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1. RdConfig SavConfi RESERVED Bit must equal zero Figure 9 2 Configuration Mode Config Word Format Bit 15 Driver Enable Bit 0 to disable the motor driver circuitry 1 to enable the motor driver circuitry When the motor driver is disabled all voltage is removed from the motor Bits 14 12 Reserved Must equal zero Bit 11 Read Present Configuration If this bit is set when you enter Configuration Mode the SMD23 4E responds by placing the present configuration data in the Network Input Data You cannot write new configuration data to the unit while this bit is set The format of the Configuration Data is given in the Input Data Format section of this chapter starting on page 89 Bit 10 Save Configuration An SMD23 4E will store its configuration data to flash memory when this bit makes 0 gt 1 transition The validity of the configuration data is checked before being written to the flash memory If the data is not correct the transition on this bitis ignored Once the write to flash is completed the SMD23 4E will write OXAAAA into the last status word if the write was successful and the Status LED will begin flashing green or the SMD23 4E will write OXEEEE into the last sta tus word if the write was unsuccessful and the Status LED will begin flashing red Once the SMD23 4E issues its response to the Save Configuration command it stops responding to
2. 29 Network Status NS LED 16 Immediate Stop 29 SMD23 4E Connectors 17 108 Move 29 Input Connector 17 Controlled Stop 30 Ethernet Port 17 Immediate Stop 30 Link Status LED 17 Registration Move 31 Controlled Stop 32 Immediate Stop 32 Encoder MOVES 32 Controlled 33 Immediate Stop 33 20 Gear Drive Plymouth Ind Park Terryville CT 06786 3 i Tel 860 585 1254 Fax 860 584 1973 http www amci com Chapter 2 Move Profiles continued Assembled Moves 33 Blend Moves 33 Controlled Stop 34 Immediate Stop 34 Dwell Move 35 Controlled Stop 35 Immediate 35 Assembled Move Programming 36 Control Bits Output Data 36 Control Bits Input Data 36 Programming Routine 36 Saving an Assembled Move in 36 Indexed Moves 37 Controlling Moves In Progress 38 Find Home Moves 38 Jog MOVES 38 Registration Moves
3. 1 520 30 005 gt 1 09 0 02 0 81 10 04 0 001 38 61 0 13 27 7 105 20 6 1 0 03 0 06 0 01 gt lt 2 0 0081 LEN 1 5 0 3 0 08 prese A 5 1 5000 0 0010 SW as 2 38 100 0 025 Se ES 57 Br ak Y 0 0000 0 0000 0 19 0 01 gt 0 2500 2 0005 L I 4 20 18 0 02 4 8 0 3 0 59 0 02 g 6 350 0 000 1 856 10 008 0 15 0 0 5 0013 47 14 0 2 4 4 6 05 2 25 max gt AMCI Motor Length 57 max SMD23E 130 3 3 84 SMD23E 240 4 17 104 025997005 Section S S 3X Scale 2 6 350 0 093 0 228 0 004 5 8 0 10 REAR VIEW TOP VIEW te ETHERNET DIGITAL IN EEEE Sess a me AN Ethernet Connector irn Input Connector Mates with MS 2X4 Phoenix Contact 173 88 27 Figure 4 1 SMD23E Outline Drawing 46 ADVANCED MICRO CONTROLS INC INSTALLING THE SMD23 4E Mounting continued SMD24E Outline Drawing lt 4 54 10 05 E m 1 520 0 005 1 09 0 02 ELO 0 007 38 61 0 13 20 6 1 6 08 27 7 40 5 ie 0 03
4. 70 Registration Move CW 99 Using Message Instructions in a Jog Move CCW 99 MicroLogix 1100 PLC 70 Registration Move CCW 100 Troubleshooting 74 Preset Position 100 Chapter 8 Modbus TCP Reset Errors 101 Configuration Run Assembled Move 101 SMD23 4E Memory Layout 75 Preset Encoder Position 102 Supported Modbus Functions 76 E c RE Supported Modbus Exceptions 76 Segment Block 103 Sample Modbus Configuration TI Input Data Format eee 104 Initial Configuration 77 Status Bits MSW Format 104 Configuring the Ethernet Status Bits LSW Format 106 SCANNER 78 Moter Poution usu 107 Adding the SMD23 4E 78 Encoder Position Data 107 Download Project to PLC 82 Captured Encoder Position Data 107 MAE PMD ASAE Da Notes on Clearing a Driver Fault 107 20 Gear Drive Plymouth Ind Park Terryville CT 06786 5 qo Chapter 9 Configuration Mode Tel 860 585 1254 Fax 860 584 1973 http www amci com Table of Contents Chapter A IP Address Setup With BOOTP Initial Configuration 109 Using the RA BOOTP Server
5. CT 06786 29 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Basic Move Types continued Jog Move continued As shown below a Jog 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 Condition the SMD23 4E will decelerate the motor to the starting speed and stop without losing position If it is an mmedi ate Stop Condition the motion stops immediately and the position becomes invalid It is possible to change the speed of a Jog Move without stopping the motion The Programmed Speed Acceleration and Deceleration parameters can be changed during a Jog Move When the Programmed Speed is changed the motor will accelerate or decelerate to the new Programmed Speed using the new accelerate decelerate parameter values If you write a Programmed Speed to an SMD23 4E that is less than the starting speed the Jog Move will continue at the previously programmed speed Programmed Speeds Changed During Move Starting Speed S Peet POSITION Change in Change in Controlled Parameters Parameters Stop Condition Figure 2 8 Jog Move Controlled Stop Conditions gt The Jog Move Command bit is reset to 0 gt An inactive to active transition on an input configured as a Stop Jog or Registration Move Input gt Youtoggle the Hold Move control bit in the Network Output D
6. FreeO 10 BYTE Freet 11 BYTE FreeO 12 BYTE FreeO 13 BYTE FreeO 1 4 BYTE 0 15 0 16 FreeO 17 BYTE NOCO401 OUT 0 18 Derived FB Types 0 19 J Variables amp FB instances x 5 023 50 SMD23E 50 Elementary Variables gt Derived Variables Device DDT Variables IO Derived Variables Elementary FB Instances Derived FB Instances Motion Communication CX Project Configuration 55 58 O PLC bus Bmx P CPS 2000 0 P34 2020 1 BMX NOC 0401 X Derived Data Types CJ T_5MD23E_50_IN T sMD23E 50 OUT NOCO401 IN 5 Timer Events Events amp Animation Tables 8 5 02 50 5 Operator Screens Documentation I Figure 8 7 Data from an SMD23 4E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 83 Tel 860 585 1254 Fax 860 584 1973 http www amci com o TCP CONFIGURATION Notes 84 ADVANCED MICRO CONTROLS INC CHAPTER 9 CONFIGURATION MODE DATA FORMAT This chapter covers formats the Network Output Data used configure SMD23 4E as well as the formats of the Network Input Data that contains the responses from the unit An SMD23 4E requires ten 16 bit words 20 bytes for Output Data as well as ten 16 bit words for Input Data Modes o
7. 38 Absolute Relative and Encoder Moves 38 Assembled Moves 38 Stall Detection with SMD23 4E E Units 39 Idle Current Reduction 39 Chapter 3 Homing The SMD23 4E Definition of Home Position 41 Position Preset 41 Find Home Commands 41 Homing 41 Physical Inputs 41 Backplane Inputs 41 Homing Configurations 42 Homing Profiles 42 Home Input Only Profile 42 Profile with Network Home Proximity Bit 43 Profile with Overtravel Limit 44 4 Table of Contents Chapter 4 Installing the 23 4 unti 45 Safe Handling Guidelines 45 Prevent Electrostatic Damage 45 Prevent Debris From Entering cerea 45 Remove Power Before Servicing in a Hazardous Environment 45 Mounting 46 SMD23E Outline Drawing 46 SMD24E Outline Drawing 47 Connecting the Load 47 Network Connection esses 48 Network Status LED s 48 Connector Pin Out 48 Power Wiring 48 Wirt 49
8. 501 Power o gt Supply Can use the same supply to Al power all inputs SINKING SENSOR Grounding Strap maybe required by local safety codes INPUT n INPUT SMD23 4E 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 SMD23 4E Figure 4 5 Input Wiring Input Specifications Differential 2500 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 IN Input Optocoupler Figure 4 6 Simplified Input Schematic Because they are low power signals cabling from the sensor to the SMD23 4E should be done using a twisted pair cable with an over all shield The shield should be grounded 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 SMD23 4E T This ratings refer to optocouplers ability to prevent damaging voltages from crossing its isolation barrier to the rest of the SMD23 4E If 120 Vac voltage is applied to an input the input itself wil
9. 1 sippy 1o shield should be grounded to the same ground bus as the SMD23 4E 1 maybe nput1 or H required by local safety Sinking Output Sensors Require a Pull Up SMD23 4E M12 INPUT Resistor CONNECTOR Sinking output sensors require an external e pull up resistor because the input to the ield is usually grounded where the signal is generated If a good quality earth ground connection is not available the sensor the shield can be SMD23 4E M12 also sinks current Table grounded to the same Ground Bus as the SMD23 4E 5 5 below shows the values of pull up resis tors that will allow the SMD23 4E input to SENSOR POWER activate along with the current that the sensor Run a seperate wire from the power supply E to each sensor Do Not daisy chain power Must be able to sink when it is active from one sensor to the next DC Sinking Sensor Input Pull Up Sensor Current A ao 5Vde to 24Vde Voltage Resistor When Active a SS solated Power SINKING JSSE Supply T dente 5 300 12 1 4 zl power all inputs SENSOR ST OO Grounding Strap maybe Inputt or Input2 O ud required by local safety 24 3 8K DC codes SMD23 4E M12 INPUT Pull up Resistor is Required Table 5 5 Pull Up Resistor CONNECTOR See Notes GROUND THE SHIELD OF THE SENSOR
10. 20 Gear Drive Plymouth Ind Park Terryville CT 06786 81 Tel 860 585 1254 Fax 860 584 1973 http www amci com o TCP CONFIGURATION Sample Modbus Configuration continued Download Project to PLC In the menu bar click on Build gt Analyze Project The test should complete without error and the Derived Data Types for the SMD23 4E should appear in the Project Browser In the menu bar click on Build and either Build Changes or Rebuild All Project This will compile the proj ect With the PLC connected to your PC and the SMD23 4E attached to NOC0401 click on PLC gt Standard Mode to be sure you are going to communicate with the BMXP342020 Then click PLC gt Connect Ctrl K to connect to the PLC After communication is established click on PLC gt Transfer Project to PLC Ctrl L In the window that opens click the Transfer button The project is downloaded to the PLC Click on PLC gt Run Ctrl R to place the PLC in Run Mode View SMD23 4E Data In order to see the values coming from the SMD23 4E you must create an Animation Table In the Project Browser right click on the Animation Tables and select New Animation Table Give the table an appropriate name such as SMD23 4E_50 which is used in this example Unity Pro creates an empty table Double click on the first cell of the table and then click on the ellipsis button to open the Instance Selection window I
11. 0 when Home Proximity bit is not used when homing the SMD23 4E 1 when the Home Proximity bit is used when homing the SMD23 4E 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 Only valid with the SMD23 4E E units that have the built in encoder 86 ADVANCED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT s Configuration Mode Output Data Format continued Control Word Format continued These bits are available on all SMD23 4E units but Input 3 is not available with the SMD23 4E M12 units 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 071 The input is not used in any of the functions of the SMD23 4E but it s status 1s reported in the Network Data This allows the input to be used as a discrete DC input to the host controller CW Limit Input defines the mechanical end point for CW motion CCW Limit Input defines the mechanical end point for CCW motion Start Indexed Move Starts the move that is currently located in the output registers
12. Home Limit Switch Starting Speed Starting Speed POSITION SPEED CCW Figure 3 1 Home Input Profile 1 Acceleration from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed until the Home Input activates 3 Deceleration to the Starting Speed and stop followed by a two second delay 4 Acceleration to the Programmed Speed opposite to the requested direction 5 Run opposite the requested direction until the Home Input transitions from Active to Inactive 6 Deceleration to the Starting Speed and stop followed by a two second delay 7 Return to the Home Input at the configured Starting Speed Stop when the Home Input transitions from inactive to active NOTE gt If the Home Input is active when the command is issued the move profile begins at step 5 above 42 ADVANCED MICRO CONTROLS INC HOMING THE SMD23 4E k Homing Profiles continued Profile with Network Home Proximity Bit Figure 3 2 below shows the move profile generated by a Find Home command when you use the Home Input with Network Home Proximity bit CW Home Home 8 Proximity Bit Home Input Input Active 2 Starting Speed Starting Speed POSITION SPEED Figure 3 2 Homing with Proximity 1 Acceleration from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed 3 Ignores the Home Input because Home Proximity Bit has not made
13. Status Bits MSW Format Status Bits MSW 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 T DTIN Zla 515 zl 58 8282300 9 SIS gt Figure 10 4 Command Mode Status Bits MSW Format Bit 15 Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming An SMD23 4E will power up in Command Mode and shows a configuration error unless a valid config uration was saved in flash memory An SMD23 4E will not power the motor or accept commands until a valid configuration is written to it or read from its internal flash memory Bit 14 Controller OK Bit 1 when the SMD23 4E is operating without a fault when an internal fault condition exists Bit 13 Configuration Error Bit 1 on power up before a valid configuration has been written to the SMD23 4E or after any invalid configuration has been written to the driver 0 when the SMD23 4E has a valid configuration written to it or if valid configuration data is read from flash memory on power up Bit 12 Command Error Bit 1 when an invalid command has been written to the SMD23 4E This bit can only be reset by the Reset Errors bit Command Bits MSW Bit 10 Bit 11 Input Error Bit 1 when gt Emergency Stop input has been activated gt Either of the End Limit Switche
14. Figure 8 3 Assigning IO Words to Ethernet Module Once you update the index and size values click on Edit gt Validate Ctrl W to validate the change Then press the Update application button to create the Derived Data Types You can then close the BMX NOC0401 window Adding the SMD23 4E Click on Tools gt DTM Browser Alt Shift 1 to open the DTM Browser window Double click on the NOC0401 module In the fdtConfiguration window that opens select Channel Properties TCP IP to set the Scanner IP Address Sub Network Mask and Gateway IP Address The Scanner IP address must be on the same subnet as the SMD23 4E Close fdtConfiguration window In the DTM Browser right click on the NOC0401 and select Add In the Add window that opens scroll down to Modbus Device and double click on it Enter an Alias name for the SMD23 4E In this example the name is set to SMD23 4E_50 50 is the last octet of its IP address Click OK to close the window In the DTM Browser double click on the NOC0401 A configuration window will open Under Device List on the left side click on the SMD23 4E_50 entry There are three tabs that have information that must be set 78 ADVANCED MICRO CONTROLS INC TCP CONFIGURATION Sample Modbus Configuration continued Adding the SMD23 4E continued Under the Properties tab change the Import Mode to Manual See figure 8 4 below Cl
15. 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 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 10 11 Jog Move CCW Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command Reserved 2 3 4 5 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville 06786 99 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND MODE DATA FORMAT Command Blocks continued Registration Move CCW EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0100 See pg 93 Command Bits LSW Bits 7 amp 6 must equal 10 Stopping Distance Upper Word gps Combined value between Stopping Distance Lower Word 0 and 8 388 607 Combined value between Steps per the Configured Startin Programmed Speed Lower Word Second Speed Sd 3 999 999 Programmed Speed Upper Word Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Min Reg Move Distance Upper Word Steps Combined value between Min Reg Move Distance 0 and 8 388 607 Lower Word Table 10 12 Registration Move CCW
16. Chapter 5 Installing the SMD23 4E M12 51 Safe Handling Guidelines 51 Prevent Electrostatic Damage 51 Prevent Debris From Entering the 51 Remove Power Before Servicing in a Hazardous Environment 51 Mouintttig 52 SMD23E M12 Outline Drawing 52 SMD24E M12 Outline Drawing 53 SMD23 4E M12 Mounting 53 SMD23 4E M12P Mounting 53 Connecting the Load 53 Network Connector esses 54 Compatible Connectors and Cordsets 54 Connectors 54 Ethernet Cordsets 54 TIA EIA 568 Color Codes 55 Input 55 Power 56 Input Wiring eer 57 ADVANCED MICRO CONTROLS INC Table of Contents Chapter 6 Network Configuration Factory Default 59 Data Format ASSUMPt ONS 5 x conse trip e EPA SUFRE A VOUS 59 Modes of Operation inttr 85 Firewalls 59 Configuration Mode 85 Installing the AMCI NET Software 59 Mode 85 Configure Your Network Interface Multi Word Format sess 85 ene hebdo en 60 Output Data Format 86 Warning When Multiple NIC s Control Word Format 86 Are On Your Computer 60 Configuration Word Format 88 Attach the SMD23 4B
17. Female 5 pin A coded Screw terminal MS 31 99 0436 12 05 connections 6 to 8 mm dia cable Straight IP67 rated when properly installed Table 5 4 Compatible Input Connector 20 Gear Drive Plymouth Ind Park Terryville CT 06786 55 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls INSTALLING THE SMD23 4E M12 Power Wiring The SMD23 4E accepts 24 to 48 Vdc as its input power AMCI strongly suggests using 18 AWG or larger wire for the power connections The MS 31 connector will accept up to 18 gauge wire D CAUTION Do not apply 120 Vac to any pins of the SMD23 4E If this occurs the unit will be dam aged and you will void the unit s warranty Figure 5 5 below shows how to wire power to the SMD23 4E M12 units Note that Pin 5 DCPower is only used when you introduce a circuit for removing power from the motor POWER amp 2 DIGITAL IN Pin 4 Input 2 Pin 3 DC 24Vdc to 48Vdc Pin 5 DC Poweraux Power Supply Pin 1 DC Powermain Pin 2 Input 1 POWER amp DIGITAL IN Pin 4 Input 2 Pin 3 D Power Powera 24Vdc to 48Vdc Power Supply ircuit Pin 2 Input 1 Figure 5 5 M12 Power Wiring 56 ADVANCED MICRO CONTROLS INC INSTALLING THE SMD23 4E M12 Ley Input Wiring Figure 5 6 below shows how to wire discrete DC differential sourcing and sinking sen
18. POSITION Minimum Registration Programmed Move Distance Number of Steps Controlled Stop Condition E Programmed Speed o Starting Speed POSITION Minimum Registration Programmed Move Distance Number of Steps Figure 2 10 Min Registration Move Distance 20 Gear Drive Plymouth Ind Park Terryville CT 06786 31 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Basic Move Types continued Registration Move continued Controlled Stop Conditions gt he Registration Move Command bit is reset to 0 gt positive transition on an input configured as a Stop Jog or Registration Move Input NOTE gt Starting a Registration Move with a Stop Jog or Registration Move Input 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 SMD23 4E responds by using the programmed Deceleration value to bring the move to a stop without using the value of the Pro grammed Number of Steps parameter A Registration Move does not go into the Hold State if the Hold Move control bit is used to stop the move and it cannot be restarted Immediate Stop Conditions gt The Immediate Stop bit makes 0 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 tha
19. 1 5 0 3 20 003 4 406 TP s 21 5000 00010 i 2 38 100 0 025 99 4 Fog xo OH or P 5 1 Optional Nitrile Shaft Y Seal Option P E 5 6 0 2500 0 0009 1 PS 0 27 0 01 lt Tos 4 50 19 9 02 6 8 40 3 0 59 002 26 350 0000 1 856 0 008 gt 0 00 15 0 0 5 47 14 0 20 4 25 0 03 129 0 0 0 lt 2 36 0 02 60 40 5 0 2500 0 0000 H Section S S 3X Scale 0 000 2 6 350 0 013 _ 0 228 10 004 5 8 0 10 REAR VIEW TOP VIEW POWER amp ETHERNET DIGITAL IN Gees a o A Ethernet Connector POWER NS REQUIREMENT 24 to 48 Voc e Input Connector Mates with AMCI MS 2X4 Phoenix Contact 173 88 27 Figure 4 2 SMD24E Outline Drawing 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 coupler is strongly recommended whenever possible See SSS SSS SSS SS SS SE EEE 20 Gear Drive Plymouth Ind Park Terryville CT 06786 47 Tel 860 585 1254 Fax 860 584 1973 http www amci com 4 INSTALLING THE SMD23 4E Network Connection The Ethernet connector is located on the top of
20. 109 Attach the SMD23 4E 109 Start Your BOOTP Server 109 Enabling BOOTP Protocol 110 Setting the IP Address 111 Disabling the BOOTP Protocol 112 Testing the New IP Address 112 6 ADVANCED MICRO CONTROLS INC 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 their target audience Audience This manual explains the set up installation and operation of SMD23E and SMD24E Integrated Stepper Indexer Driver Motors Itis written for the engineer responsible for incorporating these units into a design as well as the engineer or technician responsible for their actual installation Applicable Units This manual applies to all of the units in the SMD23 4E family Model Number SMD23E 130 Description Size 23 motor 130 oz in holding torque SMD23E 240 Size 23 motor 240 oz in holding torque SMD24E 350 Size 24 motor 350 oz in holding torque MD23E 130E Same as SMD23E 130 with an integrated encoder MD23E 240E Same as SMD23E 240 with an integrated encoder Same as SMD24E 350 with an integrated encoder MD23E 130 M12 Same as SMD23E 130 with sealed M12 connectors for IP50 rating 5 5 SMD24E 350E 5 5 MD23E 240 M12
