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AMCI SD17060E-K User Manual

Networked stepper indexer/drivers with ethercat interface
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ADVANCED
MICRO CONTROLS INC.
Manual #: 940-0S301
®

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Summary of Contents for AMCI SD17060E-K

  • Page 1 ADVANCED MICRO CONTROLS INC. Manual #: 940-0S301 ®...

  • 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

    Controlled Stop Conditions ..39 Front Panel Status LED’s ....17 Immediate Stop Conditions ..39 Top Panel Status LED’s ....18 Advanced Ratio Control ....39 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 4 Reference: Command Mode Data System Layout Considerations ....88 Format Wiring Categories for the  SD17060E-K or SD31045E-K ..88 Command Bits Must Transition ....65 Minimize Voltages in the  Output Data Format ........65 System Enclosure ......89 CMD_word0 ..........
  • Page 5 Digital Input Wiring ......... 98 Cable Shields ......... 98 Input Wiring ........98 Output Wiring ........ 99 Encoder Wiring ......99 Ethernet Connections ....... 100 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 6 Networked Indexer/Driver User Manual ABLE OF ONTENTS Notes 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 7: About This Manual

    This manual applies to the SD17060E-K and SD31045E-K units. With the exception of power requirements and output current, the information in this manual applies equally to the SD17060E-K and SD31045E-K units. The term “Networked Driver” is used when the information applies to both drivers.

  • Page 8: Revision Record

     If you need to install and use a Networked Stepper Indexer/Driver product from AMCI, then the rest of the manual is written for you. To simplify installation and configuration, the rest of the manual is broken down into tasks and references.

  • Page 9: Reference: Sd17060E-K & Sd31045E-K Specs

    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: Conformance Markings

    AMCI you will find the programming to be very similar to these products. All Networked Drivers from AMCI are true RMS motor current control drivers. This means that you will always receive the motor’s rated torque regardless of the Motor_Resolution setting. (Drivers that control the peak current to the motor experience a 30% decrease in motor torque when microstepping a motor.) The Net-...

  • Page 11: Specifications

    Weight is reduced to selected level if there is no motion for 1.5 seconds. Current is restored to full value SD17060E-K Drivers: 2.4 lbs. (1.1 kg.) max. when motion is started. SD31045E-K Drivers: 2.7 lbs. (1.25 kg.) max. Internal Power Fuses Inputs 10 Amp Slow Blow.

  • Page 12: Indexer Functionality

    Networked Indexer/Driver User Manual PECIFICATIONS Indexer Functionality Standard Functionality The table below lists the functionality offered by the indexer built into the AMCI Networked Drivers Feature Description Each of the three inputs can be programmed as a Home Limit, Over Travel Programmable Inputs Limit, Capture Input, Jog Stop, or E-Stop Input.

  • Page 13: Synchronizing Moves

    For example, if the motor should hold a load against gravity, but the Idle Current Reduction parameter is set to high, the Networked Driver will issue a stall detection error if the load begins to fall. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 14: Driver Functionality

    The ratio of encoder pulses to stepper pulses is programmable over a wide range. This mode electronically couples the two motors together through a programmable gear ratio. Driver Functionality This table summarizes the features of the stepper motor driver portion of the SD17060E-K and SD31045E-K. Feature Benefits...

  • Page 15: Idle Current Reduction

    Move Input, then the quadrature encoder position data will be captured whenever Input 3 transitions. An inac- tive-to-active state transition will also trigger an Indexer Move if one is pending. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 16: Emergency Stop Input

    SD17060E-K & SD31045E-K S Networked Indexer/Driver User Manual PECIFICATIONS Available Inputs (continued) Emergency Stop Input When an input is defined as an Emergency Stop, or E-Stop Input, motion will immediately stop when this input becomes active. The driver remains enabled and power is supplied to the motor. No move can begin while this input is active.

  • Page 17: Network Interface Description

    LED’s are also located in this area. Ethernet Interface The Ethernet Interface on the SD17060E-K and SD31045E-K drivers has two standard RJ-45 jacks that accept any standard 100Base-TX cable. Both ports are also auto MDI-X capable. This means that a standard cable can be used when connecting the Ethernet Driver to any device.

  • Page 18: Top Panel Status Led's

    SD17060E-K & SD31045E-K S Networked Indexer/Driver User Manual PECIFICATIONS Status LED’s (continued) Top Panel Status LED’s There are two LED’s on each of the RJ-45 jacks. The left LED is not used. The right LED shows the link  status of the Ethernet connection. They are on when there is a physical connection between the Networked Driver and the previous or next device in the network.

