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Summary of Contents for Advanced Micro Controls Inc. SMD23E2
- Page 1 ADVANCED MICRO CONTROLS INC. Manual #: 940-0S152 SMD23E2 and SMD24E2 Integrated Stepper Indexer/Driver/Motor with Integral 2-Port Ethernet Switch Device Level Ring functionality for EtherNet/IP Media Redundancy Protocol for PROFINET...
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Page 2: General Information
GENERAL INFORMATION Important User Information The products and application data described in this manual are useful in a wide variety of different applica- tions. Therefore, the user and others responsible for applying these products described herein are responsible for determining the acceptability for each application. While efforts have been made to provide accurate infor- mation within this manual, AMCI assumes no responsibility for the application or the completeness of the information contained herein. -
Page 3: Table Of Contents
Module Status (MS) LED ..... 19 Returns Policy .......... 2 Network Status (NS) LED .... 19 24 Hour Technical Support Number ..2 SMD23E2 and SMD24E2 Connectors ..20 WEEE Statement ........2 Power and Inputs Connector ..20 About this Manual Ethernet Connectors ...... - Page 4 SMD23E2 and SMD24E2 User’s Manual ABLE OF ONTENTS Reference: Motion Control Reference: Homing an SMD23E2 or (continued) SMD24E2 (continued) CW/CCW Jog Move ..... 32 Homing Profiles ........55 Controlled Stops ....32 Home Input Only Profile ....55 Immediate Stops ....32 Profile with ...
- Page 5 Without an EDS Power and Input Connector ..... 89 Host System Configuration ...... 109 Compatible Connectors Add the SMD23E2 or SMD24E2 .... 109 and Cordsets ........ 89 Configure the SMD23E2 or SMD24E2 ... 112 Power Wiring ........... 90 Buffer I/O Data ........112 Input Wiring ..........
- Page 6 SMD23E2 and SMD24E2 User’s Manual ABLE OF ONTENTS Task: Modbus TCP Configuration Enable Modbus TCP Protocol ....119 Modbus Addressing ........119 Modbus Table Mapping ....119 Host Addressing ......119 AMCI Modbus TCP Memory Layout ........120 Supported Number of Connections ..120 Supported Modbus Functions ....
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Page 7: About This Manual
Applicable Units This manual applies to all of the units in the SMD23E2, SMD24E2, SMD23A2 and SMD24A2 families. “A2” units support the EtherNet/IP, Modbus TCP, and PROFINET protocols. They are factory config- ured for the PROFINET protocol. -
Page 8: Manual Conventions
SMD23E2 and SMD24E2 User’s Manual BOUT THIS ANUAL Manual Conventions Three icons are used to highlight important information in the manual: highlight important concepts, decisions you must make, or the implications of those NOTES decisions. tell you when equipment may be damaged if the procedure is not followed CAUTIONS properly. -
Page 9: Manual Layout
Protocol SMD23E2 or SMD24E2. Implicit Communications Task instructions that cover how to add an SMD23E2 or SMD24E2 to an with an EDS EtherNet/IP host that supports the use of EDS files. Task instructions for adding an SMD23E2 or SMD24E2 to a project as a Implicit Communications generic device. - Page 10 SMD23E2 and SMD24E2 User’s Manual BOUT THIS ANUAL Notes ADVANCED MICRO CONTROLS INC.
