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SD17060E - Advanced Micro Controls Inc

1. SD17060E has auto switch capability This means that a standard cable can be used when connecting the SD17060E to any device SD17060E TOP VIEW OO Q6 O O A 000 TT ss OOoO0e o STATUS LED s 666660ppDo ee Link Status Not Used Figure 4 9 Ethernet Port Location Network Status LED s The status LED s indicate the health of the network connection between the SD17060E and its host The Sta tus LED on the front of the unit indicates the state of the SD17060E itself gt Network Status EtherNet IP Indicates the status of the connection between the SD17060E and its host gt Network Status Modbus TCP Indicates the number of TCP connections to the SD17060E gt Unit Status Indicates the status of the connection between the SD17060E and its Ethernet daughter board gt Link Status On when there is a physical link between the Ethernet port of the SD17060E and the Ethernet port of the device SD17060E is plugged into The Network Status LED s are fully described in the Ethernet Port section of this manual starting on page 15 50 ADVANCED MICRO CONTROLS INC HEEN CHAPTER NENNEN 0 I NETWORK CONFIGURATION This chapter covers how to configure the IP address of the SD17060E and set the communications protocol by using the AMCI Etherne
2. ter sets the time of linear acceleration with larger values set ting a longer linear acceleration period This acceleration type offers a good compromise between the smoothness of acceler Acceleration ation and the time it takes to reach the programmed speed fas Figure 2 3 Trapezoidal 5 Curve Acceleration Available Inputs SD17060E has three DC inputs that accept 3 5 to 27Vdc signals 5 to 24Vdc nominal They be wired as differential sinking or sourcing inputs How the SD17060E uses these inputs is fully programma ble as well as their active states Normally Open NO or Normally Closed NC inputs Home Input Many applications require that the machine be brought to a known position before normal operation can begin This is commonly called homing the machine or bringing the machine to its home position The SD17060E allows you to define this starting position in two ways The first is with a Position Preset Com mand The second is with a sensor mounted on the machine When you define one of the inputs as the Home Input you can issue commands to the SD17060E that will cause the unit to seek this sensor How the SD17060E actually finds the Home sensor is described in the Defining Home Position section starting on page 20 18 ADVANCED MICRO CONTROLS INC MOTION CONTROL 2 Available Inputs continued CW Limit Switch or CCW Limit Switch Each input can be
3. POSITION SPEED Starting Speed Programmed Speed cew Figure 2 6 Home Limit Active 1 Accelerate towards the Programmed Speed in the direction opposite of the commanded direction 2 Decelerate and stop when Home Input transitions from active to inactive Wait 2 seconds before continuing 3 Return to the Home Limit at the programmed Starting Speed Stop when Home Limit transitions from inactive to active 20 Gear Drive Plymouth Ind Park Terryville CT 06786 21 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL Defining Home Position continued Find Home CW amp Find Home CCW Commands continued Homing Operation When Overtravel Limit Already Active CW Home cw Limit End of Travel Switch Limit Programmed Speed Starting Speed POSITION e Starting Speed 5 Programmed Speed CCW Figure 2 7 Overtravel Limit Active 1 Accelerate to the Programmed Speed in the direction opposite of the commanded direction 2 Run in the direction opposite of the requested direction until the Home Input transitions from Active to Inactive 3 Decelerate to a stop and wait 2 seconds 4 Return to the Home Input at the programmed Starting Speed Stop when the Home Input transitions from Inactive to Active Homing Operation with the Home Proximity Bit Some machine configurations may activate the Home Limit input multiple times throughout the full range of mot
4. 76 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT s Command Bits MSW continued Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Find Home CCW When set to 1 the SD17060E will attempt to move to the Home Limit Switch in the counter clockwise direction A full explanation of homing can be found in the Defining Home Position section starting on page 20 Find Home CW When set to 1 the SD17060E will attempt to move to the Home Limit Switch in the clockwise direction A full explanation of homing can be found in the Defining Home Position section starting on page 20 Immediate Stop Bit When set to 1 the SD17060E will stop all motion without deceleration The Motor Position value will become invalid if this bit is set during a move Setting this bit when a move is not in progress will not cause the Motor Position to become invalid Resume Move Bit Set to 1 to resume a move that you previously placed in a hold state Use of the Resume Move and Hold Move bits can be found in the Controlling Moves In Progress section of this manual starting on page 33 Note that a move in its hold state does not need to be resumed The move is automatically cancelled if another move is started in its place Hold Move Bit Set to 1 to hold a move The move will decelerate to its programmed Starting Speed and stop The move can be completed by using the Resume Move bit Use of the Hold Move a
5. 1 before a transition on the Home Input can be used to home the machine Further information on using the Home Proximity bit can be found in the Find Home CW amp Find Home CCW Commands section starting on page 20 Clear Driver Fault If this bit is set when a Reset Errors Command is issued Command Bits MSW Bit 10 the SD17060E will attempt to clear driver errors such as a missing interlock jumper or motor short fault Note that the driver must be disabled Command Bits LSW Bit 15 0 when using this command 20 Gear Drive Plymouth Ind Park Terryville CT 06786 77 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMAT Command Bits LSW continued Bit 9 Assembled Move Type When this bit equals 0 a Blend Move is started when the Run Assem bled Move bit Command Word 1 Bit 13 makes a 0 1 transition When this bit equals 1 a Dwell Move is started on the transition The direction of a Blend Move is controlled by the Blend Move Direction bit Command Bits LSW Bit 4 In a Dwell Move the Dwell Time between seg ments is programmed in Word 9 of the command data Bit8 Run As An Indexed Move If this bit is set when a move command is issued the SD17060E will not run the move immediately but will instead wait for an inactive to active transition on an input configured as a Start Indexer Move input Bit 7 Registration Move When this bit equals 0 and
6. 24 Where To Go From 9 Controlled Stop Conditions 25 Chapter 1 Introduction to the p Stop Conditions 25 elative Move 1 SDT70S0E Controlled Stop Conditions 26 i Alit Udo 1 1 H Immediate Stop Conditions 26 Encoder Func 12 Absolute Move eene 26 Controlled Stop Conditions 27 Indexer Functionality 2 oe 13 Immediate Stop Conditions 7 Driver Functionality 14 Encoder MOV6S aiias 27 Ethernet Port 15 Controlled Stop Conditions 27 Network Status LED s 15 Immediate Stop Conditions 28 Specifications 16 Assembled Moves 24442222 28 Blend Moves 28 Chapter 2 Motion Control Controlled Stop Conditions 29 Motor Position 2 4 17 Immediate Stop Conditions 29 Motor Speed re eee tetas 17 Dwell Move 2 30 Acceleration amp Deceleration 17 Controlled Stop Conditions 30 Acceleration Jerk 18 Immediate Stop Conditions 30 Assembled Move Programming 31 Control Bits Output Data 31 Control Bits Input Data 31 Programming Routine 31 Indexed Moves 32 20 Gear Drive Plymouth Ind Park
7. If you do not have internet access contact AMCI and we will fax the information to you Mounting the Motor All AMCI motor 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 motor s life by reducing its operating temperature If you cannot mount the motor on a large metal surface you may need to install a fan to force cooling air over the motor Motors should be mounted using the heaviest hardware possible AMCI motors can produce high torques and accelerations that may weaken and shear inadequate mounting hardware NOTE gt 1 The motor case must be grounded for proper operation This is usually accomplished through its mounting hardware If you suspect a problem with your installation such as mounting the motor to a painted surface then run a bonding wire from the motor to a solid earth ground point near it Use a minimum 8 gauge stranded wire or 1 2 wire braid as the grounding wire 2 Do not disassemble any stepper motor A significant reduction in motor performance will result Connecting the Load Care must be exercised when connecting your load to the stepper motor Even small shaft misalignments can cause large loading effects on the bearings of the motor and load The use of a flexible coupl
8. No changes made to the registry The NET program be easily un installed by deleting the Program FilesVAMCI directory and shortcuts 20 Gear Drive Plymouth Ind Park Terryville CT 06786 51 Tel 860 585 1254 Fax 860 584 1973 http www amci com l NETWORK CONFIGURATION Configure Your Network Interface Card NIC Ideally the NIC that you will use when configuring an SD17060E is not the NIC that attaches your computer to your corporate network Itis far easier to configure an SD17060E with a stand alone laptop or when your computer has two NIC s in it one for the corporate network and one for the SD17060E If you only have one NIC and use to attach your computer to your corporate network you must disconnect your computer from the corporate network before configuring the SD17060E DO NOT place a router between your computer and the corporate network so you can try to have access to the network and the SD17060E at the same time The Network Administrator at AMCI can testify to the fact that Bad Things can happen when a rogue DHCP server in engineering starts to offer network information to computers around it Save yourself and your IT department some headaches and disconnect yourself from your corpo rate network if you only have one NIC in your computer A wireless adapter does count as a network interface and if you have a laptop it may be possible to connect to your corporate network with the wirele
9. The American NEC allows a length of up to six pooo feet but shorter is better A shorter length will help shunt high fre 3 quency noise to the Grounding Electrode System In extremely noisy environments it is sometimes advisable to run two wires from the ground bus to the GES The length of these two wires should differ by 2096 to 3096 so they offer different imped ances to the noise frequencies being shunted to earth ground GROUNDING Grounding Wire ELECTRODE SYSTEM The minimum sizes for the Grounding Electrode Conductor are 8 AWG stranded wire or 1 braid but larger sizes may be needed depending on the total ground fault current your system can gener ate The actual size is determined by the size of the largest conduc Figure 3 1 Grounding Components tor in the system 5017060 Mounted to Back Panel The American NEC allows the use of a solid wire for the Grounding Electrode Conductor but this should be avoided High frequency currents electrical noise travel along the surface of a conductor Heavy gauge stranded wire and braid both have large surface areas solid conductors do not Therefore stranded wire and braid have a much lower effective resistance to electrical noise Grounding Wires Grounding wires are used to connect the pieces of equipment to your ground bus strongly suggests using 8 AWG
10. The computer will ping the SD17060E and the message Reply from aaa bbb ccc ddd bytes 32 time 10ms TTL 128 should appear four times Command Prompt ol C gt ping 192 168 0 55 Pinging 192 168 80 55 with 32 bytes of data Reply from 192 168 0 55 bytes 32 time ims TTL 128 bytes 32 TTL 128 bytes 32 time lt ims TTL 128 bytes 32 time ims TTL 128 Ping statistics for 192 168 0 55 Packets Sent 4 Received 4 Lost z loss Approximate round trip times in milli seconds Minimum ms Maximum ims Average Gms eM Figure A 7 IP Address Changed Successfully If the message Request timed out or Destination host unreachable appears then one of three things has occurred gt You did not enter the correct address in the ping command gt The new IP address of the SD17060E was not set correctly gt SD17060E and the computer not on the same subnet 96 ADVANCED MICRO CONTROLS INC APPENDIX B UL CUL RECOGNIZED INSTALLATIONS The SD17060E is an Underwriter Laboratory Inc listed device It is listed as Industrial Control Equipment under the control number 60GB The UL file num ber is E231137 The SD17060E is appropriate for UL and CUL applications UL Required Information If your installation is to meet UL requirements you must be aware of the following information when using the SD17060E gt Maximum surrounding air temperature
11. gt Both of the Manual Move command bits equal zero Electronic Gearing moves cannot be brought to a controlled stop by using the Hold Move control bit in the Network Output Registers Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Registers gt A positive transition on an input configured as an E Stop Input gt ACW or CWW Limit Switch is reached 34 ADVANCED MICRO CONTROLS INC MOTION CONTROL 2 Electronic Gearing continued Advanced Ratio Control The ELGearing Multiplier and Divisor values give you a great deal of control over the ratio of motor turns per encoder turn but you can achieve even finer control by adjusting the Motor Steps Turn parameter The Z pulse is not used to correct the encoder position once per turn so you can actually program the Motor Steps Turn to any value you want within its valid range For example if your encoder outputs 4 096 pulse per turn a 1 024 line encoder and you set the Motor Steps Turn parameter to 8 192 you will have built a 2 1 gear down into your system before applying the ELGearing Multiplier and Divisors Two rotations of the encoder 8 192 counts 1 motor rotation This technique allows you to set a median gear ratio in your system that you can adjust on the fly by using the ELGearing Multiplier and Divisor parameters Stall Detection Another feature available when using an encoder is stall detection The enco
12. in a voltage potential across the connection when current is forced through it Incorrectly installed sen sor or communications cables that run between these systems can be damaged by these Ground Shift potentials gt High Impedance Grounds The grounding system shows a high impedance to high frequency noise currents and these signals are not properly shunted to earth The high impedance to high frequency noise is caused by capacitance and inductance in the system Use 8 AWG stranded wire or 1 wire braid for all ground connections and keep connections as short as possible to minimize capacitance and inductance in the grounding system Surge EMI Suppression Incoming Power many systems three phase power is brought to the machine and the control system is powered from one of these phases In these cases good quality clean AC power can only be achieved by properly conditioning the three phase power not just the single phase used by the control system This is generally achieved by placing surge suppressors across each phase where the three phase enters the system and at all inductive loads that are on the three phase branch This includes inductive loads on any other machine that may be powered by the same feeder circuit 1FU 4026 Der i L1 2FU Suppressor 2 I D H L2 3FU Suppressor O O 5 L3 H3 H2 H4Q Step Down Transformer GROUND BUS 2 O
13. 0 when the next move command is written to the SD17060E 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 Manual Move or Registration Move parameters are outside of their valid ranges This bit is not set on a command error for any other type of command Finally this bit is not set at the end of a homing operation Decelerating Bit Set to 1 when the present move is decelerating Set to 0 at all other times Accelerating Bit Set to 1 when the present move is accelerating Set to 0 at all other times Homing Complete Bit Set to 1 when a homing command has completed successfully 0 at all other times Axis Stopped Bit Set to 1 when the motor is not in motion Note that this is stopped for any rea son not just a completed move For example an Immediate Stop command during a move will set this bit to 1 but the Move Complete Bit bit 7 above will not be set Hold State Bit Set to 1 when a move command has been successfully brought into a Hold State Hold States are explained is the Controlling Moves In Progress section starting on page 22 CCW Move Bit Set to 1 when the motor is rotating in a counter clockwise direction CW Move Bit Set to 1 when the motor is rotating in a clockwise direction 20 Gear Drive Plymouth Ind Park Terryville
14. 2 and 3 of the SD17060E Encoders typically have differential outputs but must be wired to the SD17060E in a specific way More information on wiring an encoder is given later in this chapter DC Differential Sensor SENSOR POWER Run a seperate wire from the power supply to each sensor Do Not daisy chain power from one sensor to the next CABLE SHIELD 5Vdc to 24Vdc solated Power SOURCING Supply SENSOR use the same supply to JJ power all inputs Grounding Strap maybe required by local safety codes INPUT n INPUT n SD17060E INPUT CONNECTOR GROUND TH SHIELD OF SENSOR CABLE 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality earth ground connection is not available at the sensor the shield can be grounded to the same Ground Bus as the SD17060E DC Sourcing Sensor SENSOR POWER Run a seperate wire from the power supply to each sensor Do Not daisy chain power from one sensor to the next CABLE SHIELD 5Vdc to 24Vdc solated Power Supply SOURCING SENSOR Can use the same supply to power all inputs Grounding Strap maybe INPUT n required by local safety INPUT n codes SD17060E INPUT CONNECTOR GROUND THE SHIELD OF THE SENSOR CABLE
15. ADVANCED MICRO CONTROLS INC _ 0 9 INTRODUCTION THE SD17060E This manual is designed to get you up and running quickly using the SD17060E stepper driver As such it assumes you have some basic knowledge of stepper systems such as the resolution you want run your motor at and the reasons why you d want to use Idle Current Reduction and the reasons why you wouldn t If these terms or ideas are new to you we re here to help AMCI has a great deal of information on our website and we are adding more all the time If you can t find what you re looking for at http www amci com send us an e mail or call us We re here to support you with all of our knowledge and experience The SD17060E General Functionality The SD17060E is a 6 0Arms micro stepping driver with a 170Vdc internal bus voltage What makes the SD17060E unique is its built in indexer that accepts configuration and command data from a host system over the internal Ethernet port The SD17060E can be configured to use either the Ethernet IP protocol or the Modbus TCP protocol which makes the SD17060E easy to integrate into a wide variety of controller systems This combination of host and driver gives you several advantages gt Sophisticated I O processing be performed in the host PLC or other controller before sending commands to the SD17060E gt All motion logic is programmed in the host eliminating the need to learn a separate motion co
16. AMCI Call 860 585 1254 with the model number and serial number if applicable along with a description of the problem during regular business hours Monday through Friday 8AM 5PM Eastern An RMA number will be issued Equipment must be shipped to AMCI with transportation charges prepaid Title and risk of loss or damage remains with the customer until shipment is received by AMCI 24 Hour Technical Support Number 24 Hour technical support is available on this product If you have internet access start at www amci com Product documentation and FAQ s are available on the site that answer most common questions If you require additional technical support call 860 583 7271 Your call will be answered by the factory dur ing regular business hours Monday through Friday 8AM 5PM Eastern During non business hours an auto mated system will ask you to enter the telephone number you can be reached at Please remember to include your area code The system will page an engineer on call Please have your product model number and a description of the problem ready before you call We Want Your Feedback Manuals at AMCI are constantly evolving entities Your questions and comments on this manual are both wel comed and necessary if this manual is to be improved Please direct all comments to Technical Documenta tion 20 Gear Drive Terryville CT 06786 or fax us at 860 584 1973 You can also e mail your questions and comments to te
17. CONTROLS INC GENERAL INSTALLATION GUIDELINES k Avoiding Grounding Problems continued Grounding problems occur when the grounding system carries currents during normal operation or when it cannot shunt high frequency electrical currents to earth AMCI generally encounters three types of grounding problems in systems that use AMCI equipment gt Ground Loops A ground loop occurs when AC or DC return currents can travel through the system ground path in addition to their normal return path This can cause damaging currents to electronics that share the power supply Ground loops in AC systems can occur when the neutral conductor is bonded to the Grounding Elec trode System in more than one place Under the right conditions AC line currents may end up flowing through the protective ground system which may include exposed metal surfaces and therefore repre sent a touch shock hazard Designing an effective ground fault detection system is well beyond the scope of this manual Please refer to the NEC and other design guidelines for your area gt Ground Shift Remote machines or monitoring stations will usually be connected to a different point on the Grounding Electrode System than a local system A voltage potential can exist between these stations due to resistance between the grounding electrodes and earth A similar problem exists on machines that are not properly bonded together The resistance of a poor bond in the system will result
18. Enable instruction Enable to read data from bit bit wut MG11 0 11 1 G Read Write Message MSG File MG11 0 Setup Screen read message write message Message Instruction instruction Enable instruction Enable to write data to the bit bit wut MG11 0 MG11 1 SG Read Write Message N MSG File 11 1 gt Setup Screen gt Figure 6 5 Message Instruction Example 3 Double Click on Setup Screen text inside the Message Instruction The following window will open Note that this is the default window and its appearance will change considerably as you progress through these steps c3 MSG Rung 2 0 MG11 0 DARK This Controller Control Bits Channel Ignore if timed out TO 0 Communication Command 500 Read Data Table Address Awaiting Execution EW fo Size in Elements Eror ER 0 m Target Device Message done 0 Message Timeout Message Transmitting ST 2 Data Table Address Message Enabled 0 Local Node Addr deck 0 Local Remote Error Error 0 Figure 6 6 Message Instruction Setup Screen 4 Double click in the Channel field click on the W select 1 Integral and press Enter 5 Double click in the Communication Command field click on the W select CIP Generic and press Enter 6 If the Message Instruction is being used to read data from the SD17060E enter the integer file where the data will be plac
19. Gear Drive Plymouth Ind Park CT 06786 41 Tel 860 585 1254 Fax 860 584 1973 http www amci com ki GENERAL INSTALLATION GUIDELINES System Layout Considerations continued Conduits to Enclosure When designing the layout of you system be sure to include enough conduits to house the different categories of cabling To guard against coupling noise from one conductor to another follow the spacing guidelines in table 3 2 below These spacing values should be followed for routing cables both inside and outside of an enclosure Of course sometimes these guidelines cannot be followed such as when the connection points on controller are spaced closer together than these guidelines recommend Guidelines These conductors can be routed in the same cable tray raceway or conduit as machine power conductors of up to 600Vac Power conductors cannot feed larger than 100HP devices If they must cross power feeds they must do so at right angles Route in a raceway or conduit separate from all category 1 conductors and properly shield where applicable Any metal wireway or conduit that houses the conductor must be bonded along its entire length and bonded to the enclosure at its entry point If in a continuous metal wireway or conduit route at least 3 from category 1 conductors of less than 20A 6 from category 1 conductors of greater than 20A and 12 from any category 1 conductor of any amperage of the circuit
20. Power Connector I Rubber Boot not shown Additional Ground 115Vac present on terminals Connection Through when drive is powered I Mounting Rubber Boot should be installed to reduce the risk of electric shock GROUND BUS o Figure 4 2 Power and Grounding Connections NOTE gt 1 UM power must be 95 to 132 Vac 50 60 HZ and able to supply 800VA for proper opera ion 2 Never attempt to power the driver with 230Vac Doing so will damage the driver and void its warranty You have two options if your installation only has 230 Vac a Install a step down transformer to power the SD17060E The transformer must be rated for a minimum of 800VA b Consider using one of the 230Vac input drivers available from AMCI Further informa tion on these drivers can be found on our website www amci com Both the Neutral and the Line power connections are internally fused in the SD17060E These fuses are not field replaceable so external fuses or circuit breakers should also be used They must be rated for at least 10 amps 44 ADVANCED MICRO CONTROLS INC INSTALLING THE SD17060E Installing the Stepper Motor Outline Drawings Outline drawings for all of our motors can be found on our website www amci com in the PDF Documents section They re available as Adobe Acrobat pdf files A document that is simply called wiring lists all of the wiring color codes for all AMCI motors
