AMCI SD4840EK Manuals

Manuals and User Guides for AMCI SD4840EK. We have 1 AMCI SD4840EK manual available for free PDF download: User Manual

AMCI SD4840EK User Manual

AMCI SD4840EK User Manual (104 pages)

Networked Stepper Indexer/Driver

Brand: AMCI | Category: Control Systems | Size: 2 MB

Table of Contents

General Information
2
- Important User Information
  2
- Standard Warranty
  2
- Returns Policy
  2
- Hour Technical Support Number
  2
- WEEE Statement
  2
- Table of Contents
  3
About this Manual
7
- Audience
  7
- Applicable Units
  7
- Navigating this Manual
  7
- Manual Conventions
  7
- Trademark Notices
  7
- Revision Record
  8
  - Revision History
    8
- Where to Go from here
  8
Reference: Introduction to the SD4840EK
9
- The SD4840EK
  9
- Conformance Markings
  10
  - Rohs
    10
- Specifications
  11
- Indexer Functionality
  12
  - Synchronizing Moves
    13
  - Encoder Functionality
    13
    
    Stall Detection
    14
    
    Encoder Registration Move
    14
    
    Electronic Gearing
    14
- Driver Functionality
  15
  - Idle Current Reduction
    15
  - Current Loop Gain
    15
- I/O Connector
  16
- Available Discrete Inputs
  16
  - Home Input
    16
  - CW Limit Switch or CCW Limit Switch
    16
  - Start Indexer Move Input
    16
  - Emergency Stop Input
    16
  - Stop Jog or
    17
  - Registration Move Input
    17
  - Capture Encoder Position Input
    17
  - General Purpose Input
    17
- Available Discrete Output
  17
Reference: Introduction to the SD4840EK (Continued)
17
- Ethernet Ports
  17
- Motor Connector
  18
- Front Panel
  18
  - Status LED
    18
    
    Ethercat Run LED
    18
    
    Ethercat ERR LED
    18
- Definitions
  19
  - Units of Measure
    19
    
    Distance
    19
    
    Speed
    19
    
    Acceleration
    19
  - Motor Position
    19
  - Home Position
    19
  - Count Direction
    19
Reference: Move Profiles (Continued)
19
- Starting Speed
  20
- Target Position
  20
  - Relative Coordinates
    20
  - Absolute Coordinates
    20
- Definition of Acceleration Types
  20
  - What Is Jerk
    20
  - Constant Acceleration
    21
  - S-Curve Accelerations
    21
    
    Trapezoidal S-Curve Acceleration
    21
    
    Triangular S-Curve Acceleration
    22
- A Simple Move
  22
- Controlled and Immediate Stops
  23
  - Host Control
    23
  - Hardware Control
    23
- Basic Move Types
  24
  - Relative Move
    24
    
    Controlled Stops
    24
    
    Immediate Stops
    24
  - Absolute Move
    25
    
    Controlled Stops
    25
    
    Immediate Stops
    25
  - CW/CCW Jog Move
    26
    
    Controlled Stops
    26
    
    Immediate Stops
    27
  - CW/CCW Registration Move
    27
    
    Controlled Stops
    28
    
    Immediate Stops
    28
Encoder Registration Moves
29
- Controlled Stops
  29
- Immediate Stops
  29
Assembled Moves
29
- Blend Move
  30
  - Controlled Stops
    31
  - Immediate Stops
    31
- Dwell Move
  31
  - Controlled Stops
    32
  - Immediate Stops
    32
Assembled Move Programming
33
Indexed Moves
34
Controlling Moves in Progress
35
- Jog Moves
  35
- Registration Moves
  35
- Absolute, Relative and Encoder Registration Moves
  35
- Assembled Moves
  35
Electronic Gearing
36
- Motor Steps/Turn
  36
- Elgearing Multiplier and Divisor
  36
- How It Works
  36
- Controlled Stops
  36
- Immediate Stops
  36
- Advanced Ratio Control
  37
  - Profiles
    39
Constant Acceleration Equations
39
- Variable Definitions
  39
- Total Time Equations
  41
S-Curve Acceleration Equations
42
Definition of Home Position
49
Position Preset
49
CW/CCW Find Home Commands
49
Homing Inputs
49
- Physical Inputs
  49
- Backplane Inputs
  49
Homing Configurations
50
Homing Profiles
50
Reference: Configuration Data
53
- Format
  53
Coe Registers
53
Output Data Format
53
Cfg_Word_0 Format
53
Cfg_Word_1 Format
56
Current Loop Gain
57
- Determining Current Loop Gain
  58
Notes on Other Configuration Words
58
Invalid Configurations
58
Command Bits Must Transition
59
Output Data Format
59
Cmd_Word0
60
Cmd_Word1
62
Command Blocks
64
- Absolute Move
  64
- Relative Move
  64
- Hold Move
  65
- Resume Move
  65
- Immediate Stop
  66
- Find Home CW
  66
- Find Home CCW
  67
- Jog CW
  67
- Registration Move CW
  68
- Jog CCW
  68
- Registration Move CCW
  69
- Encoder Follower Move
  70
- Preset Position
  70
- Reset Errors
  71
- Run Assembled Move
  71
- Preset Encoder Position
  72
Reference: Command Data Format
72
- Programming Blocks
  73
  - First Block
    73
  - Segment Block
    73
- Input Data Format
  74
  - Status_Word0 Format
    74
  - Status_Word1 Format
    76
- Notes on Clearing a Driver Fault
  77
  - Reset Driver Fault
    77
- Sizing Your Motor
  79
  - Sizing
    79
- Determining Your Motor Current Setting
  79
  - A Note on Microstepping
    79
- Torque and Power Curves
  80
- Power Supply Sizing
  82
  - Regeneration Effects
    82
- Safe Handling Guidelines
  83
- Mounting
  83
  - Dimensions
    83
  - Minimum Spacing
    84
  - Mounting the SD4840EK Module
    84
- I/O Connector Pin out
  85
- Power Wiring
  85
- Input Wiring
  87
  - Cable Shields
    87
- Output Wiring
  87
- Encoder Wiring
  88
  - Differential Wiring
    88
  - Single Ended Wiring
    89
- Installing the Stepper Motor
  89
  - Outline Drawings
    89
  - Mounting the Motor
    90
  - Connecting the Load
    90
  - Extending the Motor Cable
    90
  - Installing the Motor Cable
    90
- Connecting the Motor
  91
  - Motor Connector
    91
  - Motor Wiring
    91
- Ethernet Connections
  93
Install the ESI File
95
- Configuration
  95
- Obtain the ESI File
  95
- Restart the Programming System if Needed
  95
Add the SD4840EK to the Project
95
- Scan for the SD4840EK
  95
- Rename the Device
  95
- Configure the SD4840EK
  96
Create a DUT
97
Create Variables Based on the DUT
97
Link Variable Names to I/O Words
97
Verify Main PLC Task Timing
99
Create New PLC Task
100
Set Operational Mode
102
Set Cfg_Word1 Value to Enable SYNC0
103

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