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Page 11: Reference: Smd23E2 & Smd24E2 Specifications
Media Redundancy Protocol (MRP) net- work when using PROFINET. In DLR environments, the SMD23E2 and SMD24E2 units act as Beacon-Based Ring Nodes. All units can process beacon packets at the default rate of every 400 microseconds. Beacon-based nodes can respond faster to network changes than nodes that only process Announce packets. -
Page 12: Part Numbering System
The elimination of the separate indexer and driver lowers total system cost. An SMD23E2 or SMD24E2 is powered by a nominal 24 to 48 Vdc power source, and can accept surge voltages of up to 60 Vdc without damage. The output motor current is fully programmable from 1.0 Arms to 3.4 Arms which makes the SMD23E2 and SMD24E2 units suitable to a wide range of applications. -
Page 13: Encoder Functionality
In order to support any host that communicates with the EtherNet/IP, PROFINET, or Modbus TCP protocols, the format of the data read from and written to the SMD23E2 or SMD24E2 while in command mode is com- pletely programmable. The format of the network input and output data can be programmed separately. -
Page 14: Specifications
Programmable to any value from 200 to 32,767 extensions also supported. steps per revolution. Physical Dimensions Internal Encoder (Optional) See page 87 for the SMD23E2 units Incremental encoder option supplies 1,024, 2,048, See page 88 for the SMD24E2 units or 4,096 counts per turn. Weight Absolute encoder option supplies 2,048 counts per SMD23E2-130 (All versions) 1.96 lbs. -
Page 15: Indexer Functionality
SMD23E2 & SMD24E2 S SMD23E2 and SMD24E2 User’s Manual PECIFICATIONS Indexer Functionality The table below lists the functionality offered by the indexer built into the AMCI SMD23E2 and SMD24E2 units. Feature Description The SMD23E2 and SMD24E2 units can be configured to communicate with ... -
Page 16: Stall Detection With Smd23E2 And Smd24E2 Units
Note that a move does not have to be in progress for stall detection to be useful. As described later in this chapter, there is an auxiliary power pin that powers the electronics of an SMD23E2 or SMD24E2 but does not power the motor. -
Page 17: Idle Current Reduction
Available Discrete Inputs The SMD23E2 and SMD24E2 unit has a total of two discrete DC inputs that accept 3.5 to 27Vdc signals. (5 to 24Vdc nominal) How your SMD23E2 or SMD24E2 uses these inputs is fully programmable. The active state of each input is also programmable. -
Page 18: 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 SMD23E2 or SMD24E2 units, but their on/off state is reported in the network data and is available to your host controller. -
Page 19: Status Led's
SMD23E2 and SMD24E2 User’s Manual PECIFICATIONS Status LED’s Each SMD23E2 and SMD24E2 has two status LED’s that show module and network status. As shown in fig- ure R1.3, these LED’s are located on the rear cover. Module Status (MS) LED The Module LED is a bi-color red/green LED that show the general status of the unit. -
Page 20: Smd23E2 And Smd24E2 Connectors
If Stall Detection is enabled on the SMD23E2/SMD24E2, it will also be able to tell the system if the motor shaft rotated more than forty-five degrees with power removed. -
Page 21: Torque And Power Curves
SMD23E2 and SMD24E2 User’s Manual PECIFICATIONS Torque and Power Curves Figure R1.7 SMD23E2-130 Torque and Power Curves Figure R1.8 SMD23E2-240 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 SMD23E2-130 will be running at a maximum of 7 RPS and a 48 Vdc supply will be used. Example 1: Based on the power curve in figure R1.7 on the previous page, the combinations will generate a... -
Page 23: Regeneration (Back Emf) Effects
The stepper motors used in the SMD23E2 and SMD24E2 units are all low inductance motors. Back EMF is typically not an issue unless there is a gearhead attached to the motor and it is driven by hand. In these instances, the motor acts as a generator. -
Page 24: Compatible Connectors And Cordsets
Many different connectors and cordsets are available on the market, all of which will work with the SMD23E2 and SMD24E2 units provided that the manufacturer follows the connector and Ethernet standards. AMCI has reviewed the following connectors and ethernet cordsets for compatibility with the SMD23E2 and SMD24E2 units. -
Page 25: Definitions
Home commands, the motor position and encoder position registers will automatically be set to zero once the home position is reached. Defining a Home Position is completely optional. Some applications, such as those that use the SMD23E2 or SMD24E2 for speed control, don’t require position data at all. Count Direction Clockwise moves will always increase the motor position register reported back to the host. -
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 SMD23E2 and SMD24E2 supports three types of accelerations and decelerations. The type of acceleration used is controlled by the Acceleration Jerk parame- ter. -
Page 27: Triangular S-Curve Acceleration
SMD23E2 and SMD24E2 User’s Manual OTION ONTROL Definition of Acceleration Types (continued) Triangular S-Curve Acceleration When the Acceleration Jerk parameter equals one, the axis accelerates (or decelerates) at a constantly chang- ing rate that is slowest at the beginning and end of the acceleration phase of the move. The Triangular S- Curve type offers the smoothest acceleration, but it takes twice as long as a Linear Acceleration to achieve the same velocity. -
Page 28: A Simple Move
Programmed Speed. Both the Acceleration Value and the Programmed Speed are programmed when the move command is sent to the SMD23E2 or SMD24E2. 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
SMD23E2 and SMD24E2 User’s Manual OTION ONTROL Controlled and Immediate Stops Once a move is started, there are several ways to stop the move before it comes to an end. These stops are broken down into two types: Controlled Stop: The axis immediately begins decelerating at the move’s programmed deceleration... -
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 SMD23E2 or SMD24E2 will set an In_Hold_State bit in the input data table. The Relative Move can be restarted with the Resume Move command from the host controller or the move can be aborted by starting another move. -
Page 31: Absolute Move
Basic Move Types (continued) Absolute Move Absolute Moves move from the Current Position (A) to a given position (B). (The SMD23E2 or SMD24E2 calculates the direction and number of steps needed to move to the given position and moves that number of steps.) A trapezoidal profile is shown to the right, but... -
Page 32: Cw/Ccw Jog Move
Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the SMD23E2 or SMD24E2 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 SMD23E2 or SMD24E2 will output a programmed number of steps as part of bringing the move to a stop. Note that all position values programmed with a Registration Move are relative values, not absolute machine positions. -
Page 34: 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 SMD23E2 and SMD24E2 also gives you the ability to pre-assemble more com- plex 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
1) Each segment of the Blend Move must be written to the unit before the move can be initiated. The SMD23E2 and SMD24E2 supports Blend Moves with up to sixteen segments. 2) Each segment is programmed as a relative move. Blend Moves cannot be programmed with absolute coordinates. -
Page 36: 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 SMD23E2 or SMD24E2 as a series of relative moves before the move is started. - Page 37 You could accomplish this Dwell Move with a series of six relative moves that are sent down to the SMD23E2 or SMD24E2 sequentially. The two advantages of a Dwell Move in this case are that the unit will be more accurate with the Dwell Time then you can be in your control program, and Dwell Moves simplify your program’s logic.