21. Pulses Turn parameter in configuration word 6 20 Gear Drive Plymouth Ind Park Terryville CT 06786 71 Tel 860 585 1254 Fax 860 584 1973 http www amci com CONFIGURATION MODE DATA FORMAT Output Data Format continued Configuration Word Format Configuration Word 4 13 12 11 10 09 08 07 06 05 04 03 02 01 0 D k 0 2 5 ActSt 3 ActSt 2 ActSt 1 c 3 Outi Stat SavConfi 0 RESERVED Bit must equal zero Figure 8 2 Configuration Mode Config Word Format Bit 15 Driver Enable Bit This bit is ignored with firmware revision 6 9 and above which is included in serial numbers D04120030 and above For drivers with lower firmware revisions set to 0 to dis able the motor driver circuitry Set to 1 to enable the motor driver circuitry When the motor driver is disabled all voltage is removed from the motor A 0 1 transition is required to enable the motor driver on every power up This is required while a valid configuration is written to the SD17060E or after it and before entering Command Mode NOTE gt The SD17060E motor driver must be enabled before switching to Command Mode It will not be possible to enable or disable the driver while in Command Mode if this step is ignored Bit 14 Output 1 Functionality Bit 0 configures Output 1 to
22. Relative Move Allows you to drive the motor a specific number of steps in either direction from the current location Absolute Move Allows you to drive the motor from one known location to another known location Blend Move Allows you to perform a sequence of relative moves These moves can be performed with or without stopping between them Indexer Move Allows you to program a move that is held in memory The move is run when one of the programmable inputs makes a transition Hold Move Allows you to suspend a move and restart it without losing your position value Resume Move Allows you to restart a previously held move operation Immediate Stop Allows you to immediately stop all motion if an error condition is detected by your host controller Stall Detection When the SD17060E is configured to accept an encoder the encoder can be used to verify motion when a move command is issued Electronic Gearing The SD17060E can be configured to control the position of a motor based on feedback from an external encoder The ratio of encoder pulses to motor pulses is full programmable and can be changed on the fly Hybrid Control The SD17060E can be configured to use a motor mounted encoder for rotor position feedback and use this data to dynamically alter motor current to the minimum value needed to achieve motion This operating mode eliminates the possibility of resonance induced moto
23. Status LED to be flashing green At this point you should also have a message in the Request History pane that lists the MAC address of the SD17060E along with the IP address you requested BOOTP DHCP Server 2 3 File Tools Help Request History Clear History hr min sec Type thernet Address IP Address Hostname 15 29 31 BOOTP X 00 90 C2 C0 03 ED 132 168 0 55 Relation List KAMAE Evers 8 Ethernet Address MAC Type IP Address Hostname Description 00 90 C2 C0 03 ED BOOTP 192168055 Status Entries Sent 192 168 0 55 to Ethemet address 00 90 C2 C0 03 ED 1 of 256 Figure A 6 New IP Address Set in SD17060E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 95 Tel 860 585 1254 Fax 860 584 1973 http www amci com aN IP ADDRESS SETUP WITH BOOTP Using the RA BOOTP Server continued Disabling the Bootp Protocol Even though not strictly necessary disabling the Bootp protocol will allow the SD17060E to boot up faster and prevent inadvertent changes to the IP address of the SD17060E if there is a network mis configuration on your machine or plant floor 1 With power still applied to the driver click on your new entry in the Relation List This will enable the buttons above it 2 Click on the Disable BOOTP DHCP button The message Disable BOOTP Command successful should appear instantly in the status line at the bott
24. Terryville CT 06786 3 Ecos Tel 860 585 1254 Fax 860 584 1973 http www amci com TABLE CONTENTS Chapter 2 Motion Control Chapter 4 Installing the SD17060E continued Outline Drawing 22 43 Controlling Moves In Progress 93 Airflow and Wiring Space 43 Find Home Moves 29 Grounding and Powering the System 44 Manual Moves 33 Installing the Stepper Motor 45 Absolute Relative and Outline Drawings 45 Encoder Moves 33 Mounting the Motor 45 Assembled Moves 33 Connecting the Load 45 Electronic Gearing 2 222 34 Extending the Motor Cable 45 Motor Steps Turn 34 Installing the Motor Cable 45 ELGearing Multiplier and Divisor 34 Connecting the Motor 46 How It Works in Motor Connector 46 Controlled Stop Conditions Interlock Wiring 46 Immediate Stop Conditions 34 Using the Interlock for Advanced Ratio Control 35 Emergency Stops 46 Stall Detection ados abii pee qut e 35 Motor Wiring 47 Hybrid Control see 35 JO Wiring 48 Idle Curr
25. The BOOTP protocol is now enabled on the SD17060E NOTE gt Remove power from the driver before continuing 94 ADVANCED MICRO CONTROLS INC IP ADDRESS SETUP WITH A Using the RA BOOTP Server continued Setting the IP Address With the Bootp protocol enabled on the driver you can now change the IP address of the SD17060E 1 Double click on your new entry in the Relation List This will bring up the Properties window again Enter the new IP address for the SD17060E and click OK Properties Ethernet Address 00 90 C2 C0 03 ED IPAddress 192 168 0 Relation List Hostname New Delete Enable 2 Description Ethemet Address MAC 00 3020 03ED Figure A 4 Defining the New Address 2 In the menu bar click on Tools and then Network Settings The Network Settings window opens that allows you to set the Subnet Mask Gateway and DNS settings The Gateway address must be set for the SD17060E products suggests setting this address to the host IP address hrmimsec Type 16 23 09 DHCP 16 22 11 DHCP 16 22 08 DHCP 16 21 50 DHCP 16 20 36 BOOTP 16 20 25 BOOTP Primary DNS Relation List SecondayDNS O O New Domain Name Ethernet Address MAC 00 90 C2 C0 03 ED Cancel Figure A 5 Setting Gateway Address 3 Apply power to the driver and wait for the Unit Status LED to come on solid green and the Network
26. a Manual Move command is issued it will run as a standard Manual Move When this bit equals 1 and a Manual Move command is issued the move will run as a Registration Move Bit6 Enable Electronic Gearing Mode Set to 1 to put the SD17060E in Electronic Gearing mode Set to 0 for normal operation A full description of Electronic Gearing mode starts on page 23 5 Save Assembled Move Available in units with firmware 8 9 Serial DO4120030 Set this bit to save programmed blend move data This bit is only acted upon when the Program Move bit Command Bits MSW Bit 11 makes a 1 gt 0 transition as explained in the Assembled Move Pro gramming section of this manual starting on page 31 Motor Current Key2 Available in units with firmware 6 9 Serial D04120029 See the description below Bit4 Blend Move Direction When you command a Blend Move to run this bit determines the direction of rotation Set to 0 for a clockwise Blend Move 1 for a counter clockwise Blend Move Bit 3 Hybrid Control Enable Set to 0 to operate the SD17060E as a standard stepper system Set to 1 to enable Hybrid Control Hybrid Control is explained starting on page 35 Bit2 Encoder Move Set to 1 when you command an Absolute or Relative move to cause the move distance to be based on the encoder position not on the motor position Set to 0 for a standard Relative or Absolute move based on m
27. at the end when the signal is generated which is the sensor end If this is not practical the shield should be grounded to the same ground bus as the SD17060E ADVANCED MICRO CONTROLS INC INSTALLING THE 5017060 Wiring continued Output Wiring SD17060E Output Sourcing Connection VDC The SD17060E output is an optically isolated Ic i to 24V transistor that is capable of driving a typical a OUTPUT E PLC input Both ends are uncommitted so it RLIMIT PLC Input be wired as a sinking or sourcing output OUTPUT m SD17060E OUTPUT J I Y Electrical Specifications L Output o __ ___ fee 1 Shielded Twisted SD17060E Output Sinking Connection Voc RLIMIT 5 to 24V A resistor may be needed to limit the current through the output The value and power rat ing of the resistor is dependent on the value of 4 0UTPUT c Y Vdc the voltage drop across the input and JEMEN IE current requirements of the input SD17060E OUTPUT L Output _ ins Shielded Twisted Pair Cable Figure 4 7 Output Wiring Encoder Wiring The figure below shows how to wire a 5Vdc differential encoder to the SD17060E gt The A channel must be wired to Input 1 for proper operation gt The B channel must be wired to Input 2 for proper operation gt Z channel is optional If us
28. be a Fault Output The output will conduct current until a fault occurs 1 configures Output 1 to be a general purpose output whose state is determined by a bit in the Command Mode Network Output Data This output is in an ON state when power is applied to the SD17060E and it has not yet been configured Bit 13 Output 1 on Network Connection Lost Bit 0 will keep Output 1 at its last value 1 will set the state of Output 1 to the value specified in Bit 12 of this word Bit 12 Output 1 State on Network Connection Lost Bit When bit 13 of this word is set Output 1 will be set to the state of this bit if the network connection is lost Bit 11 Reserved Bit Must equal zero Bit 10 Save Configuration An SD17060E will store its configuration data to flash memory when this bit makes a 0 gt 1 transition The validity of the configuration data is checked before being written If the data is not correct the transition on this bit is ignored Once the write to flash is completed the SD17060E will write 16 AAAA into the last word of the Network Input Data and the Status LED will start flashing green if the write was successful or the SD17060E will write 16 EEEE into the last word of the Network Input Data and the Status LED will start flashing red if the write was unsuc cessful Once the SD17060E issues its response to the Save Configuration command it stops responding to commands and you must cycle power to the unit Th
29. buy the best supply your budget allows and consider the surge requirements of the components you are attaching to the supply Component Placement Once you have established the proper categories of all of the system s wires and cables and determined all of you components including surge suppressors you can determine proper component placement and conductor routing within the system enclosure D CAUTION The following guidelines are for noise immunity only Follow all local codes for safety requirements There are three general guidelines to follow when placing components gt Keep as much physical space between the classes of conductors as possible gt Minimize the distance that conductors run in parallel with each other to minimize capacitive coupling gt If conductors must cross they should do so at right angles to minimize inductive coupling If you have a PLC in your system be sure to consider the spacing of the modules within the rack Do not place an AC output module next to low level DC input module unless absolutely necessary For example consider placing low level input modules on the left side of the rack high power AC output modules on the right side and medium power I O in the center This should help you maximize the spacing of I O wiring within the enclosure JETER E 20
30. by clicking on the check box at the top entitled Allow IP configuration changes The name of the SD17060E shows which protocol is active 54 ADVANCED MICRO CONTROLS INC NETWORK CONFIGURATION Ley Using the AMCI NET Software continued The Meaning of the Product Name The Name field in on the left hand side of the General tab gives you clues to the configuration of the SD17060E as well as its firmware revision SD17060Ev99 Fixed E EtherNet IP Protocol Enabled T Modbus TCP Protocol Enabled Firmware Revision Figure 5 4 Product Name Description Changing the IP Address If you are changing the IP address set the New IP Address Subnet Mask and Default Gateway fields to your desired values NOTE gt Leaving the Default Gateway set to 0 0 0 0 may cause an error when you write the new address to the SD17060E suggests setting the default gateway to the address of your host controller Once these values are set click on the Set IP Address button to write these values to SD17060E pop up message will remind you that you must cycle power before the address change takes effect Setting Communications Protocol Simply click on either of the buttons to change the communications protocol used by the SD17060E When you click on either of the buttons a pop up message will remind you that you must cycle power before the address change takes effect Cycle Power to the
31. can be found starting on page 23 gt Run Registration Move Command Bits LSW Bit 7 When this bit equals 0 and a Manual Move command is issued it will run as a standard Manual Move When this bit equals 1 and a Manual Move command is issued the move will run as a Registration Move gt Enable Electronic Gearing Mode Command Bits LSW Bit 6 When this bit equals 1 the SD17060E will switch its operation to Electronic Gearing mode as described on page 34 While in this mode the two Manual Move bits are used to enable motor motion One of these two bits must equal 1 before the motor will follow a change in encoder position CW Manual Move When set to 1 the SD17060E will run a Manual Move in the clockwise direc tion The full explanation of a Manual Move can be found starting on page 23 gt Run Registration Move Command Bits LSW Bit 7 When this bit equals 0 and a Manual Move command is issued it will run as a standard Manual Move When this bit equals 1 anda Manual Move command is issued the move will run as a Registration Move gt Enable Electronic Gearing Mode Command Bits LSW Bit 6 When this bit equals 1 the SD17060E will switch its operation to Electronic Gearing mode as described on page 34 While in this mode the two Manual Move bits are used to enable motor motion One of these two bits must equal 1 before the motor will follow a change in encoder position
32. connector is shown in figure 4 3 The two Interlock terminals INTERLOCK q are a safety feature When these two terminals are not connected the B CTAP q driver will not power the motor outputs the Status LED turns on red and it activates the Fault Output For normal operation these two terminals B must be connected together with a short wire B D The two center tap pins A CTAP and B CATP are there for wiring con EARTH GND D venience only They are electrically isolated from the rest of the driver A D and are not used to power the motor The EARTH GND pin is for the A shields of the motor cable This pin is directly connected to the ground ing lug of the SD17060E INTERLOCK NOTE gt When powered the motor connector represents a shock Figure 4 3 Motor Connector with hazard because it has 170 Vdc present on its terminals A Interlock Jumper rubber boot that is included with the connector must be installed but is not shown in the following figures for clarity When installing the motor cable slide the rubber boot onto the cable before wiring the connector When you re sure the wiring Is correct slide the boot over the connector to cover the screw heads Always remove power from the SD17060E before connecting or disconnecting the motor NOTE gt 1 Never connect the motor leads to ground or to a power supply 2 Always connect the cable shield to the Earth Ground termin
33. defined as a CW or CCW Limit Switch When used this way the inputs are used to define the limits of mechanical travel 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 move in the coun ter clockwise direction Start Indexer Move Input Indexer Moves are programmed through the Network Data like every other move The only difference is that Indexer Moves are not run until a Start Indexer Move Input makes a inactive to active state transition This allows the SD17060E to run critically timed moves that cannot be reliably started from the network due to data transfer lags If Inputs 1 and 2 are programmed as quadrature encoder inputs and Input 3 is programmed as a Start Indexer Move Input then the quadrature encoder position data will be captured whenever Input 3 transitions An inactive to active state transition will also trigger an Indexer Move if one is pending Emergency Stop Input When an input is defined as an Emergency Stop or E Stop Input motion will immediately stop when this input becomes active The driver remains enabled and power is supplied to the motor No move can begin while this input is active Stop Manual or Registration Move Input When an input is configured as a Stop Manual or Registration Move Input triggering this input during a Man ual Move or Registration will bring the move to a controlled stop The
34. inputs Accepts 3 5 to 27Vdc without the need for an external current limiting resistor Output Electrical Characteristics Open Collector Emitter 1500 Vac dc opto isolated 30Vdc 20 mA max The Output can be programmed to be a general purpose output or a Fault Output The Fault Output is normally on Turns off under the following conditions R set nni The driver initialization is not yet complete on power up Short Circuit Motor Phase to Phase or Phase to Earth Ground Over Temp Heat Sink temperature exceeds 90 C 195 F No Motor The motor interlock terminals are not connected Faults are reported in the Network Input Data and can be cleared through the Network Output Data Motor Interlock Two pins that must be shorted together before power is applied to motor Can be shorted together through mechanical relay contacts Connector 28 16 AWG Strip Length 0 275 inches Motor Current Programmable from 1 0 to 6 0Arms in 0 2 Amp steps Resolution Programmable to any value from 200 to 32 767 steps per revolution Idle Current Reduction Programmable from 0 to 100 programmed motor current in 1 increments Motor current is reduced to selected level if there is no motion for 1 5 seconds Current is restored to full value when motion is started Internal Power Fuses 10 Amp Slow Blow Both Line and Neutral are fused Fuses are not user replaceable Environmental Specifications Inp
35. is 50 C The SD17060E does not incorporate internal motor overload protection The SD17060E does not provide motor over temperature protection The SD17060E does not provide overspeed protection SD17060E shall be used in pollution degree 1 or 2 environments If the SD17060E is mounted in an enclosure this enclosure must meet these requirements All wiring to the SD17060E shall be R C AVLV2 minimum rating of 80 C 300V except secondary low voltage circuit wiring v Use 75 C copper conductors only Terminals shall be tighten to manufacturer s recommended torques Power Connector shall be rated for a minimum 12 600V in a pollution degree 2 environment Motor Connector shall be rated for a minimum 16A 600V in a pollution degree 2 environment Vv V I O Connector shall be rated for a minimum 8A 300V in a pollution degree 2 environment Mating connectors supplied with the SD17060E meet these requirements Additional mating connectors can be ordered directly from Phoenix Contact under the following part numbers Location Phoenix Contact Part Number Power 1737822 Motor 1912919 1803633 20 Gear Drive Plymouth Ind Park Terryville 06786 97 Tel 860 585 1254 Fax 860 584 1973 http www amci com AmCI ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE CT 06786 T 860 585 1254 F 860 584 1973 WWW amci com LEADEHS IN ADVANCED CONTHOL PHODUCTS
36. of the motor are brought out and attached to a stepper driver such as the SD17060E The SD17060E directly controls the current through each winding to achieve motion This gives the SD17060E the ability to control not only the speed the motor rotates at but also the position that the motor stops at Therefore we can talk about the position of the motor angle of the shaft and moving the motor from one position to another rotating the shaft n degrees This is open loop positioning control NOTE gt This manual assumes that you the reader know how a stepper motor works If you don t know or need a refresher further information on stepper motors can be found in the Tech Tuto rial section of our website at http www amci com tech tutorials asp The number of steps required to achieve one complete rotation of the motor shaft is fully programmable on the SD17060E This parameter is called Motor Steps Turn and can be programmed to any value between 200 and 32 767 and does not have to be equal to the steps turn printed on the motor s label Motor Speed The rotational speed of the motor shaft is controlled by the SD17060E by controlling how fast the currents through the windings change The speed of the shaft is determined by a parameter called Programmed Speed and the units of this parameter is steps per second The Motor Steps Turn parameter has an effect on the actual rotational speed of the shaft If you program the Motor Steps Turn t
37. specify which direction the Blend Move is run in This give you the ability to run the Blend Move in either direction Controlled Stop Conditions gt The move completes without error gt You toggle the Hold Move control bit in the Network Output Data When this occurs the SD17060E decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the move Note that your final position will most likely not be the one you commanded The use of the Hold Move bit is explained in the Controlling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued 20 Gear Drive Plymouth Ind Park Terryville 06786 29 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL Assembled Moves continued Dwell Move A D
38. stranded wire or 1 wire braid for all grounding connections The American NEC allows the use of solid wire for grounding wires but this should be avoided for the same reasons they should not be used for the Grounding Electrode Conductor Avoiding Grounding Problems As stated before there are two reasons to properly ground a system The first reason is to protect human life A properly designed grounding system will be able to detect potential shock currents and remove power from the system The second reason is to improve system reliability by shunting electrical noise currents to earth instead of allowing them to flow through the system where they can disrupt the operation of electronic con trols The entire grounding system even though conductive is not meant to carry current except under fault condi tions NOTE gt Under normal operating conditions the grounding system should not carry any current at all Ground Fault Interrupt circuits depend on this condition to work correctly Any ground current flowing through a GFI is considered a fault condition and the GFI immediately opens to remove power from the faulted circuit By this definition electrical noise and other transient currents such as inductive spikes are considered fault currents The fact that these currents are very short lived and of relatively small amperage allows them to be safely shunted without tripping a Ground Fault Interrupt circuit 38 ADVANCED MICRO
39. that is placed in its Hold state and later resumed Hold Bit Move Activates Complete Programmed Speed SPEED Starting Speed POSITION t Position Held for a length of time Move resumes when Resume Bit activates Figure 2 17 Hold Resume a Move Profile Find Home Moves A Find Home command can be placed in a Hold state but cannot be resumed This give you the ability to bring a Find Home command to a controlled stop if an error condition occurs Manual Moves Manual Moves can be placed in a Hold state and resumed if error conditions such as programming errors have not occurred New Acceleration Deceleration and Programmed Speed parameters can be written to the SD17060E while a Manual Move is in its hold state If these parameters are accepted without error the move can be resumed and it will use the new parameter values Absolute Relative and Encoder Moves Absolute Relative and Encoder Moves can be placed in a Hold state and resumed if error conditions such as programming errors have not occurred New Acceleration Deceleration and Programmed Speed parameters can be written to the SD17060E while these moves are in their hold states If the parameters are accepted without error the move can be resumed and it will use the new parameter values Note that a change to the Target Position is ignored Assembled Moves A Blend or Dwell Move can be placed in a Hold state but cannot be resumed This give you the abilit
40. the Configuration tree before adding SD17060E to your project Configure Bridge Module As Needed The first step is to create a new project or open an existing one 1756 L1 processor is used in the screen images below 1 Insert a bridge module into the Configuration tree As shown in figure 6 1 on the right right click on the I O Configuration folder and select New Module in the pop up menu 21 9 Data Types User Defined H E Strings Predefined Module Defined I O Configuration Module Cut Ctrl x Ba Copy Ctrl C Ki Paste 2 In the Select Module Type windows that opens select the proper Ethernet Bridge module In this example the 1756 ENET B Click on the OK button 3 Enter the following information in the Module Properties window that opens All parameters not listed here are optional Figure 6 2 shows a completed screen gt A descriptive name for the Bridge Module Figure 6 1 Defining a Bridge Module gt IP Address Must be the address you want for the module not the address you set for the SD17060E gt Slot The slot the module will reside in Module Properties Local 1 1756 ENET B 2 1 E x Type 1756 ENET B 1756 Ethernet Communication Interface Vendor Allen Bradley Parent Local Name ENet Bide Address Host Name Description x 4 IP Address 192 168 000 254 iz Host Name Slot fi E Revis