21. Slot The slot the module will reside in Module Properties Local 1 1756 ENET B 2 1 175 1756 Ethernet Communication Interface Vendor Allen Bradley Parent Local ENet_Bridge Address Host Name Description A PAddress 192 168 000 254 zit Host Name Slot fi Revision P fi Electronic Keying Compatible Module Cancel Back Next gt Finish gt gt Help Figure 7 2 Setting Module Properties 4 When done click on Finish gt gt to complete the setup of the Ethernet bridge module 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 7 2 will open In this window you must set an IP Address for the port not the IP address of the SMD23 4E 68 ADVANCED MICRO CONTROLS INC ETHERNET IP CONFIGURATION p 4 RSLogix 5000 Configuration continued Adding the SMD23 4E You can add the SMD23 4E to the project once the Ethernet port built in or bridge module is configured 1 As shown in figure 7 3 on the right the Ethernet port will be listed under the I O Configuration tree Right click on the port and then click New Module in the pop up menu Data Types User
22. Start Indexed Move Capture Encoder Value When the encoder is enabled on an SMD23 4E E the encoder position value is captured whenever this input transitions An inactive to active state transition will also trigger an Indexed Move if one is pending in the SMD23 4E E Stop Jog or Registration Move Brings a Jog or Registration Move to a controlled stop Stop Jog or Registration Move amp Capture Encoder Value When the encoder is enabled on an SMD23 4E E the encoder position value is captured when the input trig gers a controlled stop to a Manual or Registration move Emergency Stop All motion is immediately stopped when this input makes an inactive to active transition Home Used to define the home position of the machine Invalid Combination This bit combination is reserved Table 9 3 Configuration Mode Control Word Format Input 3 is not available with the SMD23 4E M12 units On these units this input should be NOTE d s programmed to be a general purpose input by setting bits 6 7 and 8 to 0 20 Gear Drive Plymouth Ind Park Terryville CT 06786 87 Tel 860 585 1254 Fax 860 584 1973 http www amci com E g CONFIGURATION MODE DATA FORMAT Configuration Mode Output Data Format continued Configuration Word Format Configuration Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 0 0000000 DriveEn ActSt 3 ActSt 2 ActSt 1
23. 2 30 Ibs 1 05 kg 240 2 70 Ibs 1 23 kg SMD23E 240 E M12 P 2 80 Ibs 1 27 kg SMD2AE 350 E 3 10 Ibs 1 41 kg SMD24E 350 E M12 P 3 20 Ibs 1 45 kg weights are without mating connectors Inputs Electrical Characteristics SMD23 AE Differential 2500 Vac dc opto iso lated Can be wired as single ended inputs SMD23 4E M12 P Single ended sinking 2500 Vac dc opto isolated DC Inputs accept 3 5 to 27Vdc without the need for an external current limiting resistor Faults Faults are reported in the Network Input Data and can be cleared through the Network Output Data Motor Current Programmable from 1 0 to 3 4Arms in 0 1 Amp steps DCPower Current SMD23 4E M12 Units Only 70 mA 24Vdc 40mA 48Vdc Connector For Driver AMCI Part I O SMD23 4E 24 16 AWG Motor Counts per Turn Programmable to any value from 200 to 32 767 steps per revolution Incremental Encoder Internal incremental encoder available as an option Encoder supplies 1 024 counts per turn 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 Environmental Specifications Input Power 24 to 48Vdc surge to 60Vdc without damage to unit Ambient Operating Temper
24. Command Block Preset Position EtherNet IP Modbus Word Register Command Bits MSW 16 0200 Command Bits LSW See pg 93 Position Preset Value Upper Word Combined value between Position Preset Value 8 388 607 and 8 388 607 Lower Word Jnused See Note Below Jnused See Note Below nused See Note Below nused See Note Below nused See Note Below Unused See Note Below Table 10 13 Preset Position Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command gt Presetting the position will also reset the Move Complete status bit 100 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT B t Command Blocks continued Reset Errors EtherNet IP Modbus Word Register Function Command Bits MSW 16 0400 Command Bits LSW See pg 93 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 00 10 tAa io NI eR Unused See Note Below Table 10 14 Reset Errors Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command gt Resetting errors will also reset the Move Complete status bit Run Assembled Move EtherNet IP Modbus TCP Word Regist
25. INTRODUCTION TO THE SMD23 4E Driver Functionality This table summarizes the features of the stepper motor driver portion of an SMD23 4E Feature RMS Current Control Benefits RMS current control give an SMD23 4E 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 3 4 amps in 0 1 amp increments Reducing the motor current to the minimum needed for your application will significantly reduce the motors operating temperature Programmable Idle Current Reduction Extends motor life by reducing the motor current when motion is not occurring This extends the life of the motor by reducing its operating temperature Programmable Motor Steps Turn Allows you to scale your motor count to a real world value counts per inch counts per degree etc Anti Resonance Circuitry This circuitry gives each SMD23 4E the ability to modify motor current waveforms to compensate for mechanical resonance in your system This will give you smooth performance over the entire speed range of the motor Over Temperature Detection An SMD23 4E sets a warning bit in the network data when the temperature of the unit approaches its safe operating threshold Over Temperature Protection Available Discrete Inputs Pr
26. Type ETHERNET MODULE Generic Ethernet Module Vendor Allen Bradley Parent ETHERNET Name AMCI SMD23E Connection Parameters Assembly 7 Description Ethemet Stepper Instance Indexer Driver Motor unit Input 10 16 bit Output 0 Comm Format Address Host IP Address 192 168 0 50 Configuration O Host Name Status Offine Cancel Apply Help Figure 7 4 Sample SMD23 4E Configuration Screen 4 Click on Next gt Set the RPI time as required for your system The minimum RPI time for an SMD23 4E is 1 5 milliseconds When done click on Finish gt gt to complete the setup 20 Gear Drive Plymouth Ind Park Terryville CT 06786 69 Tel 860 585 1254 Fax 860 584 1973 http www amci com V ETHERNET IP CONFIGURATION RSLogix 500 Configuration Platforms supported by the RSLogix 500 software package require Message Instructions to communicate with the SMD23 4E 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 SMD23 4E One instruction reads data from the unit and the other writes data to it The following table gives the required attributes 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 1
27. but the other end is un terminated This end can be punched down onto a patch panel or an RJ45 connector can be added if the cordset is plugged directly into a switch Power Supply Sizing An external 24 to 48 Vdc power supply is required to power the control electronics and the stepper motor so it must be rated to supply current to motor The general rule of thumb is to specify a supply that can output the maximum current for your motor The maximum motor current for the SMD23 4E is 3 4 Arms but this can be limited by your software configuration By using the torque curves of your motor it is possible to calculate the maximum power your motor will out put and size your supply accordingly If you use power calculations double the calculated power when sizing your supply to account for power conversion losses and guarantee stall free operation SMD23 4E M12 units have an additional pin that supplies power to the electronics only This allows you to remove power from the motor without losing the network connection 20 Gear Drive Plymouth Ind Park Terryville CT 06786 19 Tel 860 585 1254 Fax 860 584 1973 http www amci com E INTRODUCTION TO THE SMD23 4E Specifications Driver Type Two bipolar MOSFET H bridges with 20KHz PWM current control Physical Dimensions See page 46 for SMD23 4E or page 52 for SMD23 4E M12 Weight 130 2 20 Ibs 1 00 kg SMD23E 130 E M12 P
28. 2CCW Segment 1 CCW Figure 2 12 Blend Move NOTE gt 1 You do not have to preset the position or home the machine before you can use Blend Move Because the Blend Move is based on Relative Moves it can be run from any location 2 The Blend Move is stored in the internal memory of the SMD23 4E and can be run multiple times once it is written to the unit The Blend Move data stays in memory until power is removed the unit is sent new Configuration Data or anew Blend or Dwell Move is written to the unit As described in Saving an Assembled Move in Flash on page 36 it is also possible to save a Blend Move to flash memory This move is restored on power up and can be run as soon as you configure the SMD23 4E and enter Command Mode 3 There are two control bits used to specify which direction the Blend Move is run in This gives 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 SMD23 4E 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 A Blend Move that is brought to a controlled stop with the Hold Move bit cannot be restarted The use of the Hold Move bit is explained in the Controlling Moves In Progress section starting on page 38 Immedi
29. 5 Resume Move Command Block Reserved 1 2 3 4 5 6 7 8 9 Unused words are ignored the SMD23 4E and can be any value including parameter values in the previ ous command This is typically the case when resuming a move the words are listed as Unused to high light that the target position of a held move cannot be changed when the move is resumed 96 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT B t Command Blocks continued Immediate Stop EtherNet IP Modbus Word Register Function Command Bits MSW 16 0010 Command Bits LSW See pg 93 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 00 10 tAa io NI eR Unused See Note Below Table 10 6 Immediate Stop Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command Find Home CW EtherNet IP Modbus TCP Word Register Functon Command Bits MSW 16 0020 Command Bits LSW See pg 93 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 Must equal zero f
30. 768 to 32 767 or 0 to 65 535 Many parameters of the SMD23 4E 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 Modbus TCP users that are limited to sixteen bit integers should used signed 16 bit integer values First Word Second Word 12 0 12 1 234 567 1 234 567 7 654 321 7 654 321 Figure 10 1 Multi Word Format Examples Command Bits Must Transition Commands are only accepted when the command bit makes 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 bit is set in the Control Word Word 0 while in Configuration Mode and 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 SMD23 4E EtherNet IP and Modbus TCP addresses are both shown EtherNet IP Modbus TCP Word Register Command Bits MSW Command Bits LSW Command Parameters Word meaning depends on the command set to the SMD23 4E nI Tr BY VW Ww e Table 10 1 Command Mode Data Format 20 Ge
31. Charel Ignore if timed out o Communication Command Break Connection BK 0 Send Awaiting Execution EW 0 Size in Bytes Receive Sendt i Error ER 0 Target Device Message done 0 Message Timeout Message Transmitting ST 0 Message Enabled EN 0 Local Remote MukiHope Yes Extended Routing Info File REX End Service fwrite Assembl Service Code hex Error Code Hex 0 Class hex dec Instance hex Attribute hex decl Error Description No errors Figure 7 8 Write Message Instruction Setup Screen Click on the MultiHop tab on the top of the window As shown in figure 7 9 enter the IP address of the SMD23 4E and press Enter MSG Rung 2 0 MG11 0 f General Send Data Receive Data Ins Add Hop Del Remove Hop This MicroLogix EtheNeUIP Device str _ 192 168 0 50 _ Figure 7 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 20 Gear Drive Plymouth Ind Park Terryville CT 06786 73 Tel 860 585 1254 Fax 860 584 1973 http www amci com V ETHERNET IP CONFIGURATION RSLogix 500 Configuration continued Using Message Instructions in a MicroLogix 1100 PLC continued Troubleshooting If you are unable to communicate with the SMD23 4E the problem may be that
32. Ethernet Communications module The example assumes that you are starting a new project You may have to adjust module location and data addressing to match your existing application Initial Configuration From the menu bar click on File gt New Ctrl N and select your processor P342020 in this example In Project browser double click on the PLC bus The Hardware catalog will open along with a picture of your rack In the Hardware catalog expand the Communication section and drag the name of the communications mod ule to the proper slot of the rack picture A BMX NOC 0401 in slot 1 is used in this example A Properties of device window will open that allows you to rename the device As shown in figure 8 2 it is left to its default name in this example Project Browser Ta Structural view PLC bus C3 Configuration zog 0 PLC bus m 0800 P P 5 2000 P34 2000 uw Derived Data Types A mad B Modicon M340 local drop H Analog Communication BMX 0100 Properties of device 0401 T 0100 General Device information DTM information Protocol information BMX NOE 0100 2 DTM name management 0110 0110 2 Alias 0200 0200 2 Tag name NOR 0200 H Counting Default 1 0 vision management Discrete
33. If the Message Instruction is being used to write data to the SMD23 4E enter the integer file where the source data will be located in the Data Table Address Send field and press Enter 7 Enter 20 as the number of bytes needed in either the Size In Bytes Receive or Size In Bytes Send fields Each SMD23 4E requires 20 bytes for both Receive and Send 8 Enter a RIX address in the Extended Routing Info field Please note that each Message Instruction must have its own RIX address 20 Gear Drive Plymouth Ind Park Terryville CT 06786 71 Tel 860 585 1254 Fax 860 584 1973 http www amci com V ETHERNET IP CONFIGURATION 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 SMD23 4E or Write Assemble for a Message Instruction that is being used to send data to the SMD23 4E and press Enter 10 For Read operations the Service Code field will change to 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 Instance field For Write operations enter a value of 150 decimal 96 hex in the Instance f
34. Just attach it to your network Start Your BOOTP Server If needed start your BOOTP server The BOOTP DHCP server software version 2 3 from Rockwell Auto mation is used in this example The R A BOOTP server window is broken down into two panes Request History 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 AddresVMAC Type 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 109 Tel 860 585 1254 Fax 860 584 1973 http www amci com E Wu IP ADDRESS SETUP WITH BOOTP Using the RA BOOTP Server continued Enabling BOOTP Protocol Changing the IP address of the SMD23 4E requires you to enable the BOOTP protocol on the unit before you can change the IP address The SMD23 4E has the BOOTP protocol disabled by default 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 SMD23 4E which is printed on the module s serial number tag You do not have to enter the characters when entering the address on the screen You must enter the IP address tha
35. Moves A Blend or Dwell Move can be placed in a Hold state but cannot be resumed This give you the ability 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 38 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Stall Detection with SMD23 4E E Units One of the additional features available to you when you order an SMD23 4E with an encoder is Stall Detec tion When Stall Detection is enabled the SMD23 4E E 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 1 024 in the Configuration Data of the SMD23 4E E Idle Current Reduction Idle Current Reduction allows you to prolong the life of your motor by reducing its idling temperature 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 which results in an exponential not linear drop in motor temperature This means that even a small reduction in the idle current can have a significant effect on the temperature of the motor NOTE gt Note that the reduction values are to values not
36. SMD23 4E Connectors Binder Description Mating connector for Ethernet Connector MS 28 99 3729 810 04 Male 4 pin D coded Screw terminal connections 6 to 8 mm dia cable Straight IP67 rated when properly installed Mating connector for Power Connector Female 5 pin A coded Screw terminal connections 6 to 8 dia cable Straight IP67 rated when properly installed Table 1 4 Compatible Connectors 18 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23 4E ls i SMD23 4E M12 Connectors continued Compatible Connectors and Cordsets continued Ethernet Cordsets Phoenix Contact 1569391 SAC 4P M12MSD 2 0 931 Description Bus system cable 4 position 26AWG shielded EIA TIA 568B color coded Plug Straight M12 D coded free conductor end Cable length 2 m 1569401 SAC 4P M12MSD 5 0 931 Bus system cable 4 position 26AWG shielded EIA TIA 568B color coded Plug Straight M12 D coded free conductor end Cable length 5 m 1569414 SAC 4P M12MSD 10 0 931 Bus system cable 4 position 26AWG shielded EIA TIA 568B color coded Plug Straight M12 D coded free conductor end Cable length 10 m 1569427 SAC 4P M12MSD 15 0 931 Bus system cable 4 position 26AWG shielded EIA TIA 568B color coded Plug Straight M12 D coded free conductor end Cable length 15 m Table 1 5 Ethernet Cordsets NOTE gt These cordsets include the M12 connector
37. Table 9 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 0 5 0 Input 3 Input 2 Input 1 E 5 Config Config Config RESERVED Bit must equal zero Figure 9 1 Configuration Mode Control Word Format Bit 15 Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming An SMD23 4E powers up in Command Mode and shows a configuration error hexadecimal value of 6408h unless a valid configuration has been written to the flash memory of the SMD23 4E The SMD23 4E will not power the motor or accept commands until a valid configuration is written to it Bit 14 Anti Resonance Enable Bit 0 enables the anti resonance feature of the SMD23 4E 1 dis ables the anti resonance feature The Anti resonance feature will provide smoother operation in most cases If you are still experiencing 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 with the SMD23 4E E units that have a built in encoder The encoder pulses turn must be programmed to a value of 1 024 and the encoder must be enabled by setting bit 10 to 1 See Bit 10 below Bit 11 Home Proximity Bit Enable Bit
38. a 0 gt 1 transition 4 Deceleration towards the Starting Speed when the Home Proximity bit transitions from 0 to 1 The axis will stop as soon as the Home Input becomes active 5 The Starting Speed is the minimum speed the profile will run at If the axis decelerates to the Starting Speed before reaching the Home Input it will continue at this speed NOTE gt Figure 3 2 shows the Backplane Home Proximity Bit staying active until SMD23 4E reaches its home position This is valid but does not have to occur As stated in step 4 the SMD23 4E starts to hunt for the home position as soon and the Backplane Home Proximity Bit makes a 0 1 transition 20 Gear Drive Plymouth Ind Park Terryville CT 06786 43 Tel 860 585 1254 Fax 860 584 1973 http www amci com 3 HoMiNG THE SMD23 4E Homing Profiles continued Profile with Overtravel Limit Figure 3 3 below shows the move profile generated by a Find Home command when you use gt CW Overtravel Limit gt Home Input without Backplane Home Proximity Bit The profile is generated when you encounter an overtravel limit in the direction of travel In this example hitting the CW limit while traveling in the CW direction Hitting the overtravel limit associated with travel in the opposite direction is an Immediate Stop condition The motor will stop all motion and issue a Home Invalid error to your host The SMD23 4E will stop with an error if both overtravel limits are activ
39. beyond 8 388 607 counts is with multiple relative moves or jog com mands Absolute Coordinates Absolute coordinates treat the Target Position as an actual position on the machine Note that you must set the Home Position on the machine before you can run an Absolute Move See Definition of Home Position on the previous page gt The range of values for the Target Position when it is treated as an actual position on the machine is 8 388 607 counts The move will be clockwise if the Target Position is greater than the Current Posi tion and negative if the Target Position is less than the Current Position gt The Current Motor Position register that is reported back to the host has a range of 32 768 000 to 32 767 999 counts However you cannot move beyond 8 388 607 counts with an Absolute Move The only way to move beyond 8 388 607 counts is with multiple relative moves or jog commands Definition of Acceleration Types With the exception of Registration Moves all move commands including homing commands allow you to define the acceleration type used during the move The SMD23 4E supports three types of accelerations and decelerations The type of acceleration used is controlled by the Acceleration Jerk parameter Linear Acceleration When the Acceleration Jerk parameter equals zero the axis accelerates or decelerates at a constant rate until the programmed speed is reached This offers the fastest acceleration but consideratio
