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NETWORK DATA FORMATS

ADVANCED MICRO CONTROLS INC.

Command Mode (continued)

Electronic Gearing Mode Data Format

Control Word 1 Format

Figure 7.3 Command Mode: Control Word 1 Format

Bit 15: Mode Bit –

“1” for Configuration Mode Programming “0” for Command Mode Programming. The

SD17060E powers up in Configuration Mode and will not switch to Command Mode until a valid
configuration is written to the drive. Power is also removed from the motor until the SD17060E has
a valid configuration written to it.

Bit 14: Preset Encoder Bit –

When set to “1” the SD17060E will preset the Encoder Position to the value

stored in Output Words 2 and 3.

Bit 13: Run Blend Move –

When set to “1” the SD17060E will run the blend move already stored in mem-

ory. The direction that the blend move is run in is controlled by the Blend Move Direction bit in
Control Word 2, bit 4.

Bits 11 & 12: Program Blend Move & Program Blend Move Segment Bits –

These bits are used to pro-

gram the Blend Move Segments before a blend move can be run. Their use is explained in the

Blend

Move Programming

section of this manual starting on page 21.

Bit 10: Clear Errors –

When set to “1” the SD17060E will clear all existing errors and attempt to use the

present data to run a new command.

Bit 9:

Preset Motor Position Bit –

When set to “1” the SD17060E will preset the Motor Position to the

value stored in Output Words 2 and 3.

Bit 8:

CCW Manual Move –

When set to “1” the SD17060E will run a Manual Move in the counter-clock-

wise direction. A full explanation of

Manual Moves

can be found starting on page 16.

Bit 7:

CW Manual Move –

When set to “1” the SD17060E will run a Manual Move in the clockwise direc-

tion. A full explanation of

Manual Moves

can be found starting on page 16.

Word

Command Data

Range

Control Word 1

See below

Control Word 2

See below

Electronic Gearing Numerator

1 to 255

Electronic Gearing Denominator

1 to 255

Programmed Speed: Upper Word Combined value between the Starting

Speed and 2,999,999 Steps/sec

Programmed Speed: Lower Word

Acceleration

1 to 5,000 steps/ms/sec

Deceleration

1 to 5,000 steps/ms/sec.

Motor Current (X10)

10 to 60, Even numbers only.

Represents 1.0 to 6.0 A

RMS

Acceleration Jerk

0 to 5,000

Control Word 1

15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

MOD

unB

Clr

anM

v–

anM

–

I-

Sto

mMv

Содержание SD17060E

Страница 1: ...SD17060E Ethernet IP Stepper Motor Indexer Drive A M CI Motion Contro l P r o d u c t s ADVANCED MICRO CONTROLS INC U s e r M anual Manual 940 0S090...

Страница 2: ...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 examin...

Страница 3: ...der Position Input 13 Defining Home Position 13 Position Preset Command 13 Find Home CW Find Home CCW Commands 13 Chapter 2 Motion Control cont d Manual Relative and Absolute Moves 16 Manual Moves 16...

Страница 4: ...bling Bootp Protocol 43 Setting the IP Address 43 Disabling the Bootp Protocol 43 Testing the New IP Address 43 Chapter 6 Host Configuration RSLogix 5000 Configuration 45 Configure Bridge Module As Ne...

Страница 5: ...ed 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 4 05 or later you are allowed to add notes and annotat...

Страница 6: ...s detailed information on how the drive can be used to control motion in your application 3 GENERAL INSTALLATION GUIDELINES Anyone new to installing electronic controls in an industrial environ ment T...

Страница 7: ...he indexer Configuration data from the host sets the function of these points The output can be config ured to be a Fault Output or a general purpose output Each input can be individually configured a...

Страница 8: ...own location to another known location Blend Move Allows you to perform a sequence of relative moves without stopping between each one Hold Move Allows you to suspend a move and restart it without los...

Страница 9: ...r board This LED will briefly flash red on power up while the SD17060E is initializing It will be green and on steady when the Ethernet daughter board and the rest of the SD17060E are communicating co...

Страница 10: ...n 0 2 Amp steps Resolution Programmable to any value from 200 to 32 767 steps per revolution Idle Current Reduction Programmable from 0 to 100 programmed motor current in 1 increments Motor cur rent i...

Страница 11: ...arameter has an effect on the actual rotational speed of the shaft If you program the Steps per Turn to 500 and perform a move with a Programmed Speed of 5 000 steps per second the shaft will rotate a...

