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AMCI SMD34K User Manual

Integrated stepper indexer/driver/motor with ethercat interface
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ADVANCED
MICRO CONTROLS INC.
Manual #: 940-0S280

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Summary of Contents for AMCI SMD34K

  • Page 1 ADVANCED MICRO CONTROLS INC. Manual #: 940-0S280...

  • 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

    Immediate Stops ....30 Capture Encoder Position Input ..17 Absolute Move ......31 General Purpose Input ....17 Controlled Stops ....31 Immediate Stops ....31 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 4 SMD34K User Manual ABLE OF ONTENTS Reference: Motion Control Reference: Homing an SMD34K   (continued) (continued) CW/CCW Jog Move ..... 32 Controlling Find Home  Controlled Stops ....32 Commands In Progress ......56 Immediate Stops ....32 Controlled Stops ......56 CW/CCW Registration Move ..
  • Page 5 Prevent Electrostatic Damage ..81 Prevent Debris From  System If Needed ......91 Entering the Unit ......81 Add the SMD34K to the Project ....91 Remove Power Before  Scan for the SMD34K Device ..91 Servicing ........81 Rename the Device .......
  • Page 6 SMD34K User Manual ABLE OF ONTENTS Notes ADVANCED MICRO CONTROLS INC.

  • Page 7: About This Manual

    Manual Conventions Trademark Notices The AMCI logo is a trademark of Advanced Micro Controls Inc. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. “Adobe” and “Acrobat” are regis- tered trademarks of Adobe Systems Incorporated.

  • Page 8: Revision Record

     If you need to install and use an Integrated Stepper Indexer/Driver/Motor 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 references and tasks.

  • Page 9: Reference: Smd34K Specifications

    Idle Current Reduction and the reasons why you wouldn’t. If these terms or ideas are new to you, we’re here to help. AMCI has a great deal of information on our website and we are adding more all the time. If you can’t find what you’re looking for at http://www.amci.com, send us an e-mail or call us.

  • Page 10: Part Numbering System

    The elimination of the separate indexer and driver lowers total system cost. An SMD34K is powered by a nominal 24 to 80 Vdc power source, and can accept surge voltages of up to 88 Vdc without damage. The output motor current is fully programmable from 0.1 Arms to 5.4 Arms which makes the SMD34K suitable to a wide range of applications.

  • Page 11: Input 3 And Distributed Clock Functionality

    EtherCAT Slave Controller (ECS) to the microprocessor that controls motion. This allows the SMD34K to execute commands as soon as new data arrives. If two axes are to start simultaneously, the actual delay between the two will be equal to the network delay between the two nodes. With a typical delay of four microseconds plus the transit time between nodes, the delay between starts is inconsequential for most machines.

  • Page 12: Specifications

    See page 83 Motor Counts per Turn Weight Programmable to any value from 200 to 32,767 steps SMD34K-450 (All versions) 4.50 lbs. (2.05 kg.) per revolution. SMD34K-850 (All versions) 7.10 lbs. (3.23 kg.) Internal Encoder (Optional) SMD34K-1100 (All versions) 9.50 lbs. (4.32 kg.)

  • Page 13: Conformance Markings

    RoHS Directive (EU) 2015/863 (RoHS 3) and Directive 2011/65/EU (RoHS 2) Indexer Functionality The table below lists the functionality offered by the indexer built into the AMCI SMD34K units. Feature Description Using the Distributed Clock functionality of the EtherCAT system, multiple devices Synchronous can synchronize the start of their moves to the SYNC0 signal.

  • Page 14: Indexer Functionality (Continued)

    The EtherCAT Distributed Clock functionality is built into the ECS used by the SMD34K products. The SMD34K can act as the reference clock for the system if it is the first device in the EtherCAT network. The SYNC0 signal, which is based off of the Distributed Clock, can be use to synchronize the start of moves over multiple devices.

  • Page 15: Driver Functionality

    Note that the reduction values are “to” values, not “by” values. Setting a motor current to 4Arms and the current reduction to 25% will result in an idle current of 1Apk. (The SMD34K always switches from RMS to peak current control when the motor is idle to prevent motor damage due to excessive heating.)

  • Page 16: Available Discrete Inputs

    Available Discrete Inputs The SMD34K has a total of three discrete DC inputs that accept 3.5 to 27Vdc signals. (5 to 24Vdc nominal) How your SMD34K uses these inputs is fully programmable. The active state of each input is also program- mable.

