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Summary of Contents for AMCI SMD17K
- Page 1 ADVANCED MICRO CONTROLS INC. Manual #: 940-0S292...
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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
Registration Moves ....... 38 Status LED’s ..........17 Absolute and Relative Moves ..38 Run LED ........17 Assembled Moves ......38 Error LED ........18 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com... - Page 4 STATUS_word1 Format ....74 Homing Configurations ......50 Notes on Clearing a Driver Fault ....75 Homing Profiles ........51 Task 1: Installing the SMD17K Home Input Only Profile ....51 Profile with Location ............ 77 Backplane_Proximity_Bit ... 52 IP50 Rated Units ......
- Page 5 Install the ESI file ......85 Restart the Programming System If Needed ......85 Add the SMD17K to the Project ....85 Scan for the SMD17K Device ..85 Rename the Device ......85 Configure the SMD17K ....86 Create a DUT ...........
- Page 6 SMD17K User Manual ABLE OF ONTENTS Notes ADVANCED MICRO CONTROLS INC.
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Page 7: About This Manual
This manual explains the installation and operation of the SMD17K Integrated Stepper Indexer/Driver/ Motors from AMCI. It is written for the engineer responsible for incorporating these products into a design as well as the engineer or technician responsible for their actual installation. -
Page 8: Revision Record
If you need to install and use an Integrated Stepper Indexer/Driver/Motor product from AMCI, then the rest of the manual is written for you. To simplify installation and configuration, the rest of the manual is broken down into references and tasks. -
Page 9: Reference: Smd17K Specifications
SMD17K S PECIFICATIONS This manual is designed to get you up and running quickly with an SMD17K prod- uct from AMCI. As such, it assumes you have some basic knowledge of stepper systems. If you are new to stepper systems, we’re here to help. AMCI has a great deal of information on our website and we are adding more all the time. -
Page 10: Part Numbering System
The elimination of the separate indexer and driver lowers total system cost. An SMD17K is powered by a nominal 24 to 48 Vdc power source, and can accept surge voltages of up to 60 Vdc without damage. The output motor current is fully programmable from 0.1 Arms to 2.0 Arms which makes the SMD17K suitable to a wide range of applications. -
Page 11: Encoder Functionality
The SMD17K Family (continued) General Functionality (continued) The SMD17K units have two DC inputs that are used by the indexer. Configuration data from the host sets the function of these inputs. Each input can be individually configured as a: ... -
Page 12: Specifications
See Outline Drawing, page 79 Incremental encoder option supplies 1,024, 2,048, Weight or 4,096 counts per turn. SMD17K-80-M12 ....1.07 lb. (0.49 kg) Absolute encoder option supplies 2,048 counts per Weight is without mating connectors turn, 32 bit max. counts. -
Page 13: Indexer Functionality
Starting Speed, Running Speed, Acceleration, Deceleration, and Accel/Decel Types Parameters are fully programmable. Allows you to set the machine to a known position. An SMD17K homes to a discrete Homing input and can use a bit in the Network Data as a home proximity input. -
Page 14: Synchronizing Moves
The EtherCAT Distributed Clock functionality is built into the ECS used by the SMD17K products. The SMD17K can act as the reference clock for the system if it is the first device in the EtherCAT network. The SYNC0 signal, which is based off of the Distributed Clock, can be use to synchronize the start of moves over multiple devices. -
Page 15: Driver Functionality
Available Discrete Inputs The SMD17K has two discrete, sinking, DC inputs that accept 3.5 to 27 Vdc signals. (5 to 24 Vdc nominal) How your SMD17K uses these inputs is fully programmable. The active state of each input is also program- mable. -
Page 16: Cw Limit Switch Or Ccw Limit Switch
If your application does not require one or both of the inputs, you can configure the unused inputs as General Purpose Inputs. The inputs are not used by the SMD17K, but their on/off state is reported in the network data and is available to your host controller. -
Page 17: Optional Encoder
PECIFICATIONS Optional Encoder The SMD17K can be ordered with an integral encoder. The encoder can be used for position verification and stall detection. Additionally, an input can be configured to capture the encoder value when the input makes an inactive to active transition. This captured value is written to the host controller. Two encoder options are... -
Page 18: Error Led
Error LED The ERR LED location houses a red/green LED. The red LED indicates an error state in the EtherCAT protocol. The green LED indicates the operational state of the SMD17K itself. Both LEDs can be on simultaneously. -
Page 19: Smd17K Connectors
Figure R1.4 also show the placement of the sealed Ethernet Connector(s), while figure R1.6 shows the con- nector pinout when viewed from the back of the SMD17K. The Ethernet port on the SMD17K is an “auto- sense” port that will automatically switch between 10baseT and 100baseT depending on the network equip- ment it is attached to. -