40. command until the speed reaches the Starting Speed which occurs at the Target Position B The motor stops at this point Note that the acceleration and deceleration values can be different in the move Figure 2 4 above shows a Trapezoidal Profile A Trapezoidal Profile occurs when the Programmed Speed is reached during the move This occurs when the number of steps needed to accelerate and decelerate are less than the total number of steps in the move Figure 2 5 below shows a Triangular Profile A Triangular Profile occurs when the number of steps needed to accelerate to the Programmed Speed and decelerate from the Programmed Speed are greater than the total number of steps in the move In this case the profile will accelerate as far as it can before it has to decelerate to reach the Starting Speed at the Target Position The Programmed Speed is never reached a Programmed Speed n o Starting Speed POSITION A B Figure 2 5 A Triangular Profile 26 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Controlled Immediate Stops Once a move is started there are several ways to stop the move before it comes to an end These stops are broken down into two types gt Controlled Stop The axis immediately begins decelerating at the move s programmed deceleration value until it reaches the configured Starting Speed The axis stops at this point The motor position value is still considered valid after a Controlled Stop and t
41. commands and you must cycle power to the unit This design decision prevents the SMD23 4E from responding to con stant save commands from the host controller The flash memory has a minimum of 10 000 write cycles Bits 9 3 Reserved Must equal zero Bit2 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 NOTE gt This input is not available with the SMD23 4E M12 units On these units this input should be programmed to be Normally Closed by setting this bit to 0 This effectively disables the input on these units Bit 1 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 Bit 0 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 88 ADVAN
42. concurrent con nections Flashing Green Valid Ethernet net Steady Green work and CIP connec tions Should not occur LED should always flash when network is connected Flashing Red Connection Not implemented in Modbus TCP Steady Red Duplicate IP address on network Table 1 3 Network Status LED States 216 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23 4E K i SMD23 4E Connectors Input Connector As shown in figure 1 3 the Input Connector is 1 located top of the unit Connections to three differential digital inputs and power supply connections are made at this connector The mating connector is supplied with the SMD23 con i wi Ha 4E Spares are also available from AMCI under the part number MS 2X4 They are also avail t able from Phoenix Contact under their part num ber 173 88 27 Figure 1 3 Connector Ethernet Port The Ethernet Port is also located on the top of the SMD23 4E The con nector is a standard RJ 45 jack that will accept any standard 100baseT cable The Ethernet port on the SMD23 4E is port that will automatically switch between 10baseT and 100baseT depending on the network equipment it is attached to The port also has auto switch capability This means that a standard cable can be used when
43. 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 o Starting Speed POSITION 5 000 16 000 Figure 2 11 Encoder Move 32 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Encoder Moves 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 Encoder Move by using the Resume Move bit or the move can be aborted by starting another move The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 38 Immediate Stop Conditions gt The Immediate Stop bit makes 0 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 Assembled Moves All of the moves explained so far must be run individually to their completion or must be stoppe
44. explanation of a Jog Move can be found starting on page 29 gt Run Registration Move Command Bits LSW Bit 7 When this bit equals 0 and Jog Move command is issued it will run as a standard Jog Move When this bit equals 1 and a Jog Move command is issued the move will run as a Registration Move 92 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT E t Command Bits MSW continued Bit6 Find Home CCW When set to 1 the SMD23 4E will attempt to move to the Home Limit Switch in the counter clockwise direction A full explanation of homing can be found in the Homing The SMD23 4E chapter starting on page 41 Bit5 Find Home CW When set to 1 the SMD23 4E will attempt to move to the Home Limit Switch in the clockwise direction A full explanation of homing can be found in the Homing The SMD23 4E chapter starting on page 41 Bit 4 Immediate Stop Bit When set to 1 the SMD23 4E 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 Bit 3 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 38 Note that a move in its hold state does not need to be resume
45. 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 with a series of six relative moves that are sent down to the SMD23 4E sequentially The two advantages of a Dwell Move in this case are that the SMD23 4E will be more accurate with the Dwell Time then you can be in your control program and Dwell Moves simplify your program s logic cw Move holds at the end of each segment for the programmed Dwell Time Starting Speed Starting Speed Segment 1 Segment 3 Segment 5 POSITION SPEED Segment2 Segment 4 ccw Segment 6 Figure 2 13 Dwell Move NOTE gt 1 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 2 The Dwell Move is stored in the internal memory of an SMD23 4E and can be run multiple times once it is written to the unit The Dwell Move data stays in memory until power is removed the unit is sent new Configuration Data or anew Blend or Dwell Move is written to the SMD23 4E As described in Saving an Assembled Move in Flash on page 36 it is also possible to save a Dwell Move to flash memory This move is restored on power up and can be run as soon as you configure your SMD23 4E and enter Command Mode Controlled Stop Condit
46. 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 20 Gear Drive Plymouth Ind Park Terryville CT 06786 37 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Controlling Moves In Progress An SMD23 4E 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 1s 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 a new move of any type from the stopped position The figure below shows a profile of a move that i
47. p x 3 0 59 0 02 06 350 0 909 a 856 mew 09792000 8 0 15 0 0 5 i 47 14 10 20 a 0 lt 2 36 0 02 gt 60 0 5 0 2500 00000 J Section S S 3X Scale 0 000 e 6 350 0000 m 0 228 40 004 REAR VIEW 5 8 30 10 or Pin 4 Input 2 Pin 3 DC Common Pin 5 24Vdcaux Pin 1 24Vdemain NETWORK POWER amp DIGITAL IN fa POWER REQUIREMENT 24 to 48 Voc 6 AMC POWER amp DIGITAL IN Pin 2 Input 1 Figure 5 2 SMD24E M12 Outline Drawing SMD23 4E M12 Mounting The SMD23 4E M12 is not water tight Its IP50 rating makes it acceptable for use in dusty environments with occasional condensation The SMD23 4E should be mounted in such a way that water will naturally drain off of the unit instead of pooling at the motor shaft where the motor wires exit the motor or on the motor laminations SMD23 4E M12P Mounting The SMD23 4E M12P is water tight Its IP67 rating makes it acceptable for use in washdown environments with a directed hose or in environments where it may be exposed to short term immersion in liquids 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 coupler is strongly recommended whenever possible 20 Gear Drive Plymouth Ind Park Terryville CT 06786 53 gt Tel 860 5
48. the front of the motor for mounting This flange also acts as a heatsink so motors should be mounted on a large unpainted metal surface Mounting a motor in this fashion will allow a significant amount of heat to be dissipated away from the motor which will increase the unit s life by reduc ing 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 SMD23 4E 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 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 SMD23E Outline Drawing Length 0 05
49. the name SMD23 4P E is used When a part of this manual only applies to sealed units with M12 connectors the name SMD23 4E M12 is used 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 Revision Record This manual 940 0S 134 is the fifth release of this manual It was first released March 28 2014 It added information on the SMD24E units Revision History 940 08133 Fourth Release September 10 2013 Changed IP rating of dust tight unit from IP54 to IP50 940 0S132 Third Release January 23 2013 Add information on sealed M12 connectors 940 0S131 Second Release June 19 2012 It corrects information on Ethernet LED s optocoupler specifications and adds torque curves 940 05 130 Initial Release 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 7 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 manual you will also find bl
50. to the SMD23 4E The SMD23 4E 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 SMD23 4E to a new subnet then change your NIC s address to be on the same subnet Once this is done apply power to the SMD23 4E 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 Net work Protocol settings 20 Gear Drive Plymouth Ind Park CT 06786 63 Tel 860 585 1254 Fax 860 584 1973 http www amci com NETWORK CONFIGURATION Using the AMCI NET Software continued SMD23E Tab When you connect to the SMD23 4E 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 Configurator 5 08 Connect SMD23E Configuration Configuration Word 0 8000 HEX Input 1 Configuration Input 2 Configuration Input 3 Configuration Ant Resonance Stall Detection Home Proximity Quad Encoder General Purpose Input gt General Purpose Input gt General Purpose Input Configuration Word 1 0007 HEX Active Levels of the Inputs Save to Flash Input 1 Input 2 Input 3 High Low High
51. wel comed and necessary if this manual is to be improved Please direct all comments to Technical Documenta tion AMCI 20 Gear Drive Terryville CT 06786 or fax us at 860 584 1973 You can also e mail your questions and comments to techsupport amci com ADVANCED MICRO CONTROLS INC TABLE OF CONTENTS General Information Chapter 1 Introduction to the Important User Information 2 SMD23 4E Standard Warranty 2 continued Returns Policy taunted 2 SMD23 4E M12 Connectors 17 24 Hour Technical Support Number 2 Input Connector 17 We Want Your Feedback 2 FIERA Compatible Connectors ABOUT THIS MANUAL and Cordsets 18 er US 7 Connectors 18 Applicable no 7 Ethernet Cordsets 19 Revision Record eese 8 Power Supply Sizing 19 Revision History 8 Specifications 20 Navigating this Manual 8 Torque and Power Curves 21 Manual Conventions ss 8 Chapter 2 Move Profiles Trademark Notices 8 Umits 6f esi IR etre intern des 23 Where Go From Here 9 Definition of Count Direction 23 Chapter 1 Introductio
52. you want to reverse direction during your move consider using the Dwell Move which is explained on page 35 4 The Programmed Speed of each segment must be greater than or equal to the Starting Speed 5 The Programmed Speed can be the same between segments This allows you to chain two segments together 6 For all segments except for the last one the programmed position defines the end of the segment For the last segment the programmed position defines the end of the move 7 Once you enter a segment that segment s programmed acceleration and deceleration values are used to change the speed of the motor 8 The blend segment must be long enough for the acceleration or deceleration portions of the segment to occur 20 Gear Drive Plymouth Ind Park Terryville CT 06786 33 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES 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 NOTE gt The deceleration value programmed with segment 3 is used twice in the segment Once to decelerate from the Programmed Speed of segment 2 and once again to decelerate at the end of the move End of End of End of CW Segment1CW Segment 2 CW Segment 3 CW Starting Speed POSITION Starting Speed SPEED cow End of End of End of Segment 3 CCW Segment
53. 0 to 5000 Table 10 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 SMD23 4E sees bit 12 of Command Bits MSW set it will accept the block and reset bit 9 in the Status Bits MSW word When your program sees this bit reset it must respond by resetting bit 12 of Com mand Bits MSW The SMD23 4E will respond to this by setting bit 9 in the Status Bits MSW word and the next Segment Block can be written to the SMD23 4E You can write a maximum of sixteen Segment Blocks for each Assembled Move Reserved 1 2 3 4 5 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville 06786 103 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND MODE DATA FORMAT Input Data Format The correct format for the Network Input Data when an SMD23 4E is in Command Mode is shown below EtherNet IP and Modbus TCP addresses are both shown Eo Modbus TOF Command Mode Input Data Word Register Status Bits MSW Status Bits LSW 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 MN e Table 10 19 Network Input Data Format Command
54. 23 4E units that do not have a built in encoder Reserved Bit Will always equal zero Reserved Bit Will always equal zero Heart Beat Bit This bit will change state approximately every 500 milliseconds Monitor this bit to verify that the unit and network connection are operating correctly Note that this bit is only available when 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 Jog Move if parameters are changed to invalid values Thew only way to clear this bit once set is to write correct parameter values to the SMD23 4E Parameters that can be changed during a Jog Move are Programmed Speed Acceleration and Decel eration Reserved Bit Will always equal zero Driver Fault Bit If the driver section of the SMD23 4E is enabled this bit will be a 1 during an Overtemperature Fault This bit can only be cleared by cycling power to the SMD23 4E Network Lost Error Bit If the physical 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 e
55. 50 decimal Attribute 3 hex 3 hex Length 20 bytes 20 bytes Table 7 1 Message Instruction Attributes Using Message Instructions in a MicroLogix 1100 PLC NOTE gt Only RSLogix 500 version 8 0 or above 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 SMD23 4E This file must be at least 10 words in length gt An Integer file to contain the data sent to the SMD23 4E This file must be large enough to con tain all of the data written to the unit 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 70 ADVANCED MICRO CONTROLS INC ETHERNET IP CONFIGURATION P 4 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 SMD23 4E 1ead message write message Message Instruction Enable instruction Enable to read data from bit bit wut Read Write Message MSG Fi
56. 61 Using the AMCE Net Configurator aisen 6l 89 61 Input Data Format 89 Connect to your SMD23 4E 62 Control Word Format Word 0 89 The Meaning of the Invalid Configurations 90 Product 63 Chapter 10 Mode Changing the IP Address 63 Data Format possel Wed 63 Multi Word Format 9 Cycle Power to the SMD23AE 63 Command Bits Must Transition 91 Testing the New Address 63 Output Data Format 91 SMD23E Tab eee 64 Command Bits MSW 92 Using the Ping Command 65 Command Bits LSW 93 Chapter 7 EtherNet IP s 95 solute Move Configuration Relative 95 RSLogix 5000 Configur 67 Hold Move 96 Configure Bridge Module Resume Move 96 As Needed ud DT ED 67 Immediate Stop 97 Configuring a Built in Ethernet Find Home 97 Port As Needed 68 Find Home CCW 98 Adding the SMD23 4E 69 Jog Move CW ssessssesss 98 RSLogix 500 Configuration
57. 85 1254 Fax 860 584 1973 http www amci com Ls INSTALLING THE SMD23 4E M12 Network Connector Figure 5 3 shows the Ethernet connector pinout when viewed from the back of the SMD23 4E M12 The Ethernet port on the unit is an auto sense port that will automatically switch between 10baseT and 100baseT depending on the network equipment it is attached to The port also has auto switch capability This means that a standard cable can be used when connecting the SMD23 4E to any device including a personal computer Pin 3 Tx Pin 4 Rx Pin 2 Rx Pin 1 Tx ETHERNET Figure 5 3 M12 Ethernet Connector Pinout The connector is a standard female four pin D coded M12 connector that is rated to IP67 when the mate is properly attached Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market all of which will work with the SMD23 4E M12 provided that the manufacturer follows the connector and Ethernet standards AMCI has reviewed the following connectors and Ethernet cordsets for compatibility with the SMD23 4E M12 Connectors Binder Description Mating connector for Ethernet Connector Male four pin MS 28 99 3729 810 04 D coded Screw terminal connections 6 to 8 mm dia cable Straight IP67 rated when properly installed Table 5 1 Compatible Ethernet Connectors Ethernet Cordsets Phoenix Contact Description 1569391 Bus system cable 4 position 26AWG sh
58. 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Basic Move Types continued Relative Move continued Relative Moves can be brought to a Controlled Stop by using the Hold Move Command from your host con troller When the command is accepted the axis will immediately decelerate at the programmed rate and stop When stopped successfully the SMD23 4E will set a Hold State bit in the input data table The Rela tive Move can be restarted with the Resume Move command from the host controller or the move can be aborted by starting another move The Resume Move command allows you to change the move s Pro grammed Speed Acceleration Value and Type and the Deceleration Value and Type The Target Position cannot be changed with the Resume Move Command 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 command The use of the Hold Move and Resume bits is further explained in the Controlling Moves In Progress section starting on page 38 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
59. 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 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 36 Bit 10 Reset Errors When set to 1 the SMD23 4E will clear all existing errors and attempt to use the present data to run a new command This command also resets the Move Complete bit Bit 9 Preset Motor Position Bit When set to 1 the SMD23 4E will preset the Motor Position to the value stored in Output Words 2 and 3 This command also resets the Move Complete bit Bit8 Jog Move CCW When set to 1 the SMD23 4E will run Jog Move in the counter clockwise direction A full explanation of a Jog Move can be found starting on page 29 gt Run Registration Move Command Bits LSW Bit 7 When this bit equals 0 and Jog Move command is issued it will run as a standard Jog Move When this bit equals 1 and a Jog Move command is issued the move will run as a Registration Move Bit 7 Jog Move CW When set to 1 the SMD23 4E will run a Jog Move in the clockwise direction A full
60. CABLE The logical states of the sensor and 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality SMD23 4E input will be reversed The earth ground connection is not available at the sensor the shield can be grounded to the same Ground Bus as the SMD23 4E SMD23 4E input 15 off when the Sensor 15 active You can set the logic state of the SMD23 4E input when you configure the unit Figure 5 6 Input Wiring T This ratings refer to optocouplers ability to prevent damaging voltages from crossing its isolation barrier to the rest of the SMD23 4E If 120 Vac voltage is applied to an input the input itself will still be destroyed 20 Gear Drive Plymouth Ind Park Terryville CT 06786 57 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls INSTALLING THE 5 23 4 12 Notes 58 ADVANCED MICRO CONTROLS INC 6 NETWORK CONFIGURATION This chapter covers how to configure the IP address of an SMD23 4E and set the communications protocol using Ethernet Configurator software Itis also possible to use a BOOTP server to set the IP address of an SMD23 4E Instructions on using the BOOTP server from Rockwell Automation are available in Appendix A Factory Default Each SMD23 4E ships from the factory with a default IP address of 192 168 0 50 and a subnet mask of 255 255 255 0 An SMD23 4E retains its IP addres
61. CED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT 9 Configuration Mode Output Data Format continued Notes on Other Configuration Words gt Information on the Multi Word Format used when programming the Starting Speed can be found on page 85 gt Changes to the Idle Current only take effect at the end of the first move after re configuration Input Data Format The format for the Network Input Data when an SMD23 4E is in Configuration Mode is shown below EtherNet IP and Modbus TCP addresses are both shown EtherNet IP Modbus TCP 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 0000 Mirror of Encoder Pulses Turn Mirror of Idle Current Percentage NHN AJ OINI Mirror of Motor Current X10 0000 Status message when writing Configuration data to flash memory Table 9 4 Network Input Data 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 SMD23 4E When the SMD23 4E is not configured or the data written to it is invalid then this word has the same format of the Status Bits MSW word when the SMD23 4E is in Command Mode This format is explained in t