  • Page 17: Stop Jog Or Registration Move Input

    If your application does not require one or more of the inputs, you can configure the unused inputs as General Purpose Inputs. The inputs are not used by the SMD34K, but their on/off state is reported in the network data and is available to your host controller.

  • Page 18: Status Led's

    Error LED The ERR LED location houses a red/green LED. The red LED indicates an error state in the EtherCAT  protocol. The green LED indicates the operational state of the SMD34K itself. Both LEDs can be on  simultaneously.

  • Page 19: Smd34K Connectors

    Figure R1.4 shows the placement of the connectors on an SMD34K unit. Figure R1.5 shows the pinout of the Ethernet connectors when viewed from the back of the SMD34K. Each Ethernet port on the POWER SMD34K is an “auto-sense” port that will automatically switch...

  • Page 20: Power Connector

    DC applications. However, T-coded connectors and cordsets are typically limited to a maximum voltage of 60 Vdc. The SMD34K can be run at voltages as high as 80 Vdc, so the decision was made to use the S-coded connectors. Most S-coded cordsets, including the CNGL-5M cable from AMCI, have three black wires and a single green/yellow wire.

  • Page 21: Torque And Power Curves

    SMD34K S SMD34K User Manual PECIFICATIONS Torque and Power Curves Figure R1.8 SMD34K-450 Torque and Power Curves Figure R1.9 SMD34K-850 Torque and Power Curves 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 22: Power Supply Sizing

    Therefore, the power generated at your machine’s operating point may be less than the maximum the motor can generate at a lower speed. An SMD34K-450 will be running at a maximum of 6 RPS and a 48 Vdc supply will be used. Example 1: Based on the power curve in figure R1.8 on the previous page, the combinations will generate a...

  • Page 23: Regeneration Effects

    An external braking resistor and control circuitry can be added to the system. The power switches in the SMD34K units can conduct a maxi- mum of 8 amps, so the sum of the motor current and braking resistor circuit currents must be below this value.

  • Page 24: Compatible Connectors And Cordsets

    Many different connectors and cordsets are available on the market, all of which will work with the  SMD34K provided that the manufacturer follows the connector and Ethernet standards. AMCI has reviewed the following connectors and ethernet cordsets for compatibility with the SMD34K.

  • Page 25: Definitions

    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 an SMD34K to the value used in the equations. Motor Position Motor Position is defined in counts. The range is -2,147,483,648 to +2,147,483,647.

  • 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 SMD34K 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

    S-curve acceleration. See S-Curve Acceleration Equations, which starts on page 44, for a methods of calculating the Acceleration Jerk parameter. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • 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 SMD34K. 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 SMD34K, which starts on page 51. 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 SMD34K will set a 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 SMD34K, which starts on page 51, for information on hom- ing the machine. 2) The Motor Position must be valid before you can use an Absolute Move. (The Position Invalid status bit cannot be on.) The Motor Position becomes valid when you preset the...

  • Page 32: Cw/Ccw Jog Move

    Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the SMD34K 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 33: Cw/Ccw Registration Move

    When the command terminates under Controlled Stop conditions, the SMD34K will output a programmed number of steps as part of bringing the move to a stop. Note that all posi- tion values programmed with a Registration Move are relative values, not absolute machine positions.

  • Page 34: Controlled Stops

    All of the moves explained so far must be run individually to their completion or must be stopped before another move can begin. The SMD34K also gives you the ability to pre-assemble more complex profiles from a series of relative moves that are then run with a single command. Each Assembled Move can consist of 2 to 16 segments.

  • Page 35: 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 SMD34K before the move can be initiated.  The SMD34K supports Blend Moves with up to sixteen segments.

  • Page 36: Controlled Stops

    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 SMD34K as a series of relative moves before the move is started.
  • Page 37 SMD34K sequentially. The two advantages of a Dwell Move in this case are that the SMD34K 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 SMD34K 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 SMD34K 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: Controlling Moves In Progress

    Controlling Moves In Progress Each SMD34K 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: 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 SMD34K to the value used in the equations. Constant Acceleration Equations When you choose to use constant accelerations, the speed of the move will increase linearly towards the Pro- grammed Speed.
  • Page 42 SMD34K will generate a Triangular profile and the unit will output one pulse at the programmed speed. If the move is less than 449,984 steps, the SMD34K will generate a Triangular profile and the pro- grammed speed will not be reached.

