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Advanced Micro Controls Inc. SMD17E2 User Manual

Integrated stepper indexer/driver/motor with integral 2-port ethernet switch device level ring functionality for ethernet/ip media redundancy protocol for profinet, e2 technology
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SMD17E2
Integrated Stepper
Indexer/Driver/Motor
with Integral 2-Port Ethernet Switch
Device Level Ring functionality for EtherNet/IP
Media Redundancy Protocol for PROFINET
E2 Technology
E2 Technology
ADVANCED
MICRO CONTROLS INC.
Manual #: 940-0S221

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  • Page 1 ADVANCED MICRO CONTROLS INC. Manual #: 940-0S221 SMD17E2 Integrated Stepper Indexer/Driver/Motor with Integral 2-Port Ethernet Switch Device Level Ring functionality for EtherNet/IP Media Redundancy Protocol for PROFINET E2 Technology E2 Technology...

  • Page 2: General Information

    GENERAL INFORMATION Important User Information The products and application data described in this manual are useful in a wide variety of different applica- tions. Therefore, the user and others responsible for applying these products described herein are responsible for determining the acceptability for each application. While efforts have been made to provide accurate infor- mation within this manual, AMCI assumes no responsibility for the application or the completeness of the information contained herein.

  • Page 3: Table Of Contents

    Manual Layout ......... 9 Units of Measure ......25 Motor Position ......25 Reference: SMD17E2 Specifications Home Position ....... 25 The SMD17E2 Family ......11 Count Direction ......25 Part Numbering System ....12 Starting Speed ....... 25 General Functionality ....12 Target Position ......
  • Page 4 Determining Waveforms  Data Format ..........67 by Values ........50 Command Bits Must Transition ....68 Reference: Homing an SMD17E2 Output Data Format ........68 Command Word 0 ........69 Definition of Home Position ....53 Command Word 1 ........71 Position Preset ..........
  • Page 5 Location ........... 85 IP50 Rated Units ......85 Host System Configuration ...... 106 IP64 Rated Units ......85 Add the SMD17E2 to Your Project ..106 Prevent Electrostatic Damage ..85 Configure the SMD17E2 Driver ....107 Prevent Debris From ...
  • Page 6 SMD17E2 User Manual ABLE OF ONTENTS Optional Task A: Configure Your  Network Interfaces Firewall Settings ........129 Disable All Unused Network Interfaces ... 129 Configure Your Network Interface ..129 Test Your Network Interface ....130 ADVANCED MICRO CONTROLS INC.

  • Page 7: About This Manual

    Audience This manual explains the installation and operation of the SMD17E2 Integrated Stepper Indexer/Driver/ Motors from AMCI. It is written for the engineer responsible for incorporating these products into a design as well as the engineer or technician responsible for their actual installation.

  • Page 8: Navigating This Manual

    SMD17E2 User Manual BOUT ANUAL Navigating this Manual This manual is designed to be used in both printed and on-line forms. Its on-line form is a PDF document, which requires Adobe Acrobat Reader version 7.0+ to open it. You are allowed to select and copy sections for use in other documents and add notes and annotations.

  • Page 9: Manual Layout

    Task instructions that covers the options for setting the IP address Protocol on an SMD17E2. Task instructions that cover how to add an SMD17E2 to an  Implicit Communications with an EDS EtherNet/IP host that supports the use of EDS files.
  • Page 10 SMD17E2 User Manual BOUT ANUAL Notes ADVANCED MICRO CONTROLS INC.

  • Page 11: Reference: Smd17E2 Specifications

    These ports allow you to wire your network in a “daisy-chain” fashion, which may lower net- work wiring costs and complexities. The two ports also allow the SMD17E2 products to function as members of a redundant Device Level Ring (DLR) network when using the EtherNet/IP protocol or as clients in a Media Redundancy Protocol (MRP) network when using PROFINET.

  • Page 12: Part Numbering System

    The elimination of the separate indexer and driver lowers total system cost. An SMD17E2 is powered by a nominal 24 to 48 Vdc power source, and can accept surge voltages of up to 60 Vdc without damage. The output motor current is fully programmable from 0.1 Arms to 2.0 Arms which makes the SMD17E2 suitable to a wide range of applications.

  • Page 13: Encoder Functionality

    The SMD17E2 Family (continued) General Functionality (continued) The SMD17E2 units have two DC inputs that are used by the indexer. Configuration data from the host sets the function of these inputs. Each input can be individually configured as a: ...