62. Default input 1 0 vision ed Variable name M_NOCO401_IN H Rack E Supply Default output 1 0 vision Variable name M_NOCO401_OUT Figure 8 2 Configuring the M340 Rack Once you set the name click OK and the device is added Add all other devices needed by your application and then close the PLC bus window to close the Hardware catalog 20 Gear Drive Plymouth Ind Park Terryville CT 06786 77 Tel 860 585 1254 Fax 860 584 1973 http www amci com TCP CONFIGURATION Sample Modbus Configuration continued Configuring the Ethernet Scanner In the Project Browser expand the rack if necessary and double click on the communications module The BMX NOC 0401 in this example This will open a window that allows you to set the number of I O words assigned to the device NOTE gt The number of input and output words has to be large enough to accommodate all of the devices connected to the NOC0401 plus the sixteen input and sixteen output words needed by the NOC0401 for communication status bits If a single SMD23 4E unit is attached to the NOC0401 you will need twenty six I O words As shown in figure 8 3 MW index values must be even 230 1 NOC 0401 Ethernet 4 Port 10 100 RJ45 i NOC 0401 itt Configuration Channel 0 Project Network Inputs Outputs MW index MW index size size Function EIP connectivity network Task MAST
63. Defined Strings Predefined Cg Module Defined Configuration 1 1769 L32E Ethernet Port LocalENB CompactBus Local 2 New Module 2 In the resulting window click on the By Vendor tab towards the bottom of the window if necessary Scroll down the list until you find the entry that has a Module Type of ETHERNET MODULE and a de Cut Ctrl x description of Generic Ethernet Module Click 9 Copy Ctrl C the module name to select and then click the OK Bi Paste Description Status Module Fault button A Module Properties window will open Delete Del 3 Set the following parameters in the Module Properties window parameters not listed here are optional Figure 7 4 shows a completed screen gt Name A descriptive name for the SMD23 4E gt Comm Format Data INT MUST be changed from the default Data DINT gt IP Address Must be the address you set for the net work module in the SMD23 AE Refer to Chapter 6 starting on page 59 for information on setting the IP Address of an SMD23 4E gt Input Assembly Instance 100 Size 10 words gt Output Assembly Instance 150 Size 10 words gt Configuration Assembly Instance 110 Size 0 Cross Reference Properties Figure 7 3 Adding an SMD23 4E Wil Module Properties ETHERNET ETHERNET MODULE 1 1 i General Connection Module Info
64. Ethernet adapter Local Area Connection Connection specific DNS Suffix IP Address Subnet Mask Default Gateway DHCP Class ID Ethernet adapter Local Area Connection Connection specific DNS Suffix IP fiddrsss 2 6 20x 0x o x5 168 6 224 Subnet Mask 255 255 8 Default Gateway Figure 6 1 ipconfig Command 60 ADVANCED MICRO CONTROLS INC NETWORK CONFIGURATION e Configure Your Network Interface Card NIC continued If your present address in not in the 192 168 0 x range type in ncpa cpl at the command prompt and hit Enter on the keyboard gt n XP 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 subnet mask to appropriate values 192 168 0 1 and 255 255 255 0 will work for an SMD23 4E with factory default settings The default gateway and DNS server settings can be ignored Attach the SMD23 4E The next step in configuring the SMD23 4E is attaching it to your computer Any Cat5 5e or 6 cab
65. Flash memory first select the Yes radio button under the Save to Flash heading If you choose to save the configuration to Flash the unit will load the configuration on every power up and enter command mode This eliminates the need to write configuration data to the SMD23 4E on every power up However AMCI sample programs assume the SMD23E will power up with a config uration error gt sample programs write down configuration values to the unit when it sees a configuration error Using this functionality simplifies replacing an SMD23 4E if the need ever arises _64 ADVANCED MICRO CONTROLS INC NETWORK CONFIGURATION e Using the Ping Command The easiest way to test the address of the SMD23 4E when it is in your network is with the ping command Before you can use the command you have to be sure the SMD23 4E and your computer are still on the same subnet For example if the new address of the SMD23 4E 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 SMD23 4E is 192 168 50 50 then the computer and SMD23 4E are 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
66. Low High Low C Yes Configuration Words 2 to 9 Starting Speed 1 to 1 999 999 100 Send Configuration Motor Steps Tum 200 to 32 767 1000 Encoder Pulses Tum 0 to 32 767 0 Read Current Configuration Idle Current Percentage 0 to 1002 20 Motor Current 0 1 Amps 10 to 34 20 Save to File Read From File Note Write or Read Configuration Motion Test Preset Encoder Run Assem PRG Assem Reset Errors Preset Position Manual Manual cw Immed Stop Resume Movel Hold Move Relative Move Command Word 1 Blend Direction Encoder Move Indexed Move DwellMove Clear Hw Fault Command Words 2 to 9 Status Word 1 4408 HEX Status Word 2 2807 HEX gt Motion Status Stopped Driver Enabled No ti EH 5 urrent Possition 0 DEC Postion 8388607 1000 Posssition invalid Yes Input 1 State Active Velocity 1 2 999 999 2000 DISABLE POWER Move completed Input 2 State Active Encoder Position 0 DEC Acceleration 1 5000 50 At Home No Input 3 State Active Capt enc position 0 DEC Command Error No Deceletarion 1 5000 50 Figure 6 5 Motor Control Tab Screen gt The format of configuration and command data is covered in chapters 9 and 10 of this manual gt The Send Configuration button will write the configuration data to the SMD23 4E If you wish to store the configuration in
67. M12 connectors have additional status LED on the RJ45 connector that shows the status of the physical Ethernet link Module Status MS LED The Module LED is a bi color red green LED that show the general status POWER amp ETHERNET of the unit DIGITAL IN 10 100Base T gt Steady Green Unit OK gt Steady Red An Overtemperature Fault exists FEE Blinking Green Successful write to flash memory Power must be cycled to the unit before additional commands MS can be written to it e POWER ns gt Blinking Red Failed write to flash memory You must cycle power REQUIREMENT to the unit to clear this fault 24 to 48 Voc munications error between the main pro cessor and the ethernet co processor within the unit You must cycle power to the SMD23 4E to attempt to clear this 1A Bear Cover status LEDS fault gt Alternating Red Green Communications failure There is a com Network Status NS LED The Network Status LED is a bi color red green LED The state of the LED depends on the protocol the SMD23 4E is configured to for LED State EtherNet IP Definition Modbus Definition Off No Power No power or no TCP connections Alternating Red Green Power up Self Test Power up Self Test Indicates number of concurrent connections Ethernet connection with 2 second delay between group The but no CIP connections SMD23 4E supports up to 3
68. O CONTROLS INC COMMAND MODE DATA FORMAT t 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 Word Register Function 1024 Command Bits MSW 16 0800 1025 Command Bits LSW See pg 93 1026 1033 Unused See Note Below Table 10 17 Assembled Move First Programming Block Unused words are ignored by the SMD23 4E and can be any value including parameter values from the pre vious command Once the first block is transmitted the SMD23 4E responds by setting bits 8 and 9 in the Status Bits MSW word See Status Bits MSW Format starting on page 104 Once these are set you can then start transmitting Segment Blocks Segment Block EtherNet IP Modbus TCP Word Register DHREHOH Command Bits MSW 16 1800 Command Bits LSW See pg 93 Rel Target Position Upper Word Steps Combined value between Rel Target Position Lower Word 8 388 607 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 Must equal zero for compat ibility with future releases Acceleration Jerk
69. S EtherNet IP Local Slaves Address Server Local Slave 1 Items DHCP for this device psabed Local Slave 2 Items Local Slave 3 Identified by Items A Device List Identifier 003 SMD23E 50 MDB 192 168 0 50 Logging Subnet Mask Gateway um gt Disconnected G pata set Figure 8 5 AnyNET I O Stack Addressing 80 ADVANCED MICRO CONTROLS INC TCP CONFIGURATION Sample Modbus Configuration continued Adding the SMD23 4E continued The Request Setting tab is used to set up implicit communications between the PLC and the SMD23 4E The scanner will automatically update the unit at the programmed rate if you configure these settings It is also possible to communicate with the SMD23 4E under program control by addressing the unit in your code Click on the Add Request button to start the settings gt gt gt Connection Leave as is Unit ID Leave as is Health Time Out ms The PLC sets an error if the SMD23 4E does not respond in this amount of time This setting must be greater that the Repetitive Rate setting 1500 milliseconds has been used in testing at AMCI Repetitive Rate ms How often the SMD23 4E is updated Range of 5 to 60 000 milliseconds with intervals of five milliseconds An SMD23 4E can be updated every five milliseconds but you may want to increase this time based on need and network load RD Add
70. S Curve acceleration Like the Triangular S Curve this acceleration type begins and ends the acceleration phase smoothly but the middle of the acceleration phase is linear Figure 2 3 shows a trapezoidal curve when the linear acceleration phase is half of the total acceleration time With this setting the Trapezoidal S Curve acceleration only requires 33 more time to achieve the same velocity as a Linear Acceleration SSS SSS Programmed Speed SPEED CELERATION AC Figure 2 3 Trapezoidal S Curve Acceleration 20 Gear Drive Plymouth Ind Park 06786 25 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES A Simple Move As shown in the figure below a move from A Current Position to B Target Position consists of several parts Programmed Speed SPEED Starting Speed POSITION Figure 2 4 A Trapezoidal Profile 1 The move begins at point A where the motor jumps from rest to the configured Starting Speed The motor then accelerates at the programmed Acceleration Value until the speed of the motor reaches the Programmed Speed Both the Acceleration Value and the Programmed Speed are programmed when the move command is sent to the SMD23 4E 2 The motor continues to run at the Programmed Speed until it reaches the point where it must decelerate before reaching point B 3 The motor decelerates at the Deceleration Value which is also programmed by the move
71. SMD23E 130 MI2P SMD23E 240 M12P SMD24E 350 M12P SMD23E 130E M12P SMD23E 240E M12P SMD24E 350E M12P VV VV VVVVVYV 20 Gear Drive Plymouth Ind Park Terryville CT 06786 11 Tel 860 585 1254 Fax 860 584 1973 http www amci com H INTRODUCTION TO THE SMD23 4E The SMD23 4E Family continued General Functionality Each member of the SMD23 4E family has three integrated parts gt An indexer that accepts commands over an Ethernet connection using the EtherNet IP or Modbus TCP protocol gt A3 4Arms micro stepping driver that accepts 24 to 48Vdc as its input power source gt A high torque size 23 or size 24 stepper motor 130 240 or 250 oz in holding torque An incremental encoder is also available for applications that require additional position feedback The availability of the Ethernet IP and Modbus TCP protocols makes the SMD23 4E units easy to integrate into a wide variety of controller systems This combination of host and driver gives you several advantages Sophisticated I O processing can be performed in the host PLC or other controller before sending commands to the SMD23 4E unit gt All motion logic is programmed in the host eliminating the need to learn a separate motion control lan guage gt Eliminating the separate indexer and driver lowers Total System Cost An SMD23 4E is powered a nominal 24 to 48 Vdc power source and can accept surge voltages of up to 60Vdc without damage T
72. Same as SMD23E 240 with sealed M12 connectors for IP50 rating SMD24E 350 M12 Same as SMD24E 350 with sealed M12 connectors for IP50 rating SMD23E 130E M12 Same as SMD23E 130E with sealed M12 connectors for IP50 rating SMD23E 240E M12 Same as SMD23E 240E with sealed M12 connectors for IP50 rating SMD24E 350E M12 Same as SMD24E 350E with sealed M12 connectors for IP50 rating SMD23E 130 M12P Same as SMD23E 130 M12 with FDA approved clear coating shaft and wire seals for IP67 rating SMD23E 240 M12P Same as SMD23E 240 M12 with FDA approved clear coating shaft and wire seals for IP67 rating SMD24E 350 M12P Same as SMD24E 350 M12 with FDA approved clear coating shaft and wire seals for IP67 rating SMD23E 130E M12P Same as SMD23E 130E M12 with FDA approved clear coating shaft and wire seals for IP67 rating SMD23E 240E M12P Same as SMD23E 240E M12 with FDA approved clear coating shaft and wire seals for IP67 rating SMD24E 350E M12P Same as SMD24E 350E M12 with FDA approved clear coating shaft and wire seals for IP67 rating Part Number Description NOTE gt In general the only difference between the SMD23 and SMD24 units are the outline drawings They are functionally equivalent When information in this manual applies to all of the units in the families and the name SMD23 4E is used When part of this manual only applies to units with encoders
73. al Commission IEC Safe Handling Guidelines Prevent Electrostatic Damage D CAUTION Electrostatic discharge can damage the SMD23 4E Follow these guidelines when han dling the unit 1 Touch a grounded object to discharge static potential before handling the unit 2 Work in a static safe environment whenever possible 3 Wear an approved wrist strap grounding device 4 Do not touch the pins of the network connector or I O connector 5 Do not disassemble the unit 6 Store the unit in its anti static bag and shipping box when it is not in use Prevent Debris From Entering the Unit While mounting of all devices be sure that all debris metal chips wire strands tapping liquids etc is prevented from falling into the unit specifically the M12 connectors Debris may cause damage to the unit or unintended machine operation with possible personal injury Remove Power Before Servicing in a Hazardous Environment Remove power before removing or installing any SMD23 4E units in a hazardous envi ronment 20 Gear Drive Plymouth Ind Park Terryville CT 06786 51 Tel 860 585 1254 Fax 860 584 1973 http www amci com INSTALLING THE SMD23 4E M12 Mounting 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 fr
74. all motion will immediately stop At this point you will only be able to jog in the counter clockwise direction 14 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23 4E ls Available Discrete Inputs continued 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 an SMD23 4E to run critically timed moves that cannot be reliably started from the network due to data transfer lags If the quadrature encoder is available and one of the discrete DC inputs is programmed as a Start Indexer Move Input then the quadrature encoder position data will be captured whenever the DC input makes a tran sition An inactive to active state transition on the DC input will also trigger an Indexer Move if one is pend ing 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 Any type of move including a Jog or Registration Move cannot begin while this input is active Stop Jog or Registration Move Input When an input is configured as a Stop Jog or Registration Move Input triggering this input during a Jog Move or Registration Move will bring the move to a controlled stop The controlled stop is tri
75. and a starting Output Register address of 1024 Input Registers hold the data from the SMD23 4E while Output Registers hold the data to be written to the unit Figure 8 1 shows how an SMD23 4E is mapped to the Modbus data reference The complete specifica tion for the Modbus protocol can be downloaded at http www modbus org specs php b 9 megister 0 0 Mapped as NU Discrete Inputs Del Holding Registers 150 E Registe no 144 LSB and MSB Numbers Not Implemented SMD23E Mapped as Network Output Coils Data Holding Registers Figure 8 1 Modbus Data Reference Map SMD23 4E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 75 Tel 860 585 1254 Fax 860 584 1973 http www amci com TCP CONFIGURATION Supported Modbus Functions Function Code 1 Read Coils OUTPUT Bit Addresses starting at 16 384 2 Read Discrete Inputs INPUT Bit Addresses starting at 0 3 Read Holding Registers OUTPUT amp INPUT Wort Out n 5 ins et 4 Read Input Registers INPUT Word Addresses starting at 0 5 Write Single Coil OUTPUT Bit Addresses starting at 16 384 6 Write Single Register OUTPUT Word Addresses starting at 1024 15 16 22 Function Name SMD23 4E Register Addressing method Write Multiple Coils OUTPUT Bit Addresses starting at 16 384 Write Multiple Registers OUTPUT Word Addresses starting at 1024 Mask Write Register OUTPUT Word Addresse
76. ane Inputs gt Home Proximity Bit The SMD23 4E can be configured to ignore changes on the physical homing input until the Home Proximity Bit makes a 0 transition The SMD23 4E will home on the next inactive to active change on the physical input once this transition occurs You must program your host to control the state of this bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 41 Tel 860 585 1254 Fax 860 584 1973 http www amci com k HOMING THE SMD23 4E Homing Configurations An SMD23 4E must have one of its DC inputs configured as the home input before one of the Find Home commands can be issued 1 You do not have to configure and use CW or CCW Limits If you choose to configure the module this way then the SMD23 4E has no way to automatically prevent overtravel dur ing a homing operation You must prevent overtravel by some external means or ensure that the homing command is issued in the direction that will result in reaching the homing input directly 2 You can use a bit in the Network Output Data as a home proximity input Using this bit is completely optional Homing Profiles NOTE gt The Find Home command is used in all of these examples The Find Home command will generate the same profiles in the opposite direction Home Input Only Profile Figure 3 1 below shows the move profile generated by a Find Home command when you use the Home Input without the Backplane Home Proximity bit
77. 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 28 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Basic Move Types continued 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 or the move can be aborted by starting another move The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 38 Immediate Stop Conditions gt The Immediate Stop bit makes 0 1 transition in the Network Input Data gt A inactive to active 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 909 Move Jog Moves move in the programmed direction as long as the command is active Two commands are avail able The Jog Move wi
78. ar Drive Plymouth Ind Park Terryville CT 06786 91 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND MODE DATA FORMAT Command Bits MSW Command Bits MSW 15 14 13 12 1 10 09 08107 06 05 04 03 02 01 00 z gt aj gt E 8 gt gt gt lt lt D 5 gt Figure 10 2 Command Bits MSW Format Bit 15 Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming The SMD23 4E powers up in Command Mode and shows a configuration error hexadecimal value of 6408h if a valid configuration has not been stored in flash memory An SMD23 4E will not power the motor or accept commands until a valid configuration is written to it or read from flash memory Bit 14 Preset Encoder Bit Valid only with an SMD23 AE E when set to 1 the SMD23 4E E will preset the Encoder Position to the value stored in Output Words 2 and 3 Bit 13 Run Assembled Move When set to 1 an SMD23 4E will run the Assembled Move already stored in memory gt Assembled Move Type 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 a 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
79. as a standard Jog Move When this bit equals 1 and a Jog Move command is issued the move will run as a Registration Move Reserved Must equal 0 Save Assembled Move Set this bit to save the programmed Assembled Move to flash memory This bit must be set when the Move Program Mode makes a 1 gt 0 transition at the end of the pro gramming cycle to write the data to flash memory The SMD23 4E responds by flashing the Status LED when the writing is complete If the LED is flashing green the write to flash memory was suc cessful If it flashes red then there was an error in writing the data In either case power must be cycled to the SMD23 4E before you can continue This design decision is to protect the flash mem ory from constant write commands The flash memory has a minimum of 10 000 write cycles 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 Reserved Must equal 0 Encoder Move Valid with an SMD23 4E E only set this bit to 1 when you command an Abso lute 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 motor position Please note that an encoder move does not stop at the programmed encoder position It starts to decelerate at this posit
80. ata The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 38 Immediate Stop Conditions gt The Immediate Stop bit makes a 0 1 transition in the Network Input Data gt Ainactive to active 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 1 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 move while CW 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 Jog Move while the CCW Limit Switch is active 30 ADVANCED MICRO CONTROLS INC MOVE PROFILES Pd Basic Move Types continued Registration Move Similar to a Jog Move a Registration Move will travel in the programmed direction as long as the command is active Registration Moves result in clockwise rotation of the shaft Registration Moves result in coun ter clockwise rotation of the shaft When the command terminates under Controlled Stop conditions the SMD23 4E will output a programmed number of steps as part of bringing the mov