41. the functionality offered by the indexer built into the SD17060E Feature Multiple Ethernet Protocols Description Each SD17060E can be configured to communicate with either EtherNet IP or Modbus TCP protocols This allows easy setup and communication with a wide range of host controllers Units ship with EtherNet IP as the default protocol The protocol can be easily switched by using a free utility from AMCI that can also be used to set the IP address information for the driver Programmable Inputs Each of the three inputs can be programmed as a Home Limit Over Travel Limit Capture Input Manual Jog Stop or E Stop Input They can also be programmed to accept a quadrature encoder Programmable Output The single output on the SD17060E can be programmed as a Fault Output or as a general purpose DC output point Programmable Parameters Starting Speed Running Speed Acceleration Deceleration and Accel Decel Types are fully programmable Homing Allows you to set the machine to a known position SD17060E home to a discrete input or to an encoder marker pulse Manual Move Allows you to jog the motor in either direction based on an input bit from your controller Registration Move Allows you to jog the motor in either direction based on an input bit from your controller When a controlled stop is issued the move will output a programmable number of steps before coming to a stop
42. the resulting window scroll down the list until you find the entry that has a description of Generic Ethernet Module Module Type is ETHERNET MODULE in figure Click on the module name to select and then click the OK button A Module Properties window will open 3 Set the following parameters in the Module Properties window All parameters not listed here are optional Figure 6 4 shows a completed screen gt Name A descriptive name for the SD17060E gt Comm Format Data INT MUST be changed from the default Data DINT Figure 6 3 Adding an SD17060E gt Address Must be the address you set for the SD17060E Refer to Chapter 5 starting on page 41 for information on setting the IP Address of the SD17060E gt Input Assembly Instance 100 Size 10 gt Output Assembly Instance 150 Size 10 gt Configuration Assembly Instance 110 Size 0 Cross Reference Ctrl E Properties Module Properties LocalENB ETHERNET MODULE 1 1 x Type ETHERNET MODULE Generic Ethernet Module Vendor Allen Bradley Parent LocalENB Nome 5D1 7060 50 r Connection Parameters Assembly Description Stepper Controller 2 Instance a Input fi 00 fi 0 a 16 bit a Output fiso fio Comm Fomat Data INT xl Configuration p 8 bit Address Host Name P Address 192 168 0 50 Status Input Host Name Status Output Cancel Back Next gt L Fin
43. when SD17060E is operating without a fault 0 when an internal fault condition exists Configuration Error Bit 1 on power up before a valid configuration has been written to the SD17060E or after any invalid configuration has been written to the driver 0 when the SD17060E has a valid configuration written to it NOTE gt When Command Mode bit 13 of word 0 is set to 1 when there is a configuration error When in Configuration Mode bit 13 of word 0 is set to 1 when stall detection is enabled Bit 12 When using the state of bit 13 of word 0 in your logic always include the state of bit 15 of word 0 to assure that you are only acting on the bit when in the proper mode Command Error Bit 1 when an invalid command has been written to the SD17060E This bit can only be reset by the Reset Errors bit Command Bits MSW Bit 10 Note that setting the motor current to a value outside the range of 1 0 to 6 0 amps does not force a command error The SD17060E simply ignores the new value and uses the value programmed when the unit was in Con figuration Mode 88 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT s Input Data Format continued Status Word 1 Format continued Bit 11 Input Error Bit 1 when gt Emergency Stop input has been activated gt Either of the End Limit Switches activates during any move operation except for homing gt Starting a Manua
44. wireless connections and the SD17060E is not attached to the port configured as the default gateway If the scan does not work you can manually connect to your SD17060E if you know its IP address Click on the Manual Connect button enter the IP address into the Enter IP Address field and press Connect The factory default address of 192 168 0 50 is the default address of the field Whether you scan or manually connect you will end up at the screen shown in figure 5 3 below A Device Properties General D17060E Connection m x Danone Allow IP configuration changes You will need to restart the device Change IP Configuration Connection Status Connected New IP Address 8 8 8 8 Enter IP Address 192 168 8 58 Subnet Mask 8 8 8 8 MAC Address 00 90 C2 C0 03 ED Default Gateway 8 8 8 8 Device Identity Device Setup Name SD17060E v99 Vendor Advanced Micro Controls Inc 10 EtherNet IP Product Type Communication Adapter 12 Product Code 5 Major Rev 2 Minor Rev 4 m ADVANCED E vcro controts inc Figure 5 3 SD17060E Scan Results You start with the General tab showing The left half of this tab gives you information on the SD17060E that you are connected to The right half of the window allows you to change the IP address and select the active protocol of the SD17060E If you want to change this information you must first allow edits
45. you switch to Command Mode with the same bit set the command will not occur because the bit must transition between writes to the unit Output Data Format The following table shows the format of the output network data words when writing command data to the SD17060E EtherNet IP Modbus TCP Function Word Register 0 Command Bits MSW 1 Command Bits LSW 2 3 4 Command Parameters 2 Word meaning depends 6 onthe command set 7 to the SD17060E 8 9 Figure 9 2 Command Data Format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 75 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMAT Command Bits MSW Command Bits MSW 15 14 13 12 11 10 09 08 07 06 05 04 02 01 00 212 5 Figure 9 3 Command Bits MSW Format Bit 15 Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming The Bit 14 Bit 13 SD17060E powers up in Command Mode and shows a configuration error Hexadecimal value of 6408h The SD17060E will not power the motor or accept commands until a valid configuration is written to it Preset Encoder Bit When set to 1 the SD17060E will preset the Encoder Position to the value stored in Output Words 2 and 3 Run Assembled Move When set to 1 the SD17060E will run the Assembled Move already stored in memory gt Assembled Move T
46. 0 Deceleration Steps ms sec 1 to 5000 10 to 60 even numbers only Motor Current 0 1 A Represents 1 0 to 6 0 ARMS Acceleration Jerk 0 to 5000 Table 9 8 Manual Move CW Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command 2 3 4 5 6 7 8 9 82 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT s Command Blocks continued Registration Move CW EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0080 See pg 77 Bits 7 amp 6 must equal 10 Stopping Distance Upper Word Steps Combined value between Stopping Distance Lower Word 0 and 8 388 607 Programmed Speed Upper Word Command Bits LSW Sree Combined value between S M the Configured Starting Programmed Speed Lower Word 99021 Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Min Reg Move Distance Upper Word Combined value between Steps Min Reg Move Distance E 0 and 8 388 607 Lower Word Table 9 9 Registration Move CW Command Block Manual Move CCW EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16320100 See pg 77 Command Bits LSW Bits 7 amp 6 must equal 00 Unused See Note Below Function Unused See Note Below Programmed Speed Upper Word Combined value between Steps Secon
47. 060E will be lost when power is removed from the driver If you select yes the data is stored in Flash memory and the SD17060E will load the configuration on power up and enter command mode This eliminates the need to write configuration data to the SD17060E on every power up You can override the stored configuration by writing new configuration data to the unit at any time If you do select to write the configuration data to Flash the software will tell you if the write was successful or not and remind you to cycle power to the driver before continuing 56 ADVANCED MICRO CONTROLS INC NETWORK CONFIGURATION Ley Using the Ping Command The easiest way to test the address of the SD17060E when it is in your network is with the ping command Before you can use the command you have to be sure the SD17060E and your computer are still on the same subnet For example if the new address of the SD17060E is 192 168 0 42 and your computer has and address of 192 168 0 1 with a subnet mask of 255 255 255 0 then the two pieces of equipment are on the same sub net In this case the first three numbers of the IP address must match If the new address of the SD17060E is 192 168 50 50 then the computer and SD17060E not on the same subnet and you must go back into the Network Configuration panel and change your adapter s TCP IP settings Refer back to the Configure Your Network Interface Card NIC section of this chapter starting on pag
48. 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality earth ground connection is not available at the sensor the shield can be grounded to the same Ground Bus as the SD17060E DC Sinking Sensor SENSOR POWER Run a seperate wire from the power supply to each sensor Do Not daisy chain power from one sensor to the next CABLE SHIELD 5Vdc to 24Vdc solated Power SINKING Pca SENSOR QUT same supply to L power all inputs Grounding Strap maybe INPUT n TG M by local safety INPUT n SD17060E INPUT CONNECTOR GROUND THE SHIELD OF THE SENSOR CABLE 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality earth ground connection is not available at the sensor the shield can be grounded to the same Ground Bus as the SD17060E Figure 4 5 Input Wiring 48 Input Specifications Differential 1500 Vac dc opto isolated Can be wired as single ended inputs Accepts 3 5 to 27Vdc without the need for an external current limiting resistor IN o e Input Optocoupler Figure 4 6 Simplified Input Schematic Because they are low power signals cabling from the sensor to the SD17060E should be done using a twisted pair cable with an over all shield The shield should be grounded
49. 24 Subnet Mask 255 255 8 Default Gateway Figure 5 1 ipconfig Command 52 ADVANCED MICRO CONTROLS INC NETWORK CONFIGURATION Ley Configure Your Network Interface Card NIC continued If your present address is not in the 192 168 0 x range type in ncpa cpl at the command prompt and hit Enter on the keyboard gt this opens the Network and Dial up Connections window Right click on the appropriate inter face and select Properties from the menu This will open the Properties windows for the selected interface Click on the Internet Protocol TCP IP component and then click on the Properties but ton gt For Vista and Windows 7 this open the Network Connections window Double click on the appropriate interface In the window that opens select Internet Protocol Version 4 TCP IP v4 from the list and then click on the Properties button Set the address and subnet mask to appropriate values 192 168 0 1 and 255 255 255 0 will work for an SD17060E with factory default settings The default gateway and DNS server settings can be ignored Attach the SD17060E The next step in configuring the SD17060E is attaching it to your computer Any Cat5 5e or 6 cable can be used You can attach the SD17060E directly to your computer or use a network switch The SD17060E has an auto switch port which eliminates the need for a crossover cable in direct connect applications Once the cables are attached
50. 28071 All Inputs The input is not used in any functions of the SD17060E but it s status is reported in the Network Data This allows the input to be used as a discrete DC input to your controller CW Limit Inputs CCW Limit Inputs Start Indexed Move Inputs Start Indexed Move Capture Encoder Value Input 3 when Inputs 1 amp 2 are configured as quadrature encoder inputs The encoder position value is captured whenever Input 3 transitions An inactive to active state transition will also trigger an Indexed Move if one is pending in the SD17060E Stop Manual or Registration Move Inputs Stop Manual or Registration Move Capture Encoder Value Input 3 when Inputs 1 amp 2 are configured as quadrature encoder inputs The encoder position value is captured when Input 3 triggers a controlled stop to a Manual or Registration move Emergency Stop Inputs Home Inputs when using discrete sensors Input 3 only when using quadrature encoder Use this configuration value when homing to the Z Pulse of an encoder Quadrature Encoder Input Inputs 1 and 2 only Input 1 is channel A Input 2 is channel B Table 8 3 Configuration Mode Control Word Format NOTE gt When using a quadrature encoder you must set bit 10 the Quadrature Encoder Enable Bit in addition to programming the inputs to accept quadrature signals You must also program the Encoder
51. 584 1973 http www amci com V MOTION CONTROL Acceleration amp Deceleration continued Acceleration Jerk The Jerk parameter controls the type of acceleration used by the SD17060E during the move When Jerk 0 Constant acceleration is used The driver will Constant Acceleration accelerate the motor at a constant rate until the programmed speed is reached This type of acceleration will reach the pro grammed speed the fastest but changes in acceleration at the velocity beginning and ending of the acceleration period are abrupt Time This may cause problems in systems with large inertial loads Acceleration Time Figure 2 1 Constant Acceleration When Jerk 1 Triangular S Curve acceleration is used The Triangular S Curve Acceleration driver will accelerate the motor at a constantly changing rate until the programmed speed is reached This type of accelera tion will be the slowest reaching the programmed speed but velocity it offers the smoothest acceleration Time Acceleration i gt Time Figure 2 2 Triangular S Curve Acceleration When the Jerk parameter is programmed in the range of 2to Trapezoidal S Curve Acceleration 5000 Trapezoidal S Curve acceleration is used In this accel eration type the acceleration changes smoothly at the begin ning and the ending and accelerates linearly during the mid portion of the acceleration time The value of the Jerk parame Velocity A
52. C ABOUT THIS MANUAL Revision Record This manual 940 0S094 is the fifth revision of this manual It adds additional information specified by an update to the product s UL file E231137 as well as saving configuration and blend move data to Flash and the heartbeat bit in the Network Input Data It was first released April 19 2013 Revision History 940 0S093 Added Hybrid Control and Modbus TCP protocol 940 0S092 Added Registration Move Dwell Move and Indexed Move Type 940 0S091 Corrects typographical errors and adds note that the motor remains under power when E Stop input is activated 940 0S090 Initial Release To Go From Here This manual contains information that is of interest to everyone from engineers to operators The table below gives a brief description of each chapter s contents to help you find the information you need to do your job CHP Title Intended Audience INTRODUCTION TO THE SD17060E Anyone new to the SD17060E This chapter gives a basic over view of the features available on the unit typical applications and electrical specifications MOTION CONTROL Anyone that needs detailed information on how the driver can be used to control motion in your application GENERAL INSTALLATION GUIDELINES Anyone new to installing electronic controls in an industrial envi ronment The chapter includes general information on grounding wiring and surge suppr
53. CT 06786 89 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMAT Input Data Format continued Status Word 2 Format Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Status Word 2 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 210 WS S 5E a m s E o 38 232 SEM ool 2S2 5 2 2 2 Figure 9 6 Command Mode Status Word 2 Format Driver Enabled Bit Set to 1 when the motor driver section of the SD17060E is enabled and rent is available to the motor Set to 0 to remove current from the motor If this bit is set to 1 the motor current remains present when an E Stop input is active Motor current is removed if there is a Driver Fault Bit 7 below regardless of the state of this bit Motor current is also removed if the motor is idle and Idle Current Reduction is programmed to its To 0 setting Motor Stall Detected Bit Set to 1 when a motor stall has been detected Output 1 State Bit Present actual state of Output 1 When this bit is set to 1 the output is in its on state and conducts current Reserved Bit Will always equal zero 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 tha
54. EED Starting Speed POSITION 5 000 16 000 Figure 2 14 Encoder Move Controlled Stop Conditions gt The move completes without error gt You toggle the Hold Move control bit in the Network Output Data Note that your holding position will most likely not be the final position you commanded You can resume a held Encoder Move by using the Resume Move bit The use of the Hold Move and Resume Move bits is explained in the Control ling Moves In Progress section starting on page 33 20 Gear Drive Plymouth Ind Park Terryville CT 06786 27 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL Encoder Moves continued Immediate Stop Conditions gt The Immediate Stop bit makes a 0 1 transition in the Network Input Data gt A positive transition on an input configured as E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued Assembled Moves of the moves explained so far must be run individually to their completion or be stopped before another move can begin SD17060E gives you the ability to assemble more complex moves from a series of rel ative moves that a
55. ERI mum screw lengths must be observed to cundcm prevent a screw from f 8 LH B He 6 15 shorting to the PC He 8 6 71 156 2 B Hej ES 170 4 Board EARTH GND H a 4 000 Ex 101 60 a 7 00 second method is by Acme 14 3 177 8 the mounting tabs Rog Mounting tabs are for 6 screws POWER O a Y NOTE AS POWER iu 95 132 Vac a N 50 60 Hz 1 073 There are airflow holes Lana LJ 27 25 1 in the top and bottom of the enclosure To ensure A ff adequate convectional 0 152 L 0 60 152 lorenzo airflow the driver must 9 6 4 000 22 23 i 1 iid 25 40 4 00 101 6 be mounted in the orien 25 40 tion sh in the draw Figure 4 1 5017060 Outline Drawing Airflow and Wiring Space To ensure adequate airflow and wiring space you need two inches 50 mm of space above and below the driver one and one half inches 37 mm of space to the left and right of the driver and one inch 25 mm of space in front of the driver These dimensions are typical for convectional cooling If you have an active cooling system such as enclosure fans you will be able to mount the drivers closer together 20 Gear Drive Plymouth Ind Park Terryville CT 06786 43 Tel 860 585 1254 Fax 860 584 1973 http www amci com 4 INSTALLING THE SD17060E Grounding and Powering
56. Format Configuration Mode Control Word Format Word 0 When the Configuration data is valid and accepted this word mirrors the value of the Control Word written to the SD17060E When the SD17060E is not configured or the data written to it is invalid then this word has the same format of Status Word 1 when the SD17060E is in Command Mode This format is explained in the Status Word 1 Format section starting on page 88 On power up the value of this word will be 6408h NOTE gt When in Configuration Mode bit 13 of word 0 is set to 1 when stall detection is enabled When in Command Mode bit 13 of word 0 is set to 1 when there is a configuration error When using the state of bit 13 of word 0 in your logic always include the state of bit 15 of word 0 to assure that you are only acting on the bit when in the proper mode Invalid Configurations The following configurations are invalid 1 Setting any of the reserved bits in the configuration words 2 Setting any parameter to a value outside of its valid range This includes setting the Lower Word of the Starting Speed to a value greater than 999 3 You configure two or more inputs to have the same function such as two CW Limit Switches 4 You configure the SD17060E to use an encoder but you do not configure Inputs 1 and 2 as Quadrature Encoder Inputs 5 You configure the SD17060E to use an encoder but you do not set the Encoder Pulses Turn value in word 6 6 Se
57. K _ B B EARTH GND At INTERLOCK Motor Case 2 PEN Motor Case Interlock Jumper Four Lead Connected INTERLOCK B CTAP B B EARTH GND A _ INTERLOCK LEAD MOTOR Motor Case 1 N N as lu a Motor Case Interlock Jumper Eight Lead Parallel Connected INTERLOCK _ B D EARTH GND he At QD INTERLOCK Six Lead Center Tap Connected B B 0 EARTH GND INTERLOCK _ O A At D INTERLOCK Motor Case Figure 4 4 Motor Wiring Motor Case Interlock Jumper 1 Refer to the torque vs speed curves on your motor s specifications sheet to determine if you should wire the motor to the SD17060E in series parallel of center tap configurations 2 Motor connections should be tight Loose connections may lead to arc ing which will heat the connector Phoenix Contact specifies a tighten ing torque of 4 4 to 5 4 Ib in 0 5 to 0 6 Nm 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 47 4 INSTALLING THE SD17060E I O Wiring Input Wiring Figure 4 5 below shows how to wire discrete DC differential sourcing and sinking sensors to Inputs 1
58. Low Configuration Words 2 to 9 Starting Speed 1 to 1 999 999 100 Motor Steps Turn 200 to 32 767 1000 Hybrid Control Gain 0 1 2 or 3 Send Configuration Encoder Pulses Turn 0 to 32 767 Read Current Configuration Idle Current Percentage 0 to 100 Motor Current 0 1 Amps 10 to 60 Current Loop Gain 1 to 40 Save to File Read From File Note Write or Read Configuration Motion Test Preset Encoder Run BLEND PRG Blend Reset Errors Preset Position Manual Manual HOME cw Immed Stop Resume Move Hold Move Relative Move Absolute Move Command Word 1 Hybrid BlendDirection Encoder Move Electronic Gearing Indexed Move Dwell Move Output State Clear HW Fault EUN Command Words 2 to 9 Position 8 388 607 1000 Status Word 0 4408 HEX Velocity 1 2 999 999 2000 Status Word1 2000 HEX DISABLE POWER Acceleration 1 5000 50 Current Possition 0 DEC Deceletarion 1 5000 50 Encoder Possition 0 DEC 0 Close Help Figure 5 5 Motor Control Tab Screen gt The format of configuration and command data is covered in chapters 8 and 9 of this manual gt The Send Configuration button will write the configuration data SD17060E Once this is done the unit will ask you if you also want to save the configuration data to Flash memory If you select no the configuration data you just wrote to the SD17
59. S INC TABLE CONTENTS Chapter 6 EtherNet IP Configuration Format continued RSLogix 5000 Configuration 59 Command Blocks 4 2 22 79 Configure Bridge Absolute Move 79 Module As Needed 59 Relative Move 79 Configuring a Built in Hold Moye ii entem 80 Ethernet Port As Needed 60 Resume Move 80 Adding the SD17060E 60 Immediate Stop 81 Error Code 1640109 61 Find Home CW 81 RSLogix 500 Configuration 61 Find Home 82 Using Message Instructions Manual Move CW 82 in MicroLogix 1100 PLC 61 Registration Move CW 83 Troubleshooting 65 Manual Move CCW 83 Chapter 7 Modbus TCP CONFIGU Encoder Follower Move rcs 84 RATION Preset Position 85 SD17060E Memory Layout 67 Reset Brttors 85 Supported Modbus Functions 68 Run Assembled Move 86 Supported Modbus Exceptions 68 Preset Encoder Position 86 Chapter 8 Configuration Mode E ics Blocks 87 Data Format Segment Block 87 M
60. SD17060E The SD17060E will not use the new configuration settings until the next time it powers up Testing the New Address If you changed the address of the SD17060E to a new subnet then change your NIC s address to be on the same subnet Once this is done apply power to the SD17060E When the unit finishes its power up sequence press the Scan button and re connect to the unit Use this step will verify the new address and Network Pro tocol settings ETE SSS SSS EEE ry 20 Gear Drive Plymouth Ind Park Terryville CT 06786 55 Tel 860 585 1254 Fax 860 584 1973 http www amci com l NETWORK CONFIGURATION Using the AMCI NET Software continued SD17060E Tab When you connect to the SD17060E a second tab is added to the window that allows you to read configura tion data and send configuration and command data to the unit A Device Properties General SD17060E Configuration Configuration Word 0 8000 HEX Input 1 Configuration Input 2 Configuration Input 3 Configuration i Stall Detection Home Proximity Quad Encoder HometoZ pulse General Purpose Input 7 General Purpose Input General Purpose Input Configuration Word 1 0007 HEX Levels of the Inputs Output 1 Functionality Output 1 on Network Lost Output 1 State on Network Cren Lost Input 1 T Input 2 T Input 3 Fault Output C GPO Lastvalue bit12 eo High Low Hight Low High
61. T Notes on Clearing a Driver Fault A Driver Fault occurs when there is an over temperature condition a short circuit condition in the motor or the Interlock jumper is missing As stated in the Using the Interlock for Emergency Stops section on page 46 if your SD17060E is revision 5 6 or greater then the interlock can be used as a way to disable the motor current through hardware When a Driver Fault occurs the SD17060E sets bit 7 of Status Word 2 in the Network Input Data See Sta tus Word 2 Format on page 90 for a full description of Status Word 2 Once you have cleared the fault con dition you can reset the Driver Fault with the following Command Block Reset Driver Fault EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0400 Command Bits LSW 16 0400 Jnused See Note Below Jnused See Note Below nused See Note Below nused See Note Below nused See Note Below Unused See Note Below Unused See Note Below Olo NIDAN MN BR WI NI e Unused See Note Below Table 9 20 Reset Driver Fault Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command Once the command block is accepted by the SD17060E it will respond by resetting bit 7 in Status Word 2 of the Network Input Data NOTE gt After this procedure there will still be no current to the motor This is because the Driver Enabl