  • Page 14: Specifications

    Incremental encoder option supplies 1,024, 2,048, See Outline Drawings, starting on page 87 or 4,096 counts per turn. Weight SMD17E2-60-M12 ....0.90 lbs. (0.41 kg.) Absolute encoder option supplies 2,048 counts per SMD17E2-80-M12 ....1.07 lbs. (0.49 kg.) turn, 32 bit max. counts.

  • Page 15: Indexer Functionality

    Starting Speed, Running Speed, Acceleration, Deceleration, and Accel/Decel Parameters Types are fully programmable. Allows you to set the machine to a known position. An SMD17E2 homes to a dis- Homing crete input and can use a bit in the Network Data as a home proximity input.

  • Page 16: Stall Detection With Smd17E2 Units

    Note that a move does not have to be in progress for stall detection to be useful. As described later in this chapter, there is an auxiliary power pin that powers the electronics of an SMD17E2 but does not power the motor.

  • Page 17: Idle Current Reduction

    This is commonly called “homing” the machine or bringing the machine to its “home” position. An SMD17E2 allows you to define this starting position in two ways. The first is with a Position Preset com- mand. The second is with a sensor mounted on the machine. When you define one of the inputs as the Home Input, you can issue commands to the SMD17E2 that will cause the unit to seek this sensor.

  • Page 18: Stop Jog Or Registration Move Input

    If your application does not require one or both of the inputs, you can configure the unused inputs as General Purpose Inputs. The inputs are not used by the SMD17E2, but their on/off state is reported in the network data and is available to your host controller.

  • Page 19: Status Led's

    Communications failure. There is a communications error between the main processor and Red/Green the ethernet co-processor within the unit. You must cycle power to the SMD17E2 to attempt to clear this fault. Initializing: Waiting for valid physical connection to the network.

  • Page 20: Network Status (Ns) Led

    PECIFICATIONS Status LED’s (continued) Network Status (NS) LED The Network Status LED is a bi-color red/green LED. The state of the LED depends on the protocol the SMD17E2 is configured to for. LED State EtherNet/IP Definition Modbus TCP Definition PROFINET Definition...

  • Page 21: Ethernet Connectors

    Figure R1.4 also show the placement of the sealed Ethernet Connector(s), while figure R1.6 shows the con- nector pinout when viewed from the back of the SMD17E2. The Ethernet port on the SMD17E2 is an “auto- sense” port that will automatically switch between 10baseT and 100baseT depending on the network equip- ment it is attached to.

  • Page 22: Power Supply Sizing

    An SMD17E2-60 will be running at a maximum of 12 RPS and a 48 Vdc supply will be used. Example 1: Based on the power curve in figure R1.7 on page 21, the combinations will generate a maximum...

  • Page 23: Regeneration Effects

    The stepper motors used in the SMD17E2 units are all low inductance motors. Back EMF is typically not an issue unless there is a gearhead attached to the motor and it is driven by hand. In these instances, the motor acts as a generator.

  • Page 24: Ethernet Cordset

    SMD17E2 S SMD17E2 User Manual PECIFICATIONS Compatible Connectors and Cordsets (continued) Ethernet Cordset AMCI Part # Description 4-position, 24 AWG, shielded. EIA/TIA 568B color coded. Connectors: Straight M12, D-coded, Male to RJ45.  CNER-5M Shield attached to both connectors. Cable length: 5 m Table R1.7 Ethernet Cordset...

  • Page 25: Definitions

    REFERENCE 2 OTION ONTROL When a move command is sent to an SMD17E2, the unit calculates the entire pro- file before starting the move or issuing an error message. This chapter explains the different available moves. Definitions Units of Measure Distance: Every distance is measured in steps.

  • Page 26: Target Position

    With the exception of Registration Moves, all move commands, including homing commands, allow you to define the acceleration type used during the move. The SMD17E2 supports three types of accelerations and decelerations. The type of acceleration used is controlled by the Acceleration Jerk parameter.

  • Page 27: Triangular S-Curve Accel

    SMD17E2 User Manual OTION ONTROL Definition of Acceleration Types (continued) Triangular S-Curve Acceleration When the Acceleration Jerk parameter equals one, the axis accelerates (or decelerates) at a constantly chang- ing rate that is slowest at the beginning and end of the acceleration phase of the move. The Triangular S- Curve type offers the smoothest acceleration, but it takes twice as long as a Linear Acceleration to achieve the same velocity.

  • Page 28: A Simple Move

    Acceleration Value until the speed of the motor reaches the Programmed Speed. Both the Acceleration Value and the Programmed Speed are programmed when the move command is sent to the SMD17E2. 2) The motor continues to run at the Programmed Speed until it reaches the point where it must decelerate before reaching point B.

