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20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786

Tel: (860) 585-1254  Fax: (860) 584-1973  http://www.amci.com

SMD17K User Manual

M

OTION

 C

ONTROL

25

Definition of Acceleration Types  (continued)

Triangular S-Curve Acceleration

When the Acceleration Jerk parameter equals one, the axis accelerates (or decelerates) at a constantly chang-
ing rate that is slowest at the beginning and end of the acceleration phase of the move. The Triangular S-
Curve type offers the smoothest acceleration, but it takes twice as long as a Linear Acceleration to achieve the 
same velocity.     

Figure R2.2  Triangular S-Curve Acceleration

Trapezoidal S-Curve Acceleration

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 acceleration and the 
smoothness of Triangular S-Curve acceleration. Like the Triangular S-Curve, this acceleration type begins 
and ends the acceleration phase smoothly, but the middle of the acceleration phase is linear. Figure R2.3 
shows a trapezoidal curve when the linear acceleration phase is half of the total acceleration time. With this 
setting, the Trapezoidal S-Curve acceleration only requires 33% more time to achieve the same velocity as a 
Linear Acceleration.

Figure R2.3  Trapezoidal S-Curve Acceleration

An acceleration jerk setting of 2 will result in the smallest amount of constant acceleration during a trapezoi-
dal S-curve acceleration. An acceleration jerk setting of 5000 will result in the largest amount of constant 
acceleration during a trapezoidal S-curve acceleration. See 

S-Curve Acceleration Equations

, which starts on 

page 42, for a methods of calculating the Acceleration Jerk parameter.

SPEED

AC

C

E

L

E

R

A

TIO

N

TIME

TIME

 2t 

 2t 

Programmed
Speed

S

PEED

A

C

CEL

E

RA

TIO

N

TIME

TIME

 4/3t 

 4/3t 

 1/4 

 1/4 

 1/2 

 1/2 

 1/4 

 1/4 

Programmed
Speed

Содержание SMD17K

Страница 1: ...MICRO CONTROLS INC ADVANCED U s e r M anual Manual 940 0S292...

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: ...onal Encoder 17 Incremental Encoder 17 Absolute Multi turn Encoder 17 Status LED s 17 Run LED 17 Error LED 18 Reference SMD17K Specifications continued SMD17K Connectors 19 Input Connector 19 Ethernet...

Страница 4: ...rd0 60 CMD_word1 62 Command Blocks 63 Absolute Move 63 Relative Move 64 Hold Move 64 Resume Move 65 Reference Command Data Format continued Immediate Stop 65 Find Home CW 66 Find Home CCW 66 Jog CW 67...

Страница 5: ...A 568 Color Codes 84 Task 2 EtherCAT System Configuration Install the ESI file 85 Obtain the ESI file 85 Install the ESI file 85 Restart the Programming System If Needed 85 Add the SMD17K to the Proje...

Страница 6: ...TABLE OF CONTENTS SMD17K User Manual ADVANCED MICRO CONTROLS INC 6 Notes...

Страница 7: ...you must make or the implications of those decisions CAUTIONS tell you when equipment may be damaged if the procedure is not followed properly WARNINGS tell you when people may be hurt or equipment ma...

Страница 8: ...an Integrated Stepper Indexer Driver Motor product requires you to complete multiple tasks and the manual is broken down into sections that explain how to complete each one Manual Sections Section Ti...

Страница 9: ...nfigured Each unit also supports the Distributed Clock DC functionality of the EtherCAT system This allows you to synchronize the start of moves across devices using the SYNC0 signal instead of the Sy...

Страница 10: ...without damage The output motor current is fully programmable from 0 1 Arms to 2 0 Arms which makes the SMD17K suitable to a wide range of applications In addition to the Motor Current setting the Mot...

Страница 11: ...er is removed if using an absolute encoder The motor position can be preset to the encoder position with a single command SMD17K units with abso lute encoders allow you to preset the encoder position...

Страница 12: ...coder Optional Incremental encoder option supplies 1 024 2 048 or 4 096 counts per turn Absolute encoder option supplies 2 048 counts per turn 32 bit max counts Idle Current Reduction Programmable fro...

Страница 13: ...steps in either direction from the current location Absolute Move Allows you to drive the motor from one known location to another known location Registration Move Allows you to jog the motor in eith...