  • Page 43: 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 44: S-Curve Acceleration Equations

    S-Curve Acceleration Equations When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the SMD34K 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 45 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 46: Trapezoidal S-Curve Accel

    SMD34K 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 47 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 48: Determining Waveforms By Values

    SMD34K 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 49 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 50 SMD34K User Manual ALCULATING ROFILES Notes ADVANCED MICRO CONTROLS INC.

  • Page 51: Definition Of Home Position

    The Home Position is any position on your machine that you can sense and stop at. Once at the Home  Position, the motor position register of an SMD34K 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 position is reached.

  • Page 52: Homing Inputs

    “1”, the SMD34K will never act on the physical Home Input. Homing Configurations A SMD34K 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 53: Homing Profiles

    7) Return to the Home Input at the configured Starting Speed. Stop when the Home Input transitions from inactive to active. If the Home Input is active when the command is issued, the move profile begins at step 5 above. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 54: 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 SMD34K reaches its home position. This is valid, but does not have to occur. As stated in step 4, the SMD34K ...

  • Page 55: Profile With Overtravel Limit

    CW limit while traveling in the CW direction.) The SMD34K 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 56: Reference: Homing An Smd34K (Continued)

    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 SMD34K correctly, or if both overtravel limits are activated while the unit is trying to find the home position.

  • Page 57: Data Format

    The SMD34K units use Service Data Objects (SDO) of the CANopen protocol to configure the unit. Typi- cally, this configuration is specified in the system software and is written down to the SMD34K when com- munications is established. The TwinCAT system also allows you to programmatically read or change these values using the FB_EcCoeSdoRead and FB_EcCoeSdoWrite instructions.
  • Page 58 “0” when the Backplane_Proximity_Bit is not used when homing the Bit 11: Use_Backplane_Proximity – SMD34K. “1” when the Backplane_Proximity_Bit is used when homing the unit. Note that this bit is not the Backplane_Proximity_Bit, but enables or disables its operation. Do not use the Backplane_Proximity_Bit if you only want to home to a Home Limit Switch.
  • Page 59 ‡ Enabling Stall_Detection will cause an Configuration Error if the encoder is not enabled. (Bit 10 must equal “1”.) Table R5.3 Configuration Word 0 Bits 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 60: Configuration Word 1 Format

    State ignored. Must equal zero. Bits 14 - 7: Reserved – When set to “0”, the SMD34K begins a move as soon as data is read from the EtherCAT Bit 6: DC_Sync – Slave Controller (ESC). When set to “1”, the SMD34K will synchronize the move to the SYNC0 out- put of the system’s Distributed Clock.

  • Page 61: Notes On Other Configuration Words

    General Purpose Inputs.) 4) Setting the Stall Detection Enable Bit without configuring the SMD34K to use its built in encoder. 5) Setting the Input Configuration bits for any input to “111”. See table R5.3 on page 59 for more information.
  • Page 62 SMD34K User Manual ONFIGURATION ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 63: Command Bits Must Transition

    This chapter covers the format of the Network Output Data used to command the SMD34K and the format of the Network Input Data that contains the responses from the device. The parameter names of the input and output data are defined by the device ESI file.
  • Page 64 It is possible to write configuration data to the unit using the output words, but the use of this method is discouraged. Configuration data should be written to the SMD34K using the CoE interface as described in the previous chapter.

  • Page 65: Command Word 0

    Motor Position to become invalid. When this command is issued, the SMD34K internally shorts the motor windings together to dissipate any regeneration energy in the motor instead of sending it back through the power supply.

  • Page 66: Command Word 1

    Bit 8: Indexed_Command – If this bit is set when a move command is issued, the SMD34K will not run the move immediately, but will instead wait for an inactive-to-active transition on an input config- ured as a Start Indexer Move input. The move command data, including this bit, must remain in the Network Output Registers while performing an Indexed Move.

  • Page 67: Command Blocks

    UINT Motor Current 0.1 amps Command Word 1 is not set. Jerk UINT Acceleration Jerk 0 to 5000 Table R6.1 Absolute 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 68: Relative Move

    Unused See Note Below Jerk UINT Unused See Note Below Table R6.3 Hold Move Command Block Unused words are ignored by the SMD34K and can be any value, including parameter values from the  previous command. ADVANCED MICRO CONTROLS INC.