  • Page 29: Controlled And Immediate Stops

    Immediate Stop. The exceptions are the CW/CCW Find Home commands, the CW/CCW Jog Move com- mands, and the CW/CCW Registration Move commands. The Find Home commands are explained in the ref- erence section, Homing an SMD17E2, which starts on page 53. The CW/CCW Jog Move commands are fully explained on page 32, and the CW/CCW Registration Move commands are fully explained on page 33.

  • Page 30: Basic Move Types

    When the command is accepted, the axis will immediately decelerate at the programmed rate and stop. When stopped successfully, the SMD17E2 will set an In_Hold_State bit in the input data table. The Relative Move can be restarted with the Resume Move command from the host controller or the move can be aborted by starting another move.

  • Page 31: Absolute Move

    1) The Home Position of the machine must be set before running an Absolute Move. See the reference section, Homing an SMD17E2, which starts on page 53, for information on hom- ing 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 32: Cw/Ccw Jog Move

    Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the SMD17E2 will decelerate the motor to the starting speed and stop without losing position. If it is an Immedi- ate Stop Condition, the motion stops immediately and the position becomes invalid.

  • Page 33: Cw/Ccw Registration Move

    When the command terminates under Controlled Stop conditions, the SMD17E2 will output a programmed number of steps as part of bringing the move to a stop. Note that all position values programmed with a Registration Move are relative values, not absolute machine positions.

  • Page 34: Assembled Moves

    Steps).  You toggle the Hold_Move control bit in the Network Output Data. The SMD17E2 responds by using the programmed Deceleration value to bring the move to a stop, without using the value of the Pro- grammed Number of Steps parameter. A Registration Move does not go into the Hold State if the Hold_Move control bit is used to stop the move and it cannot be restarted with the Resume Move com- mand.

  • Page 35: Blend Move

    1) All segments of the Blend Move must be written to the unit before the move can be initiated.  The SMD17E2 supports Blend Moves with up to sixteen segments. 2) Each segment is programmed as a relative move. Blend Moves cannot be programmed with absolute coordinates.

  • Page 36: Dwell Move

    A Dwell Move gives you the ability to string multiple relative moves together and run all of them sequentially with a single start condition. Like a Blend Move, a Dwell Move is programmed into an SMD17E2 as a series of relative moves before the move is started.
  • Page 37 You could accomplish this Dwell Move with a series of six relative moves that are sent down to the SMD17E2 sequentially. The two advantages of a Dwell Move in this case are that the unit will be more accurate with the Dwell Time then you can be in your control program, and Dwell Moves simplify your program’s logic.

  • Page 38: Assembled Move Programming

    Assembled Move Programming All of the segments in a Blend or Dwell Move must be written to the SMD17E2 before the move can be run. Segment programming is controlled with two bits in the Network Output Data and two bits in the Network Input Data.

  • Page 39: Indexed Moves

    If the Indexed Move bit is set when the command is issued, the SMD17E2 will not run the move until the configured input makes an inactive-to-active transition. This allows you to run time critical moves that cannot be reliably started from the network because of mes- saging time delays.

  • Page 40: Synchrostep (Virtual Axis) Moves

    SMD17E2 can be tied to the motion axis, with the host controller periodically sending position and velocity data to the unit as part of the axis update. The loop is closed by the SMD17E2 by controlling the velocity of the motor. Both linear and circular axes are supported.

  • Page 41: Controlling Moves In Progress

    Controlling Moves In Progress Each SMD17E2 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 42 SMD17E2 User Manual OTION ONTROL Notes ADVANCED MICRO CONTROLS INC.

  • Page 43: Profiles

     To convert from steps/second/millisecond to steps/second , multiply the value by 1000. This must be done when converting from the value programmed into the SMD17E2 to the value used in the equa- tions. Constant Acceleration Equations When you choose to use constant accelerations, the speed of the move will increase linearly towards the Pro- grammed Speed.
  • Page 44 If a move with the above acceleration, deceleration, starting speed, and programmed speed has a length greater than 449,984 steps, the SMD17E2 will generate a Trapezoidal profile. If the move is equal to 449,984 steps, the unit will generate a Triangular profile and the it will output one pulse at the programmed speed. If the move is less than 449,984 steps, the unit will generate a Triangular profile and the programmed speed will not be reached.

  • Page 45: Total Time Equations

    SMD17E2 User Manual ALCULATING ROFILES Constant Acceleration Equations (continued) Continuing the example from table R3.2, assume a total travel distance of 300,000 steps. – – ------------------- - ------------------- - – – 300,000 steps ------------------------ - ------------------------ -   ...

