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Networked Indexer/Driver User Manual

C

ONFIGURATION

M

ODE

D

ATA

F

ORMAT

61

Command Mode Data Formats (continued)

Examples of the formats are given below.

Table R6.2 Position Data Format Examples

When using the Modbus-TCP protocol, the host controller should use “signed 16-bit integer”
as the data type when using the multi-word format.

The range of values when using the multi-word format is -32,768,000 to 32,767,999. When
used in continuous rotation applications, such as control of a conveyor belt, it is possible to
overflow these values. When any of the three position values overflow, the value of the associ-
ated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit
integer format for continuous rotation applications.

Output Data Format

The correct format for the Network Output Data when the Networked Driver is in Configuration Mode is
shown below.

Table R6.3 Network Output Data Format: Configuration Mode

Multi-Word Format

32 bit Signed Integer

Little Endian Format

(EtherNet/IP)

32 bit Signed Integer

Big Endian Format

(PROFINET & Modbus TCP)

Value

First Word

Second Word

First Word

Second Word

First Word

Second Word

12

0

12

16#000C

16#0000

16#0000

16#000C

-12

0

-12

16#FFF4

16#FFFF

16#FFFF

16#FFF4

1,234,567

1,234

567

16#D687

16#0012

16#0012

16#D687

-7,654,321

-7,654

-321

16#344F

16#FF8B

16#FF8B

16#344F

EtherNet/IP

or PROFINET

Word

Modbus/TCP

Register

Configuration Data

Range

0

1024

Configuration Word 0

See below

1

1025

Configuration Word 1

See below

2

1026

Starting Speed: Upper Word

Combined value between 1

and 1,999,999 steps/sec.

3

1027

Starting Speed: Lower Word

4

1028

Motor Resolution

200 to 32,767

5

1029

Reserved

Must be set to zero

6

1030

Encoder Resolution

0 to 32,768

7

1031

Idle Current Reduction

0 to 100%

8

1032

Motor Current (X10)

10 to 60, Even numbers only.

Represents 1.0 to 6.0 Arms

9

1033

Current Loop Gain

1 to 40

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Содержание SD17060E2

Страница 1: ...MICRO CONTROLS INC ADVANCED U s e r M anual Manual 940 0S172 E2 Technology E2 Technology...

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: ...ty 18 Electronic Gearing 18 Encoder Registration Move 18 Network Interface Description 19 Ethernet Interface 19 Status LED s 19 Front Panel Status LED s 19 Ethernet Status LED s 20 Reference UL cUL Re...

Страница 4: ...mat Modes of Operation 59 Configuration Mode 59 Command Mode 59 Power Up Behavior 59 Word Addressing 59 Configuration Mode Data Format 59 Multi Word Data Format 60 Reference Configuration Mode Data Fo...

Страница 5: ...ecting the Load 99 Extending the Motor Cable 99 Installing the Motor Cable 99 Connecting the Motor 100 Motor Connector 100 Interlock Wiring 100 Motor Wiring 101 Task 1 Installing an AMCI Net worked Dr...

Страница 6: ...2 AMCI Modbus TCP Stepper Driver Memory Layout 132 Supported Number of Connections 132 Supported Modbus Functions 133 Supported Modbus Exceptions 133 Task 7 PROFINET Network Configuration Basic Steps...

Страница 7: ...lifies network wiring When the EtherNet IP proto col is used the unit can act as a node in a Device Level Ring DLR When PROFINET is enabled the unit supports the Media Redundancy Protocol MRP and can...

Страница 8: ...Vendor Association Inc Adobe and Acrobat are registered trademarks of Adobe Sys tems Incorporated All other trademarks contained herein are the property of their respective holders Revision Record Thi...

Страница 9: ...f the SD17060E2 or SD31045E2 can be set Configuration Mode Data Format 59 Reference information on the format of the network data to and from the SD17060E2 or SD31045E2 that is used to configure it Co...

Страница 10: ...ABOUT THIS MANUAL Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 10 Notes...

Страница 11: ...daisy chain fashion which may lower net work wiring costs and complexities The two ports also allow the units to function as members of a redundant Device Level Ring DLR network when using the EtherN...

Страница 12: ...eak current to the motor experience a 30 decrease in motor torque when microstepping a motor The Net worked Drivers automatically switch from RMS to peak current control when the motor is idle to prev...

Страница 13: ...their data tables These control lers expect thirty two bit values to be returned to them using the same format Least significant word first is called little endian most significant word first is calle...