  • Page 19: Reference: Ul/Cul Recognized

    I/O Connector shall be rated for a minimum 8A, 300V, in a pollution degree 2 environment † The mating connectors supplied with these units meet these requirements. A complete connector kit, includ- ing all connectors and protective boots, can be ordered from AMCI under the part number AK-DRIVES. ...
  • Page 20 UL R Networked Indexer/Driver User Manual ECOGNIZED NSTALLATIONS Notes ADVANCED MICRO CONTROLS INC.

  • Page 21: Reference: Motion Control

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

  • Page 22: Target Position

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

  • Page 23: Triangular S-Curve Accel

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

  • Page 24: A Simple Move

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

  • Page 25: Controlled And Immediate Stops

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

  • Page 26: Absolute Move

    Current Position. 1) The Home Position of the machine must be set before running an Absolute Move. See the reference section, Homing an AMCI Networked Driver, which starts on page 51, for infor- mation on homing the machine. 2) The Motor Position must be valid before you can use an Absolute Move. The Motor Posi- tion becomes valid when you preset the position or home the machine.

  • Page 27: Cw/Ccw Jog Move

    For example, a CW Jog Move can be issued while the CCW limit switch is active. This allows you to move off of an activated end limit switch. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 28 Networked Indexer/Driver User Manual OTION ONTROL Basic Move Types (continued) CW/CCW Jog Move (continued) As shown below, a Jog Moves begins at the programmed Starting Speed, accelerates at the programmed rate to the Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the Networked Driver will decelerate the motor to the starting speed and stop without losing position.

  • Page 29: Cw/Ccw Registration Move

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

  • Page 30: Encoder Registration Move

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

  • Page 31: Assembled Moves

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

  • Page 32: Blend Move

    Networked Indexer/Driver User Manual OTION ONTROL Assembled Moves (continued) Blend Move Each Relative Move defines a segment of the Blend Move. The following restrictions apply when program- ming Blend Moves. 1)Each segment of the Blend Move must be written to the Networked Driver before the move can be initiated.

  • Page 33: Dwell Move

    The sign of the target position for the segment determines the direction of motion for that segment. Positive segments will result in clockwise shaft rotation while a negative segment will result in a counter-clock- wise shaft rotation. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 34 Networked Indexer/Driver User Manual OTION ONTROL Assembled Moves (continued) Dwell Move (continued) The following figure shows a drilling profile that enters the part in stages and reverses direction during the drill- ing operation so chips can be relieved from the bit. You could accomplish this Dwell Move with a series of six relative moves that are sent down to the Networked Driver sequentially.

  • Page 35: Assembled Move Programming

    8) After the last segment has been transferred, the host exits Assembled Move Programming Mode by resetting the Program_Assembled bit. 9) The Networked Driver resets the In_Assembled_Mode and the Waiting_For_Assembled_Segment bits. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 36: Saving An Assembled Move In Flash

    Networked Indexer/Driver User Manual OTION ONTROL Assembled Move Programming (continued) Saving an Assembled Move in Flash The Networked Driver also contains the Save_Assembled_to_Flash bit that allows you to store the Assembled Move in flash memory. This allows you to run the Assembled Move right after power up, without having to go through a programming sequence first.

  • Page 37: Controlling Moves In Progress

    Assembled Move with a controlled stop. The Assembled Move is not erased from memory and can be run again without having to reprogram it. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 38: Electronic Gearing

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

  • Page 39: Controlled Stop Conditions

    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 40 Networked Indexer/Driver User Manual OTION ONTROL Notes ADVANCED MICRO CONTROLS INC.

  • Page 41: Profiles

    TIME  D = Number of Steps needed to complete the acceleration or D or deceleration phase of the move 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 42 Networked Indexer/Driver User Manual ALCULATING ROFILES Constant Acceleration Equations (continued) Figure R4.1 gives the equations to calculate Time, Distance, and Acceleration values for a constant accelera- tion move. or T or D Acceleration Type (Time to Accelerate (Distance to Accelerate (Average or Decelerate) or Decelerate)

  • Page 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

    Networked Indexer/Driver User Manual ALCULATING ROFILES S-Curve Acceleration Equations When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the Networked Driver uses this value to smoothly change the acceleration value applied during the move. In this case, the speed of the move does not increase linearly, but exponentially, resulting in an “S”...
  • Page 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

    Networked Indexer/Driver User Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Trapezoidal S-Curve Acceleration Figure R4.4 shows the speed profile of a move during its acceleration phase. The figure shows the desired trapezoidal S-curve acceleration in red along with the equivalent constant acceleration in blue. The equivalent constant acceleration is equal to the change in speed divided by the time it takes to achieve the change in speed.
  • Page 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

    Networked Indexer/Driver User Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Determining Waveforms by Values If your programmed acceleration and deceleration values are the same, then your move’s acceleration and decelerations will be identical. If these two programmed values are different, use the above methods to deter- mine the Acceleration Jerk parameter for either the move’s acceleration or deceleration phases and use the following calculations to determine the shape of the other phase.
  • Page 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 Networked Indexer/Driver User Manual ALCULATING ROFILES Notes ADVANCED MICRO CONTROLS INC.