  • Page 46: S-Curve Acceleration Equations

    S-Curve Acceleration Equations When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the SMD17E2 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 47 SMD17E2 User Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Triangular S-Curve Acceleration (continued) The value of the Acceleration Jerk parameter can now be easily calculated.  a t   ------- - t 2  ------- -   -------- -...

  • Page 48: Trapezoidal S-Curve Accel

    SMD17E2 User Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Trapezoidal S-Curve Acceleration Figure R3.4 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 49 SMD17E2 User Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Trapezoidal S-Curve Acceleration (continued) The value of the Acceleration Jerk parameter can now be easily calculated.  a t   ------- - t 4  ------- -   -------- -...

  • Page 50: Determining Waveforms By Values

    SMD17E2 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...
  • Page 51 SMD17E2 User Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Determining Waveforms by Values (continued) Example 2, Jerk = 400 30,000 steps/sec -------------------------------------- - 15,000 steps/sec = midpoint of change in speed Acceleration Jerk parameter 100j  ---------- - physical jerk property...
  • Page 52 SMD17E2 User Manual ALCULATING ROFILES Notes ADVANCED MICRO CONTROLS INC.

  • Page 53: Definition Of Home Position

    The Home Position is any position on your machine that you can sense and stop at. Once at the Home Posi- tion, the motor position register of an SMD17E2 must be set to an appropriate value. If you use the unit’s CW/ CCW Find Home commands, the motor position register will automatically be set to zero once the home posi- tion is reached.

  • Page 54: Homing Inputs

    “1”, the SMD17E2 will never act on the physical Home Input. Homing Configurations A SMD17E2 must have one of its DC inputs configured as the home input before one of the CW/CCW Find Home commands can be issued.

  • Page 55: Homing Profiles

    SMD17E2 SMD17E2 User Manual OMING AN Homing Profiles The CW Find Home command is used in all of these examples. The CCW Find Home com- mand will generate the same profiles in the opposite direction. Home Input Only Profile Figure R4.1 below shows the move profile generated by a CW Find Home command when you use the Home Input without the Backplane_Proximity_Bit.

  • Page 56: Profile With Backplane_Proximity_Bit

    Speed before reaching the Home Input, it will continue at this speed. Figure R4.2 shows the Backplane_Proximity_Bit staying active until the SMD17E2 reaches its home position. This is valid, but does not have to occur. As stated in step 4, the unit starts to ...

  • Page 57: Profile With Overtravel Limit

    CW limit while traveling in the CW direction.) The SMD17E2 will stop and issue a Home Invalid error to your host if you activate the over- travel limit associated with travel in the opposite direction. i.e. Activating the CCW limit dur- ing a CW Find Home command.

  • Page 58: Controlling Find Home Commands In Progress

    The overtravel limit associated with travel in the opposite direction is activated. i.e. Activating the CCW limit during a CW Find Home command. This can occur if the overtravel limits are not wired to the SMD17E2 correctly, or not configured correctly when the unit was configured. ADVANCED MICRO CONTROLS INC.

  • Page 59: Data Format

    Configuration Mode Data Format An SMD17E2 requires twenty bytes of Output Data as well as twenty bytes of Input Data. Many of the hosts that can be used with the SMD17E2 only support sixteen bit integers. Sixteen bit integers support a range of values from -32,768 to 32,767 or 0 to 65,535.

  • Page 60: Data Format (Continued)

    Captured Encoder Position By default, these thirty-two bit parameters and data values are written to and read from the SMD17E2 using the multi-word format described above. When configuring the unit, it is possible to program it to use a 32-bit double integer format instead of the custom format shown above.

  • Page 61: Output Data Format

    “0” disables motor stall detection. “1” enables motor stall detection. Bit 13: Enable_Stall_Detection – Only valid on SMD17E2 units with built in encoders. The Use_Encoder bit, which is bit 10 of this word, must be also be set to “1”. You must also program the Encoder_Resolution parameter in con- figuration word 6.
  • Page 62 Available On The input is not used in any of the functions of the SMD17E2, but it’s status is reported in the Network Data. General Purpose Input This allows the input to be used as a discrete DC input to the host controller.

  • Page 63: Configuration Word 1 Format

    Network Input Data and the Module Status LED will start flashing red. Once the unit issues its response to the Save_Present_Configuration command, it stops responding to com- mands and you must cycle power to the unit. This design decision prevents the SMD17E2 from responding to constant save commands from the host controller.

