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AMCI SV160E2 User Manual

Networked integrated servo indexer/driver/motor with integral 2-port ethernet switch and device level ring functionality for ethernet/ip media redundancy protocol for profinet
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ADVANCED
MICRO CONTROLS INC.
Manual #: 940-0S255
E2 Technology

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Summary of Contents for AMCI SV160E2

  • Page 1 ADVANCED MICRO CONTROLS INC. Manual #: 940-0S255 E2 Technology...

  • 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

    Stop Category 0 ......19 Controlled Stops ....33 Discrepancy Timer Limit ....19 Immediate Stops ....33 Status Bits ........20 State Diagrams ....... 20 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 4 SV Servo User Manual ABLE OF ONTENTS Reference: Motion Control Reference: Configuration Mode Data Format (continued) Absolute Move ......34 Controlled Stops ....34 Output Data Format ........51 Immediate Stops ....34 Configuration Word 0 Format ..51 CW/CCW Jog Move ..... 35 Read Data Blocks ........
  • Page 5 Operating Temperature Guidelines ..87 Non-DLR Applications ....102 DLR Applications ......102 PROFINET Connections ......102 Non-MRP Applications ....102 MRP Applications ......102 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 6 Modbus Table Mapping ....127 Protocol Host Addressing ......127 Determine the Best Method for  AMCI Modbus TCP Memory Layout ..128 Supported Number of Connections ..128 Setting the IP Address ......107 Supported Modbus Functions ....129 Use Factory Default Settings ....

  • Page 7: About This Manual

    Protocol (MRP) and can be incorporated in PROFINET installations that use a redundant ring topology. In this manual, the term “SV Servo” is used when the information applies equally to the SV160E2 and SV400E2 products lines. The complete part number is used when information applies only to one of the prod- uct lines.

  • Page 8: Manual Conventions

    Manual Conventions Trademarks Notices The AMCI logo is a trademark of Advanced Micro Controls Inc. “CIP” is a trademark of Open DeviceNet Vendor Association, Inc. “EtherNet/IP” is a trademark of ControlNet International, Ltd. under license by Open DeviceNet Vendor Association, Inc. “PROFINET” is a registered trademark of PROFIBUS & PROFI- NET International (PI).

  • Page 9: Manual Layout

     If you need to install and use an Integrated Servo Motor product from AMCI, then the rest of the man- ual is written for you. To simplify installation and configuration, the rest of the manual is broken down into references and tasks.
  • Page 10 SV Servo User Manual BOUT THIS ANUAL Notes ADVANCED MICRO CONTROLS INC.

  • Page 11: Reference: Amci Sv Servo

    E2 Product Family The SV160E2 and SV400E2 product lines are additions to the family of E2 products from AMCI. E2 prod- ucts incorporate E2 Technology, a common Ethernet network interface that allows them to operate over the EtherNet/IP, Modbus TCP, and PROFINET industrial networks.

  • Page 12: General Functionality

    The SV Servo units can be ordered with STO (Safe Torque Off) functionality under the part number  SV160E2-STO or SV400E2-STO. Safe Torque Off allows you to remove power from the motor without  removing power from the drive. This reduces implementation costs and restart times.

  • Page 13: Electromechanical Brake Option

    The SV Servo units can be ordered with a factory installed 24 Vdc electromechanical brake. This option is denoted by adding a ‘-B’ to the end of the part number. e.g. SV160E2-B or SV400E2-STOB. The brake applies 1.5N of holding torque, and 24 Vdc must be applied to release the brake.

  • Page 14: Specifications

    SV400E2: 0.25 to 1.28 Nm TCP. EtherNet/IP-DLR and PROFINET-MRP Peak Torque extensions also supported. Programmable in 0.01 Nm steps. Physical Dimensions SV160E2: Continuous Torque to 1.30 Nm. See page 89 SV400E2: Continuous Torque to 3.50 Nm. Weight Torque Constant SV160E2: 3.4 lbs. (1.5 kg.) SV160E2: 0.124 Nm/Arms...

  • Page 15: Indexer Functionality

    SV Servo User Manual ERVO PECIFICATIONS Indexer Functionality The table below lists the functionality offered by the indexer built into the AMCI SV Servo units. Feature Description The SV Servo units can be configured to communicate with EtherNet/IP,  Multiple Network PROFINET, or Modbus TCP protocols.

  • Page 16: Servo Control

    Servo Control Each AMCI SV Servo unit uses three control loops to control the position and velocity of the motor. The inner most loop is the current loop. The optimum PID values for the current loop are solely dependant on motor characteristics.