Страница 12: ...speed Available Inputs The SD17060E has three DC inputs that accept 3 5 to 27Vdc signals 5 to 24Vdc nominal They can be wired as differential sinking or sourcing inputs How the SD17060E uses these inp...

Страница 13: ...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...

Страница 14: ...wait 2 seconds 7 Return to the Home Input at the programmed Starting Speed Stop when the Home Input transitions from Inactive to Active Overtravel Limit Activates During Homing Profile Figure 2 5 Over...

Страница 15: ...Speed Stop when Home Limit transitions from inactive to active Homing Operation When Overtravel Limit Already Active Figure 2 7 Overtravel Limit Active 1 Accelerate to the Programmed Speed in the dir...

Страница 16: ...d direction as long as the command bit is active These moves can be stopped with an external switch or sensor brought directly into the SD17060E h Relative Moves The motor rotates in the programmed di...

Страница 17: ...eset to 0 h A positive transition on an input configured as a Stop Manual Move and Capture Encoder Position input h You toggle the Hold Move control bit in the Network Input Data The use of the Hold M...

Страница 18: ...owed by your 90 position etc Absolute Moves Before you can perform an Absolute Move you must set the machine position to a known value This is accomplished by using the Preset Position command or homi...

Страница 19: ...h sup ported 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 mo...

Страница 20: ...irst Blend Move then program the second move and run it in the opposite direction You can also run the same profile in opposite direction as shown below 4 The Programmed Speed of each segment must be...

Страница 21: ...le The SD17060E will respond by setting the Blend Move Program Mode bit in the Network Input Data At the beginning of the programming cycle the SD17060E will also set the Transmit Blend Move Segment b...

Страница 22: ...was in its Hold state One potential application for this ability 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 unt...

Страница 23: ...of the encoder AMCI refers to it as Electronic Gearing because the SD17060E has four parameters that allow you to set any turns ratio you want between the encoder and the motor Encoder Pulses Per Turn...

Страница 24: ...ltiplier and Divisors Two rotations of the encoder 8 192 counts 1 motor rotation Similarly you can adjust the Steps per Turn value to adjust the ratio as well This technique allows you to set a median...

Страница 25: ...re is completely optional and you can leave the Current Loop Gain at its default setting of 1 for standard motor performance Assuming a stable line voltage of 115 Vac the following gains can be used f...

Страница 26: ...MOTION CONTROL ADVANCED MICRO CONTROLS INC 2 26 Notes...

Страница 27: ...Earth for the safe operation of the device Protection against electric shock should the device be damaged Functional Earth Connection Point that must be tied to Earth to improve noise immunity of the...

Страница 28: ...ctions The American NEC allows the use of solid wire for grounding wires but this should be avoided for the same reasons they should not be used for the Grounding Electrode Conductor Avoiding Groundin...

Страница 29: ...ounding 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 potential across the connec...

Страница 30: ...erience that nuisance faults can be caused by another system on the same feeder circuit that does not have adequate surge suppression devices System Layout Considerations The first step to achieving a...

Страница 31: ...you are attaching to the supply Component Placement Once you have established the proper categories of all of the system s wires and cables and determined all of you components including surge suppres...

Страница 32: ...h Like all motors stepper motors are noise generators and must be properly grounded when installed h Keep the motor wires as short as possible Consider twisting the winding pairs together to minimize...

Страница 33: ...eft and right of the drive and one inch 25 mm of space in front of the drive These dimensions are typical for convectional cooling If you have an active cool ing system such as enclosure fans you will...

Страница 34: ...e cable before wiring the connector When you re sure the wiring is correct slide the boot over the connector to cover the screw heads Figure 4 1 Power and Grounding Connections 1 Input power must be 9...

Страница 35: ...arth 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 Co...

Страница 36: ...nector When you re sure the wiring is correct slide the boot over the connector to cover the screw heads Always remove power from the SD17060E before connecting or disconnecting the motor 1 Never conn...

Страница 37: ...INTERLOCK B CTAP B B EARTH GND A CTAP INTERLOCK A A 6 LEAD MOTOR Six Lead Center Tap Connected Motor Case INTERLOCK B CTAP B B EARTH GND A CTAP INTERLOCK A A 4 LEAD MOTOR Four Lead Connected Motor Cas...

Страница 38: ...m the power supply to each sensor Do Not daisy chain power from one sensor to the next GROUND THE SHIELD OF THE SENSOR CABLE 1 Ground only one end of shield 2 Shield is usually grounded where the sign...