  • Page 64: Notes On Other Configuration Words

    When the Configuration data is valid and accepted, this word mirrors the value of the Configuration Word 0 written to the SMD17E2. When the data written to it is invalid, the unit remains in Command Mode and sets the Configuration Error bit in the first word written back to the host controller. The format of this word is...

  • Page 65: Stall Detect Enable

    General Purpose Inputs.) 4) Setting the Stall Detection Enable Bit without configuring the SMD17E2 to use its built in encoder. 5) Setting the Input Configuration bits for any input to “111”. See table R5.4 on page 62 for more information.
  • Page 66 SMD17E2 User Manual ONFIGURATION ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 67: Format

    Data Format An SMD17E2 requires twenty bytes of Output Data as well as twenty bytes of Input Data. In most cases the data is represented as ten 16-bit (single) integers. Sixteen bit integers support a range of values from -32,768 to 32,767 or 0 to 65,535.

  • Page 68: Command Bits Must Transition

    SMD17E2 User Manual OMMAND ORMAT Command Bits Must Transition  Commands are only accepted when the command bit makes a 0 1 transition. The easiest way to do this is to write a value of zero into the Command Word 0 before writing the next command.

  • Page 69: Command Word 0

    SMD17E2 User Manual OMMAND ORMAT Command Word 0 Command Word 0 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Figure R6.2 Command Word 0 Format Bit 15: Mode_Select – “1” for Configuration Mode Programming “0” for Command Mode Programming.
  • Page 70 SMD17E2 User Manual OMMAND ORMAT Command Word 0 (continued)  Bit 7: Jog_CW – When this bit makes a 0 1 transition, the unit will run a Jog Move in the clockwise direction. The full explanation of a CW/CCW Jog Move can be found starting on page 32.

  • Page 71: Command Word 1

    Reverse_Blend_Direction bit, (Command Word 1, Bit 4). In a Dwell Move, the Dwell Time between segments is programmed in Word 9 of the command data. If this bit is set when a move command is issued, the SMD17E2 will not run Bit 8: Indexed_Command –...

  • Page 72: Command Blocks

    Set to “0” for a clockwise Blend Move, “1” for a counter-clockwise Blend Move. Must equal “0”. Bits 3-2: Reserved – If reset to “0”, the motor current will be the value specified when the SMD17E2 Bit 1: Motor Current –...

  • Page 73: Relative Move

    Unused See Note Below Table R6.4 Hold Move Command Block Unused words are ignored by the SMD17E2 and can be any value, including parameter values from the previ- ous command. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 74: Resume Move

    Table R6.5 Resume Move Command Block Unused words are ignored by the SMD17E2 and can be any value, including parameter values from the previ- ous command. This is typically the case when resuming a move, the words are listed as “Unused” to highlight that the target position of a held move cannot be changed when the move is resumed.

  • Page 75: Find Home Cw

    Command Word 1 is not set. Acceleration Jerk 0 to 5000 Table R6.7 Find Home CW Command Block Unused words are ignored by the SMD17E2 and can be any value, including parameter values from the previ- ous command. Find Home CCW PROFINET...

  • Page 76: Jog Cw

    Command Word 1 is not set. Acceleration Jerk 0 to 5000 Table R6.9 Jog Move CW Command Block Unused words are ignored by the SMD17E2 and can be any value, including parameter values from the previ- ous command. Registration Move CW PROFINET...

  • Page 77: Jog Ccw

    Command Word 1 is not set. Acceleration Jerk 0 to 5000 Table R6.11 Jog CCW Command Block Unused words are ignored by the SMD17E2 and can be any value, including parameter values from the previ- ous command. Registration Move CCW PROFINET...

  • Page 78: Preset Position

    See Note Below Table R6.13 Preset Position Command Block Unused words are ignored by the SMD17E2 and can be any value, including parameter values from the previ- ous command. Presetting the position resets the Position_Invalid and Move_Complete status bits in the Network Input Data.

  • Page 79: Run Assembled Move

    0 to 65,535 Dwell Time with Dwell Move Table R6.15 Run Assembled Move Command Block Unused words are ignored by the SMD17E2 and can be any value, including parameter values from the previ- ous command. Preset Encoder Position PROFINET...

  • Page 80: Programming Blocks

    12 of Command Word 0 set, it will accept the block and reset bit 9 in Status Word 0. When your pro- gram sees this bit reset, it must respond by resetting bit 12 of Command Word 0. The SMD17E2 will respond to this by setting bit 9 in Status Word 0 and the next Segment Block can be written to the unit.