  • Page 51: Networked Driver

    Driver before is can be used. If you decide to activate this bit when you configure the unit and then never set it to a “1”, the Networked Driver will never act on the physical Home Input. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 52: Homing Configurations

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

  • Page 53: Profile With Network Backplace_Proximity_Bit

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

  • Page 54: Profile With Overtravel Limit

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

  • Page 55: Controlling Find Home Commands In Progress

    CCW limit during a CW Find Home command. This can occur if the overtravel limits are not wired to the Networked Driver correctly, or if both overtravel limits are activated while the unit is trying to find the home position. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 56 AMCI N Networked Indexer/Driver User Manual OMING AN ETWORKED RIVER Notes ADVANCED MICRO CONTROLS INC.

  • Page 57: Format

    Ethernet (CoE) interface. CoE Registers The SD17060E-K and SD31045E-K units use the Service Data Objects (SDO) of the CANopen protocol to configure the unit. Typically, this configuration is specified in the system software and is written down to the Networked Driver when communications is established.
  • Page 58 Networked Indexer/Driver User Manual ONFIGURATION ORMAT CFG_Word_0 Format (continued) Bit 12: Reserved – Must equal zero. “0” when the Backplace_Proximity_Bit is not used when homing the Bit 11: Use_Backplane_Proximity – Networked Driver. “1” when the Backplace_Proximity_Bit is used when homing the Networked Driver.
  • Page 59  Enabling Stall_Detection will cause a Configuration Error if the encoder is not enabled. (Bit 10 must equal “1”.) Table R6.3 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: Cfg_Word_1 Format

    If you are not using an input, sets its Active_Level bit to “1”. The input will always report as inactive in the network data. The AMCI Networked Driver does not report the state of the inputs when they are configured as encoder inputs (AB). The driver reports the state of the Active Level Bit for the input.
  • Page 61 † Active Low: The Networked Driver will report that the input is active when it is not conducting current. Active High: The Networked Driver will report that the input is active when it is conducting current. Table R6.4 Configuration Word 1 Bits 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 62: Current Loop Gain

    “5” for standard motor performance. Assuming a stable line voltage of 115Vac, the following gains can be used for AMCI motors. These gain set- tings are factory suggestions and are average settings for our motors. Your system may benefit from increas- ing or decreasing these settings.

  • Page 63: Notes On Other Configuration Words

    Motor current can be set to any value within their respective ranges. (1.0 to 6.0 amps for the  SD17060E-K and 1.0 to 4.5 amps for the SD31045E-K.) When setting the current with command  data, only even numbered values are accepted.
  • Page 64 Networked Indexer/Driver User Manual ONFIGURATION ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 65: Command Bits Must Transition

    This chapter covers the format of the Network Output Data used to command the SD17060E-K or the SD31045E-K and the format of the Network Input Data that con- tains the responses from the device. The parameter names of the input and output data are defined by the device ESI file.

  • Page 66: Cmd_Word0

    Networked Indexer/Driver User Manual OMMAND ORMAT CMD_word0 CMD_word0 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Figure R7.2 CMD_word0 Format Bit 15: Mode_Select – “0” for Command Mode programming. It is possible to write configuration data to the unit using the output words, but the use of this method is discouraged.
  • Page 67 Set to “1” to perform an Absolute Move using the data in the rest of the Com- mand Data. The full explanation of an Absolute Move can be found starting on page 26. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 68: Cmd_Word1

    Networked Indexer/Driver User Manual OMMAND ORMAT CMD_word1 CMD_word1 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Figure R7.3 CMD_word1 Format “0” to disable the motor current, “1” to enable motor current. A valid configura- Bit 15: Enable_Driver –...

  • Page 69: Motor Current Keys

     Values whose last digit is not even  Values outside the range of 1.0 to 6.0 amps on the SD17060E-K  Values outside the range of 1.0 to 4.4 amps on the SD31045E-K 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786...

  • Page 70: Command Blocks

    2,999,999 Acceleration UINT Acceleration Steps/sec/ms 1 to 5000 Deceleration UINT Deceleration Steps/sec/ms 1 to 5000 SD17060E-K: 10 to 60 Motor_Current UINT Motor Current 0.1 amps SD31045E-K: 10 to 44 Even numbers only. Jerk UINT Acceleration Jerk 0 to 5000 Table R7.1 Absolute Move Command Block...