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Page 38: Assembled Move Programming
Status LED. If the LED is flashing green, the write to flash memory was successful. If it flashes red, then there was an error in writing the data. In either case, power must be cycled to the SMD23E2 or SMD24E2 before you can continue. -
Page 39: Indexed Moves
If the Indexed Move bit is set when the command is issued, the SMD23E2 or SMD24E2 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 messaging time delays. -
Page 40: Synchrostep (Virtual Axis) Moves
SMD23E2 or SMD24E2 can be tied to the motion axis, with the host controller periodically send- ing position and velocity data to the unit as part of the axis update. The loop is closed by the SMD23E2 or SMD24E2 by controlling the velocity of the motor. -
Page 41: Controlling Moves In Progress
Controlling Moves In Progress Each SMD23E2 and SMD24E2 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 bring- ing a move to a controlled stop when your controller senses an end-of-stock condition. - Page 42 SMD23E2 and SMD24E2 User’s Manual OTION ONTROL Notes ADVANCED MICRO CONTROLS INC.
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Page 43: Profiles
To convert from steps/second to steps/second/millisecond, divide the value by 1000. This must be done when converting from a value used in the equations to a value programmed into the SMD23E2 or SMD24E2. To convert from steps/second/millisecond to steps/second , multiply the value by 1000. - Page 44 If a move with the above acceleration, deceleration, starting speed, and programmed speed has a length greater than 449,984 steps, the SMD23E2 or SMD24E2 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 pro- grammed speed.
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Page 45: Total Time Equations
SMD23E2 and SMD24E2 User’s Manual ALCULATING ROFILES Constant Acceleration Equations (continued) Continuing the example from table R3.2, assume a total travel distance of 300,000 steps. – – ------------------- - ------------------- - – – 300,000 steps ------------------------ - ------------------------ - ... -
Page 46: S-Curve Acceleration Equations
S-Curve Acceleration Equations When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the SMD23E2 and SMD24E2 uses this value to smoothly change the acceleration value applied during the move. In this case, the speed of the move does not increase linearly, but exponentially, resulting in an “S”... - Page 47 SMD23E2 and SMD24E2 User’s Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Triangular S-Curve Acceleration (continued) The value of the Acceleration Jerk parameter can now be easily calculated. a t ------- - t 2 ------- - ...
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Page 48: Trapezoidal S-Curve Acceleration
SMD23E2 and SMD24E2 User’s Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Trapezoidal S-Curve Acceleration Figure R3.4 shows the speed profile of a move during its acceleration phase. The figure shows the desired trapezoidal S-curve acceleration in red along with the equivalent constant acceleration in blue. The equivalent constant acceleration is equal to the change in speed divided by the time it takes to achieve the change in speed. - Page 49 SMD23E2 and SMD24E2 User’s Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Trapezoidal S-Curve Acceleration (continued) The value of the Acceleration Jerk parameter can now be easily calculated. a t ------- - t 4 ------- - ...
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Page 50: Determining Waveforms By Values
SMD23E2 and SMD24E2 User’s Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Determining Waveforms by Values If your programmed acceleration and deceleration values are the same, then your move’s acceleration and decelerations will be identical. If these two programmed values are different, use the above methods to deter- mine the Acceleration Jerk parameter for either the move’s acceleration or deceleration phases and use the... - Page 51 SMD23E2 and SMD24E2 User’s Manual ALCULATING ROFILES S-Curve Acceleration Equations (continued) Determining Waveforms by Values (continued) Example 2, Jerk = 400 30,000 steps/sec -------------------------------------- - 15,000 steps/sec = midpoint of change in speed Acceleration Jerk parameter 100j ---------- -...