  • Page 81: Input Data Format

    SMD17E2 User Manual OMMAND ORMAT Input Data Format The correct format for the Network Input Data when the SMD17E2 is in Command Mode is shown below. EtherNet/IP Modbus/TCP Command Mode Input Data Word Register Status Word 0 Status Word 1...
  • Page 82 Bit 13: Configuration_Error – “1” on power up before a valid configuration has been written to the SMD17E2, or after any invalid configuration has been written to the unit. “0” when the unit has a valid configuration in memory. When in Command Mode, bit 13 of word 0 is set to “1” when there is a configuration error.

  • Page 83: Status Word 1 Format

    Bit 15: Drive_Is_Enabled – Set to “1” when the motor driver section of the SMD17E2 is enabled and cur- rent is available to the motor. Set to “0” when the motor driver section is disabled. If this bit is set to “1”, the motor current remains present when an E-Stop input is active.

  • Page 84: Notes On Clearing A Driver Fault

    A Driver Fault occurs when there is an over temperature condition. When a Driver Fault occurs, the SMD17E2 will set bit 7 of the Status Word 1 word in the Network Input Data. Even though the driver is enabled, it will not supply current to the motor until the motor’s temperature decreases to a safe value. At this point the fault will clear itself.

  • Page 85: Location

    NSTALLING THE 1.1 Location 1.1.1 IP50 Rated Units (SMD17E2-M12) SMD17E2 units that are IP50 rated are suitable for use in an industrial environment 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 86: Operating Temperature Guidelines

    As explained in the mounting section, mounting the SMD17E2 to a large metal heatsink is the best way to limit the operating temperature of the device. Operating temperature should be monitored during system startup to verify that the maximum motor temperature remains below its 203°F/95°C specification.

  • Page 87: Smd17E2-60 Outline Drawing

    Pin 4: Input 2 Pin 1: DCPower MAIN Power: 24 to 48 Vdc Pin 5: DCPower POWER & INPUTS Figure T1.1 SMD17E2-60 Outline Drawing 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 88: Smd17E2-80 Outline Drawing

    Power: 24 to 48 Vdc Pin 5: DCPower POWER & INPUTS Figure T1.2 SMD17E2-80 Outline Drawing 1.3.5 Connecting the Load Care must be exercised when connecting your load to the stepper motor. Even small shaft misalignments can cause large loading effects on the bearings of the motor and load. The use of a flexible coupler is strongly rec- ommended whenever possible.

  • Page 89: Power And Input Connector

    MAIN Pin 5: DCPower POWER & INPUTS Figure T1.3 Power and Input Connector Digital inputs on the SMD17E2 units are single ended and referenced to the DC Common pin. There are two power pins.  DCPower powers both the control electronics and the motor.

  • Page 90: Power Wiring

    NSTALLING THE 1.5 Power Wiring The SMD17E2 accepts 24 to 48Vdc as its input power. AMCI strongly suggests using 18 AWG wire for the power connections to minimize power loss in the cable. The CNPL-2M and the CNPL-5M cables are made with 18 gauge wire, and the MS-31 connector will accept up to 18 gauge wire.

  • Page 91: Input Wiring

    Figure T1.5 below shows how to wire discrete DC sourc- ing and sinking sensors to inputs 1 and 2 of the SMD17E2. Colors in parentheses are the appropriate wire color of the CNPL-5M cable.

  • Page 92: Network Connectors

    “auto-sense” ports that will automatically switch between 10baseT and 100baseT depending on the network equipment they are attached to. The ports also have “auto switch” capability. This means that a standard cable can be used when connecting the SMD17E2 to any device, including a personal computer.

  • Page 93: Ethernet/Ip Connections

    1.8.1 Non-DLR Applications The SMD17E2 units have two Ethernet ports with a built-in Ethernet switch connecting the two. In non-DLR applications, either port can be used to attach the unit to the network. The remaining port can be used to extend the network to another device if this would reduce wiring costs.
  • Page 94 SMD17E2 SMD17E2 User Manual NSTALLING THE Notes ADVANCED MICRO CONTROLS INC.

  • Page 95: Protocol

    IP address of an AMCI SMD17E2. 2.1 Determine the Best Method for Setting the IP Address There are three methods for setting the IP address on an SMD17E2. Table T2.1 below outlines the available methods and when you can use them.

  • Page 96: Use The Embedded Web Server

    PREREQUISITE: Task 1.5: Power Wiring found on page 90. You must be able to power the SMD17E2. PREREQUISITE: Tasks: 1.7 and 1.8, 1.9, or 1.10, starting on page 92. You must attach your SMD17E2 to your computer. PREREQUISITE: Optional Task B: Configure Your Network Interfaces.
  • Page 97 1) Click on the [Network Setup] button to switch to the Network Setup page shown below. This page shows the current IP address settings, as well as the configured protocol. Figure T2.2 SMD17E2 Network Setup Web Page 2) Enter your desired values into the IP Address, Subnet Mask, and Default Gateway fields.

