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AMCI SD4840EK User Manual

Networked stepper indexer/driver
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ADVANCED
MICRO CONTROLS INC.
Manual #: 940-0S310

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  • Page 1 ADVANCED MICRO CONTROLS INC. Manual #: 940-0S310...

  • 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

    Capture Encoder Position Input ..17 Controlled Stops ....28 General Purpose Input ....17 Immediate Stops ....28 Available Discrete Output ....... 17 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 4 SD4840EK User Manual ABLE OF ONTENTS Reference: Move Profiles Chapter 4: Homing the SD4840EK  (continued) Definition of Home Position ....49 Encoder Registration Moves ....29 Position Preset .......... 49 Controlled Stops ......29 CW/CCW Find Home Commands ... 49 Immediate Stops ......
  • Page 5 STATUS_word0 Format ....74 System If Needed ......95 STATUS_word1 Format ....76 Add the SD4840EK to the Project ... 95 Notes on Clearing a Driver Fault ..... 77 Scan for the SD4840EK ....95 Reset Driver Fault ......77 Rename the Device .......
  • Page 6 SD4840EK User Manual ABLE OF ONTENTS Notes ADVANCED MICRO CONTROLS INC.

  • Page 7: About This Manual

    This manual explains the set-up, installation, and operation of the SD4840EK Stepper Motor Indexer / Driver from AMCI. It is written for the engineer responsible for incorporating these modules into a design, as well as the engineer or technician responsible for its actual installation.

  • Page 8: Revision Record

    Installing the on a machine. Includes information on mounting, grounding, and SD4840EK wiring specific to the units. Task instructions that covers how to add an SD4840EK to an  EtherCAT System EtherCAT network. Configuration Task instructions that covers the optional task of using the Distrib-...

  • Page 9: Reference: Introduction To The Sd4840Ek

    Eliminating the separate indexer lowers Total System Cost  The SD4840EK is powered by a nominal 24 to 48 Vdc power source, and can accept surge voltages of up to 60Vdc without damage. The output motor current is fully programmable from 0.1 Arms to 4.0 Arms which makes the SD4840EK compatible with the complete line of size 23 and size 34 stepper motors that are avail- able from AMCI.

  • Page 10: Conformance Markings

    RMS to peak current control when the motor is idle to prevent overheating the motor. In addition to power and motor hookups, the SD4840EK has three DC inputs and one DC output that are used by the indexer. Configuration data from the host sets the function of these points. The output can be config- ured to be a Fault Output or a general purpose output.

  • Page 11: Specifications

    Min. Tightening Torque MS-2x11 28 - 16 AWG 0.275 inches Spring Cage Connector Motor MS-4M 28 - 12 AWG 0.394 inches 4.43lb-in (0.5 Nm) 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 12: Indexer Functionality

    SD4840EK SD4840EK User Manual NTRODUCTION TO THE Indexer Functionality The table below lists the functionality offered by the indexer built into the SD4840EK. Feature Description Each of the three inputs can be programmed as a Home Limit, Over Travel Programmable Inputs Limit, Capture Input, Stop Jog or Registration Move, E-Stop Input, or a General Purpose Input.

  • Page 13: Synchronizing Moves

    The EtherCAT Distributed Clock functionality is built into the ECS used by the SD4840EK product. The SD4840EK 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 14: Stall Detection

    For example, if the motor should hold a load against gravity, but the Idle Current Reduction parameter is set to high, the SD4840EK will issue a stall detection error if the load begins to fall.

  • Page 15: Driver Functionality

    Current Loop Gain This feature gives you the ability to adjust the gain of the power amplifiers in the SD4840EK to match the electrical characteristics of your motor. The value of this parameter can range from 1 to 80 with 80 represent- ing the largest gain increase.

  • Page 16: I/O Connector

    Indexer Moves are not run until an input that is configured as a Start Indexer Move Input makes an inactive- to-active state transition. This allows the SD4840EK to run critically timed moves that cannot be reliably started from the network due to data transfer lags.

  • Page 17: Stop Jog Or

    Available Discrete Output The SD4840EK has a single DC output that has a maximum rating of 30 Vdc at 20 mA. The output can be configured to be a general purpose output or a Fault Output. When configured as a Fault Output, the output will conduct under normal conditions and will switch off when a fault occurs.

  • Page 18: Motor Connector

    Figure R1.2 also shows the location of the Stepper Motor Connector. The mate to this connector is included with the SD4840EK and is also available from AMCI under the part number MS-4M. It is also available from Phoenix Contact under their part number 187 80 37.

