AMCI SD4840EK, User Manual

Page: 5 / 104

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
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Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
SD4840EK User Manual
T
ABLE OF
C
ONTENTS
5
Reference: Command Data Format
Programming Blocks ............................... 73
First Block ..................................... 73
Segment Block ............................... 73
Input Data Format .................................... 74
STATUS_word0 Format ............... 74
STATUS_word1 Format ............... 76
Notes on Clearing a Driver Fault ............. 77
Reset Driver Fault .......................... 77
Task 1: Motor and Power Supply
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Sizing
Sizing Your Motor 79
Determining Your Motor
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Current Setting ....................................... 79
A Note on Microstepping .............. 79
Torque and Power Curves ........................ 80
Power Supply Sizing ................................ 82
Regeneration Effects ..................... 82
Task 2: Installing the SD4840EK
Safe Handling Guidelines ........................ 83
Prevent Electrostatic Damage ........ 83
Prevent Debris From
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Entering the Module .................... 83
Remove Power Before
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Servicing ...................................... 83
Mounting .................................................. 83
Dimensions .................................... 83
Minimum Spacing ......................... 84
Mounting the SD4840EK
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Module .. ...................................... 84
I/O Connector Pin Out ............................. 85
Power Wiring ........................................... 85
Input Wiring ............................................. 87
Cable Shields ................................. 87
Output Wiring .......................................... 87
Encoder Wiring ........................................ 88
Differential Wiring ........................ 88
Single Ended Wiring ..................... 89
Installing the Stepper Motor .................... 89
Outline Drawings ........................... 89
Mounting the Motor ...................... 90
Connecting the Load ...................... 90
Extending the Motor Cable ........... 90
Installing the Motor Cable ............. 90
Connecting the Motor .............................. 91
Motor Connector ........................... 91
Motor Wiring ................................. 91
Ethernet Connections ............................... 93
Task 3: EtherCAT System
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Configuration
Install the ESI file ..................................... 95
Obtain the ESI file ........................ 95
Install the ESI file ......................... 95
Restart the Programming
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System If Needed ........................ 95
Add the SD4840EK to the Project ........... 95
Scan for the SD4840EK ................ 95
Rename the Device ....................... 95
Configure the SD4840EK ............. 96
Create a DUT ........................................... 97
Create Variables Based on the DUT ........ 97
Link Variable Names to I/O Words ......... 97
Task 4: Distributed Clock - SYNC0
Setup
Verify Main PLC Task Timing ................ 99
Create New PLC Task .............................. 100
Set Operational Mode .............................. 102
Set CFG_word1 Value to
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Enable SYNC0 ....................................... 103