Страница 14: ...or the SMD17K the minimum update time on the SYNC0 signal is two milliseconds If the task time is less than two milliseconds the SYNC0 time must be a multiple of the task time Stall Detection with SMD...

Страница 15: ...position An SMD17K allows you to define this starting position in two ways The first is with a Position Preset command The second is with a sensor mounted on the machine When you define one of the in...

Страница 16: ...omes active The driver remains enabled and power is supplied to the motor Any type of move including a Jog or Registration Move cannot begin while this input is active Stop Jog or Registration Move In...

Страница 17: ...many intelligent absolute encoders on the market today the absolute encoder in the SMD17K uses a battery backed circuit to count zero crossings while power is removed from the rest of the device The c...

Страница 18: ...blink 200 ms ON 1 s OFF Problems with synchronization such as with the Distributed Clock DC PLL Double Blink 200 ms Pulses 1 s between SYNC manager watchdog timeout The master has not updated the outp...

Страница 19: ...er If the motor shaft is rotated while motor power is removed the encoder position will update The motor position will not update Once power is restored to the motor a Preset Position command can be i...

Страница 20: ...r speed Example 1 An SMD17K 80 will be running at a maximum of 12 RPS and a 24 Vdc supply will be used Based on the power curve in figure R1 7 on page 20 the combinations will generate a maximum of 29...

Страница 21: ...ched to the motor and it is driven by hand In these instances the motor acts as a generator With the speed of the motor multiplied by the ratio of the gearhead this can lead to large enough voltage sp...

Страница 22: ...04 Mating connector for Ethernet Connector Male 4 pin D coded Screw terminal connections 6 to 8 mm dia cable Straight IP67 rated when properly installed MS 31 99 0436 12 05 Mating connector for Power...

Страница 23: ...648 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 Posi...

Страница 24: ...i tion and counter clockwise 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 3...

Страница 25: ...ration and the smoothness of Triangular S Curve acceleration Like the Triangular S Curve this acceleration type begins and ends the acceleration phase smoothly but the middle of the acceleration phase...

Страница 26: ...d 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 can be different...

Страница 27: ...move type in detail including if the move is affected by this command Immediate Stop Command When this command is issued from the host the axis will come to an Immedi ate Stop The move cannot be rest...

Страница 28: ...top When stopped successfully the SMD17K will set an In_Hold_State bit in the input data table The Relative Move can be restarted with the Resume Move command from the host controller or the move can...

Страница 29: ...to calculate relative posi tions If you are controlling a rotary table you can drive the table to any angle without hav ing to calculate the distance to travel For example an Absolute Move to 180 wil...

Страница 30: ...mmediately and the position becomes invalid It is possible to change the speed of a Jog Move without stopping the motion The Programmed Speed Accel eration and Deceleration parameters can be changed d...

Страница 31: ...th the command the SMD17K will decelerate at the programmed Deceleration value until it has output the Pro grammed Number of Steps and then stop the move without further deceleration An additional fea...

Страница 32: ...n of travel a Reset Errors command does not have to be issued Note 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 t...

Страница 33: ...of each segment must 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 fo...

Страница 34: ...rolled stop with the Hold Move command cannot be restarted The use of the Hold Move command is explained in the Controlling Moves In Progress section starting on page 38 Immediate Stop Conditions You...

Страница 35: ...nd or Dwell Move is written to the unit 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...

Страница 36: ...tput Data 2 The SMD17K 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_For_Assembled_Segment bi...

Страница 37: ...a remains unchanged 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 easie...

Страница 38: ...ation Deceleration and Programmed Speed parameters can be written to the SMD17K while a Jog Move is in its hold state If these parameters are accepted without error the move can be resumed and it will...

Страница 39: ...ed 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 steps s...

Страница 40: ...needed to 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 SM...

Страница 41: ...zoidal 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 travel You...

Страница 42: ...le 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 beginning and end of the...

Страница 43: ...ogrammed 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 the time ne...

Страница 44: ...tion multiplied by the time it is applied This is shown graphically in figure R3 5 as the area of the blue rectangle In order for the Trapezoidal S curve acceleration to reach the same speed in the sa...

Страница 45: ...ations calculating the percentage increase in time is shown in figure R3 6 The time added to the acceleration phase is equal to the time spent increasing the acceleration during the phase As shown in...