  • Page 19: Definitions

    Acceleration The typical unit of measure for acceleration and deceleration is steps/second/second, or steps/second . How- ever, when programming an SD4840EK, all acceleration and deceleration values must be programmed in the unit of measure of steps/second/millisecond. To convert from steps/second to steps/second/millisecond, divide the value by 1000.

  • Page 20: Starting Speed

    The range of values for the Target Position when it is treated as an offset is ±8,388,607 counts. Assum-  ing that the motor is wired to the SD4840EK as shown in this manual, positive offsets will result in clockwise moves, while negative offsets result in counter-clockwise moves.

  • Page 21: Constant Acceleration

    Profiles S-Curve Accelerations When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the SD4840EK uses this value to accelerate and decelerate the rate of acceleration. This is known as S-Curve acceleration because of the shape of the speed curve that results from the variable acceleration.

  • Page 22: Triangular S-Curve Acceleration

    When the Acceleration Jerk parameter is set low, Triangular S-Curve acceleration usually results. This occurs because the programmed maximum acceleration value is not reached before the SD4840EK must start decreasing the acceleration value as the move’s speed approaches its programmed maximum value. Triangu- lar S-Curve is the smoothest form of acceleration, but the time needed to reached the move’s programmed...

  • Page 23: 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 CW/CCW Find Home commands are explained in chapter 3, SD4840EK, which starts on page 49. The commands are fully Homing the...

  • Page 24: Basic Move Types

    When the command is accepted, the axis will immediately decelerate at the programmed rate and stop. When stopped successfully, the SD4840EK will set a Hold State bit in the input data table. The Relative Move can be restarted with the Resume Move command from the network data or the move can be aborted.

  • Page 25: Absolute Move

    Target Position is less than the Current Position. 1) The Home Position of the machine must be set before running an Absolute Move. See refer- ence 4, SD4840EK, which starts on page 49, for information on homing the Homing the machine.

  • Page 26: Cw/Ccw Jog Move

    Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the SD4840EK 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 27: Immediate Stops

    CCW Registration Moves will cause counter-clockwise motion. When the command terminates under Controlled Stop conditions, the SD4840EK will output a programmed number of steps as part of bring- ing the move to a stop. Note that all position values programmed with a Registration Move are relative val- ues, not absolute machine positions.

  • Page 28: Controlled Stops

    Basic Move Types (continued) CW/CCW Registration Move (continued) An additional feature of the SD4840EK is the ability to program the driver to ignore the Controlled Stop con- ditions until a minimum number of steps have occurred. This value is programmed through the Minimum Registration Move Distance parameter, which is set when you command the Registration Move.

  • Page 29: Encoder Registration Moves

    All of the moves explained so far must be run individually to their completion or be stopped before another move can begin. The SD4840EK gives you the ability to assemble more complex profiles from a series of rel- ative moves that are stored in memory and then run with a single command. Each Assembled Move can con- sist of 2 to 16 segments.

  • Page 30: 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 SD4840EK before the move can be initiated. The SD4840EK supports Blend Moves with up to sixteen segments.

  • Page 31: 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 the SD4840EK as a series of relative moves before the move is started.

  • Page 32: Controlled Stops

    Move. Because the Dwell Move is based on Relative Moves, it can be run from any location. 2) The Dwell Move is stored in the internal memory of the SD4840EK and can be run multiple times once it is written to the unit. The Dwell Move data stays in memory until power is removed, the unit is sent new Configuration Data, or a new Blend or Dwell Move is written to the SD4840EK.

  • Page 33: Assembled Move Programming

    Assembled Move Programming All of the segments in a Blend or Dwell Move must be written to the SD4840EK 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 34: Indexed Moves

    If the Indexed Move bit is set when the command is issued, the SD4840EK will not run the move until the configured input makes an inactive-to-active transi- tion. This allows you to run time critical moves that cannot be reliably started from the network because of messaging time delays.

  • Page 35: Controlling Moves In Progress

    Controlling Moves In Progress The SD4840EK 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 36: Electronic Gearing

    ELGearing Multiplier and Divisor The ratio of these two parameters is applied to the number of encoder pulses read by the SD4840EK before it determines the number of motor steps to move. Each parameter has a range of 1 to 255. These two parameters can be adjusted while a move is in progress which allows you to adjust the tracking speed and position of the motor.

  • Page 37: Advanced Ratio Control

    This technique allows you to set a median gear ratio in your system that you can adjust on-the-fly by using the ELGearing Multiplier and Divisor parameters. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 38 SD4840EK User Manual ROFILES Notes ADVANCED MICRO CONTROLS INC.