Страница 14: ...and can be cleared through the Network Output Data Motor Interlock Two pins that must be shorted together before power will be applied to motor Can be shorted together through mechanical relay contact...

Страница 15: ...n home to a discrete input or to an encoder marker pulse Jog Move Allows you to jog the motor in either direction based on a bit from your con troller Registration Move Allows you to jog the motor in...

Страница 16: ...he 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...

Страница 17: ...is configured as a Stop Jog or Registration Move Input triggering this input during a Jog Move or Registration will bring the move to a controlled stop The controlled stop is triggered on an inactive...

Страница 18: ...to the encoder marker pulse Detect motor stall conditions Run Encoder Registration Moves Electronic Gearing In this mode the stepper motor follows the rotation of an external encoder This encoder is...

Страница 19: ...LR applications either port can be used You also have the ability to daisy chain a second device off of the Networked Driver if this would sim plify your network wiring There are two LED s on each of...

Страница 20: ...are operational Drive and Network are operational Device Name or IP Address are set Flashing Red Network Connection Timeout Not Implemented Device Name or IP Address are not set Steady Red Major Faul...

Страница 21: ...0 C 300V except secondary low voltage circuit wiring Use 75 C copper conductors only Terminals shall be tighten to manufacturer s recommended torques Power Connector shall be rated for a minimum 12A 6...

Страница 22: ...UL CUL RECOGNIZED INSTALLATIONS Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 22 Notes...

Страница 23: ...choose the thirty two bit double integer format the range is 2 147 483 648 to 2 147 483 647 In contin uous rotation applications you should choose the double integer format Home Position The Home Pos...

Страница 24: ...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 25: ...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 26: ...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 27: ...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 28: ...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 29: ...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 as...

Страница 30: ...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 co...

Страница 31: ...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 32: ...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 33: ...p Conditions The Immediate_Stop bit makes a 0 1 transition in the Network Input Data A positive transition on an input configured as an E Stop Input A CW CCW Limit Switch is reached If the limit that...

Страница 34: ...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 35: ...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 36: ...the Networked Driver As described in Saving an Assembled Move in Flash on page 37 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 37: ...e Network Output Data 2 The Networked Driver responds by setting both the In_Assembled_Mode and Waiting_For_Assembled_Segment bits in the Network Input Data 3 When the host detects that the Waiting_Fo...

Страница 38: ...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...

Страница 39: ...ed Driver units this parameter has a range of 21 to 65 535 When using the Networked Driver as an axis follower it is best to run the virtual axis as a high priority event driven periodic task When usi...

Страница 40: ...ed if error conditions such as programming errors have not occurred New Acceleration Deceleration and Programmed Speed parameters can be written to the Net worked Driver while a Jog Move is in its hol...

Страница 41: ...iver always uses 4X decoding when counting pulses from the encoder If you set the Motor_Resolution parameter to four times the number of encoder lines and set both of the ELGearing Multi plier and Div...

Страница 42: ...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...

Страница 43: ...tely 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 115Vac the following gains can be used for AMCI motor...

Страница 44: ...fit from increasing or decreasing these settings In general increase the setting by one or two counts to improve high speed performance or decrease the settings by one or two for quieter low speed ope...

Страница 45: ...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 46: ...accelerate 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 Dr...

Страница 47: ...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 48: ...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 49: ...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 50: ...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 51: ...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 52: ...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 53: ...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 54: ...CALCULATING MOVE PROFILES Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 54 Notes...

Страница 55: ...CW CCW Find Home Commands The other choice is to use the driver s Find Home commands to order the Networked Driver to find the Home Position based on sensors brought into the unit The CW Find Home co...

Страница 56: ...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 57: ...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 58: ...d Driver will stop with an error if both overtravel limits are activated while the unit is trying to find the home position Figure R5 3 Profile with Overtravel Limit 1 Acceleration from the configured...

Страница 59: ...ction if the Enable_Driver bit is set If using EtherNet IP with an EDS file the Networked Driver is sent configuration data when it connects to the network This data is used to configure the unit This...

Страница 60: ...Value Likewise when reading data back from a Networked Driver while it is in Command Mode there are values that are larger than sixteen bits These data values are Motor Position Encoder Position Captu...

Страница 61: ...ormat for the Network Output Data when the Networked Driver is in Configuration Mode is shown below Table R6 3 Network Output Data Format Configuration Mode Multi Word Format 32 bit Signed Integer Lit...