- Page 52 SMD23E2 and SMD24E2 User’s Manual ALCULATING ROFILES Notes ADVANCED MICRO CONTROLS INC.
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Page 53: Smd24E2
The Home Position is any position on your machine that you can sense and stop at. Once at the Home Posi- tion, the motor position register of an SMD23E2 or SMD24E2 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... -
Page 54: Homing Inputs
Input. Homing Configurations A SMD23E2 or SMD24E2 must have one of its DC inputs configured as the home input before one of the CW/CCW Find Home commands can be issued. 1) You do not have to configure and use CW or CCW Limits. If you choose to configure the unit this way, then the SMD23E2 or SMD24E2 has no way to automatically prevent over travel during a homing operation. -
Page 55: Homing Profiles
SMD23E2 SMD24E2 SMD23E2 and SMD24E2 User’s Manual OMING AN Homing Profiles The CW Find Home command is used in all of these examples. The CCW Find Home com- mand will generate the same profiles in the opposite direction. Home Input Only Profile Figure R4.1 below shows the move profile generated by a CW Find Home command when you use the Home... -
Page 56: Profile With Backplane_Proximity_Bit
Speed before reaching the Home Input, it will continue at this speed. Figure R4.2 shows the Backplane_Proximity_Bit staying active until the SMD23E2 or SMD24E2 reaches its home position. This is valid, but does not have to occur. As stated in step 4, the unit starts to hunt for the home position as soon as the Backplane_Proximity_Bit ... -
Page 57: Profile With Overtravel Limit
CW limit while traveling in the CW direction.) The SMD23E2 or SMD24E2 will stop and issue a Home Invalid error to your host if you acti- vate the overtravel limit associated with travel in the opposite direction. i.e. Activating the CCW limit during a CW Find Home command. -
Page 58: Controlling Find Home Commands In Progress
The overtravel limit associated with travel in the opposite direction is activated. i.e. Activating the CCW limit during a CW Find Home command. This can occur if the overtravel limits are not wired to the SMD23E2 or SMD24E2 correctly, or not configured correctly when the unit was configured. ADVANCED MICRO CONTROLS INC. -
Page 59: Data Format
Power Up Behavior An SMD23E2 or SMD24E2 will always power up in Command Mode. If available, the unit will use its stored configuration data to configure itself. The SMD23E2 or SMD24E2 will then check for valid network com- mand data and will only enable the motor driver section if the Enable_Driver bit is set. - Page 60 Captured Encoder Position By default, these thirty-two bit parameters and data values are written to and read from the SMD23E2 or SMD24E2 using the multi-word format described above. When configuring the unit, it is possible to program it to use a 32-bit double integer format instead of the custom format shown above.
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Page 61: Output Data Format
Backplane_Proximity_Bit if you only want to home to a Home Limit Switch. (Leave this bit equal to “0”.) If you enable this bit and then never turn on the Backplane_Proximity_Bit, the SMD23E2 or SMD24E2 unit will ignore all transitions of the home limit switch and you will not be able to home the device. - Page 62 Function Available On The input is not used in any of the functions of the SMD23E2 or SMD24E2, but it’s status is reported in the General Purpose Input Network Data. This allows the input to be used as a dis- crete DC input to the host controller.
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Page 63: Configuration Word 1 Format
Once the unit issues its response to the Save_Present_Configuration command, it stops respond- ing to commands and you must cycle power to the unit. This design decision prevents the SMD23E2 or SMD24E2 from responding to constant save commands from the host controller. -
Page 64: Notes On Other Configuration Words
When the Configuration data is valid and accepted, this word mirrors the value of the Configuration Word 0 written to the SMD23E2 or SMD24E2. When the data written to it is invalid, the unit remains in Command Mode and sets the Configuration Error bit in the first word written back to the host controller. The format of... -
Page 65: Stall Detect Enable
3) Configuring the two inputs to have the same function, such as two CW Limit Switches. (An error does not occur if both are configured as General Purpose Inputs.) 4) Setting the Stall Detection Enable Bit without configuring the SMD23E2 or SMD24E2 to use its built in encoder. - Page 66 SMD23E2 and SMD24E2 User’s Manual ONFIGURATION ORMAT Notes ADVANCED MICRO CONTROLS INC.