  • Page 71: Hold Move

    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. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 72: Immediate Stop

    Speed and 2,999,999 Acceleration UINT Acceleration Steps/sec/ms 1 to 5000 Deceleration UINT Deceleration Steps/sec/ms 1 to 5000 SD17060E-K: 10 to 60 Motor_Current UINT Motor Current 0.1 amps SD31045E-K: 10 to 44 Even numbers only. Jerk UINT Acceleration Jerk 0 to 5000 Table R7.6 Find Home CW Command Block...

  • Page 73: Find Home Ccw

    Table R7.8 Jog Move CW Command Block Unused words are ignored by the Networked Driver and can be any value, including parameter values in the previous command. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 74: Registration Move Cw

    Speed and 2,999,999 Acceleration UINT Acceleration Steps/sec/ms 1 to 5000 Deceleration UINT Deceleration Steps/sec/ms 1 to 5000 SD17060E-K: 10 to 60 Motor_Current UINT Motor Current 0.1 amps SD31045E-K: 10 to 44 Even numbers only. Jerk UINT Acceleration Jerk 0 to 5000 Table R7.10 Jog CCW Command Block...

  • Page 75: 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 76: Encoder Follower Move

    UDINT Unused See Note Below Acceleration UINT Unused See Note Below Deceleration UINT Unused See Note Below SD17060E-K: 10 to 60 Motor_Current UINT Motor Current SD31045E-K: 10 to 44 amps Even numbers only. Jerk UINT Unused See Note Below Table R7.12 Encoder Follower Move Command Block Unused words are ignored by the Network Driver and can be any value, including parameter values from the previous command.

  • Page 77: Reset Errors

    Table R7.15 Run Assembled Move Command Block Unused words are ignored by the Networked Driver and can be any value, including parameter values in the previous command. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 78: Preset Encoder Position

    Networked Indexer/Driver User Manual OMMAND ORMAT Command Blocks (continued) Preset Encoder Position ESI File Data Function Units Range Name Size CMD_Word0 UINT CMD_word0 16#4000 CMD_Word1 UINT CMD_word1 See pg. 68 Position DINT Encoder Preset Value Counts –8,388,608 to +8,388,607 Velocity UDINT Unused See Note Below...

  • Page 79: Programming Blocks

    9 in STATUS_word0 and the next Segment Block can be written to the Networked Driver. You can write a maximum of sixteen Segment Blocks for each Assembled Move. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 80: Input Data Format

    Reset_Errors bit, CMD_word0, Bit 10. Note that setting the motor cur- rent to a value outside the range of 1.0 to 6.0 amps on the SD17060E-K, or 1.0 to 4.4 amps on the SD31045E-K, or an odd number within these ranges, does not force a command error.
  • Page 81 Set to “1” when the motor is rotating in a counter-clockwise direction. Set to “1” when the motor is rotating in a clockwise direction. Bit 0: Moving_CW – 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 82: Status_Word1 Format

    Networked Indexer/Driver User Manual OMMAND ORMAT Input Data Format (continued) STATUS_word1 Format STATUS_word1 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Figure R7.5 Command Mode: 1 Format STATUS_word Set to “1” when the motor driver section of the Networked Driver is enabled Bit 15: Drive_Is_Enabled –...

  • Page 83: Notes On Clearing A Driver Fault

    Enabled_Driver Bit, (bit 15 of CMD_Word1 in the Network Output Data), must be reset when writing down the Reset Driver Fault Command Block. Setting this bit in the next command block will re-enable the motor. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 84 Networked Indexer/Driver User Manual OMMAND ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 85: Reference: General Installation

    Ground Bus AMCI strongly suggests the use of a ground bus in each system enclosure. The ground bus is simply a metal bar with studs or tapped holes for accepting grounding connections in the enclosure. The ground bus is the only component in the enclosure that is directly connected to your Grounding Electrode System.

  • Page 86: Grounding Electrode Conductor

    Grounding Wires Grounding wires are used to connect the pieces of equipment to your ground bus. AMCI strongly suggests using #8 AWG stranded wire or 1" wire braid for all grounding connections. The American NEC allows the use of solid wire for grounding wires but this should be avoided for the same reasons they should not be used for the Grounding Electrode Conductor.

  • Page 87: Surge (Emi) Suppression

    Grounding problems occur when the grounding system carries currents during normal operation or when it cannot shunt high frequency electrical currents to earth. AMCI generally encounters three types of grounding problems in systems that use AMCI equipment.  Ground Loops: A ground loop occurs when AC or DC return currents can travel through the system ground path in addition to their normal return path.

