20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
MOTION CONTROL
2
13
Available Inputs (continued)
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. Additionally, no move can begin while this input is active.
Encoder Feedback
The SD17060E can be configured to accept a quadrature encoder instead of discrete inputs. Input 1 accepts
the ±A pulses and Input 2 accepts the ±B pulses. Input 3 can be configured for three different functions when
using encoder feedback as described below.
An encoder is used by the SD17060E in one of two ways.
When the encoder is mounted on the back of the motor controlled the SD17060E, the encoder is used for
position feedback. The position data of the encoder can be preset to any value within its range, it is reported
through the Network Data, and it can be captured during a move. The addition of an encoder also allows you
to preform an Encoder Move, which is described in the
section, starting on page 19.
It is also possible to have the encoder mounted on a shaft that is not mechanically coupled to the motor con-
trolled by the SD17060E. In this configuration you can simply monitor the encoder data, or you can use a
feature of the SD17060E called Electronic Gearing. When this feature is active, the SD17060E will change
the position of the motor in response to a change in encoder position. The ratio of encoder turns to motor
turns is fully programmable.
Z-Pulse Input
When Inputs 1 and 2 are configured to act as encoder inputs, Input 3 can be configured to accept the ±Z pulse
from the encoder. The SD17060E only uses the Z-pulse when homing the position as described below.
Capture Encoder Position Input
When Inputs 1 and 2 are configured to act as encoder inputs, Input 3 can be configured as a Capture Encoder
Position Input. The encoder position is captured and reported in the Network Data whenever this input tran-
sitions from inactive to active.
Stop Manual Move and Capture Encoder Position Input
When Inputs 1 and 2 are configured to act as encoder inputs, Input 3 can be configured as an external control
for Manual Moves. Manual Moves are described staring on page 16, but this move type is also called a Jog.
If this input makes an inactive to active transition during a Manual Move, the Encoder Position in captured
and the move is brought to a controlled stop. This input only affects Manual Moves. It will not stop other
move types and encoder data will not be captured.
Defining Home Position
Home Position is a known position on the machine that it must be brought to before normal operation can
begin. The SD17060E allows you to define this starting position in two ways.
Position Preset Command
This command gives you the ability to preset the position value anywhere in the range of –8,388,608 to
+8,388,607. The actual physical position of the machine is determined by sensors brought into the host.
Find Home CW & Find Home CCW Commands
The other way to home the machine is to attach a discrete DC sensor to one of the inputs and configure the
SD17060E to use this sensor as a Home Limit Switch. You can optionally configure one or both of the other
inputs as CW or CCW Overtravel Limits to define the mechanical limits of your travel. When used, these
overtravel limits can affect the homing operation. The figures on the following pages show the profiles that
can occur when homing the machine using a Home Limit Switch.