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Page 67: Format
Data Format An SMD23E2 or SMD24E2 requires twenty bytes of Output Data as well as twenty bytes of Input Data. In most cases the data is represented as ten 16-bit (single) integers. Sixteen bit integers support a range of values from -32,768 to 32,767 or 0 to 65,535. -
Page 68: Command Bits Must Transition
SMD23E2 and SMD24E2 User’s Manual OMMAND ORMAT Command Bits Must Transition Commands are only accepted when the command bit makes a 0 1 transition. The easiest way to do this is to write a value of zero into the Command Word 0 before writing the next command. -
Page 69: Command Word 0
SMD23E2 and SMD24E2 User’s Manual OMMAND ORMAT Command Word 0 Command Word 0 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Figure R6.2 Command Word 0 Format Bit 15: Mode_Select – “1” for Configuration Mode Programming “0” for Command Mode Programming. - Page 70 SMD23E2 and SMD24E2 User’s Manual OMMAND ORMAT Command Word 0 (continued) Bit 7: Jog_CW – When this bit makes a 0 1 transition, the unit will run a Jog Move in the clockwise direction. The full explanation of a CW/CCW Jog Move can be found starting on page 32.
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Page 71: Command Word 1
Bit 15: Enable_Driver – “0” to disable the motor current, “1” to enable motor current. A valid configura- tion must be written to the SMD23E2 or SMD24E2 before the driver can be enabled. Must equal “0”. Bit 14: Reserved –... -
Page 72: Command Blocks
Motor Current – specified when the SMD23E2 or SMD24E2 was configured. Set to “1” to program the motor current to the value in word 8 of the command block. Motor current can set as a separate command or as part of a move command. -
Page 73: Relative Move
Unused See Note Below Table R6.4 Hold Move Command Block Unused words are ignored by the SMD23E2 and SMD24E2 and can be any value, including parameter values from the previous command. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786... -
Page 74: Immediate Stops
Table R6.5 Resume Move Command Block Unused words are ignored by the SMD23E2 and SMD24E2 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”... -
Page 75: Find Home Cw
Command Word 1 is not set. Acceleration Jerk 0 to 5000 Table R6.7 Find Home CW Command Block Unused words are ignored by the SMD23E2 and SMD24E2 and can be any value, including parameter values from the previous command. Find Home CCW PROFINET... -
Page 76: Jog Cw
Command Word 1 is not set. Acceleration Jerk 0 to 5000 Table R6.9 Jog Move CW Command Block Unused words are ignored by the SMD23E2 and SMD24E2 and can be any value, including parameter values from the previous command. Registration Move CW PROFINET... -
Page 77: Jog Ccw
Command Word 1 is not set. Acceleration Jerk 0 to 5000 Table R6.11 Jog CCW Command Block Unused words are ignored by the SMD23E2 and SMD24E2 and can be any value, including parameter values from the previous command. Registration Move CCW PROFINET... -
Page 78: Preset Position
See Note Below Table R6.13 Preset Position Command Block Unused words are ignored by the SMD23E2 and SMD24E2 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 79: Run Assembled Move
0 to 65,535 Dwell Time with Dwell Move Table R6.15 Run Assembled Move Command Block Unused words are ignored by the SMD23E2 and SMD24E2 and can be any value, including parameter values from the previous command. Preset Encoder Position PROFINET... -
Page 80: Programming Blocks
Unused words are ignored by the SMD23E2 and SMD24E2 and can be any value, including parameter values from the previous command. Once the first block is transmitted, the SMD23E2 or SMD24E2 responds by setting bits 8 and 9 in Status Word 0. (See Status Word 0 Format starting on page 81.) Once these are set, you can then start transmitting Segment... -
Page 81: Input Data Format
SMD23E2 and SMD24E2 User’s Manual OMMAND ORMAT Input Data Format The correct format for the Network Input Data when the SMD23E2 or SMD24E2 is in Command Mode is shown below. EtherNet/IP Modbus/TCP Command Mode Input Data Word Register Status Word 0... - Page 82 Move command completes without error. This bit is reset to “0” when the next move command is written to the SMD23E2 or SMD24E2, 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.