Страница 62: ...tection 0 disables motor stall detection 1 enables motor stall detection Only valid when an encoder is used and attached to the motor controlled by the Networked Driver The Encoder_Resolution paramete...

Страница 63: ...the input to be used as a discrete DC input to your controller 0 0 1 CW Limit All Inputs 0 1 0 CCW Limit All Inputs 0 1 1 Start Indexed Move All Inputs 0 1 1 Start Indexed Move Capture Encoder Value...

Страница 64: ...a is not correct the transition on this bit is ignored If the write to flash completes successfully the Networked Driver will write 16 AAAA into the last word of the Network Input Data and the Status...

Страница 65: ...y use big endian format but you should refer to you PLC s documenta tion to verify the format used by your processor See table R6 2 Position Data Format Examples found on page 61 for examples of the d...

Страница 66: ...or When using the state of bit 13 of word 0 in your logic always include the state of bit 15 of word 0 to assure that you are only acting on the bit when in the proper mode Invalid Configurations The...

Страница 67: ...t to use a 32 bit double integer format instead of the custom format shown below There are three configuration bits that control the data format when the Networked Driver is in command mode The Binary...

Страница 68: ...the associ ated data words will become indeterminate AMCI strongly suggests using the signed 32 bit integer format for continuous rotation applications Command Bits Must Transition This condition als...

Страница 69: ...ed 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 37 Bit 10 Reset_Errors When...

Страница 70: ..._Home_CW When set to 1 the Networked Driver will attempt to move to the Home Limit Switch in the clockwise direction A full explanation of homing can be found in the Homing an AMCI Networked Driver re...

Страница 71: ...ommand is issued Command Word 0 Bit 10 the Networked Driver will attempt to clear driver errors such as a missing interlock jumper or motor short fault Note that the driver must be disabled Command Wo...

Страница 72: ...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 Word 8 and set the key bits as...

Страница 73: ...ween the Configured Starting Speed and 2 999 999 5 1029 Programmed Speed Lower Word 6 1030 Acceleration Steps ms sec 1 to 5000 7 1031 Deceleration Steps ms sec 1 to 5000 8 1032 Motor Current 0 1 A SD1...

Страница 74: ...Register Function Units Range 0 1024 Command Word 0 16 0004 1 1025 Command Word 1 See pg 71 2 1026 Unused See Note Below 3 1027 Unused See Note Below 4 1028 Unused See Note Below 5 1029 Unused See No...

Страница 75: ...d Word 0 16 0010 1 1025 Command Word 1 See pg 71 2 1026 Unused See Note Below 3 1027 Unused See Note Below 4 1028 Unused See Note Below 5 1029 Unused See Note Below 6 1030 Unused See Note Below 7 1031...

Страница 76: ...eps Second Combined value between the Configured Starting Speed and 2 999 999 5 1029 Programmed Speed Lower Word 6 1030 Acceleration Steps ms sec 1 to 5000 7 1031 Deceleration Steps ms sec 1 to 5000 8...

Страница 77: ...al 10 2 1026 Stopping Distance Upper Word Steps Combined value between 0 and 8 388 607 3 1027 Stopping Distance Lower Word 4 1028 Programmed Speed Upper Word Steps per Second Combined value between th...

Страница 78: ...9 5 1029 Programmed Speed Lower Word 6 1030 Acceleration Steps ms sec 1 to 5000 7 1031 Deceleration Steps ms sec 1 to 5000 8 1032 Motor Current 0 1 A SD17060E2 10 to 60 SD31045E2 10 to 44 Even numbers...

Страница 79: ...us TCP Register Function Units Range 0 1024 Command Word 0 16 0080 or 16 0100 1 1025 Command Word 1 See pg 71 Bit 6 must equal 1 2 1026 Electronic Gearing Numerator 1 to 255 3 1027 Electronic Gearing...

Страница 80: ...16 0400 1 1025 Command Word 1 See pg 71 Set bit 10 to clear driver faults 2 1026 Unused See Note Below 3 1027 Unused See Note Below 4 1028 Unused See Note Below 5 1029 Unused See Note Below 6 1030 Unu...

Страница 81: ...iver and can be any value including parameter values in the previous command EtherNet IP orPROFINET Word Modbus TCP Register Function Units Range 0 1024 Command Word 0 16 4000 1 1025 Command Word 1 Se...

Страница 82: ...When your program sees this bit reset it must respond by resetting bit 12 of Command Word 0 The Networked Driver will respond to this by setting bit 9 in Status Word 0 and the next Segment Block can...

