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ONTENTS

Networked Indexer/Driver User Manual

ADVANCED MICRO CONTROLS INC.

Reference: Calculating Move



Profiles

Constant Acceleration Equations ............. 41

Variable Definitions ...................... 41
Total Time Equations .................... 43

S-Curve Acceleration Equations .............. 44

Triangular S-Curve Accel. ............ 44
Trapezoidal S-Curve Accel. .......... 46
Determining Waveforms



by Values .................................... 48

Reference: Homing an AMCI



Networked Driver

Definition of Home Position  ....................  51
Position Preset  ..........................................  51
CW/CCW Find Home Commands ...........  51
Homing Inputs ..........................................  51

Physical Inputs .............................. 51
Backplane Inputs ........................... 51

Homing Configurations ............................ 52
Homing Profiles ....................................... 52

Home Input Only Profile .............. 52
Profile with Network



Backplace_Proximity_Bit ........... 53

Profile with Overtravel Limit ....... 54

Controlling Find Home



Commands In Progress .......................... 55

Controlled Stops ........................... 55
Immediate Stops ........................... 55

Reference: Configuration Data



Format

CoE Registers ...........................................  57
Output Data Format ..................................  57
CFG_Word_0 Format  ..............................  57
CFG_Word_1 Format  ..............................  60
Current Loop Gain  ...................................  62
Notes on Other Configuration Words  ......  63
Invalid Configurations ..............................  63

Reference: Command Mode Data

Format

Command Bits Must Transition  ...............  65
Output Data Format ..................................  65
CMD_word0 .............................................  66
CMD_word1 .............................................  68

Description of



Motor Current Keys .................... 69

Reference: Command Mode Data

Format

Command Blocks ..................................... 70

Programming Blocks ................................ 79

First Block ..................................... 79
Segment Block .............................. 79

Input Data Format ..................................... 80

STATUS_word0 Format ............... 80
STATUS_word1 Format ............... 82

Notes on Clearing a Driver Fault .............. 83

Reset Driver Fault ......................... 83

Reference: General Installation

Guidelines

Grounding ................................................. 85

Grounding Electrode System  ........  85
Ground Bus  ...................................  85
Grounding Electrode Conductor  ...  86
Grounding Wires  ...........................  86

Avoiding Grounding Problems ................. 86
Surge (EMI) Suppression ......................... 87

Incoming Power  ...........................  87
Inductive Loads  .............................  88
System Environment  .....................  88

System Layout Considerations ................. 88

Wiring Categories for the



SD17060E-K or SD31045E-K .... 88

Minimize Voltages in the



System Enclosure ........................ 89

Power Supply Sizing  .....................  89
Component Placement  ..................  89
Conduits to Enclosure  ...................  90

Содержание SD17060E-K

Страница 1: ...MICRO CONTROLS INC ADVANCED U s e r M anual Manual 940 0S301...

Страница 2: ...ls 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 cha...

Страница 3: ...iption 17 Ethernet Interface 17 Status LED s 17 Front Panel Status LED s 17 Top Panel Status LED s 18 Reference UL cUL Recognized Installations UL Required Information 19 Reference Motion Control Defi...

Страница 4: ...Reference Command Mode Data Format Command Bits Must Transition 65 Output Data Format 65 CMD_word0 66 CMD_word1 68 Description of Motor Current Keys 69 Reference Command Mode Data Format Command Bloc...

Страница 5: ...oad 95 Extending the Motor Cable 95 Installing the Motor Cable 95 Connecting the Motor 96 Motor Connector 96 Interlock Wiring 96 Motor Wiring 97 Digital Input Wiring 98 Cable Shields 98 Input Wiring 9...

Страница 6: ...20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com Networked Indexer Driver User Manual TABLE OF CONTENTS 6 Notes...

Страница 7: ...ee icons are used to highlight important information in the manual NOTES highlight important concepts decisions you must make or the implications of those decisions CAUTIONS tell you when equipment ma...

Страница 8: ...ifications for the SD17060E K and SD31045E K products UL cUL Recognized Installations 19 Installation guidelines that must be followed in order for an instal lation of a Networked Driver to meet UL cU...

Страница 9: ...output and input variables assigned to the Networked Driver when the EtherCAT system is configured Each unit also supports the Distributed Clock DC functionality of the EtherCAT system This allows you...