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Page 83: Status Word 1 Format
Figure R6.5 Command Mode: Status Word 1 Format Bit 15: Drive_Is_Enabled – Set to “1” when the motor driver section of the SMD23E2 or SMD24E2 is enabled and current is available to the motor. Set to “0” when the motor driver section is disabled. If this bit is set to “1”, the motor current remains present when an E-Stop input is active. -
Page 84: Notes On Clearing A Driver Fault
A Driver Fault occurs when there is an over temperature condition. When a Driver Fault occurs, the SMD23E2 or SMD24E2 will set bit 7 of the Status Word 1 word in the Network Input Data. Even though the driver is enabled, it will not supply current to the motor until the motor’s temperature decreases to a safe value. -
Page 85: Task: Installing The Smd23E2
NSTALLING THE 1.1 Location 1.1.1 IP50 Rated Units (SMD23E2-M12 and SMD24E2-M12) SMD23E2 and SMD24E2 units that are IP50 rated are suitable for use in an industrial environment that meet the following criteria: Only non-conductive pollutants normally exist in the environment, but an occasional temporary con- ductivity caused by condensation is expected. -
Page 86: Prevent Debris From Entering The Unit
As explained in the mounting section, mount- ing the SMD23E2 or SMD24E2 to a large metal heatsink is the best way to limit the operating temperature of the device. Operating temperature should be monitored during system startup to verify that the maximum motor temperature remains below its 203°F/95°C specification. -
Page 87: Smd23/4E2-M12P Mounting
1.4 Mounting (continued) 1.4.3 SMD23/4E2-M12P Mounting The SMD23E2-M12P and SMD24E2-M12P units are water tight. Their IP67 rating makes them acceptable for use in washdown environments and can be exposed to low pressure / low volume water sprays as well as temporary immersions. -
Page 88: Smd24E2 Outline Drawing
SMD23E2 SMD24E2 SMD23E2 and SMD24E2 User’s Manual NSTALLING THE 1.4 Mounting (continued) 1.4.5 SMD24E2 Outline Drawing 1.520" ±0.005" 0.81" ±0.04" (38.61 ± 0.13) 0.001" (20.6 ±1) (0.03) 0.06" ±0.01" 0.003" (1.5 ±0.3) (0.08) 1.60" (40.6) Max. Optional Nitrile Shaft Seal (Option “P”) -
Page 89: Power And Input Connector
1.5 Power and Input Connector The Power and Input Connector is located on the back of the SMD23E2 and SMD24E2 units below the Ethernet connectors. Figure T1.3 shows the pin out for the Input Connector when viewed from the back of the unit. -
Page 90: Power Wiring
The inputs can survive surge voltages to 35 Vdc. Figure T1.5 below shows how to wire discrete DC sourcing and sinking sensors to inputs 1 and 2 of the SMD23E2 or SMD24E2. Colors in parentheses are the appropriate wire color of the CNPL-5M cable. -
Page 91: Cable Shields
100baseT depending on the network equipment they are attached to. The ports also have “auto switch” capabil- ity. This means that a standard cable can be used when connecting the SMD23E2 or SMD24E2 to any device, including a personal computer. -
Page 92: Compatible Connectors And Cordsets
The CNER-5M cable available from AMCI follows the 568B standard. Note that accidently reversing the Tx/Rx pairs will not affect the operation of the SMD23E2 and SMD24E2. Each unit has an “auto-sense” port that will automatically adjust for swapped pairs. -
Page 93: Profinet Connections
1.10 PROFINET Connections 1.10.1 Non-MRP Applications The SMD23E2 and SMD24E2 units have two Ethernet ports with a built-in Ethernet switch connecting the two. In non-MRP applications, either port can be used to attach the unit to the network. Also, both ports can be used in non-MRP applications. - Page 94 SMD23E2 SMD24E2 SMD23E2 and SMD24E2 User’s Manual NSTALLING THE Notes ADVANCED MICRO CONTROLS INC.
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Page 95: Protocol
Configuration, which starts on page 123 2.1 Determine the Best Method for Setting the IP Address There are three methods for setting the IP address on an SMD23E2 or SMD24E2. Table T2.1 below outlines the available methods and when you can use them. -
Page 96: Use The Embedded Web Server
90. You must be able to power the SMD23E2 or SMD24E2. PREREQUISITE: Tasks: 1.8 and 1.9, 1.10, or 1.11, starting on page 91. You must attach your SMD23E2 or SMD24E2 to your computer. PREREQUISITE: Optional Task A: Configure Your Network Interfaces. - Page 97 1) Click on the [Network Setup] button to switch to the Network Setup page shown below. This page shows the current IP address settings, as well as the configured protocol. Figure T2.2 SMD23E2 or SMD24E2 Network Setup Web Page 2) Enter your desired values into the IP Address, Subnet Mask, and Default Gateway fields.
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Page 98: Use The Amci Net Configurator Utility
Power Wiring found on page 90. You must be able to power the unit. PREREQUISITE: Tasks: 1.8 and 1.9, 1.10, or 1.11, starting on page 91. You must attach your SMD23E2 or SMD24E2 to your computer. PREREQUISITE: Optional Task A: Configure Your Network Interfaces. - Page 99 EtherNet/IP is not a multi-master protocol. There can be only one bus master on the network at a time. In order to program the SMD23E2 or SMD24E2, the AMCI Net Configurator utility must act as a bus master. Therefore, physically disconnect your host controller from the SMD23E2 or SMD24E2 before starting the Net Configurator utility.
- Page 100 [Manual Connect] button and enter the IP address of the unit. Figure T2.4 Scan for SMD23E2 or SMD24E2 If scanning for the SMD23E2 or SMD24E2, click on the IP Address of the unit and click on the [Connect] button. The Net Configurator utility will connect to the unit.