Page 20: Torque And Power Curves
An SMD17K-80 will be running at a maximum of 12 RPS and a 24 Vdc supply will be used. Example 1: Based on the power curve in figure R1.7 on page 20, the combinations will generate a maximum... -
Page 21: Regeneration Effects
The stepper motors used in the SMD17K 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 22: Compatible Connectors And Cordsets
PECIFICATIONS Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market, all of which will work with the SMD17K provided that the manufacturer follows the connector and Ethernet standards. AMCI has reviewed the follow- ing connectors and ethernet cordsets for compatibility with the SMD17K. -
Page 23: 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 24: 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 SMD17K supports three types of accelerations and decelerations. The type of acceleration used is controlled by the Acceleration Jerk parameter. -
Page 25: Triangular S-Curve Accel
S-curve acceleration. See S-Curve Acceleration Equations, which starts on page 42, for a methods of calculating the Acceleration Jerk parameter. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com... -
Page 26: A Simple Move
Acceleration Value until the speed of the motor reaches the Programmed Speed. Both the Acceleration Value and the Programmed Speed are programmed when the move command is sent to the SMD17K. 2)The motor continues to run at the Programmed Speed until it reaches the point where it must decelerate before reaching point B. -
Page 27: Controlled And Immediate Stops
Immediate Stop. The exceptions are the CW/CCW Find Home commands, the CW/CCW Jog Move com- mands, and the CW/CCW Registration Move commands. The Find Home commands are explained in the ref- erence section, Homing an SMD17K, which starts on page 49. The CW/CCW Jog Move commands are fully explained on page 30, and the CW/CCW Registration Move commands are fully explained on page 31. -
Page 28: Basic Move Types
When the command is accepted, the axis will immediately decelerate at the programmed rate and stop. When stopped successfully, the SMD17K 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 29: Absolute Move
1) The Home Position of the machine must be set before running an Absolute Move. See the reference section, Homing an SMD17K, which starts on page 49, for information on hom- ing the machine. 2) The Motor Position must be valid before you can use an Absolute Move. The Motor Posi- tion becomes valid when you preset the position or home the machine. -
Page 30: Cw/Ccw Jog Move
Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the SMD17K 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 31: Cw/Ccw Registration Move
When the command terminates under Controlled Stop conditions, the SMD17K will output a programmed number of steps as part of bringing the move to a stop. Note that all posi- tion values programmed with a Registration Move are relative values, not absolute machine positions. -
Page 32: Assembled Moves
Steps). You issue a Hold Move command in the Network Output Data. The SMD17K responds by using the programmed Deceleration value to bring the move to a stop, without using the value of the Programmed Number of Steps parameter. A Registration Move does not go into the Hold State if the Hold Move command is used to stop the move and it cannot be restarted with the Resume Move command. -
Page 33: Blend Move
1)All segments of the Blend Move must be written to the unit before the move can be initiated. The SMD17K 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 34: Dwell Move
A Dwell Move gives you the ability to string multiple relative moves together and run all of them sequentially with a single start condition. Like a Blend Move, a Dwell Move is programmed into an SMD17K as a series of relative moves before the move is started. - Page 35 You could accomplish this Dwell Move with a series of six relative moves that are sent down to the SMD17K 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 36: Assembled Move Programming
Assembled Move Programming All of the segments in a Blend or Dwell Move must be written to the SMD17K 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 37: Indexed Moves
If the Indexed Move bit is set when the command is issued, the SMD17K will not run the move until the configured input makes an inactive-to-active transition. This allows you to run time critical moves that cannot be reliably started from the network because of mes- saging time delays. -
Page 38: Controlling Moves In Progress
Controlling Moves In Progress Each SMD17K 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 39: Constant Acceleration Equations
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 SMD17K to the value used in the equations. Constant Acceleration Equations When you choose to use constant accelerations, the speed of the move will increase linearly towards the Pro- grammed Speed. - Page 40 If a move with the above acceleration, deceleration, starting speed, and programmed speed has a length greater than 449,984 steps, the SMD17K 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.