Страница 10: ...the Networked Drivers have three DC inputs and one DC output that are used by the indexer Configuration data from the host sets the function of these points The output can be configured to be a Fault...

Страница 11: ...t connected Faults are reported in the Network Input Data and can be cleared through the Network Output Data Motor Interlock Two pins that must be shorted together before power will be applied to moto...

Страница 12: ...CAT system multiple devices can synchronize the start of their moves to the SYNC0 signal Moves will begin within 25 microseconds of each other Jog Move Allows you to jog the motor in either direction...

Страница 13: ...If the task time is less than two milliseconds the SYNC0 time must be a multiple of the task time Encoder Functionality Two of the three inputs available on the Networked Drive can be configured to ac...

Страница 14: ...ve 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...

Страница 15: ...can be wired as differential sinking or sourcing inputs How the Networked Driver uses these inputs is fully pro grammable as well as their active states Each input can be programmed to act as a Normal...

Страница 16: ...Jog or Registration Move is not in progress If you want to capture encoder position data on every transition of Input 3 configure it as a Start Indexer Move Input Capture Encoder Position Input As des...

Страница 17: ...ttached to the upstream device in the EtherCAT net work Closer to the network master The OUT jack must be attached to the next downstream device in the network of the Networked Driver is not the last...

Страница 18: ...the device Table R1 4 Module RUN LED States EtherCAT ERR LED The ERR LED location houses a red LED that indicates an error state in the EtherCAT protocol Table R1 5 Red ERR LED States LED State Descr...

Страница 19: ...per conductors only Terminals shall be tighten to manufacturer s recommended torques Power Connector shall be rated for a minimum 12A 600V in a pollution degree 2 environment Motor Connector shall be...

Страница 20: ...UL CUL RECOGNIZED INSTALLATIONS Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 20 Notes...

Страница 21: ...8 to 2 147 483 647 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 Positio...

Страница 22: ...if the Target Position is less than the Current Position The Motor Position value reported back to the host can exceed 8 388 607 counts However you can not move beyond 8 388 607 counts with an Absolut...

Страница 23: ...ation 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...

Страница 24: ...also programmed by the move 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 ca...

Страница 25: ...n 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 CW CCW Find Home commands the CW CC...

Страница 26: ...imit 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 ag...

Страница 27: ...direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued CW CCW Jog Move Jog Moves move in the programmed direction as long a...

Страница 28: ...Jog Move Controlled Stop Conditions The Jog Move Command bit is reset to 0 An inactive to active transition on an input configured as a Stop Jog or Registration Move Input You toggle the Hold_Move con...

Страница 29: ...ues set with the command the Networked Driver will decelerate at the programmed Deceleration value until it has output the Programmed Number of Steps and then stop the move without further deceleratio...

Страница 30: ...ote that it is possible to start a move while a CW or CCW Limit Switch is active as long as the direction of travel is opposite that of the activated Limit Switch For example it is possible to start a...

Страница 31: ...n on an input configured as an E Stop Input A CW CCW 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 mov...

Страница 32: ...ust 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...

Страница 33: ...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 secti...

Страница 34: ...the Networked Driver 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...

Страница 35: ...ssembled_Mode bit The Networked Driver sets this bit to tell you that it is ready to accept seg ment programming data in the remaining output data words The actual transfer of segment data is con trol...

Страница 36: ...cur if you reset the command word before the input 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...

Страница 37: ...an 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 Net worked...

Страница 38: ...eter has a range of 1 to 255 How It Works The Networked Driver always uses 4X decoding when counting pulses from the encoder If you set the Motor_Resolution parameter to four times the number of encod...

Страница 39: ...l The ELGearing Multiplier and Divisor values give you a great deal of control over the ratio of motor turns per encoder turn but you can achieve even finer control by adjusting the Motor_Resolution p...

Страница 40: ...MOTION CONTROL Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 40 Notes...

Страница 41: ...mmed speed For the smoothest transition from the starting speed the starting speed should be equal to the square root of the acceleration in steps sec2 For example if the choose acceleration is 20 000...

Страница 42: ...lerate and decelerate 250 002 199 982 449 984 steps If a move with the above acceleration deceleration starting speed and programmed speed has a length greater than 449 984 steps the Networked Driver...

Страница 43: ...For Trapezoidal Profiles you must first determine the number of counts that you are running at the Pro grammed Speed This value DP below is equal to your DA and DD values subtracted from your total tr...