- Page 101 Default Gateway to the IP address of your host controller. 2.2c.9 Set the Communications Protocol The factory default protocol for the SMD23E2 and SMD24E2 is EtherNet/IP. In order to use the Modbus TCP or PROFINET protocols, simply click on the appropriate button.
- Page 102 IP A SMD23E2 and SMD24E2 User’s Manual ET THE DDRESS AND ROTOCOL Notes ADVANCED MICRO CONTROLS INC.
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Page 103: Task: Implicit Communications With An Eds
20 and above. Other systems will follow a similar pattern. Consult your controller’s documentation if you need additional information. Note: Use of an EDS file is completely optional. The SMD23E2 and SMD24E2 can always be added to a system as a generic module. If you are using RSLogix 5000 version 19 and below, or RSLogix 500, adding the unit as a generic module is the only option available. -
Page 104: Install The Eds File
SMD23E2 and SMD24E2 User’s Manual MPLICIT OMMUNICATIONS WITH AN 3.2 Install the EDS file (continued) 3.2.2 Install the EDS File 1) On the Options screen, select the Register an EDS file(s) radio button and press [Next >]. Figure T3.2 EDS Options Screen 2) The registration screen will open. - Page 105 SMD23E2 and SMD24E2 User’s Manual MPLICIT OMMUNICATIONS WITH AN 3.2 Install the EDS file (continued) 3.2.2 Install the EDS File (continued) 4) Once at the EDS File Installation Test Results screen, expand the tree as needed to view the results of the installation test for the EDS file.
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Page 106: Host System Configuration
If the Ethernet port is built into processor, the only step you have to take before adding an AMCI SMD23E2 or SMD24E2 is to create a new project with the correct processor or modify an existing project. Once this is done, the Ethernet port will automatically appear in the Project Tree. -
Page 107: Configure The Smd23E2 Or Smd24E2 Driver
Figure T3.8 Networked Driver Configuration with EDS File The EDS file defines tags that are used to configure the SMD23E2 or SMD24E2. These tags follow the for- mat of the Configuration Data given in reference chapter 6,... -
Page 108: Buffering The I/O Data
SMD23E2 and SMD24E2 User’s Manual MPLICIT OMMUNICATIONS WITH AN 3.5 Configure the SMD23E2 or SMD24E2 Driver (continued) 3.5.3 Configuration Tab (continued) When using the EDS file, the Starting Speed is transmitted as a double integer value. The parameter does not use the multi-word format outlined in Configuration Mode Data Format reference chapter. -
Page 109: Task: Implicit Communications
Ethernet Bridge module or an Ethernet port built into the processor. If the Ethernet port is built into processor, the only step you have to take before adding the SMD23E2 or SMD24E2 is to create a new project with the correct processor or modify an existing project. - Page 110 MPLICIT OMMUNICATIONS ITHOUT 4.2 Add the SMD23E2 or SMD24E2 (continued) 2) In the resulting Select Module Type screen, type “generic” into the filter as shown in figure T4.2. This will limit the results in the Catalog Number list. 3) Select the Catalog Number “ETHERNET-MODULE” in the list.
- Page 111 You can set the RPI time as required for your system in this window. The minimum RPI time for an SMD23E2 or SMD24E2 is 2 milliseconds. When done, click on [OK] to complete the setup. Error Code 16#0109 The PLC will generate an Error Code 16#0109 when the Comm Format parameter is not changed from its default of “Data-DINT”...
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Page 112: Configure The Smd23E2 Or Smd24E2
4.3 Configure the SMD23E2 or SMD24E2 The device will join the EtherNet/IP network as soon as the request is made to it. If the SMD23E2 or SMD24E2 has a configuration stored in flash memory, it will be used to configure the unit on power up. You can also configure the unit at anytime and store this new configuration to flash. -
Page 113: Messaging
10 of RSLogix 500. 5.2 Create Four New Data Files. An Integer file to contain the data read from the SMD23E2 or SMD24E2. This file must be at least 10 words in length. An Integer file to contain the data written to the SMD23E2 or SMD24E2. This file must be at least 10 words in length. -
Page 114: Add The Message Instructions To Your Ladder Logic
Data Table Address (Received) field and press enter. 5) If the Message Instruction is being used to write data to the SMD23E2 or SMD24E2, enter the inte- ger file where the source data will be located in the Data Table Address (Send) field and press Enter. - Page 115 For Write operations, enter a value of 150 decimal (96 hex) in the Instance field. The figure below show a typical configuration for Message Instructions being used to read data from the SMD23E2 or SMD24E2. Please note that the Data Table Address (Receive) field may be different in your application.