  • Page 17: Absolute Encoder

    For example, if you are moving in a clockwise direction and the CW Limit Switch activates, all motion will immediately stop. At this point, you will only be able to jog in the counter- clockwise direction. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 18: Trap Encoder Position & Start Indexed Move Input

    AMCI SV S SV Servo User Manual ERVO PECIFICATIONS Available Discrete Inputs (continued) Trap Encoder Position & Start Indexed Move Input An inactive-to-active transition on this input will trap the current encoder position and report it in the Net- work Input Data. If an Indexed Move is pending, the transition will also start the move. Indexed Moves are programmed through the Network Data like every other move.

  • Page 19: Sto Option

    The STO_Failure bit is fully described below. When the Discrepancy Timer Limit parameter is set to zero, the additional checks listed above are disabled. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 20: Status Bits

    AMCI SV S SV Servo User Manual ERVO PECIFICATIONS STO Option (continued) Status Bits The following status bits are available on units with the STO option. They are available in the network input data. They can be used to monitor the status of the motor: ...
  • Page 21 Discrepancy Timer Limit. STO_Active STO_Failure STO_Failure remains Driver_Fault active until power is cycled to the drive. Drive_Enabled Figure R1.5 STO Operation with Discrepancy Timer Limit 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 22: Status Led's

    AMCI SV S SV Servo User Manual ERVO PECIFICATIONS Status LED’s Each SV Servo has three status LED’s. As shown in figure R1.6, these LED’s are located on the rear cover. Drive Status LED The Drive Status LED is a bi-color red/green LED. This LED shows the state of the unit as a whole.

  • Page 23: Network Status (Ns) Led

    The connector is a standard four pin D-coded female M12 connector that is rated to IP67 when the mate is properly installed. Note that the orientation of the key differs between the two ports. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 24: Digital Inputs Connector

    AMCI SV S SV Servo User Manual ERVO PECIFICATIONS SV Servo Connectors (continued) Digital Inputs Connector All digital inputs are located on the Digital Inputs Connector. This connector is a standard eight pin A-coded M12 connector that is rated to IP67 when the mate is properly installed. Figure R1.9 shows the pinout of the connector when viewed from the back of the SV Servo unit.

  • Page 25: Brake Connector

    SV160E2 Torque Curve Supply Voltage: 48Vdc Maximum Intermittent Torque Maximum Continuous Torque 1000 2000 3000 4000 5000 Speed (rpm) Figure R1.12 SV160E2 Torque Curves 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 26: Power Supply Sizing

    AMCI SV S SV Servo User Manual ERVO PECIFICATIONS Torque Curves (continued) SV400E2 Torque Curve Supply Voltage: 48Vdc Maximum Intermittent Torque Maximum Continuous Torque 1000 2000 3000 4000 5000 Speed (rpm) Figure R1.13 SV400E2 Torque Curves Power Supply Sizing The power supply should be sized base on the peak current the SV Servo unit motor can draw during a move.

  • Page 27: Regeneration (Back Emf) Effects

    An external braking resistor and its control circuitry can be added to the system. The power switch in the SV160E2 units can conduct a maximum of 10 amps. The power switch in the SV400E2 units can conduct a maximum of 15 amps. The braking resistor circuit current must be below the appropriate value.

  • Page 28: Brake Connector

    AMCI SV S SV Servo User Manual ERVO PECIFICATIONS Compatible Connectors and Cordsets (continued) Brake Connector Binder # Description Female, 3 pin A-coded. Screw terminal connections. 0.75 mm2 (18 AWG) maximum wire size. 4 to 6 mm (0.185" to 0.236") dia. cable. ...

  • Page 29: Motion Control

    Continuous Torque Limit parameter, which is programmed as part of the configuration data. For the SV160E2, this parameter ranges from 0.10 Nm to 0.50 Nm. For the SV400E2, this parameter ranges from 0.25 Nm to 1.28 Nm.

  • Page 30: Home Position

    SV Servo User Manual OTION ONTROL Definitions (continued) Home Position The Home Position is any position on your machine that you can sense and stop at. There are two ways to defining the Home Position. The first is using the Preset Position command to set the Profile Position and Encoder Position registers to a known value.

  • Page 31: A Simple Move

    In this case, the profile will accelerate as far as it can before it has to decelerate to reach the Target Position at zero speed. The Programmed Speed is never reached. POSITION Figure R2.2 A Triangular Profile 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 32: Controlled And Immediate Stops

    SV Servo User 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 value until it reaches zero speed.