  • Page 39: 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 SD4840EK 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 40 If a move with the above acceleration, deceleration, starting speed, and programmed speed has a length greater than 449,984 steps, the SD4840EK 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 41: 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 42: S-Curve Acceleration Equations

    S-Curve Acceleration Equations When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the SD4840EK 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 43 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 44: Trapezoidal S-Curve Acceleration

    SD4840EK 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 45 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 46: Determining Waveforms By Values

    SD4840EK 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 47 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 48 SD4840EK User Manual ALCULATING ROFILES Notes ADVANCED MICRO CONTROLS INC.

  • Page 49: 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 the SD4840EK must be set to an appropriate value. If you use the module’s CW/ CCW Find Home commands, the motor position register will be set to zero once the home position is reached.

  • Page 50: Homing Configurations

    OMING THE Homing Configurations The SD4840EK axis must be correctly configured before one of the homing commands will be accepted. One of the following must be part of the module configuration before you can run the homing commands. 1) Configure one of the DC inputs as a Home Input 2) Configure the SD4840EK to use an encoder and home to the encoder Z-pulse 1) You do not have to configure and use CW or CCW Limits.

  • Page 51: Profile With Proximity Input

    Home Input, staying active until the SD4840EK reaches its home position. This is valid, but does not have to occur. As stated in step 4, the SD4840EK starts to hunt for the home posi- tion as soon and the Proximity Input makes a 0 1 transition.

  • Page 52: Profile With Overtravel Limit

    Immediate Stop condition. The axis will stop all motion and issue a Home Invalid error to your host. The SD4840EK will stop the axis with an error if both overtravel limits are activated while the unit is trying to find the home position.

  • Page 53: Reference: Configuration Data

    The SD4840EK uses the 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 SD4840EK 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 54 “0” when the Backplace_Proximity_Bit is not used when homing the Bit 11: Use_Backplane_Proximity – SD4840EK. “1” when the Backplace_Proximity_Bit is used when homing the SD4840EK. Note that this bit is not the Backplace_Proximity_Bit, but enables or disables its operation. Do not use the Backplace_Proximity_Bit if you only want to home to the Home Limit Switch.
  • Page 55  Enabling Stall_Detection will cause a error if the encoder is not enabled. (The “Use_Encoder” 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 56: Cfg_Word_1 Format

    Must equal zero. Bits 11 - 7: Reserved – When set to “0”, the SD4840EK begins a move as soon as data is read from the Ether- Bit 6: DC_Sync –...

  • Page 57: Current Loop Gain

    Current Loop Gain This feature gives you the ability to adjust the gain of the power amplifiers in the SD4840EK to match the electrical characteristics of your motor. The value of this parameter can range from 1 to 80 with 80 represent- ing the largest gain increase.

  • Page 58: Determining Current Loop Gain

    1) Write a Current Loop Gain value of 5 to the SD4840EK. 2) Enable the SD4840EK and listen for a sound from the motor. It will subjectively sound like an AM radio static. 3) If you don’t hear the radio static sound from the motor, repeat steps 1 and 2 with an increa sed Current Loop Gain.

  • Page 59: Command Bits Must Transition

    This chapter covers the format of the Network Output Data used to command the SD4840EK 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 60: Cmd_Word0

    Move_Complete bit. A driver fault will be cleared if the Clear_Driver_Fault bit, (CMD_word1, bit 10), is set to “1” when the Reset Errors command is issued. When set to “1” the SD4840EK will preset the Motor Position to the value stored Bit 9: Preset_Position –...
  • Page 61 SD4840EK User Manual OMMAND ORMAT CMD_word0 (continued) When set to “1” the SD4840EK will run a Jog Move in the clockwise direction. The full Bit 7: Jog_CW – explanation of a can be found starting on page 26. CW/CCW Jog Move When this bit equals “0”, and a Jog Move ...

  • Page 62: Cmd_Word1

    If this bit is set when a Reset Errors Command is issued, (CMD_word0, Bit Bit 10: Clear_Driver_Fault – 10) the SD4840EK will attempt to clear driver errors. Note that the driver must be disabled (CMD_word1, Bit 15 = 0), when using this command.
  • Page 63 Note that this procedure sets the base motor current. Any idle current reduction value set in the  Configuration data will still affect the actual current delivered to the motor when the motor is idle. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 64: Command Blocks

    SD4840EK User Manual OMMAND ORMAT Command Blocks The following section lists the output data format for the sixteen different commands. Absolute Move ESI File Data Function Units Range Name Size CMD_Word0 UINT 16#0001 CMD_word0 CMD_Word1 UINT See pg. 62 CMD_word1...