62. To Control System y Figure 3 2 Surge Suppression on Power Inputs 20 Gear Drive Plymouth Ind Park Terryville 06786 39 Tel 860 585 1254 Fax 860 584 1973 http www amci com ki GENERAL INSTALLATION GUIDELINES Surge EMI Suppression continued Inductive Loads NOTE All inductive devices in the system such as and DC motors motor starters contactors relays and solenoids must have surge suppression devices installed across their coils NOTE gt Because the SD17060E is responsible for commutating the stepper motor surge suppressors cannot be installed at the motor connector The best way to avoid noise issues when using a stepper motor is proper cable installation Keep the motor wires as short as possible Consider twisting the winding pairs together to minimize radiated noise Use shielded cable if you must extend the cable and tie the shield to earth ground at the SD17060E motor connector only System Environment When designing the physical layout of your system it is important to review the environment your control system will be placed in This should include reviews of both the physical and electrical environments gt Check the quality of the AC power that will feed the machine gt Check for adequate surge suppression on machines that will be near your new system A review of the electrical environment includes checking the quality of the AC power that will feed your new system as well a
63. Val ues for this parameter range from 0 no holding torque when idle to 100 Idle current reduction should be used whenever possible By reducing the current you are reducing the PR losses in the motor Therefore the temperature drop in the motor is exponential not linear This means that even a small reduction in the idle current can have a large effect on the temperature of the motor Note that the reduction values are to values not by values Setting a motor current to 4Arms and the current reduction to 25 will result in an idle current of 1Apk The SD17060E always switches from RMS to peak current control when the motor is idle to pre vent motor damage due to excessive heating Current Loop Gain This feature gives you the ability to adjust the gain of the power amplifiers in the SD17060E to match the electrical characteristics of your motor The value of this parameter can range from 1 to 40 with 40 represent ing the largest gain increase In general using a larger gain will increase high speed torque but the motor will run louder A lower gain will offer quieter low speed operation at the cost of some high speed torque The use of this feature is completely optional and you can leave the Current Loop Gain at its default setting of 1 for standard motor performance Assuming a stable line voltage of 115Vac the following gains can be used for AMCI motors These gain set tings are factory suggestions and are averag
64. ach the Programmed Speed The second move is with low acceleration deceleration rates that do not allow the move to reach the Programmed Speed before deceleration must occur First Second Final Position Final Position Programmed Speed SPEED Starting Speed POSITION 5 000 12 500 20 000 Figure 2 13 Absolute Moves NOTE gt 1 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 2 Absolute Moves allow you to move your machine without having to calculate relative posi tions If you are controlling a rotary table you can drive the table to any angle without hav ing to calculate the distance to travel For example an Absolute Move to 180 will move the table to the correct position regardless of where the move starts from 26 ADVANCED MICRO CONTROLS INC MOTION CONTROL Pd Absolute Move continued Controlled Stop Conditions gt The move completes without error gt You toggle the Hold Move control bit in the Network Output Data Note that your holding position will most likely not be the final position you commanded You can resume a held Absolute Move by using the Resume Move bit The use of the Hold Move and Resume Move bits is explained in the Control ling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network In
65. al of the SD17060E s Motor Connector Interlock Wiring The motor interlock is designed to prevent 170 Vdc power from being supplied to the motor connector unless its mate is installed As shown in figure 4 3 above a short wire has to be installed between the two outer pins of the mating connector or the motor will not receive power when it is plugged into the SD17060E Using the Interlock for Emergency Stops Prior to revision 5 6 the Interlock terminals were meant solely as a safety feature not an alternate way to dis able the motor AMCI strongly suggested only using a short jumper to connect these pins and not running this connection through relay contacts With the release of revision 5 6 the Interlock circuitry has been redesigned and it is now possible to use the Interlock terminals as an alternative way of disabling motor current This is accomplished by wiring the two pins through a mechanical contact The wires to the Interlock pins should be kept as short as possible which means using a mechanical relay in the cabinet that houses the SD17060E if you need to control the Interlock from a source outside the cabinet Only mechanical relays should be used The voltage between the two interlock pins will never exceed 5Vdc but 115Vac may be present between either of the two interlock pins and either of the power supply pins When the SD17060E detects a break in the Interlock wiring it will issue a Driver Fault error This error is lat
66. and the Registration Move The figure below shows how the Minimum Registration Move Distance parameter affects when the Stop Condition is applied to the move As shown in the second diagram Controlled Stop conditions are level triggered not edge triggered If a Controlled Stop Condition occurs before the Minimum Registration Move Distance is reached and stays active the move will begin its controlled stop once the Minimum Registration Move Dis tance is reached Controlled Stop Condition SPEED POSITION E Min Registration Programmed Move Distance Number of Steps Controlled Stop Condition SPEED POSITION Min Registration Programmed Move Distance Number of Steps Figure 2 11 Min Registration Move Distance 24 ADVANCED MICRO CONTROLS INC MOTION CONTROL 2 Registration Move continued Controlled Stop Conditions gt The Registration Move Command bit is reset to 0 gt A positive transition on an input configured as a Manual Move Stop Input NOTE gt Starting a Registration Move with a Manual Move Stop Input in its active state will result in a move of Minimum Registration Distance Programmed Number of Steps gt You toggle the Hold Move control bit in the Network Output Data The SD17060E responds by using the programmed Deceleration value to bring the move to a stop without using the programmed Pro grammed Number of Steps A Registration Move does not go into the Hold State if th
67. and two bits in the Network Input Data Blend and Dwell Moves are programmed in exactly the same way When you start the move there is a bit in the command data that determines which type of Assembled Move is run In the case of a Blend Move the signs of the segment s Target Positions are ignored and all segments are run in the same direction In the case of a Dwell Move the signs of the segment s Target Positions determine the direction of the segment and the programmed Dwell Time is written to the SD17060E with the command Control Bits Output Data gt Program Move bit Set this bit to tell the SD17060E that you want to program a Blend or Dwell Move Profile The SD17060E will respond by setting the Move Program Mode bit in the Network Input Data At the beginning of the programming cycle the SD17060E will also set the Transmit Move Segment bit to signify that it is ready for the first segment gt Program Move Segment bit Set this bit to tell the SD17060E that the data for the next segment is available in the remaining data words Save Assembled Move bit Set this bit if you want to store the Assembled Move in Flash memory so it is available on every power up Setting this bit is optional and is only acted upon when the Program Move bit makes a 1 gt 0 transition Control Bits Input Data Move Program Mode bit The SD17060E sets this bit to tell you that it is ready to accept segment pro gramming data in the remain
68. anual you will also find blue text that functions as a hyperlink in HTML documents Clicking on the text will immediately jump you to the referenced section of the manual If you are reading a printed manual most links include page numbers The PDF file is password protected to prevent changes to the document You are allowed to select and copy sections for use in other documents and if you own Adobe Acrobat version 6 0 or later you are allowed to add notes and annotations Manual Conventions Three icons are used to highlight important information in the manual NOTE gt NOTES highlight important concepts decisions you must make or the implications of those decisions 7 CAUTION CAUTIONS tell you when equipment may be damaged if the procedure is not followed properly WARNINGS tell you when people may be hurt or equipment may be damaged if the pro cedure is not followed properly The following table shows the text formatting conventions Format Description Normal Font Font used throughout this manual Emphasis Font Font used the first time a new term is introduced When viewing the PDF version of the manual clicking on ross Referen Cross Reference the cross reference text jumps you to referenced section Trademark Notices The logo is a trademark of Advanced Micro Controls Inc All other trademarks contained herein are the property of their respective holders 8 ADVANCED MICRO CONTROLS IN
69. arth to improve noise immunity of the device For the AMCI SD17060E the Protective Earth Connection is any mounting surface of the unit The Func tional Earth Connection of the SD17060E is the ground terminal GND on the power connector Grounding Electrode System The Grounding Electrode System is the common name for the building s earth ground infrastructure This system defines earth ground potential within a building and is the central ground for all electrical equipment Ground Bus strongly suggests the use of a ground bus in each system enclosure The ground bus is simply a metal bar with studs or tapped holes for accepting grounding connections in the enclosure The ground bus is the only component in the enclosure that is directly connected to your Grounding Electrode System Therefore the ground bus is becomes the central grounding point for the enclosure and its equipment 20 Gear Drive Plymouth Ind Park Terryville CT 06786 37 Tel 860 585 1254 Fax 860 584 1973 http www amci com ki GENERAL INSTALLATION GUIDELINES Grounding continued Grounding Electrode Conductor Connection of the ground bus to the Grounding Electrode System is GROUND BUS Int to Encl made with the Grounding Electrode Conductor The Grounding Central Grounding Point for GROUNDING Encl d ALL of its Equi t Electrode Conductor should be the shortest length of stranded wire 0 70105 mmm or braid possible
70. ase note that the Data Table Address Receive field may be different in your application 3 MSG MG11 0 1 Elements NIE General MultiHop Send Data Receive Data r This Controller Control Bits Channel Ignore if timed out 0 0 Communication Command Break Connection D Data Table Address Receive Awaiting Execution Ew 0 Size in Bytes Receive Send Target Device Message done DN 0 Message Timeout 5 Message Transmitting ST 0 Message Enabled EN 0 Local Remote ves Extended Routing Info File RIX Enor Service Service Code E Error Code Hex 0 Class hex 4 decl ha Instance hex Attribute hex deck Error Description No errors Figure 6 7 Read Message Instruction Setup Screen 20 Gear Drive Plymouth Ind Park Terryville CT 06786 63 Tel 860 585 1254 Fax 860 584 1973 http www amci com EtherNet IP CONFIGURATION RSLogix 500 Configuration continued Using Message Instructions in a MicroLogix 1100 PLC continued The figure below show a typical configuration for Message Instructions being used to write data from a SD17060E Please note that the Data Table Address Send field may be different in your application MSG MG11 1 1 Elements j MultiHop Send Data Receive Data Control Bits Ignore if timed out TQ o This Controller Channet Communi
71. ber tag You do not have to enter the characters when entering the address on the screen You must also enter the IP address that the SD17060E presently has This is 192 168 0 50 by default The hostname and Description fields can be left blank Click OK 2 Apply power to the SD17060E and wait for the Unit Status LED to come on solid green and 9 TOP VIEW the Network Status LED to be flashing green OO 3 Click on your new entry in the Relation List O This will activate the buttons in the pane Click 2751099 on the Enable BOOTP button The message 1 STATUS LED S Enable BOOTP Command successful be Network Status should appear instantly in the status line at the eae bottom of the window Figure A 3 shows the Not Used state of the RA Bootp Server software at this j point Figure A 2 Network LED s BOOTP DHCP Server 2 3 File Tools Help Request History Clear History hrmin sec Ethernet Address MAC IP Address Hostname Relation List New Delete Enable DHCP Disable BOOTP DHCP Ethernet Address MAC Type IP Address Hostname Description 00 50 C2 C0 03 ED 192 168 0 50 Status Entries Enable BOOTP Command successful 1 of 256 Figure A 3 Bootp Enabled 4
72. bit 9 The SD17060E resets the Move Program Mode bit and the Transmit Blend Move Segment bit If the Save Assembled Move bit was set when the Program Move bit made a 1 gt 0 transition the segments will be saved in Flash memory and the SD17060E will flash the Status LED green if successful or red if there was an error Power must be cycled to the SD17060E before the drive will accept additional commands 20 Gear Drive Plymouth Ind Park Terryville CT 06786 31 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL 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 three inputs instead of a command from the network If the Indexed Move bit is set when the command is issued the SD17060E will not run the move until the configured input makes an inactive to active transi tion This allows you to run time critical moves that cannot be reliably started from the network because of messaging time delays gt gt The input must be configured as a Start Indexed Move Input The move begins with an inactive to active transition on the input An active to inactive transition on the input will not stop the move The move command must stay in the Network Output Data while performing an Indexed Move The move will not occur if you reset the command word before the input triggers the move The state of the input is ignored onc
73. cal electrical codes or in the United States the National Electrical Code published by the National Fire Protec tion Association If any conflicts exist local and national codes must be followed It is the responsibility of the user to determine what installation practices must be followed to conform to all local and national codes Safety is the single most important objective of any electrical installation The system must be safe to use and it must be able to detect unsafe conditions and remove power when these conditions occur The second important objective of an electrical installation is proper and consistent operation Proper opera tion can be achieved through gt Proper Grounding gt Suppression of electrical noise generated by the machine gt Suppression of electrical noise coming in from the environment Other machines power surges etc Grounding Proper grounding is the single most important consideration for a safe installation Proper grounding also ensures that unwanted electrical currents such as those induced by electromagnetic noise will be quickly shunted to ground instead of flowing through the machine Earth ground connections on electronic controls are one of two types gt Protective Earth Connection Point that must be tied to Earth for the safe operation of the device Protection against electric shock should the device be damaged gt Functional Earth Connection Point that must be tied to E
74. cation Command CIP Generic Break Connection BK 0 Awaiting Execution EW Send Size in Bytes Receive Sendt p Error ER 0 Target Device Message done 0 Message Timeout 5 Message Transmitting ST 0 Message Enabled EN 0 Local Remote MultiHop Extended Routing Info File Alx Error Service fwrite Assembl Service Code hex Error Code Hex 0 Class hex dec 8 Instance hex Attribute hex decl Error Description No errors Figure 6 8 Write Message Instruction Setup Screen Click on the MultiHop tab on the top of the window As shown in figure 6 9 enter the IP address of the SD17060E and press Enter 3 MSG Rung 2 0 MG11 0 General Send Data Receive Data Ins Add Del Remove Hop 1921680050 This MicroLogix Ethene P Device str Figure 6 9 Message Instruction MultiHop Settings After you are finished adding both the read and write message instructions to your program save and down load the program to the PLC ADVANCED MICRO CONTROLS INC 64 EtherNet IP CONFIGURATION e RSLogix 500 Configuration continued Using Message Instructions in a MicroLogix 1100 PLC continued Troubleshooting If you are unable to communicate with the SD17060E the problem may be that the Ethernet port of your MicroLogix 1100 has not been configured To check this double click on Channel Configurati
75. ce SD17060E TOP VIEW OO OSE 24 as OOQQ STATUS LED s 000ppDo mae Link Status Not Used Figure 1 2 Ethernet Port Location Network Status LED s The status LED s indicate the health of the network connection between the SD17060E and its host The Sta tus LED on the front of the unit indicates the state of the SD17060E itself The meaning of the Network Sta tus LED depends the protocol the SD17060E is configured to use gt Network Status EtherNet IP Indicates the status of the connection between the SD17060E and its host This LED will briefly flash red on power up while the SD17060E is initializing It will flash green when the SD17060E has an IP address but valid configuration data has not yet been written to the driver It is on steady green when a connection is established and valid configuration data has been written to the SD17060E It will be on steady red if there is an IP address conflict or flash red if an established network connection is lost gt Network Status Modbus TCP Indicates the number of TCP connections to the SD17060E This LED will briefly flash red green on power up while the SD17060E is initializing It will flash green when a TCP connection is made to the driver The number of flashes indicates the number of active
76. ched and can only be cleared after the interlock connection is re established The fault can be cleared over the network by following the procedure outlined in Notes on Clearing a Driver Fault which starts on page 92 or by cycling power to the driver 46 ADVANCED MICRO CONTROLS INC INSTALLING THE 5017060 4 Connecting the Motor continued Motor Wiring The SD17060E will work with many different motors including those not sold by AMCI This section assumes that you have already chosen your motor and you are looking for wiring information No wire colors are given in the figures below because there is no single industry wide color coding scheme for stepper motors You must refer to your motor data sheets for this information A wiring document for all of the motors ever sold by is available on our website This single docu ment contains all of the information necessary to connect any AMCI motor to any AMCI driver At the time of this manual revision the wiring manual can be found in the PDF Documents section of the website It is under the Stepper Motor heading and link is simply called wiring Figure 4 4 shows how to wire a motor to the SD17060E in series parallel or center tap configurations Eight Lead Series INTERLOCK B CTAP B B EARTH GND A A ACTAP INTERLOCK 965999999 Motor Case 7 Interlock Jumper Six Lead Series Connected INTERLOC
77. chsupport amci com ADVANCED MICRO CONTROLS INC TABLE OF CONTENTS General Information Chapter 2 Motion Control Important User Information 2 continued Standard Warranty 2 Available Inputs 18 Returns Policy 2 Home Input 18 24 Hour Technical Support Number 2 poco d 19 We Want Your Feedback 2 Start Indexer Move Input 19 About this Manual Emergency Stop Input 19 Audience ouis vitri ERR RUE T Stop Manual or Registration Applicable Units eese 7 Move Input 19 Eirnware 8 9 and above 7 Encoder Feedback eene 19 Firmware 6 8 and below 7 Capture Encoder Position Input 20 Firmwares 6 ani below ous 7 General Purpose Input 20 D12100046 and below 8 Defining Home Position 20 D06100061 and below 8 Position Preset Command 20 Navigating this Manual 8 2 dui ou 20 Mane Conventions j Manual Move enn 23 Trademark Notices 8 Controlled Stop Conditions 23 Revision Record 24222 9 Immediate Stop Conditions 23 Revision History 9 Registration Move
78. cing resonance problems with this feature enabled disable this feature and test the machine again Bit 13 Stall Detection Enable Bit 0 disables motor stall detection 1 enables motor stall detection Only valid when an encoder is used and attached to the motor controlled by the SD17060E The encoder pulses turn must also be programmed Bit 11 Home Proximity Bit Enable Bit 0 when Home Proximity bit is not used when homing the SD17060E 1 when the Home Proximity bit is used when homing the SD17060E Note that this bit is not the Home Proximity Bit but enables or disables its operation Do not use the Home Prox imity bit if you only want to home to the Home Limit Switch Leave this bit equal to 0 Bit 10 Quadrature Encoder Enable Bit 0 when Quadrature Encoder is not used 1 to enable a Quadrature Encoder When using a Quadrature Encoder you must program Inputs 1 and 2 to accept quadrature signals and enter a value in Word 6 for the Encoder Pulses Turn parameter in addition to setting this bit Bit 9 Reserved Must equal zero 70 ADVANCED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT Output Data Format continued Control Word Format continued Bits 8 6 Input 3 Configuration Bits See Table Below Bits 5 3 Input 2 Configuration Bits See Table Below Bits 2 0 Input 1 Configuration Bits See Table Below Function General Purpose Input PNET Ele
79. connections The SD17060E supports a maximum of three concurrent connections There is a two sec ond pause between flashes to make it easy to count the number of connections This LED will flash red if an established TCP connection is lost gt Unit Status Indicates the status of the connection between the SD17060E and its Ethernet daughter board This LED will briefly flash red on power up while the SD17060E is initializing It will be green and on steady when the Ethernet daughter board and the rest of the SD17060E are communicating cor rectly gt Link Status On when there is a physical link between the Ethernet port of the SD17060E and the Ethernet port of the device the SD17060E is plugged into This LED will flash when data is being transmitted over the Ethernet link 20 Gear Drive Plymouth Ind Park Terryville 06786 15 Tel 860 585 1254 Fax 860 584 1973 http www amci com INTRODUCTION THE SD17060E Specifications Driver Type Two bipolar MOSFET H bridges with 170Vdc out put bus 20KHz PWM current control Physical Dimensions Width 2 1 inches max Depth 4 0 inches max Height 6 2 inches 7 0 inches with mounting tabs Weight 2 4 Ibs 1 1 kg Inputs Differential 1500 Vac dc opto isolated Can be wired as single ended
80. controlled stop is triggered on an inac tive to active state change on the input Only Manual Moves and Registration Moves can be stopped with this input type all other moves will ignore this input If Inputs 1 and 2 are programmed as quadrature encoder inputs and Input 3 is programmed as a Stop Manual or Registration Move Input then the quadrature encoder position data will be captured when Input 3 makes an inactive to active transition to bring a Manual or Registration Move to a controlled stop The encoder position data is not captured if a Manual or Registration Move is not in progress If you want to capture encoder position data on every transition of Input 3 configure it as a Start Indexer Move Input Encoder Feedback The SD17060E can be configured to accept a quadrature encoder instead of discrete inputs Input 1 accepts the A pulses and Input 2 accepts the B pulses Input can be attached to Z pulse and used to home the machine by configuring Input 3 as a Home Input An encoder is used by the SD17060E in one of three ways When the encoder is mounted on the back of the motor controlled the SD17060E the encoder is used for posi tion feedback or stall detection The position data of the encoder can be preset to any value within its range it is reported through the Network Data and it can be captured during a move The addition of an encoder also allows you to preform an Encoder Move which is described in the Encoder Moves se
81. ction starting on page 27 Starting with firmware 6 8 the SD17060E also has a feature called Hybrid Control When using this feature the SD17060E uses feedback from the motor mounted encoder to dynamically adjust motor current to the minimum value needed to achieve motion Hybrid Control will also eliminate resonance induced stalls dur ing the move It is also possible to use an encoder that is not mechanically coupled to the motor controlled by the SD17060E This configuration allows you to monitor the encoder data or use a feature called Electronic Gearing When this feature is active the SD17060E will change the position of the motor in response to a change in encoder position The ratio of encoder turns to motor turns is fully programmable 20 Gear Drive Plymouth Ind Park Terryville CT 06786 19 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL Available Inputs continued Capture Encoder Position Input As described in the Start Indexer Move Input and Stop Manual or Registration Move Input sections above the SD17060E can be configured to capture the encoder position value on a transition on Input 3 General Purpose Input If your application does not require all three inputs you can configure the unused inputs as General Purpose Inputs The inputs are not used by the SD17060E but the input state is reported in the network data Defining Home Position Home Position is a known position on t