  • Page 33: Basic Move Types

     If set to a non-zero value, the Immediate Stop Deceleration parameter, described on page 30, is used to decelerate the load. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 34: Absolute Move

    SV Servo User Manual OTION ONTROL Basic Move Types (continued) Absolute Move Absolute Moves move from the current Profile Posi- tion (A) to a given position (B). (The SV Servo calcu- lates the direction and number of steps needed to move to the given position and moves that number of steps.) POSITION A trapezoidal profile is shown to the right, but Abso-...

  • Page 35: Cw/Ccw Jog Move

    Limit Switch. For example, it is possible to start a CW Jog Move while the CCW Limit Switch is active. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 36: Cw/Ccw Registration Move

    SV Servo User Manual OTION ONTROL Basic Move Types (continued) CW/CCW Registration Move Similar to a Jog Move, a Registration Move will travel in the programmed direction as long as the command is active. CW Registration Moves increase the Profile Position count while the CCW Registration Moves decrease the Profile Position count.

  • Page 37: Controlled Stops

    Limit Switch. For example, it is possible to start a CW Registration Move while the CCW Limit Switch is active. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 38: Indexed Moves

    SV Servo User Manual OTION ONTROL Indexed Moves All of the moves that have been explained in the chapter up to this point can be started by a transition on one of the inputs instead of a command from the network. If the Indexed Move bit is set when the command is issued, the SV Servo will not run the move until the configured input makes an inactive-to-active transition.

  • Page 39: Axis Follower Moves

    A sample program that demonstrates virtual axis programming on the ControlLogix platform is available on the AMCI website at https://www.amci.com/industrial-automation-support/sample-programs/. If you are using a different host controller that supports motion axis programming, feel free to contact AMCI technical support for assistance in programming your controller.

  • Page 40: Controlling Moves In Progress

    SV Servo User Manual OTION ONTROL Controlling Moves In Progress Each SV Servo has the ability to place a running move on hold and later resume the move if an error did not occur while the move was in its Hold state. One potential application for this feature is bringing a move to a controlled stop when your controller senses an end-of-stock condition.

  • Page 41: Constant Acceleration Equations

     D or D = Number of Steps needed to complete the acceleration 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 SV Servo User Manual ROFILE ALCULATIONS Constant Acceleration Equations (continued) Figure R3.1 gives the equations to calculate time and distance needed for acceleration during a move. or T or D Acceleration Type (Time to Accelerate (Distance to Accelerate or Decelerate) or Decelerate) Linear Table R3.1 Acceleration Equations...

  • 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 SV Servo User Manual ROFILE ALCULATIONS Notes ADVANCED MICRO CONTROLS INC.

  • Page 45: Definition Of Home Position

    In linear applications, you must prevent over travel by some external means, or ensure that the homing command is issued in the direction that will result in reach- ing the homing input directly. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 46: Homing Profiles

    SV S SV Servo User Manual OMING AN ERVO ONTROLLER 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 it finds the Home Input without first encountering an end limit switch.

  • Page 47: Profile With Overtravel Limit

    Home Input transitions from Inactive to Active. If the overtravel limit is active when the Find Home Command is issued, the profile will begin at step 4. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 48: Controlling Find Home Commands In Progress

    SV S SV Servo User Manual OMING AN ERVO ONTROLLER Controlling Find Home Commands In Progress Controlled Stops  The move completes without error.  You issue a Hold Move command through the Network Output Data. This will abort the command and the axis will decelerate at the programmed rate until it stops.

  • Page 49: Reference: Configuration Mode Data Format

    The ladder logic needed to configure an SV Servo is included in the sample programs available from AMCI. Host platforms that use EDS or GSDML files may give you a method to configure the SV Servo from within the host’s programming software. This data is automatically written to the SV Servo when the unit connects to the network.

  • Page 50: Command Mode Data Formats

    AMCI offers a software utility to help determine initial settings for these values. The software is available on our website, www.amci.com. It is available in the Support  Software section of the website, https://www.amci.com/industrial-automation-support/software/. The title of the link is “AMCI Servo Gain Calculator”.

  • Page 51: Output Data Format

    These four bits are used to define the data block that is presently being written down to the SV Servo as part of the command. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 52 SV Servo User Manual ONFIGURATION ORMAT Output Data Format (continued) Configuration Commands Configuration Data Blocks Command Description (Bits 03-00) (Bits 11 - 08) 0000 (0x0) No Action Not used. Set to 0x0. 0001 (0x1) Read Extended Drive Status Not used. Set to 0x0. 0x0: Not Used 0x1: Data Configuration Block 0x2: I/O Configuration Block...

  • Page 53: Read Data Blocks

    † Factory Defaults are restored to RAM memory. You must issue a Save Configuration to Flash command to store these values for use after a power cycle. (See page 59.) Table R5.4 Additional Read Data Blocks 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 54: Write Data Blocks

    SV Servo User Manual ONFIGURATION ORMAT Write Data Blocks Block 1: Data Configuration Block 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Word 0 Word 1 Word 2 Words 3-9 Figure R5.3 Data Configuration Block “0”...