Страница 83: ...us rotation applications such as control of a conveyor belt it is possible to overflow these values When any of the three position values overflow the value of the associ ated data words will become i...

Страница 84: ...mat of the command is given on page 80 Bit 10 Position_Invalid 1 when A configuration is written to the Networked Driver The motor position has not been preset The machine has not been homed The Netwo...

Страница 85: ...current is removed if there is a Driver_Fault Bit 7 below regardless of the state of this bit Motor current is also removed if the motor is idle and Idle Current Reduction is programmed to its To 0 se...

Страница 86: ...mode and 0 when in Run mode This bit will always equal 0 on all other platforms Bit 4 Temperature_Above_90C This bit is set to 1 when the processor internal temperature exceeds 90 C At this point the...

Страница 87: ...ignored by the Networked Driver and can be any value including parameter values in the previous command Once the command block is accepted by the Networked Driver it will respond by resetting bit 7 i...

Страница 88: ...COMMAND MODE DATA FORMAT Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 88 Notes...

Страница 89: ...ction 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 Protec...

Страница 90: ...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 91: ...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 92: ...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 achie...

Страница 93: ...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 94: ...5E2 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 instal...

Страница 95: ...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 96: ...tline 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 thicknes...

Страница 97: ...nting 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 bottom...

Страница 98: ...s not 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...

Страница 99: ...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 100: ...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 101: ...ct 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 si...

Страница 102: ...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 103: ...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 104: ...In non DLR applications either port can be used to attach the unit to the network The remaining port can be used to extend the network to another device if this would reduce wiring costs 1 11 2 DLR A...

Страница 105: ...Manual INSTALLING AN AMCI NETWORKED DRIVER 105 1 13 Modbus TCP Connections The Networked Driver has two Ethernet ports with a built in Ethernet switch connecting the two Either port can be used to at...

Страница 106: ...INSTALLING AN AMCI NETWORKED DRIVER Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 106 Notes...

Страница 107: ...address is with the ping command as described in steps A 3 and A 4 of the Optional Task Configure Your Network Interfaces which starts on page 141 If the driver does not respond to this address then...

Страница 108: ...Task A Configure Your Network Interfaces page 141 The network inter faces on your computer must be on the same subnet before you can communicate with a Networked Driver 2 2b 1 Disconnect the Networked...

Страница 109: ...ter your desired values into the IP Address Subnet Mask and Default Gateway fields The Default Gateway setting is not optional It must be set to a valid address on the chosen subnet Because the Defaul...

Страница 110: ...pear before cycling power to the Networked Driver Cycling power before this window appears may corrupt the non volatile memory of the unit The Net worked Driver will also flash its Network Status LED...

Страница 111: ...ilable should be used It can be found in our Support section under Software The program exists as a ZIP file and at the time of this writing the link was AMCI Configuration software for all networked...

Страница 112: ...RO CONTROLS INC 112 2 2c Use the AMCI Net Configurator Utility continued 2 2c 5 Start the AMCI Net Configurator Utility Double click on the utility s icon A welcome screen similar to the one in figure...

Страница 113: ...l Connect button and enter the IP address of the unit Figure T2 5 Scan for SMD34E2 If scanning for the Networked Driver click on the IP Address of the unit and click on the Connect button The Net Conf...

Страница 114: ...the Default Gateway to the IP address of your host controller 2 2c 9 Set the Communications Protocol The factory default protocol for the Networked Driver is EtherNet IP In order to use the Modbus TCP...

Страница 115: ...it to its own directory The ZIP file contains the EDS text file and a custom icon file for the device 3 2 Install the EDS file 3 2 1 Start the EDS Hardware Installation Tool 1 Once Studio 5000 is run...

Страница 116: ...press Next Figure T3 2 EDS Options Screen 2 The registration screen will open Select the Register a single file radio button Figure T3 3 EDS Registration Screen 3 Click on the Browse button and brows...

Страница 117: ...o advance to the Change Graphic Image screen The Change Graphic Image screen gives you the ability to change the icon associated with the device Figure T3 5 Change ECS Icon Screen 6 Click on the Chang...

Страница 118: ...nfiguration tree before adding the unit to your project Refer to your Rockwell Automation documentation if you need instructions for configuring the ethernet port 3 4 Add the SD17060E2 or SD31045E2 to...