  • Page 98: Use The Amci Net Configurator Utility

    PREREQUISITE: Task 1.5: Power Wiring found on page 90. You must be able to power the SMD17E2. PREREQUISITE: Tasks: 1.7 and 1.8, 1.9, or 1.10, starting on page 92. You must attach your SMD17E2 to your computer. PREREQUISITE: Optional Task B: Configure Your Network Interfaces.
  • Page 99 EtherNet/IP is not a multi-master protocol. There can be only one bus master on the network at a time. In order to program the SMD17E2, the AMCI Net Configurator utility must act as a bus master. Therefore, physically disconnect your host controller from the SMD17E2 before starting the Net Configurator utility.
  • Page 100 2.2c.6 Press the [SCAN] button and Connect to the SMD17E2 Pressing the [Scan] button will open the window shown in figure T2.4. The SMD17E2 will appear in the scan list only if the unit and your network interface are on the same subnet. Optionally, you can press the [Manual Connect] button and enter the IP address of the SMD17E2.
  • Page 101 Default Gateway to the IP address of your host controller. 2.2c.9 Set the Communications Protocol The factory default protocol for the SMD17E2 is EtherNet/IP. In order to use the Modbus TCP or PROFINET protocols, simply click on the appropriate button.
  • Page 102 IP A SMD17E2 User Manual ET THE DDRESS AND ROTOCOL Notes ADVANCED MICRO CONTROLS INC.

  • Page 103: Task 3: Implicit Communications With An Eds

    20 and above. Other systems will follow a similar pattern. Consult your controller’s documentation if you need additional information. Note: Use of an EDS file is completely optional. The SMD17E2 can always be added to a system as a generic module. If you are using a Rockwell Automation PLC, adding the unit as a generic module is the only option available if you are using RSLogix 5000 version 19 and below or RSLogix 500.

  • Page 104: Install The Eds File

    SMD17E2 User Manual MPLICIT OMMUNICATIONS WITH AN 3.2 Install the EDS file (continued) 3.2.2 Install the EDS File 1) On the Options screen, select the Register an EDS file(s) radio button and press [Next >]. Figure T3.2 EDS Options Screen 2) The registration screen will open.

  • Page 105: Gear Drive, Plymouth Ind. Park, Terryville, Ct

    SMD17E2 User Manual MPLICIT OMMUNICATIONS WITH AN 3.2 Install the EDS file (continued) 3.2.2 Install the EDS File (continued) 4) Once at the EDS File Installation Test Results screen, expand the tree as needed to view the results of the installation test for the EDS file.

  • Page 106: Host System Configuration

    If the Ethernet port is built into processor, the only step you have to take before adding an AMCI SMD17E2 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 107: Configure The Smd17E2 Driver

    If you are continuing from step 3.4, the resulting New Module screen is used to configure the network con- nection between the SMD17E2 and your controller. If you need to open the screen to perform this task at a later time, right click on the SMD17E2 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 108: Buffering The I/O Data

    SMD17E2 User Manual MPLICIT OMMUNICATIONS WITH AN 3.5 Configure the SMD17E2 Driver (continued) 3.5.3 Configuration Tab (continued) When using the EDS file, the Starting Speed is transmitted as a double integer value. The parameter does not use the multi-word format outlined in Configuration Mode Data Format reference chapter.

  • Page 109: Without An Eds

    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 SMD17E2 is to create a new project with the correct processor or modify an existing project.
  • Page 110 MPLICIT OMMUNICATIONS ITHOUT 4.2 Add the SMD17E2 (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 111: Configure The Smd17E2

    With the configuration assembly instance size set the zero, the device will join the EtherNet/IP network as soon as the request is made to it. If the SMD17E2 has a configuration stored in flash memory, it will be to configure the unit on power up. You can also configure the unit at anytime and store this new configuration to flash.

  • Page 112: Buffer I/O Data

    ITHOUT 4.4 Buffer I/O Data Data to and from the SMD17E2 should be buffered once per scan using Synchronous Copy instructions. This is to insure stable input data during the program scan and guarantee that complete command data is delivered to the device.

  • Page 113: Messaging

    An Integer file to contain the data read from the SMD17E2. This file must be at least 10 words in length.  An Integer file to contain the data written to the SMD17E2. This file must be at least 10 words in length. ...