81. ate Stop Conditions gt The Immediate Stop bit makes 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 34 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Assembled Moves continued Dwell Move A Dwell Move gives you the ability to string multiple relative moves together and run all of them sequentially with a single start condition Like a Blend Move a Dwell Move is programmed into an SMD23 4E 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 command that starts the move The Dwell Time is the same for all segments 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 seg ment Positive segments will result in clockwise shaft rotation while a negative segment will result in a counter clockwise shaft rotation The
82. ated while the unit is trying to find the home position CW Home cw Limit Overtravel Switch Limit Starting Speed POSITION Starting Speed SPEED CCW Figure 3 3 Profile with Overtravel Limit 1 Acceleration from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed 3 Hit CW Limit and immediately stop followed by a two second delay 4 Acceleration to the Programmed Speed opposite to the requested direction 5 Run opposite the requested direction until the Home Input transitions from Active to Inactive 6 Deceleration to the Starting Speed and stop followed by a two second delay 7 Return to the Home Input at the configured Starting Speed Stop when the Home Input transitions from Inactive to Active NOTE gt i limit is active when Find Home Command is active profile will begin at step 4 44 ADVANCED MICRO CONTROLS INC CHAPTER 4 INSTALLING THE SMD23 4E This chapter applies to the standard SMD23 4E units If you are installing a sealed SMD23 4E that has M12 connectors please refer to chapter 5 starting on page 51 Location SMD23 4E units are suitable for use in an industrial environment that meet the following criteria gt Only non conductive pollutants normally exist in the environment but an occasional temporary con ductivity caused by condensation is expected gt Transient voltages are controlled and do not exceed the impulse v
83. ature 4 to 122 20 to 50 C Storage Temperature 40 to 185 F 40 to 85 C Humidity 0 to 95 non condensing IP Rating SMD23 AE IP20 SMD23 4E M12 1 50 SMD23 4E M12P IP67 Status LED s See Status LED s section starting on page 16 Connectors All mating connectors are available separately under the following AMCI part numbers The MS 2x4 is included with SMD23 4E units Strip Length 0 275 inches Connection Type Spring Cage Connector T O SMD23 4E M12 18 AWG max 0 197 inches Screw Terminals Ethernet SMD23 4E M12 18 AWG max 0 197 inches Screw Terminals 20 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23 4E K i Torque and Power Curves SMD23E 130 Torque and Power Curves Motor Current 3 4A 160 0 140 0 1200 at o IJ 43 1000 5 2 gt 43 V Power E 80 0 24V Torque 60 0 24V Power 40 0 20 0 0 0 T T T T T T T T T T T T T T 3 T T 1 0 2 4 6 8 10 12 14 16 18 20 22 24 Speed rev sec Figure 1 8 SMD23 4E 130 Torque and Power Curves SMD23E 240 Torque and Power Curves Motor Current 3 4A 250 225 200 175 48Vdc Torque g os 150 ez 4 on eg 125 5 24 4 100 75 24VdcPower 50 25 0 0 2 4 6 8 10 12 14 16 18 20 22 24 Speed rev sec Figure 1 9 SMD23 4E 240 Torque and Power C
84. bled on your computer may cause connection issues It appears to be caused by routing and default gateway settings on the computer The easiest way to solve these problems is to disable all network interfaces except for the one used to attach to the SMD23E This includes wireless adapters If the SMD23E refuese to connect to your com puter or you see requests from the SMD23E but your computer does not respone correctly disable all the additional network interfaces and try again 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 cmd 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 SMD23 4E Figure 6 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
85. by values Setting a motor current to 2Arms and the current reduction to 25 will result in an idle current of 0 5Apk The SMD23 4E always switches from RMS to peak current control when the motor is idle to prevent motor damage due to excessive heating 4 SSS e 9 9 HR 20 Gear Drive Plymouth Ind Park 06786 39 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Notes 40 ADVANCED MICRO CONTROLS INC __ HOMING THE SMD23 4E This chapter explains the various ways of homing the SMD23 4E Inputs used to home unit introduced diagrams that show how the unit responds homing command are given Definition of Home Position The Home Position is any position on your machine that you can sense and stop at Once at the Home Posi tion the motor position register of an SMD23 4E must be set to an appropriate value If you use the unit s Find Home commands the motor position register will automatically be set to zero once the home position is reached The Encoder Position register will also be reset to zero if the quadrature encoder is available and enabled NOTE gt Defining Home Position is completely optional Some applications such as those that use the SMD23 4E for speed control don t require position data at all With the exception of Absolute Moves an SMD23 4E can still perform al
86. c 1 to 5000 Deceleration Steps ms sec 1 to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk to 5000 Table 10 3 Relative Move Command Block Reserved 1 2 3 4 5 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville 06786 95 Tel 860 585 1254 Fax 860 584 1973 http www amci com 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 93 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 io NHN Unused See Note Below Table 10 4 Hold Move Command Block Unused words are ignored by an SMD23 4E and can be any value including parameter values in the previous command Resume Move EtherNet IP Modbus TCP Word Register Command Bits MSW 16 0008 Command Bits LSW See pg 93 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 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 10
87. ce This manual is copyright 2014 by Advanced Micro Controls Inc You may reproduce this manual in whole or in part for your personal use provided that this copyright notice is included You may distribute copies of this complete manual in electronic 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 2014 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 AMCI be liable for incidental or c
88. ck on the Manual Connect button text box will appear Enter the IP address of the device Product Type you wish to attach to and press Connect button Note The computer must be on the same subnet as the AMCI device Product Code B With the USB connection click on the Connect button to begin communicating with the device Major Rev Minor Rev More detailed instructions are available by clicking the Help button gt gt m ADVANCED MICRO CONTROLS INC lt 2 a um M AnyNet 1 0 NEXUS 1 0 NR25 Series Encoders SMD Series Stepper SD Series AC Stepper Exit Figure 6 2 AMCI NET Configurator Opening Screen CANopen 20 Gear Drive Plymouth Ind Park CT 06786 61 Tel 860 585 1254 Fax 860 584 1973 http www amci com NETWORK CONFIGURATION Using the AMCI NET Software continued Connect to your SMD23 4E The first step in configuring your SMD23 4E is to connect to it The software will attempt to find your unit if you click on the Scan button If your unit is found it will appear in the table below the Scan button Sim ply 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 wireless connections and
89. connecting _ the SMD23 4E to any device including a personal computer Link Status LED This LED is on when there is a physical link between the Ethernet port of the SMD23 4E and the Ethernet port of the device SMD23 4E is plugged into This LED will flash when data is being transmitted over the Ethernet Connector SMD23 4E M12 Connectors Figure 1 4 Ethernet Port Location Input Connector As shown in figure 1 5 the Input Connector is located on the back of the unit below the Ethernet Connector All digital input and power supply connections are made at this connector Figure 1 6 shows the pinout of the connector when viewed from the back of the SMD23 4E M12 Pin 4 Input 2 Pin 3 DC Common Pin 5 24Vdcaux Pin 1 24Vdemain Pin 2 Input 1 POWER amp POWER amp DIGITAL IN DIGITAL IN POWER REQUIREMENT Figure 1 6 M12 Input Connector S 24 to 48 Voc Digital inputs on the SMD23 4E M12 units are single ended and refer O AMIE C enced to the DC Common pin There two power pins DCPowery m powers both the control electronics and the motor DCPower powers only the control electronics Using the DCPower pin is optional If your application requires you to cut power to your motor under some con ditions using the DCPower yx pin allows you to cut power to your motor without losing you
90. d The move is automatically cancelled if another move is started in its place Bit2 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 or it can be aborted by simply starting another move Use of the Hold Move and Resume Move bits can be found in the Controlling Moves In Progress section of this manual starting on page 38 Bit 1 Relative Move Bit Set to 1 to perform a Relative Move using the data in the rest of the Command Data The full explanation of a Relative Move can be found starting on page 27 Bit 0 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 28 Command Bits LSW Command Bits LSW 15 14 13 12111 10 09 08107 06 05 04103 02 01 00 o gt gt gt lt gt gt 7 a lt lt Figure 10 3 Command Bits LSW Format Bit 15 Driver Enable Bit 0 to disable the motor current 1 to enable motor current A valid configura tion must be written to the SMD23 4E before the driver can be enabled Bits 14 12 Reserved Must equal 0 Bit 11 Backplane Home Proximity Bit When the SMD23 4E is configured to use Backplane Home Proximity bit the unit will ignore the state of the Home Input as long as t
91. d before another move can begin The SMD23 4E also gives you the ability to pre assemble more complex profiles from a series of relative moves that are then run with a single command Each Assembled Move can consist of 2 to 16 segments Two types of Assembled Moves exist in an SMD23 4E gt 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 A Blend Move can be run in either direction and the direction is set when the move command is issued gt Dwell Move A Dwell Move gives you the ability to string multiple relative moves together and the SMD23 4E 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 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 SMD23 4E before the move can be initiated gt The SMD23 4E supports Blend Moves with up to sixteen segments 2 Each segment is programmed as a relative move Blend Moves cannot be programmed with absolute coordinates 3 All segments run in the same direction The sign of the target position is ignored and only the magnitude of the target position is used The move s direction is controlled by the bit pattern used to start the move If
92. deceleration is steps second second or steps second However when programming an SMD23 4E all acceleration and deceleration values must grammed in the unit of measure of steps millisecond second gt convert from steps second to steps millisecond second divide the value by 1000 This must be done when converting from a value used in the equations to a value programmed into an SMD23 4E gt convert from steps millisecond second to steps second multiply the value by 1000 This must be done when converting from the value programmed into an SMD23 4E to the value used in the equa tions Definition of Count Direction Clockwise moves will always increase the motor position register that is reported back to the host Some of the moves such as the Jog Move have a positive and negative command A positive command such as the Jog Move command will result in a clockwise rotation of the shaft Definition of Home Position The Home Position is any position on your machine that you can sense and stop at There are two ways to defining the Home Position The first is using the Preset Position command to set the Motor Position register to a known value The second method is using one of the Find Home commands If you use the unit s Home commands the motor position and encoder registers will automatically be set to zero once the home position is reached Defining a Home Position is completely optional Some applica
93. e Green Tracer White Orange tracer Transmit Tx Solid Green Solid Orange Receive Rx White Orange Tracer White Green Tracer Rx Solid Orange Solid Green Table 5 3 TIA EIA Color Codes Input Connector The Input Connector is located on the back of the SMD23 4E M12 below the Ethernet Connector Figure 5 4 shows the pin out for the Input Connector when viewed from the back of the unit Pin 4 Input 2 Pin 3 DC Common Pin 5 24Vdcaux Pin 1 24 Pin 2 Input 1 POWER amp DIGITAL IN Figure 5 4 I O Connector Digital inputs on the SMD23 4E M12 units are single ended and referenced to the DC Common pin There are two power pins DCPoweryAq powers both the control electronics and the motor DCPower powers only the control electronics Using the pin is optional If your application requires you to cut power to your motor under some conditions using the pin allows you to cut power to your motor without losing your network connection The connector is a standard five pin A coded M12 connector that is rated to IP67 when the mate is properly attached Many different connectors and cordsets are available on the market all of which will work with the SMD23 4E M12 provided that the manufacturer follows the M12 A coding standards The following mating connec tor is available from AMCI Binder Description Mating connector for Power Connector
94. e following chapter Multi Word Format Many of the hosts that can be used with an SMD23 4E 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 an SMD23 4E 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 9 1 Multi Word Format Examples NOTE gt When using Modbus TCP protocol use signed 16 bit integer as the data type 20 Gear Drive Plymouth Ind Park Terryville CT 06786 85 Tel 860 585 1254 Fax 860 584 1973 http www amci com c CONFIGURATION MODE DATA FORMAT Output Data Format The correct format for the Network Output Data when the SMD23 4E is in Configuration Mode is shown below EtherNet IP and Modbus TCP addresses are both shown EtherNet IP Modbus TCP Word Register Configuration Data Control Word See below Configuration Word See below Starting Speed Upper Word Combined value between 1 Starting Speed Lower Word and 1 999 999 steps sec Motor Steps Turn 200 to 32 767 Reserved Set to zero Encoder Pulses Turn Set to 1 024 Idle Current Percentage 0 to 100 10 to 34 Represents 1 0 to 3 4 Arms Motor Current X10 1 2 3 4 5 6 7 8 9 Reserved Set to zero
95. e input is programmed as explained in the Configuration Word Format section starting on page 88 Motor Position Data These two inputs words report the motor position based on the number of steps output by the SMD23 4E 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 91 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 from the internal encoder of an SMD23 4E E The range for the encoder position value is 32 768 000 to 32 767 999 The data is trans mitted in the Multi Word Format described on page 91 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 position of the internal encoder of an SMD23 4E E when an input transi tions for its inactive to its active state The input 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 51 Note that both words in the multi word format will be negative if the captured encoder position value is negative Notes on Clearing a Driver Fault A Driver Fault occurs when th
96. e 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 SMD23 4E 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 hitp 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 folder is created in your programs folder Typically Program Files AMCI or Program Files x86 AMCTI gt The NET Configurator program is placed in this directory gt shortcut to the AMCI NET Configurator program is created on the desktop and a program list ing is created that will display the program off of the Start Menu NOTE No changes are made to the registry The program can be easily un installed by deleting the Program Files AMCI or Program Files x86 AMCI directory and shortcuts 20 Gear Drive Plymouth Ind Park Terryville CT 06786 59 Tel 860 585 1254 Fax 860 584 1973 http www amci com NETWORK CONFIGURATION Configure Y
97. e to a stop Note that all position values programmed with a Registration Move are relative values not absolute machine positions Controlled Stop Condition Programmed Speed SPEED Starting Speed POSITION Programmed Number of Steps Figure 2 9 Registration Move NOTE gt 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 the SMD23 4E will decelerate at the programmed Deceleration value until it has output the Pro grammed Number of Steps and then stop the move without further deceleration An additional feature of the SMD23 4E 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 command the Registration Move The figure below shows how the Minimum Registration Move Distance parameter effects 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 Programmed Speed SPEED Starting Speed
98. ection of this manual starting on page 16 Connector Pin Out The I O Connector is located on the top of the SMD23 4E The mate for this connector is included with the unit It is also available from AMCI under the part number MS 2X4 and Phoenix Contact under their part number 173 88 27 Figure 4 4 shows the pin out for the I O connector Vdc IN3 IN2 IN1 Supply Com IN3 IN2 IN1 Figure 4 4 I O Connector Power Wiring The SMD23 4E accepts 24 to 48Vdc as its input power The power pins are the outer two pins of the MS 2X4 connector See figure 4 4 for proper connections to the MS 2X4 The connector will accept 16 to 24 AWG wire AMCI strongly suggests using 16 AWG wire to minimize power losses D CAUTION Do not apply 120 Vac to any pins of the SMD23 4E If this occurs the unit will be dam aged and you will void the unit s warranty 48 ADVANCED MICRO CONTROLS INC INSTALLING THE SMD23 4E 4 Input Wiring Figure 4 5 below shows how to wire discrete DC differential sourcing and sinking sensors to Inputs 1 2 and 3 of the SMD23 4E 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 5 24 solated Power SOURCING c Supply SENSOR same s
99. er 0 Command Bits MSW 16 2000 See pg 93 Blend Move Bit 9 0 Command Bits LSW Dwell Move Bit 9 1 Blend Move direction set by Bit 4 Unused See Note Below Function Unused See Note Below Unused See Note Below Unused 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 10 15 Run Assembled Move Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command HR WwW milliseconds 0 to 65 535 20 Gear Drive Plymouth Ind Park Terryville CT 06786 101 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND MODE DATA FORMAT Command Blocks continued Preset Encoder Position EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 4000 Command Bits LSW See pg 93 Encoder Preset Value Upper Word Combined value between Encoder Preset Value 8 388 607 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 10 16 Preset Encoder Position Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command 102 ADVANCED MICR
100. er Using an encoder gives you the ability to gt Make absolute and relative moves based on the encoder count instead of the stepper pulse count gt Detect motor stall conditions 12 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23 4E s Indexer Functionality The table below lists the functionality offered by the indexer built into the SMD23 4E Feature Ethernet IP or Modbus TCP Description Allows easy setup and communication with a wide range of host control lers such as the latest PLC s from Allen Bradley Programmable Inputs Each of the inputs can be programmed as a Home Limit Over Travel Limit Capture Input Manual Jog Stop Start Indexer Move E Stop or a General Purpose Input 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 An SMD23 4E homes to a discrete input and can use a bit in the Network Data as a home proxim ity input 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 Jog Move Allows you to jog the motor in either direction based on an input bit from your host controller Registration Move Allows you to jog the motor in either direction based on a
101. ere is an over temperature condition When a Driver Fault occurs the SMD23 4E sets bit 7 of the Status Bits LSW word in the Network Input Data The only way to clear this fault is to lower the temperature of the motor and cycle power to the SMD23 4E SS a 20 Gear Drive Plymouth Ind Park Terryville CT 06786 107 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND MODE DATA FORMAT Notes 108 ADVANCED MICRO CONTROLS INC APPENDIX IP ADDRESS SETUP WITH It is possible to use a BOOTP server to set the IP address of an SMD23 4E 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 6 Network Configuration follow those instructions up to the point where you have your network interface card configured to communicate with the SMD23 4E This is explained in the section Configure Your Network Interface Card NIC which is on page 60 Using the RA BOOTP Server Attach the SMD23 4E The first step in configuring the SMD23 4E when using a BOOTP server is attaching the module to your computer Any Cat5 5e or 6 cable can be used You can attach the SMD23 4E directly to your computer or use a network switch The SMD23 4E has an auto switch port which eliminates the need for a crossover cable in direct connect applications NOTE gt Do not power up the SMD23 4E at this point