Страница 39: ...nal If used it must be wired into Input 3 The Z channel is only used when homing the SD17060E Figure 4 7 Sample Encoder Wiring SD17060B Output OUTPUT OUTPUT RLIMIT VDC 5 to 24V SD17060E Output Sinking...

Страница 40: ...status LED s indicate the health of the network connection between the SD17060E and its host The Sta tus LED on the front of the unit indicates the state of the SD17060E itself h Network Status Indica...

Страница 41: ...Windows XP and Vista and it may prevent your computer for communicating with the SD17060E Configuring your firewall to allow the BOOTP protocols through is beyond the scope of this manual The easiest...

Страница 42: ...tead of the interface attached to the SD17060E If you have trouble connecting to the SD17060E and you have already disabled the firewall then disable all network interfaces except for the one attached...

Страница 43: ...operties window again Enter the new IP address for the SD17060E and click OK 2 Apply2 power to the drive and wait for the Unit Status LED to come on solid green and the Network Status LED to be flashi...

Страница 44: ...nce the terminal is open type in ping aaa bbb ccc ddd where aaa bbb ccc ddd in the new IP address of the SD17060E The computer will ping the SD17060E and the message Reply from aaa bbb ccc ddd bytes 3...

Страница 45: ...1756 L1 processor is used in the screen images below 1 Insert a bridge module into the I O Configuration tree As shown in figure 6 1 on the right right click on the I O Configuration folder and selec...

Страница 46: ...ow scroll down the list until you find the entry that has a description of Generic Ethernet Module Module Type is ETHERNET MODULE in figure Click on the module name to select and then click the OK but...

Страница 47: ...data files h An Integer file to contain the data from the SD17060E This file must have enough elements to contain all of the data read from the drive h An Integer file to contain the data sent to the...

Страница 48: ...the SD17060E enter the integer file where the source data will be located in the Data Table Address Send field and press Enter 7 Enter a value of 20 either in the Size In Bytes Receive or Size In Byte...

Страница 49: ...to read data from a SD17060E Please note that the Data Table Address Receive and Size in Bytes Receive fields may be dif ferent in your application Figure 6 7 Read Message Instruction Setup Screen Th...

Страница 50: ...te message instructions to your program save and down load the program to the PLC Troubleshooting If you are unable to communicate with the SD17060E the problem may be that the Ethernet port of your M...

Страница 51: ...reset errors when they occur The SD17060E must be programmed with a valid configuration before it will allow you to switch to this mode Multi Word Format Many of the hosts that can be used with the S...

Страница 52: ...tall detection 1 enables motor stall detection Only valid when an encoder is used and attached to the motor controlled by the SD17060E Bit 11 Home Proximity Bit Enable Bit 0 when Home Proximity bit is...

Страница 53: ...til a fault occurs 1 configures Output 1 to be a general purpose output whose state is determined by a bit in the Command Mode Network Output Data This output is in an ON state when power is applied t...

Страница 54: ...h the input when it is active Notes on Other Configuration Words h Information on the Multi Word Format used when programming the Starting Speed can be found on page 51 h Current Loop Gain settings fo...

Страница 55: ...use an encoder Command Mode The correct format for the Network Output Data when the SD17060E is in Command Mode is shown in the two tables below The first table shows the data format for most commands...

Страница 56: ...rting on page 21 Bit 10 Clear Errors When set to 1 the SD17060E will clear all existing errors and attempt to use the present data to run a new command Bit 9 Preset Motor Position Bit When set to 1 th...

Страница 57: ...be found in the Controlling Moves In Progress section of this manual starting on page 22 Bit 1 Relative Move Bit Set to 1 to perform a Relative Move using the data in the rest of the Com mand Data A...

Страница 58: ...Current Key0 See description below Description of Motor Current Keys It is possible to change the motor current on the fly while in Command Mode To do this place the new motor current in Word 8 and se...

Страница 59: ...valid Bit 1 when h The motor position has not been preset h The machine has not been homed h The Network Connection has been lost and re established h An Immediate or Emergency Stop has occurred h An...

Страница 60: ...et 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 Bit 9 Invalid Paramet...

Страница 61: ...er Position Data These two inputs words report the encoder position based on the quadrature pulses received by the SD17060E The range for the encoder position value is 32 768 000 to 32 767 999 The dat...

Страница 62: ...VANCED CONTROL PRODUCTS ADVANCED MICRO CONTROLS INC ADVANCED MICRO CONTROLS INC ADVANCED MICRO CONTROLS INC ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE CT 06786 T 860 585 1254 F 860 584 1973...

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