Страница 44: ...When using variable accelerations the starting speed does not have to be equal to the square root of the pro grammed acceleration value Variable acceleration provides smooth transitions at the beginni...

Страница 45: ...se the programmed acceleration value to keep the accelera tion time the same If your constant acceleration value is the maximum your system will allow then using S curve accelerations will lengthen th...

Страница 46: ...cceleration multiplied by the time it is applied This is shown graphically in figure R4 5 as the area of the blue rectangle In order for the Trapezoidal S curve acceleration to reach the same speed in...

Страница 47: ...e accelerations calculating the percentage increase in time is shown in figure R4 6 The time added to the acceleration phase is equal to the time spent increasing the acceleration during the phase As...

Страница 48: ...ter value of 20 and the second a value of 400 Triangular or Trapezoidal S curve accelerations are always symmetrical We ll use this fact to calculate the profile up to one half of the change in speed...

Страница 49: ...constant acceleration period is 2 0 1336 0 7672 or 34 8 of the entire phase Sm 30 000 steps sec 2 15 000 steps sec Sm midpoint of change in speed J 100j a j Ja 100 J Acceleration Jerk parameter j phy...

Страница 50: ...CALCULATING MOVE PROFILES Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 50 Notes...

Страница 51: ...positive direction and ends when the home sensor triggers while the Networked Driver is rotating in the positive direction at the starting speed The CCW Find Home command operates in the same way but...

Страница 52: ...he opposite direction 2 The homing diagrams show CW and CCW direction on their vertical axes These are the directions that will occur if using an AMCI motor that is wired as shown in this manual It is...

Страница 53: ...e_Proximity_Bit has not made a 0 1 transition 4 Deceleration towards the Starting Speed when the Backplace_Proximity_Bit transitions from 0 to 1 The axis will stop as soon as the Home Input becomes ac...

Страница 54: ...the overtravel limits are not wired to the Networked Driver correctly or if both overtravel limits are activated while the unit is trying to find the home position Figure R5 3 Profile with Overtravel...

Страница 55: ...til it reaches the Starting Speed At this point the motor will stop Note that Find Home commands cannot be restarted once held Immediate Stops The Immediate Stop bit makes a 0 1 transition in the Netw...

Страница 56: ...HOMING AN AMCI NETWORKED DRIVER Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 56 Notes...

Страница 57: ...If you are still experiencing resonance problems with this feature enabled disable this feature and test the machine again Bit 13 Enable_Stall_Detection 0 disables motor stall detection 1 enables mot...

Страница 58: ...e signals You must also program the Encoder_Resolution parameter in configuration word 6 Bits 8 7 6 5 4 3 2 1 0 Function Available On 0 0 0 General Purpose Input All Inputs The input is not used in an...

Страница 59: ...is not enabled Bit 10 must equal 1 Table R6 3 Configuration Word 0 Bits Set These Bits To To Make These Settings 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Input 1 General Purpose Bit 12 is Reserved It mus...

Страница 60: ...river will synchronize the move to the SYNC0 output of the system s Distributed Clock This allows you to synchronize moves over multiple devices Bits 5 3 Reserved Must equal zero Bit 2 IN3_Active_Leve...

Страница 61: ...e input is active when it is conducting current Table R6 4 Configuration Word 1 Bits Set These Bits To To Make These Settings 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Input 1 Active Low 0 Active High 1 I...

Страница 62: ...o counts to improve high speed performance or decrease the settings by one or two for quieter low speed operation Table R6 5 Optional 115Vac Current Loop Gain Settings When using the SD31045E K with a...

Страница 63: ...ng 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 3 Configuring the two inputs to have the same...

Страница 64: ...CONFIGURATION DATA FORMAT Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 64 Notes...

Страница 65: ...utput Data used to command the SD17060E K or the SD31045E K and the format of the Network Input Data that con tains the responses from the device The parameter names of the input and output data are d...

Страница 66: ...ed_Data 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 35...

Страница 67: ...e Limit Switch in the clockwise direction A full explanation of homing can be found in the Homing an AMCI Networked Driver reference chapter starting on page 51 Bit 4 Immediate_Stop When set to 1 the...

Страница 68: ...is started when the Run Assem bled Move bit CMD_word1 Bit 13 makes a 0 1 transition When this bit equals 1 a Dwell Move is started on the transition The direction of a Blend Move is controlled by the...