Страница 46: ...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 At that p...

Страница 47: ...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 physical jer...

Страница 48: ...CALCULATING MOVE PROFILES SMD17K User Manual ADVANCED MICRO CONTROLS INC 48 Notes...

Страница 49: ...y and the motor position can also be preset to the encoder position The motor and encoder position values can be preset anywhere in the range of 8 388 607 to 8 388 607 When presetting the motor positi...

Страница 50: ...ive change on the physical input once this transition occurs You must program your host to control the state of this bit This bit is disabled by default and must be activated when you configure the SM...

Страница 51: ...ation from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed until the Home Input activates 3 Deceleration to the Starting Speed and stop followed by a two second del...

Страница 52: ...sition 4 Deceleration towards the Starting Speed when the Backplane_Proximity_Bit transitions from 0 to 1 The axis will stop as soon as the Home Input becomes active 5 The Starting Speed is the minimu...

Страница 53: ...ing a CW Find Home command This can occur if the overtravel limits are not wired to the unit correctly or not configured correctly when the unit was configured Figure R4 3 Profile with Overtravel Limi...

Страница 54: ...peed At this point the motor will stop Note that Find Home commands cannot be restarted once held Immediate Stop Conditions You issue an Immediate Stop command through the Network Output Data An inact...

Страница 55: ...ance 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 motor stall detection Only valid on SMD...

Страница 56: ...Input Function Selections Bits 5 4 3 2 1 0 Function Available On 0 0 0 General Purpose Input The input is not used in any of the functions of the SMD17K but it s status is reported in the Network Dat...

Страница 57: ...t 10 must equal 1 Table R5 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 must always be set t...

Страница 58: ...ow through it Set to 1 if your sensor has Normally Open NO contacts and current flows through the input when it is active If you are not using the input sets its Active_Level bit to 1 The input will a...

Страница 59: ...Network Output Data used to command the SMD17K and the format of the Network Input Data that contains the responses from the device The parameter names of the input and output data are defined by the...

Страница 60: ...am 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 36 Bit 10 Reset_Errors When this bit m...

Страница 61: ...p all motion without deceleration The Motor Position value will become invalid if this bit is set during a move Setting this bit when a move is not in progress will not cause the Motor Position to bec...

Страница 62: ...Profile with Backplane_Proximity_Bit sec tion found on page 52 Bit 10 Reserved Must equal 0 Bit 9 Assembled_Move_Type When this bit equals 0 a Blend Move is started when the Run Assem bled Move bit C...

Страница 63: ...t is stored without error the unit will respond by setting the Acknowl edge bit Bit 13 of STATUS_word1 Format see page page 74 Bit 4 Reverse_Blend_Direction When you command a Blend Move to run this b...

Страница 64: ...7 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 sec...

Страница 65: ...the previous command ESI File Name Data Size Function Units Range CMD_Word0 UINT CMD_word0 16 0008 CMD_Word1 UINT CMD_word1 See pg 62 Position DINT Unused See Note Below Velocity UDINT Programmed Spe...

Страница 66: ...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 sec ms 1 to 5000 Motor_Current UINT Mo...

Страница 67: ...MRMDist 16 Jerk stores the upper 16 bits ESI File Name Data Size Function Units Range CMD_Word0 UINT CMD_word0 16 0080 CMD_Word1 UINT CMD_word1 See pg 62 Bit 7 must equal 0 Position DINT Unused See No...

Страница 68: ...ts ESI File Name Data Size Function Units Range CMD_Word0 UINT CMD_word0 16 0100 CMD_Word1 UINT CMD_word1 See pg 62 Bit 7 must equal 0 Position DINT Unused See Note Below Velocity UDINT Programmed Spe...

Страница 69: ...the Network Input Data Issuing a Reset Errors command will not reset the Position_Invalid or Configuration_Error bits ESI File Name Data Size Function Units Range CMD_Word0 UINT CMD_word0 16 0200 CMD_...

Страница 70: ...INT CMD_word1 See pg 62 Blend Move Bit 9 0 Dwell Move Bit 9 1 Move direction is controlled by Bit 4 Position DINT Unused See Note Below Velocity UDINT Unused See Note Below Acceleration UINT Unused Se...