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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 SMD17K 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...
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Page 44: Trapezoidal S-Curve Accel
SMD17K 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...
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Page 46: Determining Waveforms By Values
SMD17K 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 SMD17K User Manual ALCULATING ROFILES Notes ADVANCED MICRO CONTROLS INC.
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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 Posi- tion, the motor position register of an SMD17K must be set to an appropriate value. If you use the unit’s CW/ CCW Find Home commands, the motor position register will automatically be set to zero once the home posi- tion is reached. -
Page 50: Homing Inputs
“1”, the SMD17K will never act on the physical Home Input. Homing Configurations A SMD17K must have one of its DC inputs configured as the home input before one of the CW/CCW Find Home commands can be issued. -
Page 51: Homing Profiles
7)Return to the Home Input at the configured Starting Speed. Stop when the Home Input transitions from inactive to active. If the Home Input is active when the command is issued, the move profile begins at step 5 above. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com... -
Page 52: 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 SMD17K reaches its home position. This is valid, but does not have to occur. As stated in step 4, the unit starts to ... -
Page 53: Profile With Overtravel Limit
CW limit while traveling in the CW direction.) The SMD17K will stop and issue a Home Invalid error to your host if you activate the over- travel limit associated with travel in the opposite direction. i.e. Activating the CCW limit dur- ing a CW Find Home command. -
Page 54: 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 SMD17K correctly, or not configured correctly when the unit was configured. ADVANCED MICRO CONTROLS INC. -
Page 55: Reference: Configuration Data
The SMD17K units use Service Data Objects (SDO) of the CANopen protocol to configure the unit. Typi- cally, this configuration is specified in the system software and is written down to the SMD17K 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 56 “0” when the Backplane_Proximity_Bit is not used when homing the Bit 11: Use_Backplane_Proximity – SMD17K. “1” when the Backplane_Proximity_Bit is used when homing the unit. Note that this bit is not the Backplane_Proximity_Bit, but enables or disables its operation. Do not use the Backplane_Proximity_Bit if you only want to home to a Home Limit Switch.