- Page 116 5.3 Add the Message Instructions to your Ladder Logic (continued) The figure below show a typical configuration for Message Instructions being used to write data to the SMD23E2 or SMD24E2. Please note that the Data Table Address (Send) field may be different in your appli- cation.
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Page 117: Troubleshooting
Figure R6.7 MicroLogix Ethernet Configuration Screen 2) Enter the IP address and Subnet Mask of your MicroLogix 1100, (not the address of the SMD23E2 or SMD24E2) and click on [Apply]. The Ethernet Port should now be working. - Page 118 /IP E SMD23E2 and SMD24E2 User’s Manual THER XPLICIT ESSAGING Notes ADVANCED MICRO CONTROLS INC.
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Page 119: Task: Modbus Tcp Configuration
If this is the case, you will define a mapping between your host controller’s addressing scheme and the zero based Modbus TCP addresses when you add the SMD23E2 or SMD24E2 to your host controller. Refer to your host controller’s documentation for information on how to accomplish this. -
Page 120: Amci Modbus Tcp Memory Layout
1024. Input Registers hold the data from the driver while Output Registers hold the data to be writ- ten to the unit. Figure T6.1 shows how an SMD23E2 or SMD24E2 is mapped to the Modbus data reference. The complete specification for the Modbus protocol can be downloaded at http://www.modbus.org/specs.php. -
Page 121: Supported Modbus Functions
Read/Write Registers function, which is func- tion code 23. Each SMD23E2 or SMD24E2 buffers the data that is sent to it over the network. If you use the Read/Write Registers function to write configuration data to the unit, then the data read with that command will not contain the response to the new configuration data. - Page 122 TCP C SMD23E2 and SMD24E2 User’s Manual ODBUS ONFIGURATION Notes ADVANCED MICRO CONTROLS INC.
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Page 123: Task: Profinet Network
Basic Steps Configuring a PROFINET host requires a few basic steps. 1) Download the ZIP archive that contains the GSDML files for the SMD23E2 and SMD24E2 from the www.amci.com website. 2) Install the GSDML file into the configuration software for your host controller. -
Page 124: Configure The Profinet Network
PROFINET network. Both the SMD23E2 and SMD24E2 units use the SMD23x2 profile from the GSDML file. 4) Drag the green square on the SMD23x2 icon onto the PROFINET network line to connect the device to the network. - Page 125 6) Under the “ PROFINET interface [x1]” heading, select “Ethernet addresses”. Under the IP protocol section, set the desired IP address and subnet mask for the SMD23E2 or SMD24E2. Figure T7.3 Networked Driver IP Addressing 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786...
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Page 126: Set The I/O Configuration
7.5 Set the I/O Configuration The SMD23E2 and SMD24E2 units require 10 Input Words (20 Input Bytes) and 10 Output Words (20 Out- put Bytes). All required Input and Output Bytes are defined by the GSDML file and divided into suitable modules. -
Page 127: Mrp Installations
ONFIGURATION MRP Installations At this point, the SMD23E2 or SMD24E2 is configured and ready to use. If you are using the unit in a redun- dant, ring based, network that uses the Media Redundancy Protocol (MRP), continue with the following instructions. - Page 128 SMD23E2 and SMD24E2 User’s Manual ETWORK ONFIGURATION 7.7 Configure the SMD23E2 or SMD24E2 as an MRC (continued) 5) Continue configuring the rest of the devices on the network before compiling the project and downloading it to the CPU. ADVANCED MICRO CONTROLS INC.
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Page 129: Network Interfaces
This includes all wireless interfaces as well as all Bluetooth interfaces. A.3 Configure Your Network Interface Before you can communicate with an SMD23E2 or SMD24E2, your network interface must be on the same subnet as the driver. The rest of this procedure assumes you are using the 192.168.0.xxx subnet. If you are not, you will have to adjust the given network addresses accordingly. -
Page 130: Test Your Network Interface
Going back to the terminal you opened in the last step, type in ‘ping aaa.bbb.ccc.ddd’ where ‘aaa.bbb.ccc.ddd’ in the IP address of the SMD23E2 or SMD24E2. The computer will ping the unit and the message “Reply from aaa.bbb.ccc.ddd: bytes=32 time<10ms TTL=128” should appear four times. - Page 131 SMD23E2 and SMD24E2 User’s Manual ONFIGURE ETWORK NTERFACES Notes 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
- Page 132 ADVANCED MICRO CONTROLS INC. LEADERS IN ADVANCED CONTROL PRODUCTS...
- Page 133 SMD23E2 and SMD24E2 User’s Manual ONFIGURE ETWORK NTERFACES 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
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