Страница 71: ...t will accept the block and reset bit 9 in Status Word 0 When your program sees this bit reset it must respond by resetting bit 12 of Command Word 0 The SMD17K will respond to this by setting bit 9 in...

Страница 72: ...y be reset by the Reset_Errors bit Command Word 0 Bit 10 Bit 11 Input_Error 1 when Emergency Stop input has been activated Either of the End Limit Switches activates during any move operation except f...

Страница 73: ...Registration or Assembled Move command completes without error This bit is reset to 0 when the next move command is written to the SMD17K when the position is preset or a Reset Errors command is issue...

Страница 74: ...ns The shaft was subject to acceleration in excess of 160 000 sec2 444 4 rev sec2 while power was removed from the unit The internal battery is fully discharged or damaged The unit itself is damaged I...

Страница 75: ...is typically near 83 C If this bit trips often and you want to lower the operating temperature of the unit consider changing how the device is mounted or installing a fan to force additional airflow o...

Страница 76: ...COMMAND DATA FORMAT SMD17K User Manual ADVANCED MICRO CONTROLS INC 76 Notes...

Страница 77: ...not exceed the impulse voltage capability of the product s insu lation These criteria are equivalent to the Pollution Degree 3 and Over Voltage Category II designations of the Inter national Electrote...

Страница 78: ...ure fault is also reported in the Network Input Data 1 4 Mounting All AMCI motors have flanges on the front of the motor for mounting This flange also acts as a heatsink so motors should be mounted on...

Страница 79: ...water sprays as well as temporary immer sions 1 4 4 SMD17K 80 Outline Drawing Figure T1 1 SMD17K 80 Outline Drawing 1 4 5 Connecting the Load Care must be exercised when connecting your load to the s...

Страница 80: ...conditions using the DCPowerAUX pin allows you to cut power to your motor without losing your net work connection 1 5 1 Compatible Connectors and Cordsets Many different connectors and cordsets are av...

Страница 81: ...ly installed 1 6 1 MS 31 Connector The MS 31 Connector accepts 18 AWG wire on all of its contacts and a cable diameter of 6 00 to 8 00 mm 0 236 to 0 315 AMCI strongly suggests using 18 AWG wire for th...

Страница 82: ...7 Power Supply Troubleshooting When troubleshooting systems that use the DCPowerAUX supply the SMD17K will respond to motion com mands by updating the motor position and status bits even if the DCPowe...

Страница 83: ...s is not practical the shield should be grounded to the same ground bus as the SMD17K 1 7 2 Sinking Sensors Require a Pull Up Resistor Sinking output sensors require an external pull up resistor becau...

Страница 84: ...or and cordsets that mate with the Ethernet port connectors Table T1 4 Compatible Ethernet Connectors and Cordsets 1 8 2 TIA EIA 568 Color Codes There are two color codes in common use when wiring Eth...

Страница 85: ...new ESI file 2 2 Add the SMD17K to the Project This section assumes that the TwinCAT software is in Config Mode 2 2 1 Scan for the SMD17K Device 1 Attach the SMD17K device to the network and power up...

Страница 86: ...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 configur...

Страница 87: ...Pos 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 nTrappedEn...

Страница 88: ...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 5 R...

Страница 89: ...try is used by the SYNC0 signal to trigger a syn chronous command update 3 1 Verify Main PLC Task Timing 1 In the Solutions Explorer expand out System Tasks so that the tasks are visible Double click...

Страница 90: ...d 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 In the window t...

Страница 91: ...on the 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...

Страница 92: ...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 variables are not link...

Страница 93: ...ure 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 click on the blank...

Страница 94: ...LEADERS IN ADVANCED CONTROL PRODUCTS ADVANCED MICRO CONTROLS INC...

Страница 95: ...20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com SMD17K User Manual DISTRIBUTED CLOCK SYNC0 SETUP 95...

Страница 96: ...DISTRIBUTED CLOCK SYNC0 SETUP SMD17K User Manual ADVANCED MICRO CONTROLS INC 96...

Страница 97: ...20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com SMD17K User Manual DISTRIBUTED CLOCK SYNC0 SETUP 97...

Страница 98: ...DISTRIBUTED CLOCK SYNC0 SETUP SMD17K User Manual ADVANCED MICRO CONTROLS INC 98...

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