  • Page 55: Block 3: Motor Configuration Block

    Word 0 Word 1 Word 2 Word 3 Word 4 Word 5 Word 6 Word 7 Word 8 Word 9 Figure R5.5 Motor Configuration Block 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 56: Block 5: Velocity Control Loop Configuration Block

    . The motor inertia of an SV400E2 is 29 x10 kg·m . AMCI suggests starting with a Velocity Loop Integral Gain, (word 4), of zero. This makes it easier to tune the position control loop later. With the Velocity Loop Integral Gain set to zero, the tables below shows reasonable defaults to use for the Velocity Loop Proportional Gain, (word 3), based on the value entered into the Velocity Feedback Low Pass Filter, (word 6).
  • Page 57 3991 3325 18:1 22300 11150 7433 5575 4460 3717 20:1 24648 12324 8216 6162 4930 4108 Table R5.7 SV400E2 Velocity Loop Proportional Gain Values 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 58: Block 6: Position Control Loop Configuration Block

    Figure R5.7 Position Control Loop Configuration Block The table below shows reasonable defaults for use as position control loop values for both the SV160E2 and the SV400E2. These values are based on how closely the unit must track the position. This is often referred to as the shaft’s “stiffness”.

  • Page 59: Block 15: Save Configuration To Flash Block

    Bit 13: Config_Error – when you attempt to exit configuration mode and a configuration error still exists. Will always equal zero. Bit 12: Reserved – 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 60: Configuration Mode  Input Word 1

    SV Servo User Manual ONFIGURATION ORMAT Input Data Format (continued) Configuration Mode Input Word 0 (continued) Once the SV Servo responds to the configuration block, the Bits 11- 00: Command/Data Block Numbers – unit will echo the Command and Data Block numbers in these bits. In the case of Write Configuration blocks, if there is an error in the data, bit 13 of this word is set to “1”...

  • Page 61: Invalid Configurations

    6) On SV Servo units wit the STO option, programming inputs 3 or 4 to any other function than General Purpose Input with an Active High state setting. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 62 SV Servo User Manual ONFIGURATION ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 63: Format

    1028 Command Parameters 1029 Word meaning depends 1030 on the command sent to the SV Servo 1031 1032 1033 Figure R6.1 Command Data Format 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 64: Command Word 0

    SV Servo User 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. Bits 14 - 11: Reserved –...

  • Page 65: Command Word 1

    Start Indexed Move input. The move command data, including this bit, must remain in the Network Output Registers while performing an Indexed Move. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 66: Command Blocks

    Steps/sec/ms 1 to 15,999 1031 Deceleration Steps/sec/ms 1 to 15,999 SV160E2: 0, 10 to 130.  SV400E2: 0, 25 to 350.  1032 Maximum Move Torque 0.01 Nm “0” only allowed if bit 1 of  Command Word 1 is “0”.

  • Page 67: Relative Move

    Steps/sec/ms 1 to 15,999 1031 Deceleration Steps/sec/ms 1 to 15,999 SV160E2: 0, 10 to 130.  SV400E2: 0, 25 to 350.  1032 Maximum Move Torque 0.01 Nm “0” only allowed if bit 1 of  Command Word 1 is “0”.

  • Page 68: Resume Move

    Steps/sec/ms 1 to 15,999 1031 Deceleration Steps/sec/ms 1 to 15,999 SV160E2: 0, 10 to 130.  SV400E2: 0, 25 to 350.  1032 Maximum Move Torque 0.01 Nm “0” only allowed if bit 1 of  Command Word 1 is “0”.

  • Page 69: Find Home Cw

    Steps/sec/ms 1 to 15,999 1031 Deceleration Steps/sec/ms 1 to 15,999 SV160E2: 0, 10 to 130.  SV400E2: 0, 25 to 350.  1032 Maximum Move Torque 0.01 Nm “0” only allowed if bit 1 of  Command Word 1 is “0”.

  • Page 70: Jog Cw

    Steps/sec/ms 1 to 15,999 1031 Deceleration Steps/sec/ms 1 to 15,999 SV160E2: 0, 10 to 130.  SV400E2: 0, 25 to 350.  1032 Maximum Move Torque 0.01 Nm “0” only allowed if bit 1 of  Command Word 1 is “0”.

  • Page 71: Axis Follower Moves

    Stopped status bit. If you are using a different host controller that supports motion axis programming, feel free to contact AMCI technical support for assistance in programming your controller.