  • Page 65: Hold Move

    See Note Below Jerk UINT Unused See Note Below Table R6.3 Hold Move Command Block Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ- ous command. Resume Move ESI File Data Function...

  • Page 66: Immediate Stop

    See Note Below Jerk UINT Unused See Note Below Table R6.5 Immediate Stop Command Block Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ- ous command. Find Home CW ESI File Data Function...

  • Page 67: Find Home Ccw

    Jerk UINT Acceleration Jerk 0 to 5000 Table R6.7 Find Home CCW Command Block Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ- ous command. Jog CW ESI File Data Function...

  • Page 68: Registration Move Cw

    0 to 40 (0.0 to 4.0 amps) Jerk UINT Acceleration Jerk 0 to 5000 Table R6.10 Jog CCW Command Block Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ- ous command. ADVANCED MICRO CONTROLS INC.

  • Page 69: Registration Move Ccw

    This code was written with TwinCAT software. Motor_Current := UDINT_TO_UINT(nMRMDist); //Motor_Current stores the lower 16 bits. Jerk := UDINT_TO_UINT(SHR(nMRMDist, 16)); //Jerk stores the upper 16 bits. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 70: Encoder Follower Move

    See Note Below Table R6.12 Encoder Follower Move Command Block Unused words are ignored by the SD4840EK and can be any value, including parameter values from the pre- vious command. † The 32 bit position register is used to store the Electronic Gearing Numerator and Denominator values.

  • Page 71: Reset Errors

    See Note Below Table R6.14 Reset Errors Command Block Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ- ous command. Issuing a Reset Errors command will reset the Move_Complete status bit in the Network Input Data.

  • Page 72: Preset Encoder Position

    See Note Below Jerk UINT Unused See Note Below Table R6.16 Preset Encoder Position Command Block Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ- ous command. ADVANCED MICRO CONTROLS INC.

  • Page 73: Programming Blocks

    12 of CMD_word0. The SD4840EK will respond to this by setting bit 9 in STATUS_word0 and the next Segment Block can be written to the SD4840EK. You can write a maximum of sixteen Segment Blocks for each Assembled Move.

  • Page 74: Input Data Format

    SD4840EK User Manual OMMAND ORMAT Input Data Format The format of the Network Input Data when the SD4840EK is in Command Mode is shown below. ESI File Data Function Name Size STATUS_word0 UINT Status Word 0 STATUS_word1 UINT Status Word 1...
  • Page 75 Move command completes without error. This bit is reset to “0” when the next move command is written to the SD4840EK, 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 76: Status_Word1 Format

    Will always equal zero. Bit 8: Reserved – If the driver section of the SD4840EK is enabled, this bit will be a “1” during a Over Bit 7: Driver_Fault – temperature Fault, a Short Circuit Fault, or when the Interlock Jumper is missing. This fault can be...

  • Page 77: Notes On Clearing A Driver Fault

    See Note Below Table R6.20 Reset Driver Fault Command Block Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ- ous command. Once the command block is accepted by the SD4840EK, it will respond by resetting bit 7 in STATUS_word1 of the Network Input Data.
  • Page 78 SD4840EK User Manual OMMAND ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 79: Sizing Your Motor

    1) The torque curves in this manual are for the SD4840EK. You cannot use these curves to accurately determine the amount of torque from an AMCI motor when it is attached to a different drive. Nor can you accurately determine the amount of torque from a motor when attached to an SD4840EK if its torque curves were generated using a different drive.

  • Page 80: Torque And Power Curves

    SD4840EK User Manual OTOR AND OWER UPPLY IZING 1.3 Torque and Power Curves Figure T1.1 SM2340-130 Torque and Power Curves Figure T1.2 SM2340-240 Torque and Power Curves ADVANCED MICRO CONTROLS INC.
  • Page 81 OTOR AND OWER UPPLY IZING 1.3 Torque and Power Curves (continued) Figure T1.3 SM34-450 Torque and Power Curves Figure T1.4 SM34-850 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 82: Power Supply Sizing

    All AMCI stepper motors are 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. With the speed of the motor multiplied by the ratio of the gearhead, this can lead to large enough voltage spikes to damage the attached power supply.

  • Page 83: Safe Handling Guidelines

    SD4840EK NSTALLING THE This chapter gives detailed information on installing the SD4840EK. The SD4840EK is designed to be DIN rail mounted. The EtherCAT connection allows the drive to be mounted near the motor, which minimized power loss in the motor cable.