- Page 57 ‡ Enabling Stall_Detection will cause an Configuration Error if the encoder is not enabled. (Bit 10 must equal “1”.) Table R5.3 Configuration Word 0 Bits 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
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Page 58: Cfg_Word_1 Format
State ignored. Bits 14 - 7: Reserved – Must equal zero. When set to “0”, the SMD17K begins a move as soon as data is read from the EtherCAT Bit 6: DC_Sync – Slave Controller (ESC). When set to “1”, the SMD17K will synchronize the start of a move on the SYNC0 output of the system’s Distributed Clock. -
Page 59: Command Bits Must Transition
This chapter covers the format of the Network Output Data used to command the SMD17K 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
It is possible to write configuration data to the unit using the output words, but the use of this method is discouraged. Configuration data should be written to the SMD17K using the CoE interface as described in the previous chapter. - Page 61 Bit 0: Absolute_Move – using the data in the Command Parameters. The full explanation of an Absolute Move can be found starting on page 29. 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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Page 62: Cmd_Word1
Bit 8: Indexed_Command – If this bit is set when a move command is issued, the SMD17K will not run the move immediately, but will instead wait for an inactive-to-active transition on an input config- ured as a Start Indexer Move input. The move command data, including this bit, must remain in the Network Output Registers while performing an Indexed Move. -
Page 63: Command Blocks
UINT Motor Current 0.1 amps Command Word 1 is not set. Jerk UINT Acceleration Jerk 0 to 5000 Table R6.1 Absolute Move Command Block 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com... -
Page 64: Relative Move
Unused See Note Below Jerk UINT Unused See Note Below Table R6.3 Hold Move Command Block Unused words are ignored by the SMD17K and can be any value, including parameter values from the previous command. ADVANCED MICRO CONTROLS INC. -
Page 65: Resume Move
Table R6.4 Resume Move Command Block Unused words are ignored by the SMD17K and can be any value, including parameter values from the previ- ous command. This is typically the case when resuming a move, the words are listed as “Unused” to highlight that the target position of a held move cannot be changed when the move is resumed. -
Page 66: Find Home Cw
Jerk UINT Acceleration Jerk 0 to 5000 Table R6.6 Find Home CW Command Block Unused words are ignored by the SMD17K and can be any value, including parameter values from the previous command. Find Home CCW ESI File Data... -
Page 67: Jog Cw
Jerk UINT Acceleration Jerk 0 to 5000 Table R6.8 Jog Move CW Command Block Unused words are ignored by the SMD17K and can be any value, including parameter values from the previous command. Registration Move CW ESI File Data... -
Page 68: Jog Ccw
Jerk UINT Acceleration Jerk 0 to 5000 Table R6.10 Jog CCW Command Block Unused words are ignored by the SMD17K and can be any value, including parameter values from the previous command. Registration Move CCW ESI File Data Function... -
Page 69: Preset Position
See Note Below Table R6.12 Preset Position Command Block Unused words are ignored by the SMD17K 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 70: Run Assembled Move
Dwell Time with Dwell milliseconds 0 to 65,535 Move Table R6.14 Run Assembled Move Command Block Unused words are ignored by the SMD17K and can be any value, including parameter values from the previous command. Preset Encoder Position ESI File Data... -
Page 71: Programming Blocks
Unused words are ignored by the SMD17K and can be any value, including parameter values from the previous command. Once the first block is transmitted, the SMD17K responds by setting bits 8 and 9 in Status Word 0. (See STATUS_word0 Format starting on page 72.) Once these are set, you can then start transmitting Segment... -
Page 72: Input Data Format
SMD17K User Manual OMMAND ORMAT Input Data Format The correct format for the Network Input Data when the SMD17K 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 73 Move command completes without error. This bit is reset to “0” when the next move command is written to the SMD17K, 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 74: Status_Word1 Format
The internal battery is fully discharged or damaged The unit itself is damaged If this bit is set, cycle power to the unit. If the bit remains set, contact AMCI technical support for assistance. Bit 11: Heartbeat_Bit – This bit will change state approximately every 500 milliseconds. Monitor this bit to verify that the unit and network connection are operating correctly. -
Page 75: Notes On Clearing A Driver Fault
ORMAT Input Data Format (continued) STATUS_word1 Format (continued) If the driver section of the SMD17K is enabled, this bit will be a “1” during a Over- Bit 7: Driver_Fault – temperature Fault. 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 76 SMD17K User Manual OMMAND ORMAT Notes ADVANCED MICRO CONTROLS INC.