  • Page 72: Jog Ccw

    Steps/sec/ms 1 to 15,999 1031 Deceleration Steps/sec/ms 1 to 15,999 SV160E2: 0, 10 to 130.  SV400E2: 0, 25 to 350.  1032 Maximum Move Torque 0.01 Nm “0” only allowed if bit 1 of  Command Word 1 is “0”.

  • Page 73: Preset Position

    Resetting errors will also reset the Move_Complete, Stall_Detected, Invalid_Jog_Change, and Connection_Was_Lost status bit in the Network Input Data. Resetting errors will not reset the Position_Invalid or Configuration_Error bits. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 74: Enable Driver Or Preset On Enable

    SV Servo User Manual OMMAND ORMAT Command Blocks (continued) Enable Driver or Preset On Enable EtherNet/IP Modbus/TCP or PROFINET Function Units Range Register Word 1024 Command Word 0 16#0000 1025 Command Word 1 16#8000 or 16#C000 1026 Unused See Note Below 1027 Unused See Note Below...

  • Page 75: Format (Continued)

    Actual Motor Current reported in Word 8. Torque Constant: 0.124 Nm/Arms for SV160E2, 0.136 Nm/Arms for SV400E2 Maximum Resistor Current (10 A for SV160E2. 15 A for SV400E2) 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 76: Actual Motor Velocity

    SV Servo User Manual OMMAND ORMAT Input Data Format (continued) Actual Motor Velocity (Word 9) This is the velocity of the motor at the time the data was reported. The reported units are encoder counts per millisecond. Multiply the reported value by 1000 to convert to counts per second. The encoder has a fixed resolution of 16,384 counts per turn.

  • Page 77: Status Word 1 Format

    The internal battery is fully discharged or damaged  The encoder itself is damaged If this bit is set, cycle power to the unit. If the bit remains set, contact AMCI technical support for assistance. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786...
  • Page 78 SV Servo User Manual OMMAND ORMAT Input Data Format (continued) Status Word 1 Format (continued) 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. Note that this bit is only available while the SV Servo is in Command Mode.

  • Page 79: Notes On Clearing A Driver Fault

    At this point the fault will clear itself and the  drive can be re-enabled by a 0 1 transition on the Enable_Driver bit. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 80 SV Servo User Manual OMMAND ORMAT Notes ADVANCED MICRO CONTROLS INC.

  • Page 81: Calculations

    This parameter sets the voltage at which the braking resistor circuit is turned on. Range of values is 55.0 to 100.0 volts with a 0.1 volt resolution. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 82: Step 1: Determine Regenerative Power Capability

    ALCULATIONS Step 1: Determine Regenerative Power Capability  Maximum Regenerative Power Capability Programmed Overvoltage Threshold (55.0 to 100.0 Vdc) Maximum Resistor Current (10 A for SV160E2. 15 A for SV400E2) Step 2: Determine System Inertia    Total System Inertia...

  • Page 83: Step 4: Determine Peak Braking Power

    Bmin Programmed Overvoltage Threshold (55.0 to 100.0 Vdc) Maximum Resistor Current (10 A for SV160E2. 15 A for SV400E2) This is the minimum resistor value allowed in the circuit. Using a lower resistance value may damage the Braking Resistor circuit. The chosen resistor value must be between the minimum value determined in this step and the maximum value determined in step 6.

  • Page 84: Step 7: Determine Average Power Rating

    SV Servo User Manual RAKING ESISTOR ALCULATIONS Step 7: Determine Average Power Rating To determine the average power dissipated by the braking resistor, you have to determine the peak power dis- sipated during each deceleration phase of your machine cycle, and the minimum cycle time of your machine. ...

  • Page 85: Reference: Configuring Network

    For Windows 8 and 10, press the [Win+X] keys and select “Command Prompt” from the resulting popup. There is no need to run the command prompt as the administrator, so do not select “Command Prompt (Admin)”. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 86: Test Your Network Interface

    SV Servo User Manual ONFIGURING ETWORK NTERFACES Configure Your Network Interface (continued) A DOS like terminal will open. Type in ‘ipconfig’, press [Enter] on the keyboard and the computer will return the present Address, Subnet Mask, and Default Gateway for all of your network interfaces. If your present address is 192.168.0.xxx, where ‘xxx’...

  • Page 87: Location

    These ovetem- perature faults are also reported in the Network Input Data. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 88: Sto General Installation Guidelines

    1.5 Mounting an SV Servo 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 89: Sv160E2 Outline Drawing

    ERVO 1.5 Mounting an SV Servo (continued) Motors should be mounted using hardened 5mm or #10 hardware. AMCI motors can produce high torques and accelerations that may weaken and shear inadequate mounting hardware. The motor case must be grounded for proper operation. This is usually accomplished through its mounting hardware.