102. etting 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 SMD23 4E 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 SMD23 4E 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 for 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 the host exits Assembled Move Programming Mode by resetting the Program Move bit 9 The SMD23 4E resets the Move Program Mode bit and the Transmit Blend Move Segment bit Saving an Assembled Move in Flash The SMD23 4E also contains the Write Assembled Move bit that allows you to store the Assembled Move in flash memory This allows you to run the Assembled Move right after power up without having to go through a programming sequence first To use this bit you follow the above programming routine with the Write Assembled Move bit set When you reach step 9 in
103. f Operation An SMD23 4E 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 Configuration Mode Configuration Mode gives you the ability to select the proper configuration for your application without hav ing to set any switches SMD23 4E units are shipped from the factory without a valid configuration and must be configured on every power up The ladder logic needed to accomplish this is included in the sample pro grams available from AMCI This method simplifies change over if the unit ever needs to be replaced A valid configuration can be saved to the unit s Flash memory and the SMD23 4E will use this as a default con figuration on every power up If you use this method you can still write down a new configuration to the unit at any time The new configuration is stored in RAM and is lost on power down unless you issue a command to store the new configuration in Flash NOTE gt The SMD23 4E will not accept move commands and the motor will not receive power until the unit has a valid configuration Command Mode This mode gives you the ability to program and execute stepper moves and reset errors when they occur An SMD23 4E will always power up in this mode but a valid configuration must be sent to it before the unit will apply power to the motor or allow you to issue move commands The command data formats are described in th
104. ggered on an inactive to active state change on the input Only Jog Moves and Registration Moves can be stopped this way all other moves ignore this input If the quadrature encoder is available the quadrature encoder position data will be captured when the DC input makes an inactive to active transition if it is configured as a Stop Jog or Registration Move Input The encoder position data is not captured if a Jog or Registration Move is not in progress If you want to capture encoder position data on every transition of a DC input configure it as a Start Indexer Move Input Capture Encoder Position Input As described in the Start Indexer Move Input and Stop Jog or Registration Move Input sections above an SMD23 4E can be configured to capture the encoder position value on a transition of a discrete DC input General Purpose Input If your application does not require all of the inputs you can configure the unused inputs as General Purpose Inputs The inputs are not used by the SMD23 4E but the input state is reported in the network data so their state can be monitored by your host controller 20 Gear Drive Plymouth Ind Park 06786 15 Tel 860 585 1254 Fax 860 584 1973 http www amci com INTRODUCTION TO THE SMD23 4E Status LED s Each SMD23 4E has two status LED s that show module and network status As shown in figure 1 2 these LED s are located on the rear cover SMD23 AE s without the
105. he Properties window again Enter the new IP address for the SMD23 4E and click OK Properties Ethernet Address 00 90 C2 C0 03 ED IPAddess 192 168 0 Relation List New Delete Enabl Ethernet Address MAC 00 90 C2 C0 03ED Hostname Description Figure A 3 Defining the New IP Address 2 Click on Tools gt Network Setting In the window that opens set the subnet mask and the default gateway NOTE gt The Default Gateway must be set to a valid value even if the SMD23E will never need to communicate with a different subnet This means that the default gateway must be on the same subnet as the SMD23 4E but cannot be the address used by the SMD23 4E AMCI suggests setting the default gateway to the address of your host controller 3 Apply power to the module and wait for the Unit Status LED to come on solid green and the Network 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 SMD23 4E along with the IP address you requested BOOTP DHCP Server 2 3 File Tools Help Request History Clear History hrmin sec thernet Address IP Address 15 29 31 BOOTP 00 90 C2 C0 03 ED 192 168 0 55 Hostname Relation List T Ethernet Address MAC Type IP Address 00 90 2 0 03 0 192 168 0 55 Hostname De
106. he Status Bits MSW Format section starting on page 104 On power up the value of this word will be 6408h unless a valid configuration had been previously written to the flash memory of the unit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 89 Tel 860 585 1254 Fax 860 584 1973 http www amci com E RI CONFIGURATION MODE DATA FORMAT 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 Setting the Stall Detection Enable Bit without configuring the SMD23 4E E to use the encoder 5 Setting the Input Configuration bits for any input to 111 See table 9 3 on page 87 for more information 90 ADVANCED MICRO CONTROLS INC 10 COMMAND MODE DATA FORMAT This chapter covers the formats of the Network Output Data used to command the SMD23 4E as well as the formats of the Network Input Data that contains the responses from the unit An SMD23 4E requires ten 16 bit words 20 bytes for Output Data as well as ten 16 bit words for Input Data Multi Word Format Many of the hosts that can be used with the SMD23 4E only support 16 bit integers which limits the range of values from 32
107. he machine does not need to be homed again before Absolute Moves can be run gt Immediate Stop The axis immediately stops outputting pulses regardless of the speed the motor is running at Because it is possible for the inertia of the load attached to the motor to pull the motor beyond the stopping point the motor position value is considered invalid after an Immediate Stop and the machine must be homed again before Absolute Moves can be run Host Control Hold Move Command This command can be used with some moves to bring the axis to a Controlled Stop The move can be resumed and finished or it can be aborted Not all moves are affected by this command The section Basic Move Types starting on page 27 describes each move type in detail including if the move is affected by this command Immediate Stop Command When this command is issued from the host the axis will come to an Immedi ate Stop The move cannot be restarted and the machine must be homed again before Absolute Moves can be run Hardware Control CW Limit and CCW Limit Inputs In most cases activating these inputs during a move will bring the axis to an Immediate Stop The exceptions are the Find Home commands the Jog Move commands and the Registration Move commands The Find Home commands are explained in chapter 3 Homing The SMD23 4E which starts on page 41 The Jog Move commands are fully explained on page 29 and Registration Move commands are fully explai
108. he output motor current is fully programmable from 1 0Arms to 3 4Arms which makes the SMD23 4E suitable to a wide range of applications In addition to the Motor Current setting the Motor Steps per Turn Idle Current Reduction and Anti Resonance Circuit features are also fully pro grammable If you have used other stepper indexer products from AMCI you will find programming an SMD23 4E to be very similar to these products The SMD23 4E contains 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 SMD23 4E auto matically switches from RMS to peak current control when the motor is idle to prevent overheating the motor The standard SMD23 4E units have three DC inputs that are used by the indexer SMD23 4E units with M12 connectors have two DC inputs Configuration data from the host sets the function of these inputs Each input can be individually configured as a gt CW or CCW Limit Switch gt Home Limit Switch gt Capture Position Input Will capture encoder position on SMD23 4E E units gt Stop Manual or Registration Move Input gt Start Indexer Move gt Emergency Stop Input gt General Purpose Input Encoder Functionality All SMD23 4E units can be ordered with an internal 1 024 count turn incremental encod
109. hich protocol is active 62 ADVANCED MICRO CONTROLS INC NETWORK CONFIGURATION e 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 SMD23 4E as well as its firmware revision SMD23E Ev12 Fixed E EtherNet IP Protocol Enabled T Modbus TCP Protocol Enabled Firmware Revision Figure 6 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 The Default Gateway must be set to a valid value even if the SMD23E will never need to communicate with a different subnet This means that the default gateway must be on the same subnet as the SMD23 4E but cannot be the address used by the SMD23 4E AMCI sug gests 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 the SMD23 4E A 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 SMD23 4E 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
110. his bit equals 0 This bit must equal 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 Homing Inputs section starting on page 41 E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 93 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND MODE DATA FORMAT Command Bits LSW continued Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved Must equal 0 Assembled Move Type When this bit equals 0 a Blend Move is started when Run Assem bled Move bit Command Word 1 Bit 13 makes a 0 gt 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 Run As An Indexed Move If this bit is set when a move command is issued the SMD23 4E 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 The move command data including this bit must remain in the Network Output Data registers while performing an Indexed Move Run Registration Move When this bit equals 0 and Jog Move command is issued it will run
111. ick on the Apply button 0 M NOCO401 fdtConfiguration M NOCO401 Communication M 0 0401 Channel Properties Properties Address Setting Request Setting Switch MET E TCP IP Properties Services Address Server SNMP 905 EtherNet IP Local Slaves Local Slave 1 Items Local Slave 2 Items IO Structure Name Items Input Device List Number Active Configuration Enabled v Comment Structure Name Logging Variable Name MEN Output Structure Name Variable Name SMD23E 50 OUT Items Management Import Mode Manual v Reimport Items Disconnected 0 Data set Figure 8 4 AnyNET I O Stack Properties 20 Gear Drive Plymouth Ind Park Terryville CT 06786 79 Tel 860 585 1254 Fax 860 584 1973 http www amci com TCP CONFIGURATION Sample Modbus Configuration continued Adding the SMD23 4E continued Under the Address Setting tab set the IP Address to the one used by the SMD23 4E SMD23 4E units do not use DHCP so do not enable it for these devices See figure 8 5 below Press Tab to leave the IP address field and the click on the Apply button lli M NOC0401 fdtConfiguration M N CO401 Communication M_NOCO401 Channel Properties Properties Address Setting Request Setting Switch DIT Change Address Services Address Server IP Address L 192 168 SNMP Qo
112. ield The figure below show a typical configuration for Message Instructions being used to read data from the SMD23 4E Please note that the Data Table Address Receive field may be different in your application MSG MG11 0 1 Elements a MultiHop Send Data Receive Data This Controller Control Bits Channel Ignore if timed out 6 1 Brosh Toere a Data Table Address Receive iso Awaiting Execution Ew 0 Size in Bytes Receive Sendk N A Error 0 i Target Device Message done DN 0 Message Timeout 5 Message Transmitting ST 0 Message Enabled EN 0 Local Remote MultiHop Extended Routing Info File RIX Ena Service Service Code hex Error 0 Class hex 4 deck 4 Instance hex Attribute hex deck Error Description No errors Figure 7 7 Read Message Instruction Setup Screen 72 ADVANCED MICRO CONTROLS INC ETHERNET IP CONFIGURATION p 4 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 to the SMD23 4E Please note that the Data Table Address Send field may be different in your application 3 MSG MG11 1 1 Elements BRE MultiHop Send Data Receive Data This Controller Control Bits
113. ielded SAC 4P M12MSD 2 0 EIA TIA 568B color coded 93 i Plug Straight M12 D coded free conductor end Cable length 2 m 1569401 Bus system cable 4 position 26AWG shielded SAC 4P M12MSD 5 0 EIA TIA 568B color coded 931 Plug Straight M12 D coded free conductor end Cable length 5 m 1569414 Bus system cable 4 position 26AWG shielded EIA TIA 568B color coded Plug Straight M12 D coded free conductor end Cable length 10 m 1569427 pus D 26AWG shielded color code ae 15 0 Plug Straight M12 D coded free conductor end Cable length 15 m Table 5 2 Ethernet Cordsets NOTE gt These cordsets include the M12 connector but the other end is un terminated This end can be punched down onto a patch panel or an RJ45 connector can be added if the cordset is plugged directly into a switch 54 ADVANCED MICRO CONTROLS INSTALLING THE SMD23 4E M12 Ley Network Connector continued TIA EIA 568 Color Codes There are two color codes in common use when wiring Ethernet connections with twisted pairs Either one of these standards is acceptable The Phoenix Contact cordsets that are suggested by AMCI all follow the 568B standard Note that accidently reversing the Tx Rx pairs will not affect the operation of the SMD23 4E The SMD23 4E has an auto sense port that will automatically adjust for swapped pairs 568A Color 568B Color Transmit Whit
114. ined 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 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 10 9 Jog Move CW Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command Reserved 2 3 4 5 6 7 8 9 98 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT B t Command Blocks continued Registration Move CW EtherNet IP Modbus TCP Word Register Function Command Bits MSW 1680080 See pg 93 Command Bits LSW 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 Combined value between Steps the Configured Startin Programmed Speed Lower Word Second Speed aad 7 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Min Reg Move Distance Upper Word Steps Combined value between Min Reg Move Distance 0 and 8 388 607 Lower Word Table 10 10 Registration Move CW Command Block Jog Move CCW EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16 0100 Function See pg 93 Command Bits LSW Bits 7 amp 6 must equal 00
115. ion A full description of Encoder Moves starts on page 32 Reserved Must equal 0 Reserved Must equal 0 94 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT k t Command Blocks The following section lists the output data format for the sixteen different commands EtherNet IP and Modbus TCP addresses are both shown Absolute Move EtherNet IP Modbus TCP Word Register Function Command Bits MSW 16 0001 Command Bits LSW See pg 93 Abs Target Position Upper Word Combined value between Abs Target Position Lower Word 8 388 607 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 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 10 2 Absolute Move Command Block Reserved e Relative Move EtherNet IP Modbus TCP Word Register Command Bits MSW 16 0002 Command Bits LSW See pg 93 Rel Target Position Upper Word Steps Combined value between Rel Target Position Lower Word 8 388 607 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 se
116. ions gt The move completes without error gt You toggle the Hold Move control bit in the Network Output Data When this occurs the SMD23 4E 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 A Dwell Move that is brought to a controlled stop with the Hold Move bit cannot be restarted Immediate Stop Conditions gt The Immediate Stop bit makes 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 CT 06786 35 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Assembled Move Programming All of the segments in a Blend or Dwell Move must be written to the SMD23 4E before the move can be run Segment programming is controlled with two bits in the Network Output Data and two bits in the Network Input Data Blend and Dwell Moves are programmed in exactly the same way When you start the move a bit in the c
117. 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 Absolute Moves move from the Current Position A to a given position B The SMD23 4E calculates the direction and number of steps needed to move to the given position and moves that number of steps A Starting Speed trapezoidal profile is shown to the right but Absolute POSITION Moves can also generate triangular profiles The com A B mand s Target Position can be in the range of Figure 2 7 Absolute Move 8 388 607 counts The move will be clockwise if the Target Position is greater than the Current Position and counter clockwise if the Target Position is less than the Current Position Programmed Speed SPEED NOTE gt 1 The Home Position of the machine must set before running an Absolute Move See chapter 3 Homing The SMD23 4E which starts on page 41 for information on homing the machine 2 The Motor Position must be valid before you can use an Absolute Move The Motor Posi tion becomes valid when you preset the position or home the machine 3 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
118. l of its move commands if the Home Position is not defined Position Preset One of the ways to define the Home Position is to issue the Preset Position command to the SMD23 4E Before doing this your host controller will need a way of sensing position The machine position data must be brought into the host the correct preset value calculated and this value written to the SMD23 4E with the Position Preset command The motor and encoder position values can be preset anywhere in the range of 8 388 607 to 8 388 607 Find Home Commands The other choice is to use the module s Find Home commands to order the SMD23 4E to find the Home Posi tion based on sensors brought into the unit The Find Home command begins searching by rotating the motor shaft clockwise and ends when the home sensor triggers while the SMD23 4E is rotating clockwise at the starting speed The Find Home command operates in the same way but starts and ends with counter clockwise rotation Homing Inputs Four inputs can be used when homing the module These inputs are either physical inputs attached to the module or bits in the network output data words Physical Inputs gt Home Input This input is used to define the actual home position of the machine gt CW Limit Switch Input This input is used to prevent overtravel in the clockwise direction gt CCW Limit Switch Input This input is used to prevent overtravel in the counter clockwise direction Backpl
119. l still be destroyed 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 49 4 INSTALLING THE SMD23 4E Notes 50 ADVANCED MICRO CONTROLS INC S INSTALLING THE SMD23 4E M12 This chapter applies to the SMD23 4E units that have M12 connectors If you are installing a standard SMD23 4E unit please refer to chapter 4 starting on page 45 Location SMD23 4E M12 units are IP50 rated are suitable for use in an industrial environment that meet the following criteria gt Only non conductive pollutants normally exist in the environment but an occasional temporary con ductivity caused by condensation is expected gt Transient voltages are controlled and do not exceed the impulse voltage capability of the product s insu lation These criteria are equivalent to the Pollution Degree 2 and Over Voltage Category II designations of the Inter national Electrotechnical Commission IEC SMD23 4E M12P units are IP67 rated are suitable for use in an industrial environment that meet the follow ing criteria gt Continuous conductivity occurs due to conductive dust rain or other wet conditions gt Transient voltages are controlled and do not exceed the impulse voltage capability of the product s insu lation These criteria are equivalent to the Pollution Degree 4 and Over Voltage Category II designations of the Inter national Electrotechnic
120. le MG11 0 Setup Screen MG11 0 MG11 1 lt read message write message Message Instruction instruction Enable instruction Enable to write data to the bit bit wut MG11 0 MGl11 1 SG Read Write Message N MSG File 11 1 N Setup Screen ER Figure 7 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 r This Controller Control Bits Channel Ignore if timed out 0 0 Communication Command 500 Read Data Table Address Awaiting Execution Ew D AN T Size in Elements Enor ERIT Target Device Message done DN 0 Message Timeout Message Transmitting ST 0 Data Table Address Message Enabled EN 0 Local Node Addr deci Local Remote Error Error Code Hex 0 Figure 7 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 Generic and press Enter 6 If the Message Instruction is being used to read data from the SMD23 4E enter the integer file where the data will be placed in the Data Table Address Received field and press enter
121. le can be used You can attach the SMD23 4E directly to your computer or use a network switch The SMD23 4E has an auto switch port which eliminates the need for a crossover cable in direct connect applications Once the cables are attached you can power up the SMD23 4E 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 6 2 below Configurator 5 08 Connect Computer Comm port Ethemet USB Port Manual Connect This software tool can be used to quickly setup and configure any networked product 1 Connect your device to the computer through an Ethernet or USB port Connection Status Unconnected If needed click on the Help button for additional instructions and cabling details 2 The device must not be connected to any other scanning device or controller 3 Power your device If this is the first time connecting an AMCI device through a USB port your operating system may need to install device drivers 4 Use the radio buttons to choose the appropriate connection type Ethemet or USB Device Identity Name 5 With the Ethernet connection you have two choices a Click on the Scan button to see a list of available devices Double click on the device you wish Vendor to attach to b Cli