Страница 69: ...s With the exceptions of the CW CCW Registration Move commands it is possible to change the motor current on the fly while in Command Mode To do this place the new motor current in the UINT Motor_Curr...

Страница 70: ...999 Acceleration UINT Acceleration Steps sec ms 1 to 5000 Deceleration UINT Deceleration Steps sec ms 1 to 5000 Motor_Current UINT Motor Current 0 1 amps SD17060E K 10 to 60 SD31045E K 10 to 44 Even n...

Страница 71: ...e changed when the move is resumed ESI File Name Data Size Function Units Range CMD_Word0 UINT CMD_word0 16 0004 CMD_Word1 UINT CMD_word1 See pg 68 Position DINT Unused See Note Below Velocity UDINT U...

Страница 72: ...d1 UINT CMD_word1 See pg 68 Position DINT Unused See Note Below Velocity UDINT Unused See Note Below Acceleration UINT Unused See Note Below Deceleration UINT Unused See Note Below Motor_Current UINT...

Страница 73: ...Below Velocity UDINT Programmed Speed Steps Second Value between the configured Starting Speed and 2 999 999 Acceleration UINT Acceleration Steps sec ms 1 to 5000 Deceleration UINT Deceleration Steps...

Страница 74: ...ous command ESI File Name Data Size Function Units Range CMD_Word0 UINT CMD_word0 16 0080 CMD_Word1 UINT CMD_word1 See pg 68 Bits 7 6 must equal 10 Position DINT Stopping Distance Steps 0 to 8 388 607...

Страница 75: ...nMRMDist into the two sixteen bit registers This code was written with TwinCAT software Motor_Current UDINT_TO_UINT nMRMDist Motor_Current stores the lower 16 bits Jerk UDINT_TO_UINT SHR nMRMDist 16...

Страница 76: ...Network Driver and can be any value including parameter values in the previous command Presetting the position will also reset the Move_Complete status bit in the Network Input Data ESI File Name Dat...

Страница 77: ...previous command ESI File Name Data Size Function Units Range CMD_Word0 UINT CMD_word0 16 0400 CMD_Word1 UINT CMD_word1 See pg 68 Set bit 10 to clear driver faults Position DINT Unused See Note Below...

Страница 78: ...and can be any value including parameter values in the previous command ESI File Name Data Size Function Units Range CMD_Word0 UINT CMD_word0 16 4000 CMD_Word1 UINT CMD_word1 See pg 68 Position DINT...

Страница 79: ...river sees bit 12 of CMD_word0 set it will accept the block and reset bit 9 in STATUS_word0 When your program sees this bit reset it must respond by resetting bit 12 of CMD_word0 The Networked Driver...

Страница 80: ...ation written to it Bit 12 Command_Error 1 when an invalid command has been written to the Networked Driver This bit can only be reset by the Reset_Errors bit CMD_word0 Bit 10 Note that setting the mo...

Страница 81: ...nal the host that it is ready to accept assembled move profile programming data Its use is explained in the Assembled Move Pro gramming section of this manual starting on page 35 Bit 7 Move_Complete S...

Страница 82: ...changed to invalid values Parame ters that can be changed during a Jog Move are Programmed Speed Acceleration and Deceleration Set while in Electronic Gearing mode if the Numerator or Denominator are...

Страница 83: ...he motor or the Interlock jumper is missing When a Driver Fault occurs the driver sets bit 7 of STATUS_word1 in the Network Input Data See STATUS_word1 Format on page 82 for a full description of STAT...

Страница 84: ...COMMAND MODE DATA FORMAT Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 84 Notes...

Страница 85: ...tion against electric shock should the device be damaged Functional Earth Connection Point that must be tied to Earth to improve noise immunity of the device For all AMCI Networked Drivers the Protect...

Страница 86: ...ance to electrical noise Grounding Wires Grounding wires are used to connect the pieces of equipment to your ground bus AMCI strongly suggests using 8 AWG stranded wire or 1 wire braid for all groundi...

Страница 87: ...ance between the grounding electrodes and earth A similar problem exists on machines that are not properly bonded together The resistance of a poor bond in the system will result in a voltage potentia...

Страница 88: ...s experience that nuisance faults can be caused by another system on the same feeder circuit that does not have adequate surge suppression devices System Layout Considerations The first step to achiev...