  • Page 69: Resume Move

    Table R6.4 Resume Move Command Block Unused words are ignored by the SMD34K and can be any value, including parameter values from the  previous 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 70: Find Home Cw

    Jerk UINT Acceleration Jerk 0 to 5000 Table R6.6 Find Home CW Command Block Unused words are ignored by the SMD34K and can be any value, including parameter values from the  previous command. Find Home CCW ESI File Data...

  • Page 71: Jog Cw

    Jerk UINT Acceleration Jerk 0 to 5000 Table R6.8 Jog Move CW Command Block Unused words are ignored by the SMD34K and can be any value, including parameter values from the  previous command. Registration Move CW ESI File Data...

  • Page 72: Jog Ccw

    Jerk UINT Acceleration Jerk 0 to 5000 Table R6.10 Jog CCW Command Block Unused words are ignored by the SMD34K and can be any value, including parameter values from the  previous command. Registration Move CCW ESI File Data Function...

  • Page 73: Preset Position

    See Note Below Table R6.12 Preset Position Command Block Unused words are ignored by the SMD34K and can be any value, including parameter values from the  previous command. Presetting the position resets the Position_Invalid and Move_Complete status bits in the Network Input Data.

  • Page 74: Run Assembled Move

    Dwell Time with Dwell milliseconds 0 to 65,535 Move Table R6.14 Run Assembled Move Command Block Unused words are ignored by the SMD34K and can be any value, including parameter values from the  previous command. Preset Encoder Position ESI File Data...

  • Page 75: Programming Blocks

    Unused words are ignored by the SMD34K and can be any value, including parameter values from the  previous command. Once the first block is transmitted, the SMD34K responds by setting bits 8 and 9 in Status Word 0. (See Status Word 0 Format starting on page 76.) Once these are set, you can then start transmitting Segment Blocks.

  • Page 76: Input Data Format

    SMD34K User Manual OMMAND ORMAT Input Data Format The correct format for the Network Input Data when the SMD34K is in Command Mode is shown below. ESI File Data Function Name Size STATUS_word0 UINT Command Word 0 STATUS_Word1 UINT Command Word 1...
  • Page 77 Move command completes without error. This bit is reset to “0” when the next move command is written to the SMD34K, when the position is preset, or a Reset Errors command is issued to the unit. This bit is also set along with the Command_Error bit (Bit 12 of this word), when any Jog Move or Registration Move parameters are outside of their valid ranges.

  • Page 78: Status Word 1 Format

    The internal battery is fully discharged or damaged  The unit itself is damaged If this bit is set, cycle power to the unit. If the bit remains set, contact AMCI technical support for assistance. Bit 11: Heartbeat_Bit – This bit will change state approximately every 500 milliseconds. Monitor this bit to verify that the unit and network connection are operating correctly.

  • Page 79: Notes On Clearing A Driver Fault

    Notes on Clearing a Driver Fault A Driver Fault occurs when there is an over temperature condition. When a Driver Fault occurs, the SMD34K 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.
  • Page 80 SMD34K User Manual OMMAND ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 81: Location

    NSTALLING THE 1.1 Location 1.1.1 IP64 Rated Units (SMD34K-M12S) SMD34K units that are IP64 rated are suitable for use in an industrial environment that meet the following criteria:  Conductive pollution occurs, or dry, non-conductive pollution occurs which becomes conductive due to condensation is to be expected ...

  • Page 82: Operating Temperature Guidelines

    1.4 Mounting All AMCI motors have flanges on the front of the motor for mounting. This flange also acts as a heatsink, so motors should be mounted on a large, unpainted metal surface. Mounting a motor in this fashion will allow a significant amount of heat to be dissipated away from the motor, which will increase the unit’s life by reduc-...

  • Page 83: Smd34K Outline Drawing

    Internal encoders are mounted on the end of the motor shaft that is internal to the unit. Exces- sive axial load may cause encoder mis-alignment and damage to the unit. This type of damage is not covered under warranty. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 84: Power Connector

    DC applications. However, T-coded connectors and cordsets are typically limited to a maximum voltage of 60 Vdc. The SMD34K can be run at voltages as high as 80 Vdc, so the decision was made to use the S-coded connectors. Most S-coded cordsets have three black wires and a single green/yellow wire.