82. d the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 10 to 60 even numbers only Motor Current Oe Represents 1 0 to 6 0 ARMS Acceleration Jerk 0 to 5000 Table 9 10 Manual Move CCW Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command 2 3 4 5 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 83 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMAT Command Blocks continued Registration Move CCW EtherNet IP Modbus TCP Word Register DUDEHOH Command Bits MSW 1640100 See pg 77 Bits 7 amp 6 must equal 10 Command Bits LSW Stopping Distance Upper Word Combined value between 8 388 607 Steps Stopping Distance Lower Word Combined value between the Configured Starting Speed and 2 999 999 1 to 5000 1 to 5000 Programmed Speed Upper Word Steps per Programmed Speed Lower Word Second Acceleration Steps ms sec Deceleration Steps ms sec Min Reg Move Distance Upper Word Min Reg Move Distance Lower Word Table 9 11 Registration Move CCW Command Block Combined value between 0 and 8 388 607 Steps Encoder Follower Move EtherNet IP Modbus TCP Word Register 0 C
83. d words are ignored by the SD17060E and can be any value including parameter values from the pre vious command Once the first block is transmitted the SD17060E responds by setting bits 8 and 9 in Status Word 1 See Status Word 1 Format starting on page 88 Once these are set you can then start transmitting Segment Blocks Segment Block EtherNet IP Modbus TCP Word Register FURCHOH Command Bits MSW 16 1800 Command Bits LSW See pg 77 Rel Target Position Upper Word St Combined value between eps Rel Target Position Lower Word E 8 388 608 and 8 388 607 Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 10 to 60 even numbers only Represents 1 0 to 6 0 ARMS Acceleration Jerk 0 to 5000 Table 9 18 Assembled Move Segment Programming Block Note that each Segment Block starts with bits 11 and 12 set in the Command Bits MSW word 16 1800 When the SD17060E sees bit 12 of Command Bits MSW set it will accept the block and reset bit 9 in Status Word 1 When your program sees this bit reset it must respond by resetting bit 12 of Command Bits MSW The SD17060E will respond to this by setting bit 9 in Status Word 1 and the next Segment Block can be writ ten to the SD17060E You can write a maximum of sixteen Segment Blocks for each A
84. der must be mounted on the motor controlled by the SD17060E which means that you cannot use Stall Detection when using the Elec tronic Gearing feature When Stall Detection is enabled the SD17060E monitors the encoder inputs for changes while a move is in progress If the encoder inputs do not change as expected the move stops and an error bit is reported to your host controller In order for the Stall Detection to work correctly you must program the Encoder Pulses Turn parameter to its correct value in the Configuration Data of the SD17060E The SD17060E always uses X4 decoding when determining the encoder position value so the Encoder Pulses Turn parameter must be set to four times the number of encoder lines When using a 1 024 line encoder the Encoder Pulses Turn parameter must equal 4 096 for stall detection to work correctly Hybrid Control The final feature that is available when using an encoder is Hybrid Control This feature gives you servo like per formance from your stepper motor without the need to tune the servo PID loop parameters In order for the Hybrid Control feature to work correctly the Encoder Pulses Turn parameter must be set to four times the number of encoder lines When using a 1 024 line encoder the Encoder Pulses Turn parameter must equal 4 096 The Motor Steps Turn parameter must also be set to this value The SD17060E uses the encoder feedback during a move to dynamically increase or decrease the current th
85. ds are ignored by the SD17060E and can be any value including parameter values in the previous command 1 2 3 4 3 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 81 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMAT Command Blocks continued Find Home CCW EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0040 Command Bits LSW See pg 77 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 10 to 60 even numbers only Motor Current 0 1 A Represents 1 0 to 6 0 ARMS Acceleration Jerk 0 to 5000 Table 9 7 Find Home CCW Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command INIA AIUI NHN Manual Move CW EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16 0080 Function See pg 77 Command Bits LSW Bits 7 amp 6 must equal 00 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 500
86. e SD17060E This will prevent any noise placed on the AC line by the SD17060E from leaving the enclosure gt Like all motors stepper motors are noise generators and must be properly grounded when installed Keep the motor wires as short as possible Consider twisting the winding pairs together to minimize radiated noise Use shielded cable if you must extend the cable and tie the shield to earth ground at the SD17060E motor connector only 42 ADVANCED MICRO CONTROLS INC CHAPTER 4 INSTALLING THE SD17060E This chapter gives detailed information on installing the SD17060E The person responsible for installing the SD17060E should be familiar with the general instal lation guidelines given in the previous chapter Outline Drawing There are two ways to 2 05 521 mount SD17060E 0 152 3 86 dia id Min screw length 0 31 7 9 thickness of mounting panel 2 1 10 Max screw length 0 62 15 8 thickness of mounting panel 0 312 7 92 27 9 The first method is with H 1 Centerline of Ethernet port four 10 32 screws into i its side panel n 1 INPUT1 0 118 INPUT 1 s 4 78 INPUT 2 T INPUT 3 ERE E _ an a Minimum and maxi 1 gt 2 i OUTPUT 1 H
87. e including parameter values in the previous 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 80 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT s Command Blocks continued Immediate Stop EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0010 Command Bits LSW See pg 77 Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below 0 tA iuo tr eR Unused See Note Below Table 9 5 Immediate Stop Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command Find Home CW EtherNet IP Modbus TCP Word Register Command Bits MSW 16 0020 Command Bits LSW See pg 77 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 10 to 60 even numbers only Motor Current 0 1 A Represents 1 0 to 6 0 ARMS Acceleration Jerk 0 to 5000 Table 9 6 Find Home CW Command Block Unused wor
88. e 52 When you are sure your computer and the SD17060E are on the same subnet open the DOS terminal if nec essary gt For Windows XP click on the Start button and click on Run A dialog box will open Enter cmd on the text line and press Enter on the keyboard gt For Vista and Windows 7 click on the Start button and type in the Search programs and files text box Press Enter on the keyboard Once the terminal is open type in ping aaa bbb ccc ddd where aaa bbb ccc ddd in the new IP address of the SD17060E The computer will ping the SD17060E and the message Reply from aaa bbb ccc ddd bytes 32 time 10ms TTL 128 should appear four times Command Prompt n x C gt ping 192 168 0 55 Pinging 192 168 80 55 with 32 bytes of data Reply from 192 168 0 55 bytes 32 time ims TTL 128 Reply from 192 168 8 55 bytes 32 time ims TTL 128 Reply from 192 168 0 55 bytes 32 time lt ims TTL 128 Reply from 192 168 0 55 bytes 32 time ims TTL 128 Ping statistics for 192 168 0 55 Packets Sent 4 Received 4 Lost z 1055 gt Approximate round trip times in milli seconds Minimum ms Maximum ims Average ms gt Figure 5 6 IP Address Changed Successfully If the message Request timed out or Destination host unreachable appears then one of four things has occurred gt You set the new IP address but have not yet cycled power to t
89. e Hold Move con trol bit is used to stop the move and it cannot be restarted Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued NOTE gt Note that it is possible to start a move while a CW or CCW Limit Switch is active as long as the direction of travel is opposite that of the activated Limit Switch For example it is possi ble to start a clockwise Registration Move while the CCW Limit Switch is active Relative Move In a Relative Move the motor rotates in the programmed direction for the specified number of counts To start a Relative Move you must specify the values of the Acceleration Deceleration parameters the Pro grammed Speed and the number of counts or position offset to travel A positive position offset value will cause clockwise motion while a negative offset value will cause counter clockwise motion Two relative moves of 7 500 steps are shown below The first is with a programmed Acceleration and Decel eration rates that al
90. e a move begins An inactive to active transition on the input will not restart a move if motion is occurring The move can be run multiple times as long as the move command data remains unchanged in the Net work Output Data The move will run on every inactive to active transition on the physical input if a move is not currently occurring Once a move is triggered the Start Indexed Move Input is ignored by the SD17060E until the triggered move has completed As stated above a move can be run multiple times as long at the move command data remains unchanged If you wish to program a second move and run it as an Indexed Move type then you must have a 0 1 transition the move command bit before the new parameters are accepted The easiest way to accomplish this is by writing a value of Ox0000 to the command word between issuing move commands A Manual Move that is started as an Indexed Move will come to a controlled stop when the command bit in the Network Output Data is reset to zero It is possible to perform an Indexed Registration Move by configuring two inputs for their respective functions The first input configured as a Start Indexed Move Input starts the move and the second configured as a Stop Manual or Registration Move Input causes the registration function to occur You cannot issue a Hold Command with the Indexed Bit set and have the Hold Command trigger on the inactive to active transition of a physical input Hold Commands a
91. e settings for our motors Your system may benefit from increas ing or decreasing these settings In general increase the setting by one or two counts to improve high speed performance or decrease the settings by one or two for quieter low speed operation GAIN SETTINGS SM2340 130 SM2340 240 SM34 450 SM34 850 SM34 1100 M23 130 Series SM23 130 Parallel SM23 240 Series SM23 240 Parallel SM42 1800 x tc Table 2 1 Current Loop Gain Settings 36 ADVANCED MICRO CONTROLS INC _ 0 7 GENERAL INSTALLATION GUIDELINES This chapter gives general information on installing electronic controls in an industrial environment including the importance of proper wiring grounding and surge suppression If you are responsible for installing the SD17060E make sure you are familiar with these practices and follow them when installing the unit These instructions assume a solidly grounded system which is used in a vast majority of modern industrial systems As defined by the IEEE a solidly grounded system is one in which the neutral of a generator power transformer or grounding transformer is directly connected to the system ground or earth The installation of ungrounded systems is not covered by these instructions This chapter is presented as a tool in the hopes of avoiding common installation prob lems It is not a substitute for the safety practices called out in lo
92. e tag then you have an older unit gt The serial number is also a date code so you can determine when the unit was released by reviewing the serial number itself D prefix on all Drive 4D 0 1 1 110 0 0 1 Serial Number of the 1st unit Serial Numbers Slm m yynnnn Manufactured in January of 2011 Digits 1 amp 2 Month of Manufacture Digits 5 8 Digits 3 amp 4 Sequential Number Year of Manufacture within the month Firmware 8 9 and above Units with firmware 8 9 and above Serial number D04120030 and above have all of the features listed in this manual Firmware 6 8 and below Units with firmwares of 6 8 and below Serial number below D04120029 do not have the following fea tures gt Store Configuration parameters to Flash memory gt Store Blend Move parameters to Flash memory gt Heartbeat bit in Network Input Data gt firmware 8 9 and above the Drive Enable bit in Configuration Mode is ignored You should enable and disable the drive while in Command Mode For firmware 6 8 and below the Drive Enable bit in Configuration Mode must be used to enable the driver Firmware 5 6 and below In addition to any feature listed above units with firmware 5 6 and below Serial number below D03110045 do not have the following additional features gt Modbus TCP communications protocol gt Indexed Move gt Hybrid Control gt IP Address cannot be con
93. ed it must be wired into Input 3 Z channel is only used when homing the SD17060E 5Vdc Isolated Power Suppl AMCI Encoder pply i 2 Belden 8304 equ Suggested o9 Optional on all AMCI RED RED Pwr dual shaft stepper motors BLK x BLK_ Pwr Shield KY Shield EN INPUT1 TO A WHT WHT INPUTI A BLK X A INPUT2 B GRN GRN lt SS gt 4B INPUT2 6 H B BLK X BLK ese B Z BLU BLU 4 Z INPUTS ISS Ez X xX x BLK tiger Z llo o GROUND THE SHIELD OF THE ENCODER CABLE 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality SD17060E earth ground connection is not available at the encoder the shield can be grounded to the same Ground Bus as the SD17060E Figure 4 8 Sample Encoder Wiring 20 Gear Drive Plymouth Ind Park Terryville CT 06786 49 Tel 860 585 1254 Fax 860 584 1973 http www amci com 4 INSTALLING THE SD17060E Ethernet Connection The Ethernet connector is located on the top of the SD17060E The connector is a standard RJ 45 jack that will accept any standard 100baseT cable Because the port can run at 100 Mbit speeds Category 5 5 or 6 cable should be used The Ethernet port
94. ed Bit bit 15 of Command Bits LSW in the Network Output Data must be reset when writing down the Reset Driver Fault Command Block Setting this bit in the next command block will re enable the motor 92_ ADVANCED MICRO CONTROLS INC APPENDIX IP ADDRESS SETUP WITH If your SD17060E has a firmware revision of 5 6 or below then you cannot use the AMCI Ethernet Configurator software to set the IP address of your unit You must use a Bootp server to set the IP address of these devices This appendix explains how to use the Bootp server from Rockwell Automation to set the IP address Initial Configuration Starting at the beginning of chapter 5 NETWORK CONFIGURATION follow those instructions up to the point where you have your network interface card configured to communicate with the SD17060E This is explained in the section Configure Your Network Interface Card NIC which is on page 52 Using the RA BOOTP Server Attach the SD17060E The first step in configuring the SD17060E when using a Bootp server is attaching the driver to your com puter Any Cat5 5 or 6 cable can be used You can attach the SD17060E directly to your computer or use a network switch SD17060E has an auto switch port which eliminates the need for a crossover cable in direct connect applications NOTE gt Do not power the SD17060E at this point Just attach it to your network Start Your Bootp Server If needed s
95. ed in the Data Table Address Received field and press enter If the Message Instruction is being used to write data to the SD17060E enter the integer file where the source data will be located in the Data Table Address Send field and press Enter 7 Enter a value of 20 either in the Size In Bytes Receive or Size In Bytes Send field 8 Enter a RIX address in the Extended Routing Info field Please note that each Message Instruction must have its own RIX address 62 ADVANCED MICRO CONTROLS INC EtherNet IP CONFIGURATION e RSLogix 500 Configuration continued Using Message Instructions in a MicroLogix 1100 PLC continued 9 Double click in the Service field and select Read Assembly for a Message Instruction that is being used to read data from the SD17060E or Write Assemble for a Message Instruction that is being used to send data to the SD17060E and press Enter 10 For Head operations the Service Code field will change to E hex For Write operations the Service Code field will change to 10 hex For both read and write operations the Class field will change to 4 hex and the Attribute field will change to 3 hex 11 For Read operations enter a value of 100 decimal 64 hex in the nstance field For Write operations enter a value of 150 decimal 96 hex in the nstance field The figure below show a typical configuration for Message Instructions being used to read data from a SD17060E Ple
96. ell Move NOTE You do not have to preset the position or home the machine before you can use a Dwell Move Because the Dwell Move is based on Relative Moves it can be run from any location Controlled Stop Conditions gt move completes without error gt Youtoggle the Hold Move control bit in the Network Output Data When this occurs the SD17060E decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the move Note that your final position will most likely not be the one you commanded The use of the Hold Move bit is explained in the Controlling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued 30 ADVANCED MICRO CONTROLS INC MOTION CONTROL 2 Assembled Move Programming All of the segments in a Blend or Dwell Move must be written to the SD17060E before the move can be run Segment programming is controlled with two bits in the Network Output Data
97. ent Reduction 36 Input Wiring 2 2 2 48 Current Loop Gain 36 Output Wiring 2 22 49 Chapter 3 General Installation Encoder Wiring 49 Guidelines Ethernet Connection 2 2222 1 50 Network Status LED s 50 Grounding iudei 37 Grounding Electrode System 37 Chapter 5 Network Configuration Ground Bus eese 37 Factory Default 440221 51 Grounding Electrode Conductor 38 ASSUMPt ONS 51 Grounding Wires 1 38 Firewalls 51 Avoiding Grounding Problems 38 Installing AMCI NET Software 51 Surge EMI Suppression 39 Configure Your Network Interface Card NIC 52 Attach SD17060B 53 System Environment 40 Using the AMCI Net Configurator 53 System Layout Considerations m em 40 2 170 60E e 22 forthe 40 The Meaning of the Product Name 55 Minimize Voltages Gn the CE Changing the IP Address 55 System Finclosure 41 Setting Communications Protocol 55 Power Supply Sizing X 41 Power to the SD17060E 55 Component Plac nient oeste 41 MEW AUREAS 2 BAeIGstt ie cr 42 cete 56 Installing a SD17060E 42 a 4 ADVANCED MICRO CONTROL
98. er is strongly recommended whenever possible Extending the Motor Cable Even though it is possible to extend the cable length an additional forty feet AMCI recommends installing the SD17060E as close to the motor as possible This will decrease the chances of forming a ground loop and has the added benefit of limiting the amount of power loss in the motor cable If you must extend the cable you should use a cable with twisted pairs 18 AWG or larger and an overall shield For SM42 s use 14 AWG or larger cable with an overall shield Belden 9554 eight wire 9553 six wire and 9552 four wire meet these specifications for 18 AWG Belden 1070A eight wire 1527A six wire and 1069A four wire meet these specifications for 14 AWG Installing the Motor Cable 1 All of the motor connections are high power high voltage signals Cable from the motor can be installed in conduit along with ac dc power lines or high power ac dc I O It cannot be installed in conduit with low power cabling such as I O cabling or Ethernet cabling attached to the SD17060E 2 If you decide to extend the motor cable treat the shield as a signal carrying conductor when installing the motor cable Do not connect the shield to earth ground at any junction box 20 Gear Drive Plymouth Ind Park Terryville CT 06786 45 Tel 860 585 1254 Fax 860 584 1973 http www amci com 4 INSTALLING THE SD17060E Connecting the Motor Motor Connector The motor
99. esonance Circuitry This circuitry gives the SD17060E the ability to modify motor current wave forms to compensate for mechanical resonance in your system This will give you smooth performance over the entire speed range of the motor Motor Interlock Safety feature that prevents power from being applied to the motor connec tor if a wire jumper does not exist between two of its pins Starting with units manufactured in July of 2010 the Interlock has been re designed to allow you to use it with a mechanical contact to disable the current to the motor The voltage between the two interlock pins never exceeds 5Vdc but 115Vac may be present between either of the Interlock pins and either of the power supply inputs Wiring Short Detection Safety feature that removes power from the motor if a short is detected in one of the windings of the motor Over Temperature Detection 14 Protects the SD17060E from damage by removing power from the motor if the internal temperature of the driver exceed a safe operating threshold Table 1 2 Driver Functionality ADVANCED MICRO CONTROLS INC INTRODUCTION THE SD17060E i Ethernet Port The Ethernet Port is located on the top of the SD17060E The connector is a standard RJ 45 jack that will accept any standard 100baseT cable The Ethernet port on the SD17060E has auto switch capability This means that a standard cable can be used when connecting the SD17060E to any devi
100. ession that is applicable to any controls installation INSTALLING THE SDI7060E Anyone that must install an SD17060E on a machine Includes information on mounting grounding and wiring specific to the unit NETWORK CONFIGURATION Anyone that must set the IP address and or communications proto col of the SD17060E using the AMCI Ethernet Configurator utility program EtherNet IP CONFIGURATION Anyone that needs information on configuring an Ethernet IP host controller Detailed instructions are given for ControlLogix Com pactLogix and MicroLogix systems from Rockwell Automation Modbus TCP CONFIGURATION Anyone that needs information on configuring a Modbus TCP host controller CONFIGURATION MODE DATA FORMAT Anyone that needs detailed information on the format of the net work data to and from the SD17060E used to configure the indexer driver COMMAND MODE DATA FORMAT Anyone that needs detailed information on the format of the net work data to and from the SD17060E used to command the indexer driver IP ADDRESS SETUP WITH BOOTP Anyone that must set the IP address of the SD17060E using a BOOTP server UL CUL RECOGNIZED INSTALLATIONS Anyone that is incorporating the SD17060E into a UL CUL recog nized installation 20 Gear Drive Plymouth Ind Park Terryville CT 06786 9 Tel 860 585 1254 Fax 860 584 1973 http www amci com ABOUT THIS MANUAL Notes 10
101. figured with the Ethernet Configurator software from AMCI You must use Bootp server such as the one supplied by Rockwell Automation 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 Tel 860 585 1254 Fax 860 584 1973 http www amci com ABOUT THIS MANUAL Applicable Units continued D12100046 and below In addition to any feature listed above units released prior to January of 2011 do not have the following fea tures gt Registration Moves gt Dwell Moves gt Indexed Move D06100061 and below In addition to any feature listed above units released prior to July of 2010 do not have the following features gt Interlock terminal cannot be used as a external way of disabling motor current gt A Driver Fault Interlock open motor short over temperature cannot be reset via a network command Navigating this Manual This manual is designed to be used in both printed and on line formats Its on line form is a PDF document which requires Adobe Acrobat Reader version 6 0 to open it The manual is laid out with an even number of pages in each chapter This makes it easier to print a chapter to a duplex double sided printer Bookmarks of all the chapter names section headings and sub headings were created in the PDF file to help navigate it The bookmarks should have appeared when you opened the file If they didn t press the F5 key on Windows platforms to bring them up Throughout this m
102. he Programmed Speed is changed the motor will accelerate or decelerate to the new Programmed Speed using the new accel erate decelerate parameter values If you write a Programmed Speed to the SD17060E that is less than the starting speed the Manual Move will continue at the Starting Speed Starting Speed POSITION Change in Change in Controlled Parameters Parameters Stop Condition Figure 2 9 Manual Move Controlled Stop Conditions gt The Manual Move Command bit is reset to 0 gt A positive transition on an input configured as a Manual Move Stop Input gt You toggle the Hold Move control bit in the Network Output Data The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued NOTE gt Note that it is possible to start a move while a CW or CCW Limit Switch is active as long as the direction of travel is oppos
103. he SD17060E gt You did not enter the correct address in the ping command gt The new IP address of the SD17060E was not set correctly gt The SD17060E and the computer are not on the same subnet 20 Gear Drive Plymouth Ind Park Terryville 06786 57 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls l NETWORK CONFIGURATION Notes 58 ADVANCED MICRO CONTROLS INC CHAPTER 6 EtherNet IP CONFIGURATION The SD17060E requires a host controller to issue motion commands to it This chapter tells you how to configure Rockwell Automation ControlLogix Compact Logix and MicroLogix controllers to act as hosts for the SD17060E All of these platforms use the EtherNet IP communications protocol RSLogix 5000 Configuration RSLogix 5000 is used to configure both the ControlLogix and CompactLogix platforms When using these plat forms you have the option of using a separate 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 SD17060E 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 If you are using an Ethernet Bridge module you will have to add it to