Страница 89: ...requirements of the components you are attaching to the supply Component Placement Once you have established the proper categories of all of the system s wires and cables and determined all of your co...

Страница 90: ...5E K Drivers if 115Vac is the only line voltage available in the system and you require the 310Vdc motor bus a step up transformer that is rated for a minimum of 800VA must be installed Consider insta...

Страница 91: ...bus connector or I O connector 5 Do not disassemble the module 6 Store the module in its anti static bag and shipping box when it is not in use 1 2 2 Prevent Debris From Entering the Unit While mounti...

Страница 92: ...utline Drawing Network Interface Area 2 05 52 1 0 152 dia 3 86 0 60 15 2 4 00 101 6 2 750 69 85 10 32 UNF 2B Four places Min screw length 0 31 thickness of mounting panel Max screw length 0 62 thickne...

Страница 93: ...ounting method that uses the 10 32 screws minimum and maximum screw lengths must be observed to prevent a screw from shorting to the PC board or components There are airflow holes in the top and botto...

Страница 94: ...t shown in the figure When installing the power cable slide the rubber boot onto the cable before wiring the connector When you re sure the wiring is cor rect slide the boot over the connector to cove...

Страница 95: ...m 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 pe...

Страница 96: ...ound or to a power supply 2 Always connect the cable shield to the Earth Ground terminal of the Motor Connector on the Networked Driver 1 8 2 Interlock Wiring The motor interlock is designed to preven...

Страница 97: ...t any AMCI motor to any AMCI driver At the time of this manual revision the wiring manual can be found in the PDF Documents section of the website It is under the Stepper Motor heading and link is sim...

Страница 98: ...can be wired to sinking or sourcing sensors without requiring a pull up or pull down resistor They accept 3 5 to 27 Vdc without the need for an external current limiting resistor If using a 48 Vdc sen...

Страница 99: ...figure below shows how to wire a 5Vdc differential encoder to a Networked Driver The A channel must be wired to Input 1 for proper operation The B channel must be wired to Input 2 for proper operation...

Страница 100: ...to MDI X capable This means that a standard cable can be used to connect the SD17060E K or SD31045E K to any device including a personal computer Figure T1 10 Ethernet Port Location The network jack l...

Страница 101: ...e example uses an SD17060E K All of the information in this section applies to the SD31045E K as well 2 2 1 Scan for the Networked Driver 1 Attach the Networked Driver to the network and power up the...

Страница 102: ...he proper hexadecimal value of CFG_word0 for your application 5 Once you set a parameter check the value of the STATUS_word1 register 6000 01 If the value has bit 13 set to 1 there is an error in your...

Страница 103: ...rgetPos AT Q DINT nTargetVel AT Q UDINT nAccel AT Q UINT nDecel AT Q UINT nMtrCurr AT Q UINT nJerk AT Q UINT 0 Inputs nStatus0 AT I UINT nStatus1 AT I UINT nMotorPos AT I DINT nEncPos AT I DINT nTrapp...

Страница 104: ...04 2 5 Link Variable Names to I O Words continued 4 In the Attach Variable window that opens select the variable to link to the STATUS_word0 input word and click OK Figure T2 6 Change Link Pop up Menu...

Страница 105: ...tions Explorer expand out System Tasks so that the tasks are visible Double click on the task assigned to the main PLC This task is typically named PlcTask In the windows that open note the value for...

Страница 106: ...ck on Tasks and select Add New Item 2 In the window that opens name the new task and select TwinCAT Task With Image as the Type Click the OK button to accept the values Figure T3 2 Create New Task 3 I...

Страница 107: ...name of the new variable to select it The information on the variable will appear in a pane Click on the Linked to button in this pane to open the Attach Variable window 8 Double click on the CMD_word...

Страница 108: ...elect DC_Synchron 5 Click on the Advanced Settings button 6 Verify or set the following Cyclic Mode Enable checkbox is checked Sync Unit Cycle s is equal to the time of the correct task If not the var...

Страница 109: ...of the procedure If the value is less than 64 then the bit is not set This new value must be specified in the Startup tab in order to make the change permanent 4 Click on the Startup tab 5 Right clic...

Страница 110: ...LEADERS IN ADVANCED CONTROL PRODUCTS ADVANCED MICRO CONTROLS INC...

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