  • Page 84: Minimum Spacing

    The SD4840EK has a bit in the network data that signals when the module is close to overheating. This bit is the Temperature_Above_90C bit, and is available in Status Word 1 of the network input data while in Com- mand Mode.

  • Page 85: I/O Connector Pin Out

    +Vdc Main Do not apply 120 Vac to any pins of the SD4840EK. If this occurs, the unit will be dam- aged and you will void the unit’s warranty. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786...
  • Page 86 NSTALLING THE 2.4 Power Wiring (continued) The SD4840EK units do not have a circuit to limit inrush current when power is applied. If the power supply voltage is applied through the switching of contacts, damage to the contacts or contact welding may occur.

  • Page 87: Input Wiring

    2.5.1 Cable Shields Because they are low power signals, cabling from the sensor to the SD4840EK should be done using a twisted pair cable with an overall shield. The shield should be grounded at the end when the signal is generated, which is the sensor end.

  • Page 88: Encoder Wiring

    SD4840EK. As shown in the following diagram, the No Connection pins on the SD4840EK can be used to make the con- nections between the encoder and its external power supply. This may eliminate the need for an external ter- minal block when wiring the encoder to the unit.

  • Page 89: Single Ended Wiring

    The drawings are 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 90: Mounting The Motor

    2.8.2 Mounting the Motor All AMCI motor 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 motor’s life by...

  • Page 91: Connecting The Motor

    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. It can be found in the Support ->...
  • Page 92 SD4840EK SD4840EK User Manual NSTALLING THE 2.9 Connecting the Motor (continued) 2.9.2 Motor Wiring (continued) Eight Lead Parallel Connected Six Lead Series Connected LEAD MOTOR Six Lead Center Tap Connected LEAD MOTOR Four Lead Connected LEAD MOTOR Figure T2.9 Motor Wiring...

  • Page 93: Ethernet Connections

    The Ethernet ports on the units are “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” capa- bility. This means that a standard cable can be used to connect the SD4840EK to any device, including a per- sonal computer.
  • Page 94 SD4840EK SD4840EK User Manual NSTALLING THE Notes ADVANCED MICRO CONTROLS INC.

  • Page 95: Install The Esi File

    CAT S THER YSTEM ONFIGURATION This chapter outlines how to add an SD4840EK unit to an EtherCAT system. The TwinCAT version 3 software is used as an example. 3.1 Install the ESI file 3.1.1 Obtain the ESI file All AMCI ESI files are located on our website at the following address: ...

  • Page 96: Configure The Sd4840Ek

    SD4840EK User Manual THER YSTEM ONFIGURATION 3.2 Add the SD4840EK to the Project (continued) 3.2.3 Configure the SD4840EK 1) Click on the “CoE - Online” tab. 2) Click on the [+] button next to the 6000:0 Index field (Inputs) to expand it.

  • Page 97: Create A Dut

    AMCI sample programs use a DUT (Defined User Type) to group the I/O variables associated with each SD4840EK. 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 98 4) In the Attach Variable window that opens, select the variable to link to the STATUS_word0 input word and click [OK]. Figure T3.6 Change Link Pop up Menu 5) Repeat steps three and four for the remaining input and output words of the SD4840EK. ADVANCED MICRO CONTROLS INC.

  • Page 99: Verify Main Plc Task Timing

    4.3. When setting the SYNC 0 -> Sync Unit Cycle multiplier in step 6 of 4.3, use a value of 1. 3) If the timing in step 1 above is not correct for the SD4840EK, but the correct time is an integer multiple of this timing, then skip to step 4.3.

  • Page 100: Create New Plc Task

    You only have to follow this step if the Main PLC task timing verified in step 4.1 above is not the correct update time for the SD4840EK and the correct time is not an integer multiple of the Main PLC task timing.
  • Page 101 8) Double click on the CMD_word0 variable of the correct SD4840EK. This will link the CMD_word0 of the unit to the variable created for the task. The SD4840EK will update at the time specified by the new task. Figure T4.3 Linking Task Variable to the SD4840EK 20 Gear Drive, Plymouth Ind.

  • Page 102: Set Operational Mode

    4.3 Set Operational Mode 1) If necessary, expand the I/O Device tree until the SD4840EK is visible. 2) Double click on the SD4840EK 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 103: 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 SD4840EK. 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 104 ADVANCED MICRO CONTROLS INC. LEADERS IN ADVANCED CONTROL PRODUCTS...

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