  • Page 90: Sv400E2 Outline Drawing

    SV S SV Servo User Manual NSTALLING AN ERVO 1.5 Mounting an SV Servo (continued) 1.5.2 SV400E2 Outline Drawing View A-A 5.66" [143.7] 1.64" [41.7] 4.02" [102] 0.197" [5.00] 0.433" [11.00] 0.28" 1.969" –0.001" 50.00 –0.03 0.787" [20.00] +0.0000" 0.5512" –0.0005"...

  • Page 91: Servo Mounting

    1.6 Mounting an SV Servo with Brake Option All AMCI motor brakes have flanges on the front for mounting. This flange also acts as a heatsink, so units should be mounted on a large, unpainted metal surface. Mounting 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 reducing its oper-...

  • Page 92: Sv160E2-B Outline Drawing

    1.18"±0.04" 4mm hex head wrench needed to loosen the clamp. [30.0±1.0] 4.00" [101.6] 2.1" max. 2.65" [53 max.] [67.3] 1.75" [44.5] 0.75" [19.0] Ø0.22" [Ø5.5] Qty 4 1.969"±0.008" [50.0±0.20] 2.36" [60.0] Figure T1.3 SV160E2-B Outline Drawing ADVANCED MICRO CONTROLS INC.

  • Page 93: Sv400E2-B Outline Drawing

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

  • Page 94: Connecting The Load

    SV S SV Servo User Manual NSTALLING AN ERVO 1.6 Mounting an SV Servo with Brake Option (continued) 1.6.4 Connecting the Load Care must be exercised when connecting your load to the SV Servo with the brake option. Even small shaft misalignments can cause large loading effects on the bearings of the motor and load.

  • Page 95: Compatible Connectors And Cordsets

    1.8 Power Wiring The SV Servo accepts 48 to 80 Vdc as its input power. AMCI strongly suggests using 16 AWG wire for the power connections. The MS-41 connector will accept up to 16 gauge wire and the CNGL-5M cordset is built with 16 gauge wire.

  • Page 96: Input Connector

    Many different connectors and cordsets are available on the market, all of which will work with the SV Servo provided that the manufacturer follows the A-coded M12 standards. The following connector and cordset is available from AMCI. AMCI # Description Mating connector for Input Connector.

  • Page 97: Cnfl-5M Color Code And Shield Wire

    Therefore, the shield wire of the CNFL-5M is connected to chassis ground through the SV Servo. You must exercise caution when connecting shielded cable to the CNFL-5M to avoid ground loops. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 98: Dc Input Wiring

    Wiring, for information on wiring the Input Input 1 STO inputs of an SV160E2-STO or SV400E2-STO. Optocoupler Inputs 1 through 4 on the SV Servo units and inputs 1 and 2 on the SV Servo units with the STO option are single ended inputs that share the DC Input Common return pin.

  • Page 99: Sto Input Wiring

    Twenty-four volt power must be applied to the brake inputs in order to release the brake. A system power fail- ure will engage the brake. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 100: Compatible Cordsets And Connectors

    A one meter cable with a right angle connector is supplied with the brake option. If a longer cable is needed, many different connectors and cordsets are available on the market, all of which will work with the SV Servo provided that the manufacturer follows the M12 connector standards. AMCI offers the following cordsets that mate with the brake connector.

  • Page 101: Network Connectors

    Many different connectors and cordsets are available on the market, all of which will work with the SV Servo provided that the manufacturer follows the connector and Ethernet standards. AMCI offers the following mat- ing connector and cordsets that mate with the Ethernet port connectors.

  • Page 102: Ethernet/Ip Connections

    SV S SV Servo User Manual NSTALLING AN ERVO 1.15 EtherNet/IP Connections 1.15.1 Non-DLR Applications The SV Servo unit has two Ethernet ports with a built-in Ethernet switch connecting the two. In non-DLR applications, either port can be used to attach the unit to the network. The remaining port can be used to extend the network to another device if this would reduce wiring costs.

  • Page 103: Sto Commissioning

    4b.4) Word 1, bit 7: Driver_Fault = 1 4b.5) Word 1, bit 8: STO_Failure = 0 5) Apply power to STO Channel A (Input 3) Continued on next page... 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 104: Commissioning Test Outline -  Discrepancy Timer Limit <> 0

    SV S SV Servo User Manual NSTALLING AN ERVO 1.18 STO Commissioning 1.18.3 Commissioning test outline - Discrepancy Timer Limit = 0 (continued) 6) Make sure that: 6a) The motor remains stopped. 6b) These values are in the network input data: 6b.1) Word 1, bit 2: IN3_Active = 1...
  • Page 105 (Input 3) in step 21. The actual commissioning test will continue from here. The qualified person who writes the test must decide what steps to perform from here. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 106 SV S SV Servo User Manual NSTALLING AN ERVO Notes ADVANCED MICRO CONTROLS INC.

