E2, does not force a command error.

  • Page 85: Status Word 1 Format

    Set while in Electronic Gearing mode if the Numerator or Denominator are set outside their range of 1 to 255. Will always equal zero. Bit 8: Reserved – 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 86 Networked Indexer/Driver User Manual OMMAND ORMAT Input Data Format (continued) Status Word 1 Format (continued) Bit 7: Driver_Fault – If the driver section of the Networked Driver is enabled, this bit will be a “1” during a Over temperature Fault, a Short Circuit Fault, or when the Interlock Jumper is missing. This fault can be cleared by issuing a Reset Errors programming block with the Clear_Driver_Fault bit, (Com-...

  • Page 87: Notes On Clearing A Driver Fault

    Enabled_Driver Bit, (bit 15 of Command Word 1 in the Network Output Data), must be reset when writing down the Reset Driver Fault Command Block. Setting this bit in the next com- mand block will re-enable the motor. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 88 Networked Indexer/Driver User Manual OMMAND ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 89: 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 90: 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 91: 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.  Ground Loops: A ground loop occurs when AC or DC return currents can travel through the system ground path in addition to their normal return path.

  • Page 92: 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 is 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 93: 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 94: Conduits To Enclosure

    AC power or if the noise generated on the motor connections is injected into your AC lines.  If 230Vac is the only line voltage available in a system that is using the SD17060E2 Drivers, a step down transformer that is rated for a minimum of 800VA must be installed. Consider installing this transformer in the enclosure with the SD17060E2 Networked Driver.

  • Page 95: Location

    The person responsible for installing the driver should be familiar with the general installation guidelines given in the previous chapter. 1.1 Location AMCI Networked Drivers are suitable for use in industrial environments that meet the following criteria:  Only non-conductive pollutants normally exist in the environment, but an occasional temporary con- ductivity caused by condensation is expected.

  • Page 96: Outline Drawings

    INPUT 1 INPUT 2 INPUT 2 INPUT 3 INPUT 3 OUTPUT 1 OUTPUT 1 INTERLOCK INTERLOCK POWER AC POWER 95 – 132 V 50/60 Hz 2.750" (69.85) 0.60" (15.2) 4.00" (101.6) Figure T1.1 SD17060E2 Outline Drawing ADVANCED MICRO CONTROLS INC.

  • Page 97: Sd31045E2 Outline Drawing

    1.5 Mounting Methods There are two ways to mount an AMCI Networked Driver. The first method is with the #10-32 screws into the side panel of the SD17060E2 or the back panel of the SD31045E2. The second method is by the mounting tabs.

  • Page 98: Grounding And Powering The System

    Figure T1.3 Power and Grounding Connections 1) Input power must be 95 to 132 Vac, 50/60 Hz for the SD17060E2 and 95 to 264 Vac,  50/60 Hz for the SD31045E2. Input power must able to supply 800VA for proper operation.

  • Page 99: 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 100: Connecting The Motor

    AMCI N Networked Indexer/Driver User Manual NSTALLING AN ETWORKED RIVER 1.8 Connecting the Motor 1.8.1 Motor Connector The motor connector is shown in figure T1.4. The two Interlock termi- INTERLOCK nals are a safety feature. When these two terminals are not connected, the...

  • Page 101: Motor Wiring

    You must refer to your motor data sheets for this information. A wiring document for all of the motors ever sold by AMCI is available on our website. This single document contains all of the information necessary to connect any AMCI motor to any AMCI driver. At the time of this manual revision, the wiring manual can be found in the PDF Documents section of the website.

  • Page 102: Digital Input Wiring

    AMCI N Networked Indexer/Driver User Manual NSTALLING AN ETWORKED RIVER 1.9 Digital Input Wiring 1.9.1 Cable Shields Because they are low power signals, cabling from the sensor to the Networked Driver should be done using a twisted pair cable with an overall shield. The shield should be grounded at the end when the signal is gener- ated, which is the sensor end.