122. ll rotate the shaft in a clockwise direction while the Jog Move will rotate the shaft in a counter clockwise direction These commands are often used to give the operator manual control over the axis NOTE gt The Target Position value must zero during a Jog Move If it is not zero you will perform Registration Move and the final stopping position may be unexpected Jog Moves are typically used to drive the machine under direct operator control but they 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 environmental conditions The CW Limit and CCW Limit inputs behave differently for Jog Moves and Registration Moves than all other move types Like all moves activating a limit will bring the move to an Immediate Stop Unlike other moves a Jog or Registration move can be started when an end limit switch is active provided that the com manded direction is opposite that of the activated switch For example a CW Jog can be issued while the CCW limit switch is active This allows you to move off of an activated end limit switch 20 Gear Drive Plymouth Ind Park
123. m ADVANCED cro CONTROLS INC Manual 940 0S134 SIVID23E and SMD24E Integrated Stepper Indexer Driver Mlotor SMD23E 130 SIVID23E 240 SIVID23E 130E SIVID23E 240E SMD23E 130 M12 5 023 240 12 SMD23E 130E M12 SMD23E 240E M12 SIVID23E 130 IV12P SMD23E 240 M12P SMD23E 130E M12P SMD23E 240E M12P SMD24E 350 SIVID24E 350E SIVID24E 350 IVI12 SIVID24E 350E IVI12 SIVID24E 350 IVI12P SMD24E 350E M12P 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 AMCI 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 noti
124. mputer 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 SMD23 4E is 192 168 50 50 then the computer and SMD23 4E 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 For more information refer back to the Configure Your Network Interface Card NIC section of this manual starting on page 60 Once you are sure your computer and SMD23 4E are on the same subnet open the DOS terminal if necessary by clicking on the Start button and clicking on Run A dialog box will open Enter cmd on the text line and 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 SMD23 4E The computer will ping the SMD23 4E and the message Reply from aaa bbb ccc ddd bytes 32 time 10ms TTL 128 should appear four times Command Prompt C gt ping 192 168 0 55 Pinging 192 168 55 with 32 bytes of data Reply from 192 168 0 55 bytes 32 time ims TTL 128 Reply from 192 168 0 55 bytes 32 time ims TTL 128 Reply from 192 168 0 55 bytes 32 time lt ims TTL 128 Reply from 192 168 6 55 bytes 32 time ims TTL 128 Ping statistics for 192 168 55 Packets Sent 4 Received 4 Lost lt l
125. n input bit from your host controller When a controlled stop is issued the move will output a programmable number of steps before coming to a stop Encoder Move SMD23 4E E units that are ordered with an internal encoder can perform moves based on the encoder position instead of the motor position The encoder position sets the point that the move begins to decelerate Blend Move Allows you to perform a sequence of relative moves without stopping between them Dwell Move Allows you to perform a sequence of relative moves with a stop between each move that has a programmable length of time Used to create highly accurate move profiles that avoid network latency issues 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 optionally 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 an SMD23 4E is purchased with the encoder option the encoder can be used to verify motion when a move command is issued 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
126. n must be given to insure the smoothest transition from rest to the acceleration phase of the move The smoothest transition occurs when the configured Starting Speed is equal to the square root of the programmed Linear Accelera tion Note that other values will work correctly but you may notice a quick change in velocity at the begin ning of the acceleration phase Programmed Speed SPEED TIME ACCELERATION t TIME Figure 2 1 Linear Acceleration 24 ADVANCED MICRO CONTROLS INC MOVE PROFILES 7 Definition of Acceleration Types continued Triangular S Curve Acceleration When the Acceleration Jerk parameter equals one the axis accelerates or decelerates at a constantly chang ing rate that is slowest at the beginning and end of the acceleration phase of the move The Triangular S Curve type offers the smoothest acceleration but it takes considerably longer than a Linear Acceleration to achieve the same velocity Below is an example where the total time of acceleration is twice that of a linear acceleration move Programmed Speed SPEED _ 2 TIME Figure 2 2 Triangular S Curve Acceleration ACCELERATION Trapezoidal S Curve Acceleration When the Acceleration Jerk parameter is in the range of 2 to 5 000 Trapezoidal S Curve acceleration is used The Trapezoidal S Curve acceleration is a good compromise between the speed of Linear acceleration and the smoothness of Triangular
127. n the Instance Selection window hold down the shift key and select the input and output words assigned to the SMD23 4E Click the OK button to populate your Animation Table 82 ADVANCED MICRO CONTROLS INC TCP CONFIGURATION Sample Modbus Configuration continued View SMD23 4E Data continued Figure 8 7 on the following page shows a populated animation table for the input and output words assigned to the SMD23 4E When using the Modbus Device DTM the data is organized into bytes and the names are fixed The M340 platform uses the little endian format so the least significant byte is in the even number word For example figure 8 7 shows the input data from an SMD23 4E FreeO 0 and FreeO 1 make up Sta tus Bits MSW for the unit with FreeO 0 the least significant byte The combined value of 16 6408 is the value the SMD23 4E sends over the network on power up if it is not configured DIMBrower 2 amp HostPC lt 192 168 0 1 gt M NOCO401 Ei SMD23E_50 DER lt Modbus 192 168 0 50 gt SMD23E_50 ed Modification JL Force Y Comment Project Browser x z SMD23E_50_IN _5 23 _50_ view Freed 0 19 0 Free0 0 BYTE 0 1 FreeO 2 BYTE 0 3 0 4 0 5 0 6 FreeO BYTE 0 8 0 9
128. n to the Definition of Home Position 23 SMD23 4E Definition of Starting Speed 23 The SMD23 4E Family 11 Definition of Target Position 24 General Functionality 12 Relative Coordinates 24 Encoder Functionality 12 Absolute Coordinates 24 Indexer Functionality 13 Definition of Acceleration Types 24 Driver Functionality 14 Linear Acceleration 24 Available Discrete Inputs 14 Triangular S Curve Acceleration 25 Home Input 14 Trapezoidal S Curve Acceleration 25 CW Limit Switch or Simple Move 26 CCW Limit Switch 14 Controlled and Immediate Stops 27 Start Indexer Move Input 15 Host Control eee 27 Emergency Stop Input 15 Hardware Control 27 Stop Jog or Registration Basic Move 27 15 Relative Move 27 Capture Encoder Position Input 15 Controlled Stop 28 General Purpose Input 15 Immediate Stop 28 16 Absolute Move 28 Module Status MS LED 16 Controlled Stop
129. ned on page 31 Emergency Stop Input It is possible to configure an input as an Emergency Stop Input When an Emer gency Stop Input is activated the axis will come to an Immediate Stop regardless of the direction of travel Note that power is not removed from the motor Basic Move Types Relative Move Relative Moves move an offset number of steps n from the Current Position A A trapezoidal profile is amp Programmed Speed shown to the right but Relative Moves can also gener tH ate triangular profiles The command s Target Posi 0 Starting Speed tion is the move s offset The offset can be in the range POSITION of 8 388 607 counts Positive offsets will result in A clockwise moves while negative offsets result in Figure 2 6 Relative Move counter clockwise 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 27 Tel
130. oltage capability of the product s insu lation Note that these criteria apply to the system as a whole not just to the SMD23 4E These criteria are equivalent to the Pollution Degree 2 and Over Voltage Category designations of the Inter national Electrotechnical Commission IEC Safe Handling Guidelines Prevent Electrostatic Damage 4 CAUTION Electrostatic discharge can damage the SMD23 4E Follow these guidelines when han dling the unit 1 Touch a grounded object to discharge static potential before handling the unit 2 Work in a static safe environment whenever possible 3 Wear an approved wrist strap grounding device 4 Do not touch the pins of the network connector or I O connector 5 Do not disassemble the unit 6 Store the unit in its anti static bag and shipping box when it is not in use Prevent Debris From Entering the Unit While mounting of all devices be sure that all debris metal chips wire strands tapping liquids etc is prevented from falling into the unit Debris may cause damage to the unit or unintended machine operation with possible personal injury Remove Power Before Servicing in a Hazardous Environment Remove power before removing or installing any SMD23 4E units in a hazardous envi ronment 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 SMD23 4E Mounting All AMCI motor have flanges on
131. om the motor which will increase the unit s life by reduc ing 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 SMD23 4E 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 SMD23E M12 Outline Drawing Length x0 05 Length 1 3 e 1 520 0 005 0 70 max 1 47 0 02 0 001 38 61 0 13 17 8 max 37 3 40 5 20 6 1 0 03 0 06 0 01 gt lt 0 003 1540 o 0 08 X MP f 40 6 1 5000 0 0010 Max Bq A 2 38 100 0 025 9 DE ES UC TI 5 i Y 2 s Op
132. ommand data 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 For Dwell Moves the Dwell Time is sent to the SMD23 4E as part of the command Control Bits Output Data gt Program Move bit Set this bit to tell the SMD23 4E that you want to program a Blend or Dwell Move Profile The SMD23 4E will respond by setting the Move Program Mode bit in the Network Input Data At the beginning of the programming cycle the SMD23 4E will also set the Transmit Move Seg ment bit to signify that it is ready for the first segment gt Program Move Segment bit Set this bit to tell the SMD23 4E that the data for the next segment is available in the remaining data words Control Bits Input Data gt Move Program Mode bit The SMD23 4E sets this bit to tell you that it is ready to accept segment programming data in the remaining output data words The actual transfer of segment data is controlled by the Program Move Segment and Transmit Move Segment bits gt Transmit Move Segment bit The SMD23 4E 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 SMD23 4E responds by s
133. onsequential damages for delay in performance of this warranty Returns Policy equipment being returned to AMCI for repair or replacement regardless of warranty status must have a Return Merchandise Authorization number issued by 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
134. or compat ibility with future releases Acceleration Jerk 0 to 5000 Table 10 7 Find Home CW Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command Reserved 1 2 3 4 5 6 7 8 9 20 Gear Drive Plymouth Ind Park CT 06786 97 Tel 860 585 1254 Fax 860 584 1973 http www amci com 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 93 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 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 10 8 Find Home CCW Command Block Unused words are ignored by the SMD23 4E and can be any value including parameter values in the previ ous command Reserved CO LAID RI WwW dN Jog Move CW EtherNet IP Modbus TCP Word Register 0 Command Bits MSW 16 0080 Function See pg 93 Command Bits LSW Bits 7 amp 6 must equal 00 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Comb
135. oss Approximate round trip times in milli seconds Minimum ms Maximum ims Average Gms gt Figure A 5 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 SMD23 4E was not set correctly gt The SMD23 4E and the computer are not the same subnet 112 ADVANCED MICRO CONTROLS INC E IP ADDRESS SETUP WITH Notes 113 ADVANCED MICRO CONTROLS INC 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
136. otating 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 CT 06786 105 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND MODE DATA FORMAT Input Data Format continued Status Bits LSW Format Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Status Bits LSW 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 _ 5 5 9 2 E 21212 Figure 10 5 Command Mode Status Bits LSW Format Driver Enabled Bit Present state of global Driver Enable Bit When set to 0 current is not avail able to the motor under any condition When set to 1 the motor driver section of the SMD23 4E is enabled and current is available to the motor but current may be removed for other reasons Motor current is removed if there is a Driver Fault Bit 7 below or if the motor is idle and Idle Current Reduction is programmed to its 0 setting Note that the motor will still receive power under an E Stop condition Motor Stall Detected Bit Set to 1 when a motor stall has been detected This is only available on SMD23 4E_E units that have been configured to detect stalls This bit will always equal 0 on SMD
137. otects your SMD23 4E from damage by removing power from the motor if the internal temperature of the driver exceeds a safe operating threshold Table 1 2 Driver Functionality The SMD23 4E has two or three discrete DC inputs that accept 3 5 to 27Vdc signals 5 to 24Vdc nominal They can be wired as differential sinking or sourcing inputs How your SMD23 4E uses these inputs is fully programmable The active state of each input is also programmable Programming their active states allow them to act as Normally Open NO or Normally Closed NC contacts 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 An SMD23 4E 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 SMD23 4E that will cause the unit to seek this sensor How the SMD23 4E actually finds the Home sensor is described in the Homing The SMD23 4E chapter starting on page 41 CW Limit Switch or CCW Limit Switch Each input can be 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
138. our Network Interface Card NIC Ideally the NIC that you will use when configuring an SMD23 4E is not the NIC that attaches your computer to your corporate network It is far easier to configure an SMD23 4E with a stand alone laptop or when your computer has two NIC s in it one for the corporate network and one for the SMD23 4E If you only have one NIC and use it to attach your computer to your corporate network you must disconnect your computer from the corporate network before configuring the SMD23 4E DO NOT place a router between your computer and the corporate network so you can try to have access to the network and the SMD23 4E 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 wireless interface and use a NIC to configure the SMD23 4E It should also be possible to configure the SMD23 4E over a wireless connection by attaching it to a wireless router How ever this configuration has not yet been tested by AMCI Warning When Multiple NIC s Are On Your Computer NOTE gt Having multiple NIC s ena
139. ower to the SMD23 4E gt You did not enter the correct address in the ping command gt The new IP address of the SMD23 4E was not set correctly gt The SMD23 4E and the computer are not on the same subnet 20 Gear Drive Plymouth Ind Park CT 06786 65 Tel 860 585 1254 Fax 860 584 1973 http www amci com NETWORK CONFIGURATION Notes 66 ADVANCED MICRO CONTROLS INC _____ CHAPTER7 ETHERNET IP CONFIGURATION SMD23 4E requires a host controller to issue configuration and motion com mands to it This chapter tells you how to configure Rockwell Automation Con trolLogix CompactLogix and MicroLogix controllers to act as hosts for the SMD23 4E All of these RA platforms use the EtherNet IP communications proto col 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 an SMD23 4E is to create a new project with the correct processor or modify an existing project Once this is done the Ethernet port will automatically ap
140. page 36 Move Complete Bit Set to 1 when the present Absolute Relative Jog Registration or Assem bled Move command completes without error This bit is reset to 0 when the next move command is written to the SMD23 4E when the position is preset or a Reset Errors command is issued to the unit This bit is also set along with the Command Error bit Bit 12 of this word when any Jog Move or Registration Move parameters are outside of their valid ranges 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 r
141. pear in the Project Tree If you are using a Ethernet Bridge module you will have to add it to the Configuration tree before adding the SMD23 4E 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 I O Configuration tree 1 28 Data Types As shown in figure 7 1 on the right right click on the I Cj User Defined O Configuration folder and select New Module in E E Strings the pop up menu Predefined Module Defined I O Configuration 2 New Module BA Cut Ctrl x 8 Copy Ctrl C Paste Ctrl Figure 7 1 Defining a Bridge Module 20 Gear Drive Plymouth Ind Park Terryville CT 06786 67 Tel 860 585 1254 Fax 860 584 1973 http www amci com V ETHERNET IP CONFIGURATION RSLogix 5000 Configuration continued Configure Bridge Module As Needed continued 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 7 2 shows a completed screen gt A descriptive name for the Bridge Module gt IP Address Must be the address you want for the module not the address you set for the SMD23 4E
142. quals 1 when the PLC is in Program mode and 0 when in Run mode This bit will always equal 0 on all other platforms Temperature Warning Bit This bit is set to 1 when the processor internal temperature exceeds 90 C At this point the heatsink temperature is typically near 83 C If this bit trips often and you want to lower the operating temperature of the unit consider installing a fan to force additional air flow around the unit Reserved Bit Will always equal zero ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT k t Input Data Format continued Status Bits LSW Format continued Bit2 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 88 NOTE gt This input is not available with the SMD23 4E M12 units On these units this input should be programmed to be Normally Closed by setting its Input Active Level Bit to 0 in the configu ration data This effectively disables the input on these units See bit 2 of the Configuration Word Format on page 88 for more information Bit 1 Input2 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 88 Bit 0 State Bit 1 when Input 1 is in its active state The active state of th
143. r network connection The connector is a standard five pin A coded M12 connector that is rated to IP67 when the mate is properly attached Figure 1 5 M12 Connector Locations 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http www amci com E INTRODUCTION TO THE SMD23 4E SMD23 4E M12 Connectors continued Ethernet Connector Figure 1 5 also shows the placement of the sealed Ethernet Connector while figure 1 7 shows the connector pinout when viewed from the back of the SMD23 4E M12 The Ethernet port on the SMD23 4E is an auto sense port that will automatically switch between 10baseT and 100baseT depending on the network equip ment it is attached to The port also has auto switch capability This means that a standard cable can be used when connecting the SMD23 4E to any device including a personal computer Pin 3 Tx Z 7 ep ETHERNET Figure 1 7 M12 Ethernet Connector Pinout 2 Pin 2 Rx The connector is a standard four pin D coded female M12 connector that is rated to IP67 when the mate is properly attached Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market all of which will work with the SMD23 4E provided that the manufacturer follows the connector and Ethernet standards AMCI has reviewed the following connectors and ethernet cordsets for compatibility with the
144. red trademark of Advanced Micro Controls Inc other trademarks contained herein are the property of their respective holders 8 ADVANCED MICRO CONTROLS INC ABOUT THIS MANUAL Where 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 Chapter Title Introduction to the SMD23 4E Intended Audience Anyone new to the SMD23 4E This chapter gives a basic over view of the features available on the unit typical applications and electrical specifications Move Profiles Anyone that needs detailed information on how the unit can be used to control motion in your application Homing The SMD23 4E Anyone that needs detailed information on how the home position of the SMD23 4E can be set Installing the SMD23 4E Anyone that must install an SMD23 4E on a machine Includes information on mounting grounding and wiring specific to the units Installing the SMD23 4E M12 Anyone that must install an SMD23 4E M12 on a machine Includes information on mounting grounding and wiring specific to the units Network Configuration Anyone that must set the IP address and communications protocol of the SMD23 4E using the Ethernet Configurator utility from EtherNet IP Configuration Anyone that needs informa