104. he machine that it must be brought to before normal operation can begin The SD17060E allows you to define this starting position in two ways Position Preset Command This command gives you the ability to preset the position value anywhere in the range of 8 388 608 to 8 388 607 The actual physical position of the machine is determined by sensors brought into the host Find Home CW amp Find Home CCW Commands The other way to home the machine is to attach a discrete DC sensor to one of the inputs and configure the SD17060E to use this sensor as a Home Limit Switch You can optionally configure one or both of the other inputs as CW or CCW Overtravel Limits to define the mechanical limits of your travel When used these overtravel limits can affect the homing operation The figures on the following pages show the profiles that can occur when homing the machine using a Home Limit Switch NOTE gt All of following diagrams show the results of Find Home CW Commands Profiles for Find Home CCW commands would be identical if a CCW Limit switch was used instead of a CW Limit switch Simple Homing Profile cw Home Limit Switch Starting Speed Starting Speed POSITION SPEED ccw Figure 2 4 Simple Homing Profile 1 Begin move at the Starting Speed and accelerate to Programmed Speed 2 Run at the Programmed Speed until Home Input activates 3 Decelerate to the Starting Speed and stop Wait 2 seconds before continu
105. ical network connection is lost at any time this bit will be set when the connection is re established The Input Error bit will also be set Note that this bit is not set if the communication loss is not due to a physical error PLC State Bit On ControlLogix and CompactLogix platforms this bit will equal 1 when the PLC is in Program mode and 0 when Run mode This bit will always equal 0 on all other platforms Bits 4 3 Reserved Bits Will always equal zero 90 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT s Input Data Format continued Status Word 2 Format continued Bit 2 Input3 State Bit 1 when Input 3 is in its active state The active state of the input is programmed as explained in the Configuration Word Format section starting on page 72 Bit 1 2 State Bit 1 when Input 2 is in its active state The active state of the input is programmed as explained in the Configuration Word Format section starting on page 72 Bit 0 Input1 State Bit 1 when Input 1 is in its active state The active state of the input is programmed as explained in the Configuration Word Format section starting on page 72 NOTE gt The SD17060E does not report the state of the inputs when they are configured as encoder inputs ABZ The driver reports the state of the Active Level Bit for the input which is set in Configuration Mode Motor Position Data These two inpu
106. ing 4 Accelerate to the Programmed Speed in the direction opposite of the commanded direction 5 Run in the direction opposite of the requested direction until the Home Input transitions from Active to Inactive 6 Decelerate to a stop and wait 2 seconds 7 Return to the Home Input at the programmed Starting Speed Stop when the Home Input transitions from Inactive to Active 20 ADVANCED MICRO CONTROLS INC MOTION CONTROL 2 Defining Home Position continued Find Home CW amp Find Home CCW Commands continued Overtravel Limit Activates During Homing Profile CW Home cw Limit Overtravel Switch Limit a Starting Speed Lu POSITION Starting Speed CCW Figure 2 5 Overtravel Limit Activates During Homing Profile 1 Begin move at the Starting Speed and accelerate to Programmed Speed 2 Run at the Programmed Speed 3 Unit hits end of travel limit and immediately stops The SD17060E waits 2 seconds before continuing 4 Accelerate to the Programmed Speed in the direction opposite of the commanded direction 5 Run in the direction opposite of the requested direction until the Home Input transitions from Active to Inactive 6 Decelerate to a stop and wait 2 seconds 7 Return to the Home Input at the programmed Starting Speed Stop when the Home Input transitions from Inactive to Active Homing Operation When Home Limit Already Active cw Home Limit Switch Starting Speed
107. ing output data words The actual transfer of segment data is controlled by the Program Move Segment and Transmit Move Segment bits Transmit Move Segment bit The SD17060E will set this bit to signal the host that it is ready to accept the data for the next segment Programming Routine 1 The host sets the Program Move bit in the Network Output Data 2 The SD17060E responds by setting both the Move Program Mode and Transmit Move Segment bits in the Network Input Data 3 When the host detects that the Transmit Move Segment bit is set it writes the data for the first segment in the Network Output Data and sets the Program Move Segment bit 4 The SD17060E checks the data and when finished resets the Transmit Move Segment bit If an error is detected it also sets the Command Error bit 5 When the host detects that the Transmit Move Segment bit is reset it resets the Program Move Segment bit 6 The SD17060E detects that the Program Move Segment bit is reset and sets the Transmit Move Segment bit to signal that it is ready to accept data fro the next segment 7 Steps 3 to 6 are repeated for the remaining segments until the entire move profile has been entered The maximum number of segments per profile is 16 8 After the last segment has been transferred if the host wants to store the move in Flash memory the Save Assembled Move bit must now be set The host exits Assembled Move Programming Mode by resetting the Program Move
108. ion fi E Electronic Keying Compatible Module Cancel Back Next gt Finish gt gt Help Figure 6 2 Setting Module Properties 4 When done click on Finish gt gt to complete the setup of the Ethernet bridge module 20 Gear Drive Plymouth Ind Park Terryville CT 06786 59 Tel 860 585 1254 Fax 860 584 1973 http www amci com EtherNet IP CONFIGURATION RSLogix 5000 Configuration continued Configuring a Built in Ethernet Port As Needed You will still have to set an IP address for the Ethernet Port if the port is built into your processor Right click on the port name in the I O Configuration screen and select Properties A Module Properties window simi lar to the one shown in figure 6 2 will open In this window you must set an IP Address for the port not the IP address of the SD17060E Adding the SD17060E You can add the SD17060E to the project once the Ethernet port built in or bridge module is configured 1 As shown in figure 6 3 on the right the Ethernet port will be listed under the Configuration tree Right click on the port and then click on New Module in the pop up menu 21 5 Data Types CR User Defined H E Strings E Predefined CR Module Defined 6 63 Configuration 1 1769 L32E Ethernet Port LocalENB CompactBus Local A New Module a Cut Ctrl 55 Ctrl C f Paste Ctrl Delete Del 2 In
109. ion of the machine One such configuration is when an encoder s Z Pulse is used to home the machine In order to home the machine to the correct pulse the SD17060E has a Home Proximity bit defined in its Net work Output Data The SD17060E will ignore all transitions on the Home Limit input until the Home Prox imity bit makes a 0 1 transition You must program your PLC to control the state of the Home Proximity Bit cw Home Home Home Input Proximity Bit 2 Starting Speed POSITION Starting Speed SPEED CCW Figure 2 8 Homing with Encoder Z Pulse 1 Begin move at the Starting Speed and accelerate to Programmed Speed 2 Run at the Programmed Speed 3 Ignore Home Limit Z Pulse because the Home Proximity Bit has not made a 0 1 transition since the start of the homing operation 4 Decelerate to the Starting Speed when the Home Proximity Bit makes 0 1 transition 5 Run at the programmed Starting Speed until the Home Limit Z Pulse transitions from Inactive to Active NOTE gt The diagram shows the Home Proximity Bit active during states 4 and 5 of the homing opera tion This is completely valid but not necessary The Home Proximity Bit is transition trig gered not level triggered 22 ADVANCED MICRO CONTROLS INC MOTION CONTROL 2 Manual Move When performing a Manual Move the motor rotates in the programmed direction as long as the command bit is active This type
110. is design decision prevents the SD17060E from responding to constant save commands from the host controller The endurance of the Flash memory is a minimum of 10 000 write cycles Bits 9 3 Reserved Bits Must equal zero afew ADVANCED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT Output Data Format continued Configuration Word Format continued Bit 2 Input 3 Active Level Bit Determines the active state of Input 3 Set to 0 if your sensor has Nor mally Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your sensor has Normally Open NO contacts and current flows through the input when it is active Bit1 Input 2 Active Level Bit Determines the active state of Input 2 Set to 0 if your sensor has Nor mally Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your sensor has Normally Open NO contacts and current flows through the input when it is active Bit0 Input 1 Active Level Bit Determines the active state of Input 1 Set to 0 if your sensor has Nor mally Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your sensor has Normally Open NO contacts and current flows through the input when it is active NOTE gt The SD17060E does not report the state of the inputs when they are configured as encoder inputs ABZ The driver
111. is greater than 100 If not in a continuous metal wireway or conduit route at least 6 from category 1 conductors of less than 20A 12 from category 1 conductors of greater than 20A and 24 from any cat egory 1 conductor of any amperage of the circuit is greater than 100 kVA Route at least 5 ft away from high voltage enclosures or sources of rf microwave radiation Route these conductors external to all raceways in the enclosure or in a raceway separate from all category 1 conductors Use the same spacing rules given for category 2 conductors Table 3 2 Conductor Routing Guidelines Installing a SD17060E The SD17060E is designed to be mounted in an enclosure that is close to the motor On small machines this may be the same enclosure that the rest of the control system in mounted in On large machines this is typi cally a small enclosure that only houses the SD17060E gt Aminimum of two conduits are required for the SD17060E enclosure One for the DC I O and ethernet cable and one for AC power and the motor connections Three conduits may be required if the code in your area does not allow you to run the motor connections with AC power or if the noise generated on the motor connections is injected into your AC lines gt If 230Vac is the only line voltage available in the system a step down transformer that is rated for a minimum of 800VA must be installed Consider installing this transformer in the enclosure with th
112. ish gt Help Figure 6 4 Sample SD17060E Configuration Screen 4 Click on Next gt Set the RPI time as required for your system The minimum RPI time for the SD17060E is milliseconds When done click on Finish gt gt to complete the setup 60 ADVANCED MICRO CONTROLS INC EtherNet IP CONFIGURATION e RSLogix 5000 Configuration continued Adding the SD17060E continued Error Code 1620109 The PLC will generate an Error Code 1620109 when the Comm Format parameter is not changed from its default of Data DINT to Data INT This is the most common cause of communication failures with the SD17060E RSLogix 500 Configuration Platforms supported by the RSLogix 500 software package require Message Instructions to communicate with the SD17060E This section uses a MicroLogix 1100 to describe how to configure these instructions Two instructions are required to transfer data between the PLC and the SD17060E One instruction reads data from the SD17060E and the other writes data to the driver The following table gives the required attri butes for the instructions Read Instruction Write Instruction Service Type Read Assembly Write Assembly Service Code E hex 10 hex Class 4 hex 4 hex Instance 100 decimal 150 decimal Attribute 3 hex 3 hex Length 20 20 Table 6 1 Message Instruction Attributes Using Message Instructions in a MicroLogix 1100 PLC NOTE On
113. ite that of the activated Limit Switch For example it is possi ble to start a clockwise Manual Move while the CCW Limit Switch is active 20 Gear Drive Plymouth Ind Park Terryville CT 06786 23 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL Registration Move Similar to a Manual Move a Registration Move will travel in the programmed direction as long as the com mand is active When the command terminates under Controlled Stop conditions the SD17060E will output a programmed number of steps as part of bringing the move to a stop Note that all position values pro grammed with a Registration Move are relative values not absolute machine positions Controlled Stop Condition SPEED POSITION 88 Programmed Number of Steps Figure 2 10 Registration Move If the Programmed Number of Steps are less than the number of steps needed to bring the axis to a stop based on the Programmed Speed and Deceleration values set with the command SD17060E will decelerate at the programmed Deceleration value until it has output the Programmed Number of Steps and then stop the move without further deceleration An additional feature of the SD17060E is the ability to program the driver to ignore the Controlled Stop con ditions until a minimum number of steps have occurred This value is programmed through the Minimum Registration Move Distance parameter which is set when you comm
114. l Move in the same direction as an active End Limit Switch gt If the opposite End Limit Switch is reached during a homing operation This bit is reset by a Reset Errors command The format of the command is given on page 85 Bit 10 Position Invalid Bit 1 when Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 gt configuration is written to the SD17060E gt The motor position has not been preset and the machine has not been homed gt The machine has not been homed gt The Network Connection has been lost and re established gt An Immediate or Emergency Stop has occurred gt An End Limit Switch has been reached gt motor stall has been detected Absolute moves cannot be performed while the position is invalid Transmit Move Segment Bit The SD17060E sets this bit to tell the host that it is ready to accept the data for the next segment of your assembled move profile Its use is explained in the Assembled Move Programming section of this manual starting on page 31 Program Move Mode Bit The SD17060E sets this bit to signal the host that it is ready to accept assembled move profile programming data Its use is explained in the Assembled Move Program ming section of this manual starting on page 31 Move Complete Bit Set to 1 when the present Absolute Relative Manual Registration or Assembled Move command completes without error This bit is reset to
115. lative move Blend Moves cannot be programmed with absolute coordinates 3 All segments run in the same direction so only the magnitude of the target position is used The sign of the target position is ignored The move s direction is controlled by the bit pattern used to start the move If you want to reverse direction during your move consider using the Dwell Move that is explained on page 30 4 The Programmed Speed of each segment must be greater than or equal to the Starting Speed The Programmed Speed must also be different from the previous segment If you are accelerating between segments then the acceleration value of the new segment is used If you are decelerating between segments the deceleration value of the old segment is used 28 ADVANCED MICRO CONTROLS INC MOTION CONTROL 4 Assembled Moves continued Blend Moves continued The figure below shows a three segment Blend Move that is run twice It is first run in the clockwise direc tion and then in the counter clockwise direction End of End of End of cw Segment 1 CW Segment 2 CW Segment 3 CW Starting Speed POSITION Starting Speed cew End of End of End of Segment 3 CCW Segment 2 CCW Segment 1 CCW Figure 2 15 Blend Move NOTE gt 1 You do not have to preset the position or home the machine before you can use a Blend Move Because the Blend Move is based on Relative Moves it can be run from any location 2 There are two control bits used to
116. leration Jerk 0 to 5000 Table 9 2 Relative Move Command Block 1 2 3 4 3 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 79 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMAT Command Blocks continued Hold Move EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0004 Command Bits LSW See pg 77 Jnused See Note Below Jnused See Note Below nused See Note Below nused See Note Below nused See Note Below Unused See Note Below Unused See Note Below 0 tan iuo NHN eR Unused See Note Below Table 9 3 Hold Move Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command Resume Move EtherNet IP Modbus TCP Word Register HDEHOH Command Bits MSW 16 0008 Command Bits LSW See pg 77 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 10 to 60 even numbers only Motor Current 01 Represents 1 0 to 6 0 ARMS Acceleration Jerk 0 to 5000 Table 9 4 Resume Move Command Block 1 2 3 4 3 6 7 8 9 Unused words are ignored by the SD17060E and can be any valu
117. low the move to reach the Programmed Speed The second move is with low acceleration deceleration rates that do not allow the move to reach the Programmed Speed before deceleration must occur 7 500 Counts 7 500 Counts Programmed Speed SPEED Starting Speed POSITION 5 000 12 500 20 000 Figure 2 12 Relative Moves NOTE gt 1 You do not have to preset the position or home the machine before you can use a Relative Moves That is the Position Invalid status bit can be set 2 Relative Moves allow you to move your machine without having to calculate absolute posi tions If you are indexing a rotary table you can preform a relative move of 30 multiple times without recalculating new positions in your controller If you perform the same action with Absolute Moves you would have to calculate your 30 position followed by your 60 position followed by your 90 position etc 20 Gear Drive Plymouth Ind Park Terryville CT 06786 25 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL Relative Move continued Controlled Stop Conditions gt The move completes without error gt Youtoggle the Hold Move control bit in the Network Output Data Note that your holding position will most likely not be the final position you commanded You can resume a held Relative Move by using the Resume Move bit The use of the Hold Move and Resume Move bits is explained the Controlling Moves In Progress
118. ly RSLogix 500 version 8 0 or above can be used to configure Message Instructions to communicate with an EtherNet IP device 1 Create four new data files gt An Integer file to contain the data from the SD17060E This file must have enough elements to contain all of the data read from the driver gt An Integer file to contain the data sent to the SD17060E This file must be large enough to con tain all of the data written to the driver gt A Message MG data file This file must have at least two elements one to control the Read Operation and one to control the Write Operation gt 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 E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 61 Tel 860 585 1254 Fax 860 584 1973 http www amci com EtherNet IP CONFIGURATION RSLogix 500 Configuration continued Using Message Instructions in a MicroLogix 1100 PLC continued 2 Add the Message Instruction s to your Ladder Logic The following rungs show how you can alternately read data from and write data to your SD17060E 1ead message write message Message Instruction uvtruction
119. m mm EH ADVANCED cro CONTROLS INC Manual 940 05094 SD170GOE Stepper Motor Indexer Driver Sn m 2 2 2 Py Oducts EtherNet IP odbus Wym a 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 UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS INC BE RESPONSIBLE OR LIABLE FOR ANY DAMAGES OR LOSSES INCLUDING INDIRECT OR CONSEQUENTIAL DAM AGES OR LOSSES ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS MANUAL OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN No patent liability is assumed by with respect to use of information circuits equipment or software described in this manual The information contained within this manual is subject to change without notice This manual is copyright 2013 by Advanced Micro Controls Inc You may reproduce this manual in whole or in part for your personnal use provided that this copyright notice is included You may distribute copies of this complete manual in elect
120. n Configuration Mode 78 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT s Command Blocks The following section lists the output data format for the sixteen different commands Absolute Move EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0001 Command Bits LSW See pg 77 Abs Target Position Upper Word St Combined value between eps Abs Target Position Lower Word P 8 388 608 and 8 388 607 Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 10 to 60 even numbers only Represents 1 0 to 6 0 ARMS Acceleration Jerk 0 to 5000 Table 9 1 Absolute Move Command Block Motor Current INIA BY WN Relative Move EtherNet IP Modbus TCP Word Register Command Bits MSW 16 0002 Command Bits LSW See pg 77 Rel Target Position Upper Word st Combined value between eps Rel Target Position Lower Word 8 388 608 and 8 388 607 Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 10 to 60 even numbers only Motor Current 0 1 A Represents 1 0 to 6 0 ARMS Acce
121. n be individually configured as a CW or CCW Limit Switch Home Limit Switch Capture Encoder Position Input Stop Manual or Registration Move Input Start Indexer Move Emergency Stop Input General Purpose Input 20 Gear Drive Plymouth Ind Park Terryville 06786 11 Tel 860 585 1254 Fax 860 584 1973 http www amci com H INTRODUCTION TO THE SD17060E The SD17060E continued Encoder Functionality In addition to the functions listed on the previous page Inputs 1 and 2 can be programmed to accept the A and B signals from a quadrature encoder When using an encoder you have two additional choices when configuring Input 3 First the Z signal can be wired to Input 3 and used to home the machine Second Input 3 can be used to capture the encoder position when it is programmed as a Capture Encoder Position Input or a Manual Move Stop Input Using an encoder input also gives you the ability to gt Home the machine to the encoder marker pulse gt Make absolute and relative moves based on the encoder count instead of the stepper pulse count gt Detect motor stall conditions An encoder input also allows you to drive the motor through a feature called Electronic Gearing In this mode the stepper motor follows the rotation of an external encoder This encoder is typically attached to another motor The ratio of encoder pulses to stepper pulses is programmable over a wide range This mode electro
122. nd Resume Move bits can be found in the Controlling Moves In Progress section of this manual starting on page 33 Relative Move Bit Set to 1 to perform a Relative Move using the data in the rest of the Com mand Data The full explanation of a Relative Move can be found starting on page 25 Absolute Move Bit Set to 1 to perform an Absolute Move using the data in the rest of the Com mand Data The full explanation of an Absolute Move can be found starting on page 26 Command Bits LSW Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Command Bits LSW 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 o N gt 2 2 co gt 2 I z 510 9 Figure 9 4 Command Bits LSW Format Driver Enable Bit 0 to disable the motor current 1 to enable motor current A valid configu ration must be written to the SD17060E before the driver can be enabled Reserved Must equal 0 General Purpose Output State Bit When the output is configured as a general purpose output point instead of the Fault Output this bit controls the state of the output When this bit equals a 1 the output is on and conducts current Reserved Must equal 0 Home Proximity Bit When the SD17060E is configured to use Home Proximity bit the SD17060E will ignore the state of the Home Input as long as this bit equals 0 This bit must equal
123. nfiguration Mode Configuration Mode gives you the ability to select the proper configuration for your application without hav ing to set any switches The SD17060E must be configured on every power up Additionally the motor will not receive power until the driver is configured properly Command Mode This mode gives you the ability to program and execute stepper moves and reset errors when they occur The SD17060E will always power up in this mode but a valid configuration must be sent to the SD17060E before it will apply power to the motor or allow you to issue move commands The command data formats are described in the following chapter Multi Word Format Many of the hosts that can be used with the SD17060E only support 16 bit integers which limits the range of values from 32 768 to 32 767 or 0 to 65 535 Many parameters of the SD17060E exceed this range These parameters are transmitted in two separate words The table below shows how values are split Note that negative values are written as negative numbers in both words First Word Second Word 12 12 12 345 345 1 234 567 567 7 654 321 Table 8 1 Multi Word Format Examples 20 Gear Drive Plymouth Ind Park Terryville CT 06786 69 Tel 860 585 1254 Fax 860 584 1973 http www amci com CONFIGURATION MODE DATA FORMAT Output Data Format The correct format for the Network Output Data when the SD17060E is in Configuration Mode is shown below Ethe
124. nically couples the two motors together through a programmable gear ratio Finally revision 6 8 of the SD17060E added a feature called Hybrid Control When enabled this feature gives you servo like performance without the need to tune servo PID loop parameters When Hybrid Control is enabled the SD17060E uses a motor mounted encoder to feed rotor position information back to the driver The SD17060E uses this information during a move to dynamically increase or decrease the current through the motor s windings to the lowest values needed to achieve motion This feature eliminates the possibility of resonance related motor stalls and can dramatically lower the motor s operating temperature which prolongs the life of the motor When using this feature a stepper motor will act in a manner very similar to a servo motor This includes the possibility of a one count dither in position at zero speed In order to overcome this condition the SD17060E allows you to enable and disable the Hybrid Control feature on the fly When the motor is at rest a single message disables the Hybrid Control feature and the motor acts as a stepper system holding its position without dither You can enable the Hybrid Control feature using the same message that initiates a move min imizing the amount of motor current needed to complete the move 12 ADVANCED MICRO CONTROLS INC INTRODUCTION THE SD17060E Indexer Functionality The table below lists