  • Page 103: Output Wiring

    –A –A INPUT1 – INPUT2 + –B –B INPUT2 – INPUT3 + –Z –Z INPUT3 – AMCI Networked Driver Figure T1.9 Sample Encoder Wiring 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 104: Ethernet Connections

    100baseT depending on the network equipment they are attached to. The ports also have “auto switch” capa- bility. This means that a standard cable can be used to connect the SD17060E2 or SD31045E2 to any device, including a personal computer.

  • Page 105: Modbus Tcp Connections

    The remaining port can be used to extend the network to another device if this would reduce wiring costs. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 106 AMCI N Networked Indexer/Driver User Manual NSTALLING AN ETWORKED RIVER Notes ADVANCED MICRO CONTROLS INC.

  • Page 107: Determine The Best Method For Setting The Ip Address

    EtherNet/IP DHCP server, such as the one available from Rockwell Automation, in order to use this protocol. The AMCI Net Configurator utility offers the same functionality and should be used unless your company policy prevents you from installing third party utili- ties.

  • Page 108: Use The Embedded Web Server

    IP A Networked Indexer/Driver User Manual ET THE DDRESS 2.2b Use the Embedded Web Server PREREQUISITE: You must know the present IP address of the Networked Driver. The factory default address is 192.168.0.50. PREREQUISITE: Task 1.6: Grounding and Powering the System found on page 98.
  • Page 109 The Default Gateway setting is not optional! It must be set to a valid address on the chosen subnet. Because the Default Gateway is often not used in device level networks, if you do not have a required value for it, AMCI suggests setting the Default Gateway to the IP address of your host controller.
  • Page 110 IP A Networked Indexer/Driver User Manual ET THE DDRESS 2.2b Use the Embedded Web Server (continued) 2.2b.3 Network Setup Page (continued) 5) If the values are accepted, the following pages will be displayed while the data is being written to the unit. Wait for the pop up window to appear before cycling power to the Networked Driver.

  • Page 111: Use The Amci Net Configurator Utility

    PREREQUISITE: The unit must be configured for the EtherNet/IP protocol. EtherNet/IP is the communica- tions protocol used by the AMCI NET Configurator utility. Once connected to the unit, you can select any IP address and protocol supported by the device.
  • Page 112 Networked Indexer/Driver User Manual ET THE DDRESS 2.2c Use the AMCI Net Configurator Utility (continued) 2.2c.5 Start the AMCI Net Configurator Utility Double click on the utility’s icon. A welcome screen similar to the one in figure T2.4 below will appear.
  • Page 113 ET THE DDRESS 2.2c Use the AMCI Net Configurator Utility (continued) 2.2c.6 Press the [SCAN] button and Connect to the Networked Driver Pressing the [Scan] button will open the window shown in figure T2.5. The Networked Driver will appear in the scan list only if the unit and your network interface are on the same subnet.
  • Page 114 The Default Gateway setting is not optional! It must be set to a valid address on the chosen subnet. Because the Default Gateway is often not used in device level networks, if you do not have a required value for it, AMCI suggests setting the Default Gateway to the IP address of your host controller.

  • Page 115: Problems On Some Systems

    Ethernet Driver to choose the UDP socket number when using point to point communications. If you are using the EDS file and are experiencing communications errors, contact AMCI for a utility that will change the UDP socket used by the Networked Driver.

  • Page 116: Install The Eds File

    3) Click on the [Browse...] button and browse to the folder that contains the extracted EDS file you downloaded from the AMCI website. Select the EDS file and click on the [Open] button to return to the registration screen. Click on the [Next >] button to advance to the EDS file test screen.
  • Page 117 6) Click on the [Change icon...] button. In the window that opens, click on [Browse...] and browse to the folder that contains the extracted EDS and icon files you downloaded from the AMCI website. 7) Select the icon file (*.ico) associated with the device. Click on the [Open] button and then on [OK] to return to the Change Graphic Image screen.