  • Page 107: Protocol

    EtherNet/IP DHCP server, such as the one available from Rockwell Automation, in order to use this protocol. The AMCI Net Configurator utility offers the same functionality and should be used unless your company policy prevents you from installing third party utilities. Contact AMCI for instructions if you must use the DHCP protocol.

  • Page 108: Use The Embedded Web Server

    IP A SV Servo User Manual ET THE DDRESS AND ROTOCOL 2.2b Use the Embedded Web Server PREREQUISITE: You must know the present IP address of the SV Servo. The factory default address is 192.168.0.50. PREREQUISITE: Task 1.8: Power Wiring found on page 95.
  • Page 109 The Default Gateway setting is not optional! It must be set to a valid address on the chosen subnet. Because the Default Gateway is often not used in device level networks, if you do not have a required value for it, AMCI suggests setting the Default Gateway to the IP address of your host controller.
  • Page 110 IP A SV Servo User Manual ET THE DDRESS AND ROTOCOL 2.2b Use the Embedded Web Server (continued) 2.2b.3 Network Setup Page (continued) 5) If the values are accepted, the following pages will be displayed while the data is being written to the unit. Wait for the pop up window to appear before cycling power to the SV Servo.

  • Page 111: Use The Amci Net Configurator Utility

    2.2c.2 Install the AMCI Net Configurator Utility Once downloaded, simply extract the program from the ZIP file and run the program to install the AMCI Net Configurator utility on your computer. The software installs as most products do, giving you the option to change the file locations before installing the utility.
  • Page 112 ET THE DDRESS AND ROTOCOL 2.2c Use the AMCI Net Configurator Utility (continued) 2.2c.5 Start the AMCI Net Configurator Utility Double click on the utility’s icon. A welcome screen similar to the one in figure T2.4 below will appear. Figure T2.4 Net Configurator Welcome Screen...
  • Page 113 DDRESS AND ROTOCOL 2.2c Use the AMCI Net Configurator Utility (continued) 2.2c.6 Press the [SCAN] button and Connect to the SV Servo Pressing the [Scan] button will open the window shown in figure T2.5. Note that scanning for the SV Servo will only work when the unit and your network interface are on the same subnet.

  • Page 114: Task Complete

    The Default Gateway setting is not optional! It must be set to a valid address on the chosen subnet. Because the Default Gateway is often not used in device level networks, if you do not have a required value for it, AMCI suggests setting the Default Gateway to the IP address of your host controller.

  • Page 115: Task: Implicit Communications With An Eds

    Simply download the appropriate ZIP file and extract it to its own directory. The ZIP file contains the EDS text file and a custom icon file for the device. The screen captures in this chapter use the EDS file for the SV160E2 as an example. The steps are identical for the SV400E2.

  • Page 116: Install The Eds File

    3) Click on the [Browse...] button and browse to the folder that contains the extracted EDS file you downloaded from the AMCI website. Select the EDS file and click on the [Open] button to return to the registration screen. Click on the [Next >] button to advance to the EDS file test screen.
  • Page 117 6) Click on the [Change icon...] button. In the window that opens, click on [Browse...] and browse to the folder that contains the extracted EDS and icon files you downloaded from the AMCI website. 7) Select the icon file (*.ico) associated with the device. Click on the [Open] button and then on [OK] to return to the Change Graphic Image screen.

  • Page 118: Host System Configuration

    If the Ethernet port is built into processor, the only step you have to take before adding an AMCI SV Servo 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 119: Servo Properties Setup

    The EDS file defines tags that are used to configure the SV Servo. These tags follow the format of the Config- uration Data given in reference chapter 6, Configuration Mode Data Format, starting on page 49. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 120: Buffering The I/O Data

    SV Servo User Manual MPLICIT OMMUNICATIONS WITH AN 3.6 Buffering the I/O Data Input and output data is transferred asynchronously to the program scan. The input data tags should be buff- ered with Synchronous Copy File instructions to guarantee stable input data during the program scan. Figure T3.9 Buffer I/O Data ...