145. ress The starting address of the read data The SMD23 4E read address starts at 0 RD Length The number of words transferred by the request from the SMD23 4E This should always be set to ten Last Value Choose what will happen to the data if communication is lost WR Address The starting address of the write data The SMD23 4E write address starts at 1024 WR Length The number of words transferred by the request to the SMD23 4E This should always be set to ten Figure 8 6 shows the tab after the request is configured to read the SMD23 4E every five milliseconds 0 0401 fdtConfiguration 401 Communication M_NOCO401 DER Schneider Electric aS 9 Disconnected 9003 5 2 _50 lt MDB 192 168 0 50 gt Channel Properties Switcl Services Address Server SNMP Properties Address Setting Request Setting Add Request Remove RD Length Connection Bit Unit ID Health Time Out ms 0 255 1500 Repetitive RD Address Last Value WR Address 5 0 4 WR Lenath Hold Yale 4 102 10 EtherNet IP Local Slaves Local Slave 1 Items Local Slave 2 Items Local Slave 3 Items Device List Request 001 Items Logging 0 Data set Figure 8 6 Configuring a Stack Transfer Request Once you have set the parameters for the AnyNET I O stack click the OK button to save the parameters and close the window
146. s activates during any move operation except for homing gt Starting Jog 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 101 104 ADVANCED MICRO CONTROLS INC COMMAND MODE DATA FORMAT k t Input Data Format continued Status Bits MSW Format continued 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 A configuration is written to the SMD23 4E gt The motor position has not been preset gt he machine has not been homed gt he 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 A motor stall has been detected Absolute moves cannot be performed while the position is invalid Transmit Move Segment Bit The SMD23 4E 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 36 Program Move Mode Bit The SMD23 4E 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
147. s placed in its Hold state and later resumed Hold Bit Move Activates Complete Programmed Speed SPEED Starting Speed POSITION Position Held for a length of time Move resumes when Resume Bit activates Figure 2 14 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 Jog Moves Jog 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 SMD23 4E while a Jog 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 Registration Moves Registration Moves can be brought to a controlled stop with the Hold bit but they cannot be restarted 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 SMD23 4E 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
148. s starting at 1024 Word Out Regs Starting at 1024 Read Write Registers INPUT OUTPUT In Regs Starting at 0 Table 8 1 Supported Modbus Functions Table 8 1 above lists all of the Modbus functions supported by the SMD23 4E units AMCI supports all of these functions so that you can control the SMD23 4E as you see fit However if you are looking for the eas iest way to interface with your unit then you only need to use the Read Write Registers function which is function code 23 NOTE Each SMD23 4E buffers the data that it sends over the network If you use the Read Write Registers function to write configuration data to the unit then the data read with that command will not contain the response to the new configuration data 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 8 2 Supported Modbus Exceptions 76 ADVANCED MICRO CONTROLS INC TCP CONFIGURATION Sample Modbus Configuration The following section uses the Schneider Electric Modicon M340 platform as an example of how to config ure a Modbus TCP device Unity Pro 6 0 software is used along with a BMXP342020 processor and a BMXNOC0401
149. s when power is removed Therefore the address of your SMD23 4E 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 SMD23 4E 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 SMD23 4E 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 SMD23 4E that has the factory default address of 192 168 0 50 and a subnet mask of 255 255 255 0 If you have an SMD23 4E 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 SMD23 4E the AMCI 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 SMD23 4E If you think that your firewall may b
150. scription Status Entries Sent 192 168 0 55 to Ethemet address 00 90 C2 C0 03 ED 1 of 256 Figure A 4 New IP Address Set in SMD23 4E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 111 Tel 860 585 1254 Fax 860 584 1973 http www amci com E Wu IP ADDRESS SETUP WITH BOOTP Using the RA BOOTP Server continued Disabling the BOOTP Protocol Unless your target system has a BOOTP server running all of the time you must disable the BOOTP protocol on the SMD23 4E In order to comply with ODVA specifications the SMD23E will issue BOOTP requests on power up until a valid response is received There is no time out value If BOOTP is enabled on the SMD23E and a BOOTP server is not available the SMD23E will not be able to join the network To disable BOOTP protocol on the SMD23 4E 1 With power still applied to the unit 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 bottom of the window The SMD23 4E is now configured Testing the New IP Address The easiest way to test the new address of the SMD23 4E is with the ping command Before you can use the command you have to be sure the SMD23 4E and your computer are still on the same subnet For exam ple if the new address of the SMD23 4E is 192 168 0 42 and your co
151. sors to Inputs 1 and 2 of the SMD23 4E M12 Input Specifications DC Differential Sensor SENSOR POWER Run a seperate wire tror th power supply Single Ended 2500 Vac dc opto isolated io each sensor Not daisy chain power from one sensor to the next Accepts 3 5 to 27Vdc without the need for an external current limiting resistor CABLE SHIELD D vacated pue Input 10 SOURCING dure Ce L Input 20 Input Optocoupler Grounding Strap maybe required by local safety codes SMD23 4E M12 INPUT CONNECTOR GROUND THE SHIELD OF THE SENSOR CABLE 1 Ground only one end of shield DC Commono 2 Shield is usually grounded where the signal is generated If a good quality Input earth ground connection is not available at the sensor the shield can be Optocoupler grounded to the same Ground Bus as the SMD23 4E Figure 5 7 Simplified Input Schematic DC Sourcing Sensor SENSOR POWER Because they are low power signals cabling Run a seperate wire from the power supply the sensor to the SMD23 4E should be from one sensor to the next done using a twisted pair cable with an over all shield The shield should be grounded at 5Vde to 24Vde the end when the signal is generated which is INES solated Power SOURCING Supply the sensor end If this is not practical the SENSOR Can use the
152. starting on page 60 When you are sure your computer and the SMD23 4E 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 SMD23 4E The computer will ping the SMD23 4E and the message Reply from aaa bbb ccc ddd bytes 32 time 10ms TTL 128 should appear four times Command Prompt 5 C gt ping 192 168 0 55 Pinging 192 168 0 55 with 32 bytes of data Reply from 192 168 55 bytes 32 time ims TTL 128 Reply from 192 168 55 bytes 32 time ims TTL 128 Reply from 192 168 55 bytes 32 time lt ims TTL 128 Reply from 192 168 55 bytes 32 time ims TTL 128 Ping statistics for 192 168 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 6 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 p
153. t 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 move while 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 Encoder Moves When an SMD23 4E is ordered with an integral quadrature encoder SMD23 4E xxxE part numbers the position value from the encoder can be used to control the move instead of the position of the motor Abso lute and relative type moves are both supported NOTE gt You do not have the preset the position or home the machine before you can 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
154. t the SMD23 4E 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 SMD23 4E and wait for the Module LED to come on solid green and the Network LED to become flashing green Both of these LED s are on the rear cover 3 Click on your new entry in the Relation List This will activate the buttons in the pane Click on the Enable BOOTP button The message Enable BOOTP Command successful should appear instantly in the status line at the bottom of the window Figure A 2 shows the state of the RA BOOTP Server software at this point BOOTP DHCP Server 2 3 File Tools Help Request History Clear History hrmin sec Ethernet Address MAC IP Address Hostname Relation List New Delete 7 Enable DHCP Disable BOOTP DHCP Ethernet Address MAC Type IP Address Hostname Description 00 50 C2 C0 03 ED 192 168 0 50 Entries Status 1 of 256 Enable BOOTP Command successful Figure 2 BOOTP Enabled 4 The BOOTP protocol is now enabled on the SMD23 4E NOTE gt Remove power from the unit before continuing ADVANCED MICRO CONTROLS INC IP ADDRESS SETUP WITH BOOTP y A Using the RA BOOTP Server continued Setting the IP Address With the BOOTP protocol enabled on the SMD23 AE you can now change the IP address of the unit 1 Double click on your new entry in the Relation List This will bring up t
155. t triggers the move 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 in progress Once a move is triggered the Start Indexed Move Input is ignored by the SMD23 4E until the triggered move is finished 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 on 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 Jog 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 are always acted upon as soon as they are accepted from the Network Output Data You cannot
156. the Ethernet port of your MicroLogix 1100 has not been configured To check this double click on Channel Configuration in the Proj ect Tree and then select the Channel 1 tab The following window will open Channel Configuration General Channel Channel 1 Driver heme Hardware Address 00 0F 73 00 CB 3E Netwok Link 10 o IP Address 192 168 0 1 Subnet Mask 255 255 255 0 Gateway Address 0 0 0 Default Domain Name Primary Name Server 0 0 0 0 Secondary Server 0 0 0 0 Protocol Control f DHCP Enable Msg Connection Timeout x 1 5 15000 SNMP Server Enable SMTP Client Enable Msg Reply Timeout 1mS 3000 HTTP Server Enable Auto Negotiate Port Setting 1071 00 Mbps Full Duplex Hal Duplex Power cycle is required for changes to take effect Inactivity Timeout Min 30 Figure 7 10 MicroLogix Ethernet Configuration Screen Enter the IP address and Subnet Mask of your MicroLogix 1100 not the address of the SMD23 4E and click on Apply The Ethernet Port should now be working 74 ADVANCED MICRO CONTROLS INC CHAPTER 8 MODBUS TCP CONFIGURATION An SMD23 4E requires a host controller to issue motion commands to these units This chapter tell you how the I O words used by an SMD23 4E are mapped to the Modbus registers SMD23 4E Memory Layout The SMD23 4E has a starting Input Register address of 0
157. the SMD23 4E The connector is a standard RJ 45 jack that will accept any standard 100baseT cable Because the port can run at 100 Mbit speeds Cate gory 5 5e or 6 cable should be used YN The Ethernet port on the SMD23 4E has auto switch capability _ This means that a standard cable can be used when connecting the SMD23 4E to any device A crossover cable is not necessary when connecting SMD23 4E directly to a PC L3 Network Status LED s ten There are two LED s that indicate the health of the network connec tion These are the Network LED located on the rear of the SMD23 4E and LED that is built into the network connector See figure 4 1 on the previous page for the location of the Network LED The Status LED which is also on the rear cover indicates the state of the SMD23 4E itself gt Network Status EtherNet IP This LED on the rear cover indicates the status of the connection between the SMD23 4E and its host gt Network Status Modbus TCP This LED on the rear cover indicates the number of TCP connec tions to the SMD23 4E gt Link Status On when there is a physical link between the Ethernet port of the SMD23 4E and the Ethernet port of the device the SMD23 4E is plugged into Figure 4 3 Ethernet Port Location The Network Status LED s are fully described in the Status LED s s
158. the SMD23 4E is not attached to the port configured as the default gateway If the scan does not work you can manually connect to your SMD23 4E 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 6 3 below Device Properties Disconnect Change IP Configuration Connection Status Connected New IP Address 8 General SMD23E Connection Enter IP Address 192 168 8 58 Subnet Mask 6 MAC Address 00 90 C2 C0 03 ED Default Gateway Device Identity Device Setup Name SMD23E Ev25 Vendor Advanced Micro Controls Inc 10 EtherNet IP Product Type Communication Adapter 12 Product Code 31 Major Rev 1 Minor Rev 5 m ADVANCED ZMVI AI micro inc Figure 6 3 SMD23 4E Scan Results You start with the General tab showing The left half of this tab gives you information on the SMD23 4E 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 SMD23 4E If you want to change this information you must first allow edits by clicking on the check box at the top entitled Allow IP configuration changes The name of the SMD23 4E shows w
159. the sequence the SMD23 4E responds by resetting the Move Program Mode and Transmit Blend Move Segments bits as usual and then it will flash the Status LED If the LED is flashing green the write to flash memory was successful If it flashes red then there was an error in writing the data In either case power must be cycled to the SMD23 4E before you can continue With a limit of 10 000 write cycles the design decision that requires you to cycle power to the SMD23 4E was made to prevent an application from damaging the module by continuously writing to it 36 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Indexed Moves All of the moves that have been explained in the chapter up to this point can be started by a transition on one of the inputs instead of a command from the network If the Indexed Move bit is set when the command is issued the SMD23 4E will not run the move until the configured input makes an inactive to active transition This allows you to run time critical moves that cannot be reliably started from the network because of mes saging time delays 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 Note that an active to inactive tran sition 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 inpu
160. tion on configuring an EtherNet IP host Detailed instructions are given for ControlLogix CompactLogix and MicroLogix systems from Rockwell Automation Modbus TCP Configuration Anyone that needs information on configuring a Modbus TCP host Configuration Mode Data Format Anyone that needs detailed information on the format of the network data to and from the SMD23 4E used to configure the unit Command Mode Data Format Anyone that needs detailed information on the format of the network data to and from the SMD23 4E used to command the unit IP Address Setup With BOOTP 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com Information on setting IP address information using a BOOTP server ABOUT THIS MANUAL Notes 10 ADVANCED MICRO CONTROLS INC _______ INTRODUCTION THE SMD23 4E This manual is designed to get you quickly up and running with the SMD23 4E Integrated Stepper Indexer Driver Motor As such it assumes you have a basic understanding of stepper systems such as the resolution you want to run your motor at reasons why 9 want to use Idle Current Reduction 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 ht
161. tional Nitrile Shaft Br at Y Seal Option 48 eL 0 2500 9 0000 i 0 19 0 01 gt 00008 K 0 18 0 02 4 8 0 3 0 59 0 02 e 6 350 0000 ley 856 Pel 0 00 15 0 0 5 0 013 47 14 0 2 4 046 05 20 0 2 25 Motor Length 57 max SMD23E 130 E M12 P 3 68 93 5 ara 2AE MIA 4 48 54 20 2500 702002 S 19X Scale 26 350 0090 lt gt 0 228 0 004 5 8 0 10 REAR VIEW omes gt Pin 3 Tx Pin 4 Input 2 Pin 3 DC Common POWER a Pin 5 24Vdcaux POWER Pin 2 Rx SZ Pin 1 24Vdemain Pin 2 Input 1 ee LI M ETHERNET POWER amp DIGITAL IN Figure 5 1 SMD23E M12 Outline Drawing 5e ADVANCED MICRO CONTROLS INC INSTALLING THE SMD23 4E M12 1 Mounting continued SMD24E M12 Outline Drawing 5 08 0 05 129 0 1 3 x 4 520 0 005 gt 0 81 0 04 38 61 0 13 0 70 max 1 55 0 02 0 001 20 6 1 0 03 17 8 39 4 0 5 0 03 1 5 40 3 2 903 To A 0 08 1 60 40 6 F 6 1 5000 0 0010 Max o _ 4 238100 0025 93 Optional Nitrile Shaft 8 98 Seal Option a x 0 0000 0 01 4 0 19 0 02
162. tions such as those that use the SMD23 4E for speed control don t require position data at all Definition of Starting Speed The Starting Speed is the speed that most moves will begin and end at This value is set while configuring the unit and it has a valid range of 1 to 1 999 999 steps second This value is typically used to start the move above the motor s low frequency resonances and in micro stepping applications to limit the amount of time needed for acceleration and deceleration AMCI does not specify a default value in this manual because it is very dependent on motor size and attached load 20 Gear Drive Plymouth Ind Park Terryville CT 06786 23 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Definition of Target Position The Target Position is position that you want the move to end at There are two ways to define the Target Position with relative coordinates or absolute coordinates Relative Coordinates Relative coordinates define the Target Position as an offset from the present position of the motor Most SMD23 4E moves use relative coordinates gt The range of values for the Target Position when it is treated as an offset is 8 388 607 counts Positive offsets will result in clockwise moves while negative offsets result in counter clockwise moves gt The Current Motor Position that is reported back to the host has a range of 32 768 000 to 32 767 999 counts The only way to move
163. tp www amci com send us an e mail or call us We re here to support you with all of our knowledge experience The SMD23 4E Family The SMD23 4E is a growing product line from AMCI with a simple concept a low cost stepper indexer driver and motor that can be attached to any popular industrial network Each SMD23 4E attaches to an Ethernet network and communicates with either the EtherNet IP or Modbus TCP protocols The SMD23 4E units appear as a network node to your controller There are presently eighteen members of the SMD23 4E fam ily SMD23E 130 130 oz in motor SMD23E 240 240 oz in motor SMD2AE 350 350 oz in motor SMD23E 130E 130 oz in motor with built in encoder SMD23E 240E 240 oz in motor with built in encoder gt SMD24E 350E 350 oz in motor with built in encoder vw w NN The built in 1 024 count turn encoder gives you additional functionality such as position verification moves based on encoder position and stall detection If environmental protection is important the six units above can be ordered with M12 connectors for power I O and Ethernet connections This units have an IP rating of IP50 gt SMD23E 130 M12 Figure 1 1 SMD23bE SMD23E 240 M12 5 24 350 12 SMD23E 130E M12 SMD23E 240E M12 gt SMD24E 350E M12 Finally if an IP67 rating is important the M12 units can be ordered with a shaft seal wire potting and an FDA approved clear epoxy by appending P to the part number
164. ue 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 7 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 D 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 Cross Reference the cross reference text jumps you to referenced section When viewing the PDF version of the manual clicking on HTML Reference the HTML reference text will open your default web browser to the referenced web page Trademark Notices The logo is a trademark and is a registe
165. upply to aL power all inputs Grounding Strap maybe INPUT required by local safety INPUT n O codes SMD23 4E 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 SMD23 4E 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 SOURCING SENSOR CABLE SHIELD 5 to 24 Isolated Power Supply Can use the same supply to nu power all inputs Grounding Strap maybe INPUT required by local safety INPUT O codes SMD23 4E 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 SMD23 4E 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 5 24
166. urves 20 Gear Drive Plymouth Ind Park Terryville CT 06786 21 Tel 860 585 1254 Fax 860 584 1973 http www amci com f INTRODUCTION TO THE SMD23 4E Torque and Power Curves continued SMD24E 350 Torque and Power Curves Motor Current 3 4A 250 48 Torque 3 200 D e48Vdc Power e amp 150 24 Torque 109 7 s 24Vdc Power 50 0 0 2 4 6 8 10 12 14 16 Speed rev sec Figure 1 10 SMD24E 350 Torque and Power Curves 22 ADVANCED MICRO CONTROLS INC MIOVE PROFILES When move command is sent to SMD23 4E the unit calculates the entire pro file before starting the move or issuing an error message This chapter explains how the profiles are calculated and the different available moves Units of Measure Distance Every distance is measured in steps Your programming will give you a specific number of steps needed to complete one rotation of the motor shaft It is up to you to determine how many steps are required to travel the required distance in your application Speed All speeds are measured in steps second Since the number of steps needed to complete one shaft rotation is determined by your programming it is up to you to determine how many steps per second is required to rotate the motor shaft at your desired speed Acceleration The typical unit of measure for acceleration and

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