125. ntrol language gt Hliminating the separate indexer lowers Total System Cost The SD17060E is powered by a nominal 115Vac 50 60Hz source The output motor current is fully programmable from 1 0Arms to 6 0Arms which makes the SD17060E compatible with AMCI s complete line of size 23 through size 42 stepper motors It s even possible to change the motor current setting while the move is in progress In addition to the Motor Current setting the Motor Steps per Turn Idle Current Reduction and Anti Resonance Circuit features are also fully programmable If you have used other stepper indexer products Figure 1 1 SD17060E Driver from AMCI you will find programming to be very similar to these products mn MAH on corre ter MASA tern conet The SD17060E is a true RMS motor current control driver This means that you will always receive the motor s rated torque regardless of the Motor Steps Turn setting Drivers that control the peak current to the motor experience a 30 decrease in motor torque when microstepping a motor The SD17060E automatically switches from RMS to peak current control when the motor is idle to prevent overheating the motor In addition to power and motor hookups the SD17060E has three DC inputs and one DC output that are used by the indexer Configuration data from the host sets the function of these points The output can be config ured to be a Fault Output or a general purpose output Each input ca
126. o 500 and perform a move with a Programmed Speed of 5 000 steps per second the shaft will rotate at 5 000 500 10 revolutions per second while running at the programmed speed In addition to the Programmed Speed parameter there is a Starting Speed parameter that is also defined in terms of steps sec The Starting Speed is the speed at which all moves begin and end A low Starting Speed is needed to prevent the motor from stalling when moving a large inertial load A higher starting speed can be used on small inertial loads to minimize the time required to accelerate to the Programmed Speed The Starting Speed parameter has a range of 1 to 1 999 999 steps sec Acceleration amp Deceleration Like all motor systems a stepper motor must usually accelerate to its Programmed Speed and decelerate before coming to acomplete stop The rates of acceleration and deceleration are completely programmable on the SD17060E as well as the type of acceleration used Accelerations and decelerations are programmed in units of steps per millisecond per second steps ms sec and have a range of 1 to 5000 When evaluating the acceleration and deceleration values of your move you will most likely determine them terms of revolutions sec To convert to steps ms sec multiply your revo lutions sec value by the value of the Motor Steps Turn parameter and divide by 1 000 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860
127. o that you can control the SD17060E as you see fit However if you are looking for the easiest way to interface with the SD17060E then you only need to use the Read Write Registers function which is function code 23 NOTE gt The SD17060E buffers the data that it sends over the network If you use the Read Write Reg isters function to write configuration data to the SD17060E then the data read with that com mand will not contain the response to the new configuration data The response to the new data will be sent with the next data read Supported Modbus Exceptions Description Illegal function The module does not support the function code in the query Illegal data address The data address received in the query is outside the initialized memory area Illegal data value The data in the request is illegal Table 7 2 Supported Modbus Exceptions 68 ADVANCED MICRO CONTROLS INC CHAPTER 8 CONFIGURATION MODE DATA FORMAT This chapter covers the formats of the Network Output Data used to configure the SD17060E as well as the formats of the Network Input Data that contains the responses from the driver The SD17060E requires ten 16 bit words 20 bytes for Output Data as well as ten 16 bit words for Input Data Modes of Operation The SD17060E has two operating modes Configuration Mode and Command Mode You switch between these modes by changing the state of a single bit in the Network Output Data Co
128. odbus protocol can be downloaded at http www modbus org specs php eS 52 Register 0 Mapped as NL Discrete Inputs Data fipo i 444 Holding Registers Register 9 Input Registers LSB and MSB Numbers Not Implemented Mapped as SD17060E t Network Output m Holding Registers Figure 7 1 Modbus Data Reference 20 Gear Drive Plymouth Ind Park Terryville CT 06786 67 Tel 860 585 1254 Fax 860 584 1973 http www amci com 7 Modbus TCP CONFIGURATION Supported Modbus Functions sos bet Function Name SD17060T Register Addressing method 1 Read Coils OUTPUT Bit Address 16 384 through 16 543 2 Read Discrete Inputs INPUT Bit Address 0 through 159 Read Holding Registers OUTPUT amp INPUT Wor Out RE woo 08 4 Read Input Registers INPUT Word Registers 0 through 9 5 Write Single Coil OUTPUT Bit Address 16 384 through 16 543 6 Write Single Register OUTPUT Word Registers 1024 through 1033 15 16 22 Write Multiple Coils OUTPUT Bit Address 16 384 through 16 543 Write Multiple Registers OUTPUT Word Registers 1024 through 1033 Mask Write Register OUTPUT Word Registers 1024 through 1033 Word Regs 1024 through 1033 Read Write Registers INPUT OUTPUT In Regs 0 though 9 Table 7 1 Supported Modbus Functions Table 7 1 above lists the Modbus functions that are supported by the SD17060E supports all of these functions s
129. odes of Operation 0 69 Input Data Format 88 Configuration Mode 69 Status Word 1 Format 88 Command Mode 69 Status Word 2 Format 90 Multi Word Format 2 22222 69 Motor Position Data 91 Output Data Format 70 Encoder Position Data 91 Control Word Format 70 Captured Encoder Position Data 91 Configuration Word Format 72 Notes on Clearing a Driver Fault 92 Notes on Other Reset Driver Fault 92 Configuration Words 73 Appendix A IP Address Setup with Input Data Format 74 Control Word Format Word 0 74 22 BootP Invalid Configurations 74 Initial Configuration 8 93 Using the RA BOOTP Server 93 Chapter 9 Command Mode Data Attach the SD17060E 93 Format Start Your Bootp Server 93 Multi Word Format esse 75 Enabling Bootp Protocol 94 Command Bits Must Transition TS ZZ o 94 Output Data Format 79 Setting the IP Address 95 Command Bits MSW 76 Disabling the Poot PROG COM rites 29 Command Bit
130. of move can also be stopped with an external switch or sensor brought directly into the SD17060E Manual Moves are controlled with two bits in the Network Output Data A 1 on the CW Man ual Move bit commands a clockwise move while a 1 on the CCW Manual Move bit commands a counter clockwise move The move continues as long as the command bit is set Note that both bits cannot be set at the same time Manual Moves are typically used to drive the machine under direct operator control so this type of move is also known as a Jog Move Manual Moves can also be used when you are interested in controlling the speed of the shaft instead of its position One such application is driving a conveyor belt In this application you are only interested in driving the conveyor at a specific speed and you may need to vary the speed based on envi ronmental conditions As shown below a Manual Moves begins at the programmed Starting Speed accelerates at the programmed rate to the Programmed Speed and continues until a stop condition occurs If it is a Controlled Stop Condi tion the SD17060E 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 It is possible to change the speed of a Manual Move without stopping the motion The Programmed Speed Acceleration and Deceleration parameters can be changed during a Manual Move When t
131. om of the window SD17060E is now configured Testing the New IP Address The easiest way to test the new address of the SD17060E is with the ping command Before you can use the command you have to be sure the SD17060E and your computer are still on the same subnet For exam ple if the new address of the SD17060E is 192 168 0 42 and your computer has and address of 192 168 0 1 with a subnet mask of 255 255 255 0 then the two pieces of equipment are on the same subnet In this case the first three numbers of the IP address must match If the new address of the SD17060E 15 192 168 50 50 then the computer and SD17060E are not on the same subnet and you must go back into the Network Config uration panel and change your adapter s TCP IP settings Refer back to the Configure Your Network Inter face Card NIC section of this chapter starting on page 52 for more information When you are sure your computer and the SD17060E are on the same subnet open the DOS terminal if nec essary gt For Windows XP click on the Start button and click on Run A dialog box will open Enter cmd on the text line and press Enter on the keyboard gt For Vista and Windows 7 click on the Start button and type in the Search programs and files text box Press Enter on the keyboard Once the terminal is open type in ping aaa bbb ccc ddd where aaa bbb ccc ddd in the new IP address of the SD17060E
132. ommand Bits MSW 16 0080 or 16 0100 Command Bits LSW See pg 77 Bit 6 must equal 1 Electronic Gearing Numerator 1 to 255 Electronic Gearing Denominator 1 to 255 Programmed Speed Upper Word Programmed Speed Lower Word Combined value between the Configured Starting Speed and 2 999 999 Steps Second Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Motor Current 10 to 60 even numbers only Represents 1 0 to 6 0 ARMS 2 3 4 5 6 7 8 9 Acceleration Jerk 0 to 5000 Table 9 12 Encoder Follower Move Command Block 84 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT s Command Blocks continued Preset Position EtherNet IP Modbus TCP Word Register Functon Command Bits MSW 16 0200 Command Bits LSW See pg 77 Position Preset Value Upper Word Combined value between Position Nae Lower 8 388 608 and 8 388 607 or Jnused See Note Below nused See Note Below nused See Note Below nused See Note Below nused See Note Below OO OAL DD MN BR WwW bd ke nused See Note Below Table 9 13 Preset Position Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command Presetting the position will also reset the Move Complete status bit in the Network Input Data Reset E
133. on in the Proj ect Tree and then select the Channel 1 tab The following window will open Channel Configuration General 0 Channel 1 Driver Ethe Hardware Address 00 0 73 00 8 358 scola IP ddress 192 168 0 1 Subnet Mask 255 255 255 0 Gateway Address 0 0 0 0 Default Domain Name Primary Name Server 0 0 0 0 Secondary Name Server 0 0 0 0 Protocol Control BOOTP Enable DHCP Enable Msg Connection Timeout x 1 5 1 5000 l SNMP Server Enable SMTP Client Enable Msg Reply Timeout 1m5 3000 HTTP Server Enable Auto Negotiate Port Setting 10 100 Mbps Full Duplex Ha Duplex Power cycle is required for changes to take effect Inactivity Timeout Min 30 Figure 6 10 MicroLogix Ethernet Configuration Screen Enter the IP address and Subnet Mask of your system and click on Apply The Ethernet Port should now be working 20 Gear Drive Plymouth Ind Park Terryville CT 06786 65 Tel 860 585 1254 Fax 860 584 1973 http www amci com EtherNet IP CONFIGURATION Notes 66 ADVANCED MICRO CONTROLS INC _______ 7 9 Modbus TCP CONFIGURATION SD17060E Memory Layout The SD17060E uses ten 16 bit input registers and ten 16 bit output registers to communicate through the Modbus protocol Figure 7 1 shows how these registers are mapped to the Modbus data reference The com plete specification for the M
134. on value for change If the encoder value is changing then the motor is heavily loaded but still moving If the encoder value is not changing then the motor cannot rotate under load and the move can be stopped by your program It is also possible to increase the motor current during the move as described in the Description of Motor Current Keys section found on page 78 How ever you must be aware of the possibility of overheating the motor when using this feature 20 Gear Drive Plymouth Ind Park Terryville CT 06786 35 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL Hybrid Control continued When using Hybrid Control you should always check the value of the encoder position at the end of every move and make accommodations for any load induced error in the final position The stall detection feature that is built into the SD17060E can be used with the Hybrid Control feature If the rotor position becomes more than 45 behind the commanded position the motor will be considered stalled and the move will be terminated Error bits will be set in the network data to inform you of the stalled condition Note that the Motion Lag bit will never be set when using the stall detection feature of the SD17060E because it will trip before the 360 position error that will set the Motion Lag bit Idle Current Reduction Idle Current Reduction allows you to prolong the life of your motor by reducing its idling temperature
135. otor position A full description of Encoder Moves starts on page 19 Bit 1 Motor Current Key1 See the description below Bit0 Motor Current KeyO See the description below Description of Motor Current Keys With the exceptions of the Registration Move commands and Run Assembled Move command it is possible to change the motor current the fly while in Command Mode To do this place the new motor current in Word 8 and set the key bits as shown below gt Control Word 2 Bit 5 1 Note This bit is only used by units with a firmware revision of 6 9 or less gt Control Word 2 Bit 1 0 gt Control Word 2 Bit 0 1 This feature does not work with Registration Move commands because Words 8 and 9 are used to store the registration distance This feature does not work with the Run Assembled Move command because motor current is set when you program the move segment For all other commands the SD17060E will respond by changing the motor current and writing the new value into the Network Input Data Word 8 Once the motor current has been set reset the key bits to all zeros to prevent further changes to the motor current The motor current can be changed at any time including during a move NOTE gt Setting the motor current outside of the range of 1 0 to 6 0 amps does not force a command error The new value will be ignored by the SD17060E and it will use the motor current value programmed while i
136. ous command WIAD tA BY WwW bv milliseconds 0 to 65 535 Preset Encoder Position EtherNet IP Modbus TCP Word Register Funenan Command Bits MSW 16 4000 Command Bits LSW See pg 77 Encoder Preset Value Upper Word Combined value between Encoder Preset Value 8 388 608 and 8 388 607 Lower Word Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Table 9 16 Preset Encoder Position Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command 86 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT s Programming Blocks The following blocks are used to program an Assembled Move Both of the moves Blend Move and Dwell Move are programmed exactly the same way The bit configuration used when starting the move determines which type of Assembled Move is run First Block EtherNet IP Modbus TCP Word Register Foncuon Command Bits MSW 16 0800 Command Bits LSW See pg 77 Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below NM BY WwW Unused See Note Below Table 9 17 Assembled Move First Programming Block Unuse
137. put Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued Encoder Moves When the SD17060E is configured to use a quadrature encoder the position value from the encoder can be used to control the move instead of the position of the motor Absolute and relative type moves are both sup ported NOTE gt You do not have the preset the position or home the machine before you use a relative Encoder Move The figure below represents either a relative Encoder Move of 11 000 counts or an absolute Encoder Move to position 16 000 The figure shows that the encoder position you program in the move defines the point at which the motor begins to decelerate and stop It does not define the stopping position as it does in other move types The endpoint of the move depends on the speed of the motor when the programmed encoder position is reached and the deceleration values This behavior is different from Absolute and Relative Moves where the position you program into the move is the end point of the move Programmed Encoder Position Programmed Speed SP
138. r stalls and can significantly reduce the operating temperature of the motor Table 1 1 Indexer Functionality 20 Gear Drive Plymouth Ind Park Terryville CT 06786 13 Tel 860 585 1254 Fax 860 584 1973 http www amci com E INTRODUCTION TO THE SD17060E Driver Functionality This table summarizes the features of the stepper motor driver portion of the SD17060E Feature 170Vdc Output Bus Benefits A high voltage output bus means you can derive more high speed torque power from your stepper motor RMS Current Control RMS current control give the SD17060E the ability to drive the motor at its fully rated power when microstepping Peak current controllers typically experience a 30 drop in power when microstepping a motor Programmable Motor Current RMS current supplied to the motor can be programmed from 1 0 to 6 0 amps in 0 2 amp increments This allows you to use the driver with the full line of AMCI stepper motors Programmable Idle Current Reduction Extends motor life by reducing the motor current when not running This extends the life of the motor by reducing its operating temperature Programmable Current Loop Gain Allows you to tailor the driver circuitry to the motor s impedances thereby maximizing your motor s performance Programmable Motor Steps Turn Allows you to scale your motor count to a real world value counts per inch counts per degree etc Anti R
139. rNet IP Modbus TCP Word Register Configuration Data Control Word See below Configuration Word See below Starting Speed Upper Word Starting Speed Lower Word Combined value between 1 and 1 999 999 steps sec Motor Steps Turn 200 to 32 767 Hybrid Control Gain 0 1 2 or 3 Encoder Pulses Turn 0 to 32 768 0 to 100 10 to 60 Even numbers only Represents 1 0 to 6 0 Arms 1 to 40 Idle Current Percentage Motor Current X10 1 2 3 4 S 6 7 8 9 Current Loop Gain Table 8 2 Network Output Data Format Configuration Mode Control Word Format Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 uci ud Qui 0 x 0 Input 3 Input 2 Input 1 Q E 8 Config Config Config RESERVED Bit must equal zero Figure 8 1 Configuration Mode Control Word Format Bit 15 Mode 1 for Configuration Mode Programming 0 for Command Mode Programming SD17060E powers up in Command Mode and shows a configuration error Hexadecimal value of 6408h The SD17060E will not power the motor or accept commands until a valid configuration is written to 1t Bit 14 Anti Resonance Enable Bit 0 enables the anti resonance feature of the SD17060E 1 dis ables the anti resonance feature The Anti resonance feature will provide smoother operation in most cases If you are still experien
140. re always acted upon as soon as they are accepted from the Network Output Data You cannot issue an Immediate Stop Command with the Indexed Bit set and have the Immediate Stop Command trigger on the inactive to active transition of a physical input Immediate Stop Commands are always acted upon as soon as they are accepted from the Network Output Data If you need this functionality consider programming the physical input as an E Stop Input You cannot issue a Clear Error Command with the Indexed Bit set and have the Clear Error Command trigger on the inactive to active transition of a physical input Clear Error Commands are always acted upon as soon as they are accepted from the Network Output Data 32 ADVANCED MICRO CONTROLS INC MOTION CONTROL 2 Controlling Moves In Progress The SD17060E 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 The move can be put in its Hold state until the stock is replenished and then the move can be resumed Note that you do not have to resume a move once it has been placed in its Hold state You can place a move in its Hold state to prematurely end the move with a controlled stop and issue any type of new move from the stopped position The figure below shows a profile of a move
141. re stored in memory and then run with a single command Each Assembled Move can con sist of 2 to 16 segments Two types of Assembled Moves exist in the SD17060E Blend Move A Blend Move gives you the ability to string multiple relative moves together and run all of them sequentially without stopping the shaft between moves of the moves are in the same direc tion gt Dwell Move A Dwell Move gives you the ability to string multiple relative moves together and the SD17060E will stop between each move for a programed Dwell Time Because motion stops between each segment a Dwell Move allows you to reverse direction during the move An Assembled Move is stored in the RAM memory of the SD17060E and can be run multiple times once it is written to the unit The Assembled Move data stays in memory until power is removed the unit is sent new Configuration Data or a new Assembled Move is written to the SD17060E When you program an Assem bled Move it is also possible to save the move in Flash Memory Once saved this move is restored to RAM memory on every power up and can be run immediately by the host Blend Moves Each Relative Move defines a segment of the Blend Move The following restrictions apply when program ming Blend Moves 1 Each segment of the Blend Move must be written to the SD17060E before the move can be initiated The SD17060E supports Blend Moves with up to sixteen segments 2 Each segment is programmed as a re
142. reports the state of the Active Level Bit for the input Notes on Other Configuration Words gt Information on the Multi Word Format used when programming the Starting Speed can be found on page 69 gt Hybrid Control Gain controls the stiffness of the shaft at zero speed when using the Hybrid Control feature With a higher gain setting the SD17060E will increase the motor current more quickly to com pensate for shaft loading gt Changes to the Idle Current only take effect at the end of the first move after re configuration gt Current Loop Gain settings for all AMCI motors be found on page 36 See SSS SSS SSS SS SSS SS SEE EEE ee ESS 20 Gear Drive Plymouth Ind Park Terryville CT 06786 73 Tel 860 585 1254 Fax 860 584 1973 http www amci com CONFIGURATION MODE DATA FORMAT Input Data Format The correct format for the Network Input Data when the SD17060E is in Configuration Mode is shown below EtherNet IP Modbus TCP Word Register Configuration Data Control Word Mirror of Output Data Config Word Mirror of Starting Speed Upper Word Mirror of Starting Speed Lower Word Mirror of Motor Steps Turn Mirror of Hybrid Control Gain Mirror of Encoder Pulses Turn Mirror of Idle Current Percentage Mirror of Motor Current X10 Mirror of Current Loop Gain MN BY WN Nm BR WI DN e Table 8 4 Network Input Data
143. ronic format provided that they are unaltered from the version posted by Advanced Micro Controls Inc on our official website www amci com You may incorporate portions of this documents in other literature for your own personal use provided that you include the notice Portions of this document copyright 2013 by Advanced Micro Controls Inc You may not alter the contents of this document or charge a fee for reproducing or distributing it Standard Warranty ADVANCED MICRO CONTROLS INC warrants that all equipment manufactured by it will be free from defects under normal use in materials and workmanship for a period of 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 The provisions of the STANDARD WARRANTY are the sole obligations of AMCI and excludes all other warranties expressed or implied In no event shall be liable for incidental or consequential damages for delay in performance of this warranty Returns Policy All equipment being returned to AMCI for repair or replacement regardless of warranty status must have Return Merchandise Authorization number issued by
144. rough the motor s windings to the lowest values needed to achieve motion This feature eliminates the possibility of res onance induced motor stalls and can dramatically lower the motor s operating temperature Like a servo system there is the possibility of a one count dither in position at zero speed and a load induced error in the final position if this feature is always enabled The stiffness of the shaft how quickly the system compen sates for shaft position error can be adjusted with a single gain setting The SD17060E also allows you to enable and disable the Hybrid Control feature on the fly When the motor is at rest a single command will disable the Hybrid Control feature and the motor will again act as a stepper system holding its position without dither You can then enable the Hybrid Control feature using the same command that initiates a move minimizing the amount of motor current needed to complete the move When using Hybrid Control the SD17060E has an additional status bit the Motion Lag bit that turns on if the posi tion error becomes larger than 360 This status bit indicates that the speed of the move is not the one that is expected but the move is still in progress This can be an indication that something has changed mechanically in the system that has placed an additional load on the motor Using this bit is the preferred method of performing stall detection When this bit turns on monitor the encoder positi