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Page 77: Location
NSTALLING THE 1.1 Location 1.1.1 IP50 Rated Units (SMD17K-M12) SMD17K 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 78: Prevent Debris From Entering The Unit
1.4 Mounting All AMCI motors have flanges on the front of the motor for mounting. This flange also acts as a heatsink, so motors should be mounted on a large, unpainted metal surface. Mounting a motor in this fashion will allow a significant amount of heat to be dissipated away from the motor, which will increase the unit’s life by reduc-... -
Page 79: Smd17K-M12S Mounting
1.4 Mounting (continued) 1.4.2 SMD17K-M12S Mounting The SMD17K-M12S units are not water tight. Their IP64 rating makes them acceptable for use in dusty envi- ronments, environments with condensation, and environments where the unit may be exposed to splashing water. SMD17K-M12S units should be mounted in such a way that condensation and liquids will naturally drain off of the unit instead of pooling on the motor laminations. -
Page 80: Power And Input Connector
MAIN Pin 5: DCPower POWER & INPUTS Figure T1.2 Power and Input Connector Digital inputs on the SMD17K units are single ended and referenced to the DC Common pin. There are two power pins. DCPower powers both the control electronics and the motor. -
Page 81: Power Wiring
NSTALLING THE 1.6 Power Wiring The SMD17K accepts 24 to 48Vdc as its input power. This should be derived from a power limited power supply. Do not apply 120 Vac to any pins of an SMD17K. If this occurs, the unit will be dam- aged and you will void the unit’s warranty. -
Page 82: Auxiliary Power, Single Supply
1.6.5 Auxiliary Power, Single Supply Figure T1.4 below shows how to wire main and auxiliary power to the SMD17K units when using a single power supply. Colors in parentheses are the appropriate wire colors for the CNPL-2M and CNPL-5M cables. -
Page 83: Input Wiring
Figure T1.6 below shows how to wire discrete DC sourc- ing and sinking sensors to inputs 1 and 2 of the SMD17K. Colors in parentheses are the appropriate wire color of the CNPL-5M cable. -
Page 84: Network Connectors
EtherCAT network. The OUT port is for downstream devices. 1.8.1 Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market, all of which will work with the SMD17K provided that the manufacturer follows the connector and Ethernet standards. AMCI offers the... -
Page 85: Configuration
CAT S THER YSTEM ONFIGURATION This chapter outlines how to add an SMD17K 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 86: Configure The Smd17K
SMD17K User Manual THER YSTEM ONFIGURATION 2.2 Add the SMD17K to the Project (continued) 2.2.3 Configure the SMD17K 1) Click on the “CoE - Online” tab. 2) Click on the [+] button next to the 6000:0 Index field (Inputs) to expand it. -
Page 87: Create A Dut
AMCI sample programs use a DUT (Defined User Type) to group the I/O variables associated with each SMD17K. 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 88 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 SMD17K. ADVANCED MICRO CONTROLS INC.
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Page 89: Sync0 Setup
3.3. When setting the SYNC 0 -> Sync Unit Cycle multiplier in step 6 of 3.3, use a value of 1. 3) If the timing in step 1 above is not correct for the SMD17K, but the correct time is an integer multiple of this timing, then skip to step 3.3. -
Page 90: 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 SMD17K and the correct time is not an integer multiple of the Main PLC task timing. - Page 91 8) Double click on the CMD_word0 variable of the correct SMD17K. This will link the CMD_word0 of the unit to the variable created for the task. The SMD17K will update at the time specified by the new task. Figure T3.3 Linking Task Variable to SMD17K 20 Gear Drive, Plymouth Ind.
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Page 92: Set Operational Mode
3.3 Set Operational Mode 1) If necessary, expand the I/O Device tree until the SMD17K is visible. 2) Double click on the SMD17K 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 93: 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 SMD17K. 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 94 ADVANCED MICRO CONTROLS INC. LEADERS IN ADVANCED CONTROL PRODUCTS...
- Page 95 - SYNC0 S SMD17K User Manual ISTRIBUTED LOCK ETUP 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
- Page 96 - SYNC0 S SMD17K User Manual ISTRIBUTED LOCK ETUP ADVANCED MICRO CONTROLS INC.
- Page 97 - SYNC0 S SMD17K User Manual ISTRIBUTED LOCK ETUP 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
- Page 98 - SYNC0 S SMD17K User Manual ISTRIBUTED LOCK ETUP ADVANCED MICRO CONTROLS INC.
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