  • Page 118: Configure The Ethernet Adapter On Your Plc

    If the Ethernet port is built into processor, the only step you have to take before adding the AMCI Ethernet Driver 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 119: Configure The Sd17060E2 Or Sd31045E2 Driver

    Networked Driver and your controller. If you need to open the screen to perform this task at a later time, right click on the SD17060E2 / SD31045E2 in the project tree and then select “Properties” from the drop-down menu Tabs that are not listed in the steps below are filled with reasonable defaults by the EDS file.

  • Page 120: Buffering The I/O Data

    EDS F Networked Indexer/Driver User Manual THER SING AN 3.5 Configure the SD17060E2 or SD31045E2 Driver (continued) 3.5.3 Configuration Tab (continued) Using the [Apply] button to write configuration data to the Networked Driver will disable the  motor current. A 0 1 transition on the Enable_Driver bit is required to re-enable the motor.

  • Page 121: Host System Configuration

    Ethernet Bridge module or an Ethernet port built into the processor. If the Ethernet port is built into processor, the only step you have to take before adding the SD17060E2 or SD31045E2 is to create a new project with the correct processor or modify an existing project.
  • Page 122 MPLICIT OMMUNICATIONS ITHOUT 4.2 Adding the SD17060E2 or SD31045E2 (continued) 2) In the resulting Select Module Type screen, type “generic” into the filter as shown in figure T4.2. This will limit the results in the Catalog Number list. 3) Select the Catalog Number “ETHERNET-MODULE” in the list.

  • Page 123: Configuring The Sd17060E2 Or Sd31045E2

    59. It is possible to store configuration data in the flash memory of the AMCI EtherNet/IP Stepper Driver and this configuration will be used on power up to configure the device. However, writing the configuration data to the driver on power up may simplify system maintenance if the device ever has to be swapped out.

  • Page 124: Buffering I/O Data

    Networked Indexer/Driver User Manual MPLICIT OMMUNICATIONS ITHOUT 4.4 Buffering I/O Data Input and output data is transferred asynchronously to the program scan. These data tags should be buffered with Synchronous Copy File instructions to guarantee stable input data during the program scan and guaran- tee that complete command data is delivered to the device.

  • Page 125: Messaging

    EtherNet/IP device. 5.2 Create Four New Data Files.  An Integer file to contain the data from the SD17060E2 or SD31045E2. This file must be at least 10 words in length.  An Integer file to contain the data sent to the SD17060E2 or SD31045E2. This file must be at least 10 words in length.

  • Page 126: Add The Message Instruction(S) To Your Ladder Logic

    3) Double click in the Communication Command field, click on the , select “CIP Generic” and press Enter. 4) If the Message Instruction is being used to read data from the SD17060E2 or SD31045E2, enter the integer file where the data will be placed in the Data Table Address (Received) field and press enter.
  • Page 127 For Write operations, enter a value of 150 decimal (96 hex) in the Instance field. The figure below show a typical configuration for Message Instructions being used to read data from the SD17060E2 or SD31045E2. Please note that the Data Table Address (Receive) field may be different in your application.
  • Page 128 5.3 Add the Message Instruction(s) to your Ladder Logic (continued) The figure below show a typical configuration for Message Instructions being used to write data to the SD17060E2 or SD31045E2. Please note that the Data Table Address (Send) field may be different in your application.

  • Page 129: Troubleshooting

    SD31045E2) and click on [Apply]. The Ethernet Port should now be working. AMCI is aware of an issue with the RIX data type in version 10 of RSLogix 500. If you are experiencing communications errors and are running version 10, please contact Rockwell Automation for support.
  • Page 130 /IP E Networked Indexer/Driver User Manual THER XPLICIT ESSAGING Notes ADVANCED MICRO CONTROLS INC.