  • Page 121: Messaging

    An Extended Routing Information (RIX) data file. This file is used to store information used by the Message Instructions. This file must have at least two elements, one for the Read Operation and one for the Write Operation. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 122: Add The Message Instructions To Your Ladder Logic

    /IP E SV Servo User Manual THER XPLICIT ESSAGING 4.3 Add the Message Instructions to your Ladder Logic The following rungs show how you can alternately read data from and write data to your SV Servo. Figure T4.1 Message Instruction Example 1) Double click on Setup Screen text inside the Message Instruction.
  • Page 123 SV Servo. Please note that the Data Table Address (Receive) field may be different in your application. Figure T4.3 Read Message Instruction Setup Screen 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 124 /IP E SV Servo User Manual THER XPLICIT ESSAGING 4.3 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  SV Servo. Please note that the Data Table Address (Send) field may be different in your application. Figure T4.4 Write Message Instruction Setup Screen Click on the MultiHop tab on the top of the window.

  • Page 125: Troubleshooting

    [Apply]. The Ethernet Port should now be working. AMCI is aware of an issue with the RIX data type in version 10 of RSLogix 500. If you are experiencing communications errors and are running version 10, please contact Rockwell Automation for support.
  • Page 126 /IP E SV Servo User Manual THER XPLICIT ESSAGING Notes ADVANCED MICRO CONTROLS INC.

  • Page 127: Task: Modbus Tcp Configuration

    An AMCI SV Servo that has been configured for the Modbus TCP protocol requires a host controller to issue configuration data and motion commands to the unit. This chapter tells you how the I/O words used by an AMCI SV Servo are mapped to the Modbus I/O registers.

  • Page 128: Amci Modbus Tcp Memory Layout

    ODBUS ONFIGURATION 5.3 AMCI Modbus TCP Memory Layout The SV Servo has a starting Input Register address of 0 and a starting Output Register address of 1024. Input Registers hold the data from the driver while Output Registers hold the data to be written to the unit. Figure T5.1 shows how an SV Servo is mapped to the Modbus data reference.

  • Page 129: Supported Modbus Functions

    Table T5.1 Supported Modbus Functions Table T5.1 above lists all of the Modbus functions supported by an SV Servo. AMCI supports all of these functions so that you can control the unit as you see fit. However, if you are looking for the easiest way to interface with your unit, then you only need to use the Read/Write Registers function, which is function code Each SV Servo buffers the data that is sent to it over the network.
  • Page 130 TCP C SV Servo User Manual ODBUS ONFIGURATION Notes ADVANCED MICRO CONTROLS INC.

  • Page 131: Task: Profinet Network

    3) Add the SV Servo to the PROFINET Network. 4) Set the I/O word addresses used to communicate with the unit. The screen captures in this chapter use the SV160E2 as an example. The steps are identical for the SV400E2.

  • Page 132: Add The Sv Servo To The Profinet Network

    PROFINET N SV Servo User Manual ETWORK ONFIGURATION 6.4 Add the SV Servo to the PROFINET Network 1) With the project open in Project View, double click on “Device & Networks” in the project tree. 2) If need be, click on the “Hardware Catalog” vertical tab to open the Hardware Catalog. 3) You can search for “SV”, or browse to the proper SV Servo icon by clicking through Other field devices +>...
  • Page 133 PROFINET interface [x1]” heading, select “Ethernet addresses”. Under the IP protocol section, set the desired IP address and subnet mask for the SV Servo. Figure T6.3 SV Servo IP Addressing 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 134: Configure The Sv Servo

    1) Continuing with the Inspector Window, click on the “Module parameters” heading. The display will change to show all of the parameters of the SV Servo. These configuration parameters are written down to the SV160E2 or SV400E2 whenever it connects to the network. Figure T6.4 Configuration Parameters 2) Configuration is done with a combination of drop down menus and value fields.

  • Page 135: Set The I/O Configuration

    2) To map the I/O bytes to the CPU, double click on the “20 bytes IN” and “20 bytes OUT” icons in the Hardware Catalog. The system will automatically assign the next I and Q addresses to the data table. Figure T6.5 I/O Byte Mapping 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...

  • Page 136: Set The Sv Servo Device Name

    PROFINET N SV Servo User Manual ETWORK ONFIGURATION 6.7 Set the SV Servo Device Name 1) Right click on the SV Servo icon and select “Assign device name” from the resulting popup menu. 2) In the “Assign PROFINET device name.” windows that appears, click on the [Update list] button. 3) Once the SV Servo appears in the table, select the SV Servo in the table.

  • Page 137: Mrp Installations

    Figure T6.7 MRP Topology and Client Settings 5) Continue configuring the rest of the devices on the network before compiling the project and downloading it to the CPU. 20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com...
  • Page 138 ADVANCED MICRO CONTROLS INC. LEADERS IN ADVANCED CONTROL PRODUCTS...

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Sv400e2