  • Page 114: Add The Message Instructions 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 SMD17E2, enter the integer file where the data will be placed in the Data Table Address (Received) field and press enter.
  • Page 115 8) Double click in the Service field and select “Read Assembly” for a Message Instruction that is being used to read data from the SMD17E2, or “Write Assemble” for a Message Instruction that is being used to send data to the SMD17E2, and press Enter.
  • Page 116 The figure below show a typical configuration for Message Instructions being used to write data to the SMD17E2. Please note that the Data Table Address (Send) field may be different in your application. Figure T5.4 Write Message Instruction Setup Screen Click on the MultiHop tab on the top of the window.

  • Page 117: Troubleshooting

    ESSAGING 5.4 Troubleshooting If you are unable to communicate with the SMD17E2, the problem may be that the Ethernet port of your MicroLogix 1100 has not been configured. To check this: 1) Double click on Channel Configuration in the Project Tree and then select the Channel 1 tab. The fol- lowing window will open.
  • Page 118 /IP E SMD17E2 User Manual THER XPLICIT ESSAGING Notes ADVANCED MICRO CONTROLS INC.

  • Page 119: Task 6: Modbus Tcp Configuration

    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 SMD17E2 to your host controller. Refer to your host control- ler’s documentation for information on how to accomplish this.

  • Page 120: Amci Modbus Tcp Memory Layout

    6.3 AMCI Modbus TCP Memory Layout The SMD17E2 has a starting Input Register address of 0 and a starting Output Register address of 1024. Input Registers hold the data from the driver while Output Registers hold the data to be written to the unit.

  • Page 121: Supported Modbus Functions

    Table T6.1 Supported Modbus Functions Table T6.1 above lists all of the Modbus functions supported by an SMD17E2. AMCI supports all of these functions so that you can control the unit 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 function code Each SMD17E2 buffers the data that is sent to it over the network.
  • Page 122 TCP C SMD17E2 User Manual ODBUS ONFIGURATION Notes ADVANCED MICRO CONTROLS INC.

  • Page 123: Task 7: Profinet Network Configuration

    Basic Steps Configuring a PROFINET host requires a few basic steps. 1) Download the ZIP archive that contains the GSDML files for the SMD17E2 from the www.amci.com website. 2) Install the GSDML file into the configuration software for your host controller.

  • Page 124: Add The Smd17E2 To The Profinet Network

    ETWORK ONFIGURATION 7.4 Add the SMD17E2 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.
  • Page 125 SMD17E2 User Manual ETWORK ONFIGURATION 7.4 Add the SMD17E2 to the PROFINET Network (continued) 5) Right click on the SMD17 icon and select “Properties” from the pop up menu. The Inspector window will  open at the bottom of the screen. Under the “General” tab, select the “...

  • Page 126: Set The I/O Configuration

    Table T7.1 PROFINET I/O Configuration 1) With the SMD17E2 icon selected on the PROFINET bus, click on the “Device view” tab. The view in the Hardware Catalog will change. Expand the Module tree to show both the Input and Output modules.

  • Page 127: Verify And Download The New Configuration

    2) Compile and download the project to the CPU. MRP Installations At this point, the SMD17E2 is configured and ready to use. If you are using the unit in a redundant, ring based, network that uses the Media Redundancy Protocol (MRP), continue with the following instructions.
  • Page 128 PROFINET N SMD17E2 User Manual ETWORK ONFIGURATION 7.7 Configure the SMD17E2 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 129: Firewall Settings

    This includes all wireless interfaces as well as all Bluetooth interfaces. A.3 Configure Your Network Interface Before you can communicate with the SMD17E2, your network interface must be on the same subnet as the driver. The rest of this procedure assumes you are using the 192.168.0.xxx subnet. If you are not, you will have to adjust the given network addresses accordingly.

  • Page 130: Test Your Network Interface

    Going back to the terminal you opened in the last step, type in ‘ping aaa.bbb.ccc.ddd’ where ‘aaa.bbb.ccc.ddd’ in the IP address of the SMD17E2. The computer will ping the unit and the message “Reply from aaa.bbb.ccc.ddd: bytes=32 time<10ms TTL=128” should appear four times.
  • Page 131 SMD17E2 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 132 ADVANCED MICRO CONTROLS INC. LEADERS IN ADVANCED CONTROL PRODUCTS...
  • Page 133 SMD17E2 User Manual ONFIGURE ETWORK NTERFACES 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 134 SMD17E2 User Manual ONFIGURE ETWORK NTERFACES ADVANCED MICRO CONTROLS INC.

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