  • Page 88: Inductive Loads

    When checking the quality of the AC power for your system, be sure to check every machine that may be powered by the same feeder circuit. It is in AMCI's experience that nuisance faults can be caused by another system on the same feeder circuit that does not have adequate surge suppression devices.

  • Page 89: Minimize Voltages In The System Enclosure

    AC output modules on the right side, and medium power I/O in the center. This should help you maximize the spacing of I/O wiring within the enclosure. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 90: Conduits To Enclosure

    AC power or if the noise generated on the motor connections is injected into your AC lines.  If 230Vac is the only line voltage available in a system that is using the SD17060E-K Drivers, a step down transformer that is rated for a minimum of 800VA must be installed. Consider installing this transformer in the enclosure with the SD17060E-K Networked Driver.

  • Page 91: Location

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

  • Page 92: Outline Drawings

    INPUT 1 INPUT 2 INPUT 2 INPUT 3 INPUT 3 OUTPUT 1 OUTPUT 1 INTERLOCK INTERLOCK POWER AC POWER 95 – 132 V 50/60 Hz 2.750" (69.85) 0.60" (15.2) 4.00" (101.6) Figure T1.1 SD17060E-K Outline Drawing ADVANCED MICRO CONTROLS INC.

  • Page 93: Sd31045E-K Outline Drawing

    1.5 Mounting Methods There are two ways to mount an AMCI Networked Driver. The first method is with the #10-32 screws into the side panel of the SD17060E-K or the back panel of the SD31045E-K. The second method is by the mounting tabs.

  • Page 94: Grounding And Powering The System

    Figure T1.3 Power and Grounding Connections 1) Input power must be 95 to 132 Vac, 50/60 Hz for the SD17060E-K and 95 to 264 Vac,  50/60 Hz for the SD31045E-K. Input power must able to supply 800VA for proper opera- tion.

  • Page 95: Installing The Stepper Motor

    They’re available as Adobe Acrobat pdf files. A document that is simply called wiring lists all of the wiring color codes for all AMCI motors. If you do not have internet access contact AMCI and we will fax the information to you.

  • Page 96: Connecting The Motor

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

  • Page 97: Motor Wiring

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

  • Page 98: Digital Input Wiring

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

  • Page 99: Output Wiring

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

  • Page 100: Ethernet Connections

    RJ-45 jacks that will accept any standard 100base-TX cable. Because the ports run at 100 Mbit speeds, Category 5, 5e, or 6 cable should be used. The ports are auto MDI-X capable. This means that a standard cable can be used to connect the SD17060E-K or SD31045E-K to any device, including a personal computer.

  • Page 101: Configuration

    CAT S THER YSTEM ONFIGURATION This chapter outlines how to add an SD17060E-K or SD31045E-K 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 102: Configure The Networked Driver

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

  • Page 103: Create A Dut

    2.3 Create a DUT AMCI sample programs use a DUT (Defined User Type) to group the I/O variables associated with each Net- worked Driver. Once the DUT is defined, a separate variable is created for each device on the machine.
  • Page 104 CAT S Networked Indexer/Driver User Manual THER YSTEM ONFIGURATION 2.5 Link Variable Names to I/O Words (continued) 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 Networked Driver.

  • Page 105: Sync0 Setup

    4) If the timing is step 1 above is not correct for the Networked Driver, and the correct time is not an integer multiple of this timing, then proceed with step 3.2. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 106: Create New Plc Task

    - SYNC0 S Networked Indexer/Driver User Manual ISTRIBUTED LOCK ETUP 3.2 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 Networked Driver and the correct time is not an integer multiple of the Main PLC task timing.
  • Page 107 The Networked Driver will update at the time specified by the new task. Figure T3.3 Linking Task Variable to the Networked Driver 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 108: Set Operational Mode

    - SYNC0 S Networked Indexer/Driver User Manual ISTRIBUTED LOCK ETUP 3.3 Set Operational Mode 1) If necessary, expand the I/O Device tree until the Networked Driver is visible. 2) Double click on the Networked Driver to open the setting window for the device. 3) Click on the “DC”...

  • Page 109: Set Cfg_Word1 Value To Enable Sync0

    9) Click the [OK] button in the Edit CANopen Startup Entry screen to accept the new startup parameter setting. Figure T3.5 Set DC_Sync Bit in Configuration Word 1 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 110 ADVANCED MICRO CONTROLS INC. LEADERS IN ADVANCED CONTROL PRODUCTS...

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