145. rrors EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16 0400 See pg 77 Command Bits LSW Set bit 10 to clear motor faults Function n nused See Note Below nused See Note Below nused See Note Below nused See Note Below nused See Note Below nused See Note Below nused See Note Below 2 3 4 5 6 7 8 9 Jnused See Note Below Table 9 14 Reset Errors Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previous command Resetting errors will also reset the Move Complete status bit in the Network Input Data 20 Gear Drive Plymouth Ind Park Terryville CT 06786 85 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMAT Command Blocks continued Run Assembled Move EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16 2000 See pg 77 Blend Move Bit 9 0 Dwell Move Bit 9 1 Move direction set by Bit 4 Function Command Bits LSW U U nused See Note Below nused See Note Below nused See Note Below nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused with Blend Move Dwell Time with Dwell Move Table 9 15 Run Assembled Move Command Block Unused words are ignored by the SD17060E and can be any value including parameter values in the previ
146. s Cables Low power I O lines typically connect to devices such as proximity switches photo sensors and encoders Intra enclosure Similar characteristics to cate gory 2 conductors these conductors intercon nect system components within an enclosure Low voltage DC power cables Communications Cables Table 3 1 Conductor Categories Wiring Categories for the SD17060E gt AC Power Input Class 1 AC power line gt DC Input cables also included encoder cabling Class 2 Low power digital DC input line gt DCoutput cable Class 2 Low Power digital DC output line gt Motor Outputs Class 1 High Power DC outputs 40 ADVANCED MICRO CONTROLS INC GENERAL INSTALLATION GUIDELINES k System Layout Considerations continued Minimize Voltages in the System Enclosure You will want to minimize the voltage in the enclosure that houses your control system to minimize EMI and voltage transients In many cases three phase is used to power the machine s motors and the control system is powered by one of the phases Ideally the three phase power it s disconnect fuses filtering and all three phase controls such as motor starters are housed in their own enclosure The single phase used to power the control system is then brought into a separate enclosure built exclusively for the control system Power Supply Sizing A properly sized power supply is vital to system operation The best guideline that we can give you is to
147. s LSW TI POSE ANE N d Description of Motor Appendix B UL CUL Recognized Current Keys 21 78 Installations UL Required Information 97 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com Chapter 9 Command Mode Data TABLE CONTENTS Notes See SSS SSS SSS SS SSS SS SSS SS EE EEE eee 20 Gear Drive Plymouth Ind Park Terryville CT 06786 6 Tel 860 585 1254 Fax 860 584 1973 http www amci com on ABOUT THIS MANUAL Read this chapter to learn how to navigate through this manual and familiarize yourself with the conventions used in it The last section of this chapter high lights the manual s remaining chapters and their target audience Audience This manual explains the set up installation and operation of 5 SD17060E Stepper Motor Indexer Driver Itis written for the engineer responsible for incorporating the SD17060E into a design as well as the engineer or technician responsible for its actual installation Applicable Units Most of this manual applies to all SD17060E indexer driver units but some of the features explained in this manual are only available with later firmware revisions gt Starting with firmware revision 5 6 the firmware revision was printed on the serial number tag If you don t see a firmware revision number on th
148. s checking the quality of the point where your system will be connected to the building s Grounding Electrode System When checking the quality of the AC power for your system be sure to check every machine that may be powered by the same feeder circuit It has been in AMCI s experience that nuisance faults can be caused by another system on the same feeder circuit that does not have adequate surge suppression devices System Layout Considerations The first step to achieving a clean system layout is classifying the wires and cables used in your system based on the amount of power they carry Refer to the following table to help you categorize your wires and cables Description Conirol and AC Power High power conductors that are more tolerant of electrical noise but are also more likely to carry electrical noise than the other categories Corresponds to IEEE levels 3 amp 4 Examples AC power lines High power digital AC I O lines High power digital DC I O lines High power I O lines typically connect to devices such as mechanical switches relays and solenoids Stepper Motor wiring also falls into this category Signal and Communication Low power conduc tors that are less tolerant of electrical noise but are also less likely to carry electrical noise than category 1 Corresponds to IEEE levels 1 amp 2 Analog I O lines Low power digital AC I O lines Low power digital DC I O lines Ethernet or other Communication
149. section starting on page 33 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as E Stop Input gt ACW CWW Limit Switch is reached If the limit that is reached is the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued Absolute Move In an Absolute Move the motor rotates from the present known position to a programmed position The number of counts to move and the direction of rotation are determined by the difference between the current and target positions Before you can perform an Absolute Move you must set the machine position to a known value This is accomplished by using the Preset Position command or homing the machine To start an Absolute Move you must specify the values of the Acceleration Deceleration parameters the Pro grammed Speed and the Final Position you wish to travel to A final position greater than the starting posi tion will cause clockwise motion A final position less than the starting position will cause counter clockwise motion Two Absolute Moves are shown below The first is with a programmed Acceleration and Deceleration rates that allow the move to re
150. ss interface and use a NIC to configure the SD17060E It should also be possible to configure the SD17060E over a wireless connection by attaching it to a wireless router How ever this configuration has not yet been tested by The easiest way to check the current settings for your NIC is with the ipconfig command gt For Windows XP click on the Start button and click on Run A dialog box will open Enter cmd on the text line and press Enter on the keyboard gt For Vista and Windows 7 click on the Start button and type in the Search programs and files text box Press Enter on the keyboard 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 x where x does not equal 50 and your subnet mask is 255 255 255 0 then you are ready to configure the SD17060E Figure 5 1 shows the output of an ipconfig command that shows the Local Area Connection 2 interface on the 192 168 0 subnet Command Prompt iC gt ipconf ig Windows IP Configuration Ethernet adapter Local Area Connection Connection specific DNS Suffix Address Subnet Mask Default Gateway DHCP Class ID Ethernet adapter Local Area Connection Connection specific DNS Suffix IP Address o2 2 x 0o 168 6 2
151. ssembled Move Motor Current 1 2 3 4 3 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 87 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMAT Input Data Format The correct format for the Network Input Data when the SD17060E is in Command Mode is shown below Command Mode Input Data Status Word 1 Status Word 2 Motor Position Upper Word Motor Position Lower Word Encoder Position Upper Word Encoder Position Lower Word Captured Encoder Position Upper Word Captured Encoder Position Lower Word Value of Motor Current X10 Value of Acceleration Jerk Parameter Yio NIDN tn eR e Table 9 19 Network Input Data Format Command Mode Status Word 1 Format Bit 15 Bit 14 Bit 13 Status Word 1 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Lje BIN 2 a _ 75 21215 2 5 2 85 4 1 9122 51812191S Figure 9 5 Command Mode Status Word 1 Format Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming SD17060E powers up in Command Mode and shows a configuration error The SD17060E will not power the motor or accept commands until a valid configuration is written to it Controller OK Bit 1
152. t Configurator software It is also possible to use a Bootp server to set the IP address of the SD17060E Instructions on using the Bootp server from Rockwell Automation are available in Appendix A Factory Default Each SD17060E ships from the factory with a default IP address of 192 168 0 50 and a subnet mask of 255 255 255 0 An SD17060E retains its IP address when power is removed and there is no hardware reset button The address of your SD17060E may be different if your unit is not directly from the factory Assumptions This chapter makes a few assumptions 1 You understand how IP addressing works and you only need instructions on setting the IP address of your SD17060E If you do not yet understand IP addressing there is plenty of information on the Internet At the time of this writing entering the phrase ip addressing tutorial into a popular search engine returned 93 000 hits 2 You have administrative privileges on the computer you are using to configure the SD17060E You will only need these privileges if you have to change the IP addressing of the network interface card used when configuring the unit 3 You are configuring an SD17060E that has the factory default address of 192 168 0 50 and a subnet mask of 255 255 255 0 If you have an SD17060E that has already been configured with a different address you must know this address and adjust these instructions accordingly If you do not know the address of the SD17060E
153. t this bit is only avail able on firmware revisions 8 9 and above and only while in Command Mode Limit Condition Active Bit This bit is set if an End Limit Switch is reached during a move This bit will be reset when the Limit Switch changes from its active to inactive state or when a Reset Errors Command is issued Invalid Parameter Change Bit Set during a Manual Move if parameters are changed to invalid values Parameters that can be changed during a Manual Move are Programmed Speed Accelera tion and Deceleration Set while in Electronic Gearing mode if the Numerator or Denominator are set outside their range of 1 to 255 Motion Lag When using the Hybrid Control feature this bit will equal 1 if the actual rotor posi tion is more than 360 behind the commanded position This indicates a heavily loaded motor and the encoder position should be monitored for a stalled condition Driver Fault Bit If the driver section of the SD17060E is enabled this bit will be a 1 during a Overtemperature Fault a Short Circuit Fault or when the Interlock Jumper is missing This fault can be cleared by issuing a Reset Errors programming block with the Clear Driver Fault bit Com mand Bits LSW bit 10 set to 1 For additional information see Notes on Clearing a Driver Fault on page 92 Note that this bit is not set if the Interlock Jumper is missing when power is applied to the driver Network Lost Error Bit If the phys
154. tart your Bootp server The Bootp DHCP server software version 2 3 from Rockwell Automa tion is used in this example The R A Bootp server window is broken down into two panes Request His tory and Relation List Request History tells you what responses come over the network and the Relation List shows the setup data you have entered BOOTP DHCP Server 2 3 File Tools Help Request History hr min sec pe Ethernet Address MAC IP Address Hostname Request History Ethernet Addres MAC IP Address Hostname Description Relation List Status Entries 0 of 256 Figure A 1 RA Bootp Server 20 Gear Drive Plymouth Ind Park Terryville CT 06786 93 Tel 860 585 1254 Fax 860 584 1973 http www amci com A IP ADDRESS SETUP WITH BOOTP Using the RA BOOTP Server continued Enabling Bootp Protocol Changing the IP address of the SD17060E requires you to enable the Bootp protocol on the driver before you can change the IP address The SD17060E has the Bootp protocol disabled by default This decreases the boot time by about 30 seconds when power is applied to the driver because it doesn t have to wait for the Bootp request to time out before continuing with its stored address 1 In the Relation List pane of the RA Bootp Server software click on New In the window that opens enter the MAC address of the SD17060E which is printed on the driver s serial num
155. the Ethernet Configurator software will still be able to connect to the module if they reside on the same subnet Firewalls Firewalls are hardware devices or software that prevent unwanted network connections from occurring Fire wall software is present in Windows XP and above and it may prevent your computer for communicating with the SD17060E If you think that your firewall may be interfering with the AMCI Ethernet Configurator software then the easiest thing to do is temporarily disable the firewall from the Control Panel and enable it once you have finished configuring the SD17060E Installing the AMCI NET Software Because many corporate firewalls prevent their users from downloading executable files the install program exists as a ZIP file from our website Installation is straight forward 1 Download the software from http www amci com product software asp The link on the page is AMCI configuration software for all networked products 2 Extract the ZIP file to your computer The resulting file is a simple install file 3 Run the install program When you do this the following changes are made to your computer gt An AMCI folder is created in your programs folder Typically Program Files AMCI gt AMCI NET program is placed in this directory gt Ashortcut to the AMCI NET program is created on the desktop and a program listing is created that will display the program off of the Start Menu NOTE
156. the System The chassis must be connected to earth ground Failure to properly ground the chassis leaves the potential for severe electrical hazard and or problems with normal operation The SD17060E must be grounded for proper operation The GND connection on the power connector is con nected to the SD17060E enclosure and is a sufficient grounding point for most applications When mounting the SD17060E on a surface that is electrically conductive and grounded you should take steps to ensure that the two are electrically bonded together If necessary remove paint from the surfaces of the panel that contact the mounting bolts to ensure adequate electrical bonding AC power connections are made to the SD17060E using the power connector kit that ships with the driver This kit includes the power connector and rubber boot Figure 4 1 below shows how to properly wire and ground the driver NOTE gt For clarity the rubber boot is not shown in the figure When installing the power cable slide the rubber boot onto the cable before wiring the connector When you re sure the wiring is correct slide the boot over the connector to cover the screw heads 14 to 16 Gauge m Shielded Wire Green Chassis Ground White 115Vac Neutral 50 60 Hz S Black 115Vac Line g Both the Neutral and Hot f Lines are internally fused in the SD17060E
157. ts words report the motor position based on the number of steps output by the SD17060E The range for the position value is 32 768 000 to 32 767 999 The data is transmitted in the Multi Word Format described on page 75 Note that both words in the multi word format will be negative if the position value is negative Encoder Position Data These two inputs words report the encoder position based on the quadrature pulses received by the SD17060E The range for the encoder position value is 32 768 000 to 32 767 999 The data is transmitted in the Multi Word Format described on page 75 Note that both words in the multi word format will be negative if the encoder position value is negative Captured Encoder Position Data These two inputs words report the encoder position based on the quadrature pulses received by the SD17060E when an Input 3 transitions form its inactive to its active state Input 3 must be configured as a Capture Encoder Value input or as a Stop Jog and Capture Encoder Value input The range for the captured encoder position value is 32 768 000 to 32 767 999 The data is transmitted in the Multi Word Format described on page 75 Note that both words in the multi word format will be negative if the captured encoder position value is negative SSeS SSS SSS SSS SS SSS SS EEE eee 20 Gear Drive Plymouth Ind Park Terryville CT 06786 91 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 COMMAND MODE DATA FORMA
158. tting the Stall Detection Enable Bit without configuring the SD17060E to use an encoder 74 ADVANCED MICRO CONTROLS INC CHAPTER 9 COMMAND MODE DATA FORMAT This chapter covers the formats of the Network Output Data used to command the SD17060E as well as the formats of the Network Input Data that contains the responses from the driver The SD17060E requires ten 16 bit words 20 bytes for Output Data as well as ten 16 bit words for Input Data Note that the SD17060E will power Configuration Mode which is described the previous chapter Multi Word Format Many of the hosts that can be used with the SD17060E only support 16 bit integers which limits the range of values from 32 768 to 32 767 or 0 to 65 535 Many parameters of the SD17060E exceed this range These parameters are transmitted in two separate words The table below shows how values are split Note that negative values are written as negative numbers in both words FirstWord Second Word 12 12 12 345 345 1 234 567 567 7 654 321 Figure 9 1 Multi Word Format Examples 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 Bits MSW before writing the next command This condition also applies when switching from Configuration Mode to Command Mode If a bitis setin the Control Word Word 0 while in Configuration Mode and
159. ut Power 95 to 132Vac 50 60 Hz 5 0 Apk max Ambient Operating Temperature eee 4 to 122 F 20 to 50 C Storage Temperature 40 to 185 F 40 85 C Humidity 0 to 95 non condensing Motor Specifications 2 phase hybrid 4 6 or 8 lead motor Insulation Minimum 500Vdc phase to phase and phase to case Inductance 0 3 mH minimum 2 5 to 45 mH recommended Status LED Steady Green Driver OK Steady Red Short Circuit Fault Over Temp Fault Interlock Missing The SD17060E will only detect motor errors when the motor current is enabled Connectors All mating connectors are included with driver Min Max Tightening Torque 1 91 2 23 Ib in 0 22 0 25 Nm 24 12 AWG 0 2775 inches 4 46 5 35 1b in 0 5 0 6 Nm 24 12 AWG 0 275 inches 4 46 5 35 b in 0 5 0 6 Nm 16 ADVANCED MICRO CONTROLS INC _ a up NENNEN 7 X IMOTION CONTROL The function of the SD17060E is to control the position and speed of a stepper motor This chapter outlines the parameters used by the SD17060E to achieve this control and the types of moves available Once you are done with this chap ter you will have a solid understanding of how the SD17060E operates Motor Position Commutators are used in motor designs to switch current to the windings of the motor to achieve rotation Stepper motors do not have commutators Instead the windings
160. well 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 the SD17060E as a series of relative moves before the move is started Unlike a Blend Move the motor is stopped between each segment of the Dwell Move for a programed Dwell Time The Dwell Time is programmed as part of the move Because the motor is stopped between segments the motor direction can be reversed during the move The sign of the target position for the segment determines the direction of motion for that segment Positive segments will result in clockwise moves while a negative segment will result in a counter clockwise move The following figure shows a drilling profile that enters the part in stages and reverses direction during the drilling operation so chips can be relieved from the bit You can accomplish this Dwell Move as a series of six relative moves that you send down to the drive indi vidually The two advantages of using a Dwell Move in this case is that the SD17060E will be more accurate with the Dwell Time then you could accomplish in the PLC and Dwell Moves will simplify the logic of your program cw Move holds at the end of each segment for the programmed Dwell Time Segment 1 Segment 3 Segment 5 Q Starting Speed POSITION a Starting Speed Segment2 Segment 4 Segment 6 CCW Figure 2 16 Dw
161. y rotation of the encoder ELGearing Multiplier and Divisor The ratio of these two parameters sets the number of motor rotations per encoder rotation Each parameter has a range of 1 to 255 How It Works The SD17060E always uses 4X decoding when counting pulses from the encoder If you set both of your ELGearing Multiplier and Divisors to 1 and set the Motor Steps Turn to four times the number of encoder lines then the motor will complete one rotation for every rotation of the encoder s shaft Once placed in Electronic Gearing mode the SD17060E monitors the Manual Move command bits in the Network Output Registers When either of these bits is set the encoder inputs are monitored for a change in position When a change is sensed the SD17060E will begin to turn the motor within 50 microseconds An increase in encoder counts will result in clockwise rotation A decrease in encoder counts will result in coun ter clockwise rotation The values of the ELGearing Multiplier and Divisor can be changed while electronic gearing motion is occur ring The SD17060E will accelerate or decelerate the motor to match the new ratio Encoder position data can be trapped while in Electronic Gearing mode by configuring Input 3 as a Capture Encoder Position input NOTE gt You must also set the Acceleration and Deceleration parameters before you can put the SD17060E in Electronic Gearing mode Controlled Stop Conditions gt The encoder stops moving
162. y to pre maturely end an Assembled Move with a controlled stop The Assembled Move is not erased from memory and can be run again without having to reprogram it ER ETE E SSS SS SSS SS SS SSE EEE 20 Gear Drive Plymouth Ind Park Terryville 06786 33 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOTION CONTROL Electronic Gearing The final form of motion control available with the SD17060E is Electronic Gearing A quadrature encoder is required but it is not mounted on the motor controlled by the SD17060E The encoder is typically mounted on a second motor but it can be mounted anywhere including on something as simple as a hand crank This mode is sometimes referred to as encoder following because the motor will change position in response to a change in position of the encoder AMCI refers to it as Electronic Gearing because the SD17060E has three parameters that allow you to set any turns ratio you want between the encoder and the motor Motor Steps Turn This is the same parameter explained at the beginning of this chapter In Electronic Gearing mode this parameter sets the number of encoder counts required to complete one rotation of the shaft of the motor driven by the SD17060E It has a range of 200 to 32 767 If you set the Motor Steps Turn parameter to four times the number of lines of your encoder then by default your motor will complete one rotation for ever
163. you can power up the SD17060E Using the AMCI Net Configurator Start the Software To start the program click on the desktop icon or navigate from the start button to the program listing and click on the icon there The program will present a screen similar to figure 5 2 below Configurator 2 30 File Command Help SCAN Manual connect IP Address Serial Number Vendor Code 6g NEXUS Modules NX244E Resolver Interface 9 NX3A1E PLS NX2C4E LDT Interface 2 551 Interface we 2 Stepper Controler 7 Network Encoders AMCI NA25 ENIP Ethernet Stepper Drives E 5017060 E 5031045 SMD23E AnyNET 1 0 Ethemet 8 AnpNET 1 0 Profibus DP 8 AnyNET 1 0 Modbus RTU Figure 5 2 AMCI Ethernet Configurator Screen 20 Gear Drive Plymouth Ind Park Terryville CT 06786 53 Tel 860 585 1254 Fax 860 584 1973 http www amci com l NETWORK CONFIGURATION Using the AMCI NET Software continued Connect to your SD17060E The first step in configuring your SD17060E is to connect to it The software will attempt to find your unit when you click on the Scan button If your unit is found it will appear in the table below the Scan button Simply double click on the IP address of the unit and the configurator screen will open The scan feature will not always work This typically occurs when you have multiple network connections on your computer including
164. ype Command Bits LSW Bit 9 This bit determines the type of move that is run When this bit equals 0 a Blend Move is run When this bit equals 1 Dwell Move is run When starting a Dwell Move the Dwell Time is programmed in word 9 of the Command Data The value is programmed in milliseconds and can range from 0 to 65 536 Blend Move Direction Command Bits LSW Bit 4 This bit is used to determine the direction that the Blend Move will be run in When this bit equals 0 the Blend Move runs in the clock wise direction When this bit equals 1 the Blend Move is run in the counter clockwise direc tion Bits 11 amp 12 Program Move amp Program Move Segment Bits These bits are used to program the seg Bit 10 Bit 9 Bit 8 Bit 7 ments of an Assembled Move before the move can be run Their use is explained in the Assembled Move Programming section of this manual starting on page 31 Reset Errors When set to 1 the SD17060E will clear all existing errors reset the Move plete bit and attempt to use the present data to run a new command Preset Motor Position When set to 1 the SD17060E will preset the Motor Position to the value stored in Output Words 2 and 3 and reset the Move Complete bit in the Network Input Data CCW Manual Move When set 1 the SD17060E will run a Manual Move in the counter clock wise direction The full explanation of a Manual Move

SD17060E - Advanced Micro Controls Inc

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