  • Page 131: Enable Modbus Tcp Protocol

    Modbus I/O registers. 6.1 Enable Modbus TCP Protocol The embedded webserver can be used to change the communications protocol used by the SD17060E2 or SD31045E2. This is typically done while setting the IP address. Specifically, follow the steps in section 2.2b, Use the Embedded Web Server, which starts on page 108.

  • Page 132: Host Addressing

    If this is the case, you will define a mapping between your host controller’s addressing scheme and the zero based Modbus TCP addresses when you add the SD17060E2 or SD31045E2 to your host controller. Refer to your host controller’s documentation for information on how to accomplish this.

  • Page 133: Supported Modbus Functions

    Table T6.1 Supported Modbus Functions Table T6.1 above lists all of the Modbus functions supported by the Networked Drivers. AMCI supports all of these functions so that you can control the driver as you see fit. However, if you are looking for the easiest way to interface with your unit, then you only need to use the Read/Write Registers function, which is func- tion code 23.
  • Page 134 TCP C Networked Indexer/Driver User Manual ODBUS ONFIGURATION Notes ADVANCED MICRO CONTROLS INC.

  • Page 135: Task 7: Profinet Network Configuration

    3) Add the Networked Driver to the PROFINET Network. 4) Set the I/O word addresses used to communicate with the unit. 7.1 Download the GSDML files The GSDML files are available on the AMCI website on the http://www.amci.com/industrial-automation- support/configuration-files/ web page. The file is a ZIP archive that has to be extracted to a folder on your computer.

  • Page 136: Add The Networked Driver To The Profinet Network

    PROFINET N Networked Indexer/Driver User Manual ETWORK ONFIGURATION 7.4 Add the Networked Driver to the PROFINET Network 1) With the project open in Project View, double click on “Device & Networks” in the project tree. 2) If need be, click on the “Hardware Catalog” vertical tab to open the Hardware Catalog. 3) You can search for “SD”, or browse to the SD17060x2 icon by clicking through Other field devices +>...
  • Page 137 PROFINET interface [x1]” heading, select “Ethernet addresses”. Under the IP protocol section, set the desired IP address and subnet mask for the Networked Driver. Figure T7.3 Networked Driver IP Addressing 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 138: Set The I/O Configuration

    PROFINET N Networked Indexer/Driver User Manual ETWORK ONFIGURATION 7.5 Set the I/O Configuration The Networked Drivers require 10 Input Words (20 Input Bytes) and 10 Output Words (20 Output Bytes). All required Input and Output Bytes are defined by the GSDML file and divided into suitable modules. These set- tings are shown in the Table T7.1.

  • Page 139: Mrp Installations

    “Any partner”. 4) If need be, repeat step 3 for Port 2 of the Networked Driver. Figure T7.5 MRP Topology and Client settings 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 140 PROFINET N Networked Indexer/Driver User Manual ETWORK ONFIGURATION 7.7 Configure the SD17060x2 as an MRC (continued) 5) Continue configuring the rest of the devices on the network before compiling the project and downloading it to the CPU. ADVANCED MICRO CONTROLS INC.

  • Page 141: Optional Task A Configure Your Network Interfaces

    AMCI product. The easiest way to avoid this problem is to temporarily disable all network interfaces that are not attached to the stepper driver.

  • Page 142: Test Your Network Interface

    If the message “Request timed out.” or “Destination host unreachable” appears, then one of four things has occurred:  You set a new IP address, but have not yet cycled power to the SD17060E2 or SD31045E2  You did not enter the correct address in the ping command.

  • Page 143: Gear Drive, Plymouth Ind. Park, Terryville, Ct

    Networked Indexer/Driver User Manual ONFIGURE ETWORK NTERFACES Notes 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 144 ADVANCED MICRO CONTROLS INC. LEADERS IN ADVANCED CONTROL PRODUCTS...

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