  • Page 85: Power Wiring

    1.6 Power Wiring The SMD34K accepts 24 to 80 Vdc as its input power. AMCI strongly suggests using 16 AWG wire for the power connections. The MS-41 connector will accept up to 16 gauge wire and the CNGL-5M cordset is built with 16 gauge wire.

  • Page 86: Auxiliary Power, Single Supply

    1.6.3 Auxiliary Power, Single Supply Figure T1.4 below shows how to wire main and auxiliary power to the SMD34K units using a single supply. When designing your own cable that uses an MS-41 connector, connections only have to be made to pin 1, , and pin 3, DC Common.

  • Page 87: Digital Input Connector

    1.7.1 Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market, all of which will work with the  SMD34K provided that the manufacturer follows the A-coded M12 standards. The following connector and cordset is available from AMCI.

  • Page 88: Digital Input Wiring

    Table T1.3 Pull Up Resistor Values for DC Inputs The logical states of the sensor and SMD34K input will be reversed. The SMD34K input is off when the sen- sor is active. You can set the logic state of the input when you configure the unit.

  • Page 89: Input 3

    1.9 Network Connectors Figure T1.11 shows the Ethernet connector pinout when viewed from the back of the SMD34K. The Ethernet ports on the units are both 100Base-TX and are auto MDI-X capable. This means that a standard cable can be used when connecting the SMD34K to any device, including a personal computer.

  • Page 90: Compatible Connectors And Cordsets

    1.9 Network Connectors (continued) 1.9.1 Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market, all of which will work with the SMD34K provided that the manufacturer follows the connector and Ethernet standards. AMCI offers the following mat- ing connector and cordsets that mate with the Ethernet port connectors.

  • Page 91: Configuration

    CAT S THER YSTEM ONFIGURATION This chapter outlines how to add an SMD34K unit to an EtherCAT system. The TwinCAT version 3 software is used as an example. 2.1 Install the ESI file 2.1.1 Obtain the ESI file All AMCI ESI files are located on our website at the following address: ...

  • Page 92: Configure The Smd34K

    SMD34K User Manual THER YSTEM ONFIGURATION 2.2 Add the SMD34K to the Project (continued) 2.2.3 Configure the SMD34K 1) Click on the “CoE - Online” tab. 2) Click on the [+] button next to the 6000:0 Index field (Inputs) to expand it.

  • Page 93: Create A Dut

    AMCI sample programs use a DUT (Defined User Type) to group the I/O variables associated with each SMD34K. Once the DUT is defined, a separate variable is created for each device on the machine. 1) If needed, create a PLC for the project.
  • Page 94 4) In the Attach Variable window that opens, select the variable to link to the STATUS_word0 input word and click [OK]. Figure T2.6 Change Link Pop up Menu 5) Repeat steps three and four for the remaining input and output words of the SMD34K. ADVANCED MICRO CONTROLS INC.

  • Page 95: Verify Main Plc Task Timing

    3.3. When setting the SYNC 0 -> Sync Unit Cycle multiplier in step 6 of 3.3, use a value of 1. 3) If the timing in step 1 above is not correct for the SMD34K, but the correct time is an integer multiple of this timing, then skip to step 3.3.

  • Page 96: Create New Plc Task

    You only have to follow this step if the Main PLC task timing verified in step 3.1 above is not the correct update time for the SMD34K and the correct time is not an integer multiple of the Main PLC task timing.
  • Page 97 8) Double click on the CMD_word0 variable of the correct SMD34K. This will link the CMD_word0 of the unit to the variable created for the task. The SMD34K will update at the time specified by the new task. Figure T3.3 Linking Task Variable to SMD34K 20 Gear Drive, Plymouth Ind.

  • Page 98: Set Operational Mode

    3.3 Set Operational Mode 1) If necessary, expand the I/O Device tree until the SMD34K is visible. 2) Double click on the SMD34K to open the setting window for the device. 3) Click on the “DC” tab. 4) Under the Operation Mode setting, click on the drop down menu and select “DC_Synchron”.

  • Page 99: Set Cfg_Word1 Value To Enable Sync0

    2) Expand the 8010:0 tree to see the value of the 8010:02 register. (CFG_word1 value) 3) This value must have bit 6 set to enable the synchronous mode in the SMD34K. If this value is greater than or equal to 64, then the bit is set and you are finished with this step of the procedure. If the value is less than 64, then the bit is not set.
  • Page 100 ADVANCED MICRO CONTROLS INC. LEADERS IN ADVANCED CONTROL PRODUCTS...

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