Страница 119: ...on Tab The default RPI time is eight milliseconds This value can be changed in this tab The minimum value is two milliseconds 3 5 3 Configuration Tab The Configuration tab is used to define the config...

Страница 120: ...Buffering the I O Data Input and output data is transferred asynchronously to the program scan These data tags should be buffered with Synchronous Copy File instructions to guarantee stable input dat...

Страница 121: ...e module you will have to add it to the I O Configuration tree before adding the driver to your project Refer to your Rockwell Automation documentation if you need instructions for configuring the eth...

Страница 122: ...resulting Select Module Type screen type generic into the filter as shown in figure T4 2 This will limit the results in the Catalog Number list 3 Select the Catalog Number ETHERNET MODULE in the list...

Страница 123: ...n Module Properties check box is selected and click on OK The Module Properties window will open You can set the RPI time as required for your system in this window The minimum RPI time for a Networke...

Страница 124: ...ram scan and guaran tee that complete command data is delivered to the device Figure T4 4 Buffer I O Data When copying input data the data can be converted from byte to integer format by specifying an...

Страница 125: ...be at least 10 words in length 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 An Extended Routing Information...

Страница 126: ...and press Enter 3 Double click in the Communication Command field click on the select CIP Generic and press Enter 4 If the Message Instruction is being used to read data from the SD17060E2 or SD31045...

Страница 127: ...E2 and press Enter 9 For Read operations the Service Code field will change to E hex For Write operations the Ser vice Code field will change to 10 hex For both read and write operations the Class fie...

Страница 128: ...or SD31045E2 Please note that the Data Table Address Send field may be different in your application Figure T5 4 Write Message Instruction Setup Screen Click on the MultiHop tab on the top of the win...

Страница 129: ...heck this 1 Double click on Channel Configuration in the Project Tree and then select the Channel 1 tab The fol lowing window will open Figure R0 1 MicroLogix Ethernet Configuration Screen 2 Enter the...

Страница 130: ...ETHERNET IP EXPLICIT MESSAGING Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 130 Notes...

Страница 131: ...ata model map to the same physical memory locations in the SD17060E2 and SD31045E2 units These registers hold data that is reported from the driver to the host controller This data is typically comman...

Страница 132: ...y Layout The Stepper Driver has a starting Input Register address of 0 and a starting Output Register address of 1024 Input Registers hold the data from the driver while Output Registers hold the data...

Страница 133: ...t data read 6 6 Supported Modbus Exceptions Table T6 2 Supported Modbus Exceptions Function Code Function Name Networked Driver Register Addressing method 1 Read Coils OUTPUT Bit Addresses starting at...

Страница 134: ...MODBUS TCP CONFIGURATION Networked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 134 Notes...

Страница 135: ...L File Installation 1 Open or create a new project that will include the Networked Driver and open the Project View of the project 2 In the menu select Options Manage general station description files...

Страница 136: ...k on the Hardware Catalog vertical tab to open the Hardware Catalog 3 You can search for SD or browse to the SD17060x2 icon by clicking through Other field devices PROFINET IO IO Advanced Micro Contro...

Страница 137: ...ick on the SD17060x2 icon and select Properties from the pop up menu The Inspector window will open at the bottom of the screen Under the General tab select the General heading You can rename the Netw...

Страница 138: ...ce view tab The view in the Hardware Catalog will change Expand the Module tree to show both the Input and Output modules 2 To map the I O bytes to the CPU double click on the 20 bytes IN and 20 bytes...

Страница 139: ...options Media redundancy Use the MRP domain drop down menu to select the appropriate domain Use the Media redundancy role drop down menu to select Client 3 Continuing in the Inspector window select A...

Страница 140: ...worked Indexer Driver User Manual ADVANCED MICRO CONTROLS INC 140 7 7 Configure the SD17060x2 as an MRC continued 5 Continue configuring the rest of the devices on the network before compiling the pro...

Страница 141: ...rk interfaces that are not attached to the stepper driver This includes all wireless interfaces as well as all Bluetooth interfaces A 3 Configure Your Network Interface Before you can communicate with...

Страница 142: ...the address and subnet mask to appropriate values 192 168 0 1 and 255 255 255 0 will work for an SD17060E2 or SD31045E2 that has factory default settings The default gateway and DNS server settings ca...

Страница 143: ...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 CONFIGURE YOUR NETWORK INTERFACES 143 Notes...

Страница 144: ...LEADERS IN ADVANCED CONTROL PRODUCTS ADVANCED MICRO CONTROLS INC...

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