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C

ALCULATING

M

OVE

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ROFILES

SMD34K User Manual

ADVANCED MICRO CONTROLS INC.

46

S-Curve Acceleration Equations (continued)

Trapezoidal S-Curve Acceleration

Figure R3.4 shows the speed profile of a move during its acceleration phase. The figure shows the desired
trapezoidal S-curve acceleration in red along with the equivalent constant acceleration in blue. The equivalent
constant acceleration is equal to the change in speed divided by the time it takes to achieve the change in
speed. This is the value that would have to be used if the Acceleration Jerk parameter was left at zero and



we will use this information to calculate the S-curve acceleration and the value of the Acceleration Jerk
Parameter.

Figure R3.4 Move Profile Example

In this example, the period of constant acceleration is 50% of the acceleration phase.

Speed is equal to acceleration 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 same amount of time, the area of the
polygon must equal the area of the rectangle.

This means that a trapezoidal S-curve acceleration profile that is has a period of constant acceleration equal to
half of the total phase time, requires its programmed acceleration value to be 4/3 that of the constant acceler-
ation value used to achieve the same speed in the same amount of time.

Sp

e

e

d

Programmed

Speed

Starting

Speed

S = Programmed Speed – Starting Speed

s

t

t=0

Time

Constant
Acceleration

Trapezoidal S-curve
Acceleration

Acceleration =

a

=

j

=

j

=

jerk =

SMD

Acceleration

Jerk Parameter(J) =

speed

time

s

t

a

t

Ja

100

acceleration

time

100j

a

Figure R3.5 Trapezoidal Acceleration

Ac

c

e

le

ra

ti

on

t

a

c

a

s

Time

Constant
Deceleration

Trapezoidal S-Curve Deceleration

t/4

3t/4

t/2

a

s

t

2

-------

a

s

t

4

-------

a

c

t

Area of polygon = Area of rectangle

=

+

2

a

s

t

4

----------

a

s

t

4

-------

+

a

c

t

=

3

a

s

t

4

----------

a

c

t

=

a

s

4
3

---

a

c

=

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Содержание SMD34K

Страница 1: ...MICRO CONTROLS INC ADVANCED U s e r M anual Manual 940 0S280 ...

Страница 2: ...als 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 charges prepaid within eighteen months from date of invoice and which upon examination proves to be defective in material or workmanship and not caused by accident misuse neglect alteration improper ins...

Страница 3: ...Input 16 Emergency Stop Input 16 Stop Jog or Registration Move Input 17 Capture Encoder Position Input 17 General Purpose Input 17 Reference SMD34K Specifications continued Optional Encoder 17 Incremental Encoder 17 Absolute Multi turn Encoder 17 Status LED s 18 Run LED 18 Error LED 18 SMD34K Connectors 19 Ethernet Connectors 19 Digital Inputs Connector 19 Power Connector 20 Torque and Power Curve...

Страница 4: ...eset 51 CW CCW Find Home Commands 51 Homing Inputs 52 Physical Inputs 52 Network Data Input 52 Homing Configurations 52 Homing Profiles 53 Home Input Only Profile 53 Profile with Backplane_Proximity_Bit 54 Profile with Overtravel Limit 55 Reference Homing an SMD34K continued Controlling Find Home Commands In Progress 56 Controlled Stops 56 Immediate Stops 56 Reference Configuration Data Format CoE...

Страница 5: ...Power Wiring Only 85 Auxiliary Power Single Supply 86 Auxiliary Power Dual Supplies 86 Digital Input Connector 87 Compatible Connectors and Cordsets 87 Digital Input Wiring 88 Cable Shields 88 Inputs 1 and 2 88 Input 3 89 Network Connectors 89 Compatible Connectors and Cordsets 90 TIA EIA 568 Color Codes 90 Task 2 EtherCAT System Configuration Install the ESI file 91 Obtain the ESI file 91 Install...

Страница 6: ...TABLE OF CONTENTS SMD34K User Manual ADVANCED MICRO CONTROLS INC 6 Notes ...

Страница 7: ...s 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 may be damaged if the pro cedure is not followed properly The following table shows the text formatting conventions Manual Conventions Trademark Notices The AMCI logo is a trademark of Advanced Micro Controls Inc EtherCAT is a registered trademark and p...

Страница 8: ...asks and the manual is broken down into sections that explain how to complete each one Manual Sections Section Title Page Section Description SMD34K Specifications 9 Complete specifications for the SMD34K products Motion Control 25 Reference information on how the SMD34K can be used to con trol motion in your application Calculating Move Profiles 41 Reference information on calculating detailed mo...

Страница 9: ...es assigned to the SMD34K when the EtherCAT system is configured 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 SyncManager 2 event Each unit can be ordered with an optional incremental or absolute multi turn encoder This encoder gives you the additional fun...

Страница 10: ...ages of up to 88 Vdc without damage The output motor current is fully programmable from 0 1 Arms to 5 4 Arms which makes the SMD34K suitable to a wide range of applications In addition to the Motor Current setting the Motor Steps per Turn Idle Current Reduction and Anti Resonance Circuit features are also fully pro grammable If you have used other stepper indexer products from AMCI you will find p...

Страница 11: ...s is inconsequential for most machines On very fast machines or large machines that require more than one transfer to update all axes the EtherCAT Distributed Clock DC functionality can be used to closely synchronize motion over multiple axes if using the SyncMaster2 event proves to be ineffective When using the DC functionality data transfer between the ECS and the main processor is controlled wi...

Страница 12: ...50 mA 48Vdc Motor Counts per Turn Programmable to any value from 200 to 32 767 steps per revolution Internal Encoder 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 from 0 to 100 programmed motor current in 1 increments Motor current is reduced to selected ...

Страница 13: ... Purpose Input Programmable Parameters Starting Speed Running Speed Acceleration Deceleration and Accel Decel Types are fully programmable Homing Allows you to set the machine to a known position An SMD34K homes to a discrete input and can use a bit in the Network Data as a home proximity input Jog Move Allows you to drive the motor in either direction as long as the command is active Relative Mov...

Страница 14: ...e start of moves over multiple devices The time between when the SYNC0 signal is received by the main processor of the SMD34K and when the driver begins to cause motion is 520 25 microseconds The 520 microseconds is the time required to read the data from the ECS once the SYNC0 signal becomes active The 25 microsec onds is caused by the 20 kHz update frequency of the PWM drivers For the SMD34K the...

Страница 15: ...SMD34K the ability to drive the motor at its fully rated power regardless of the programmed steps per turn There is no reduction in power when microstepping that may occur with other drivers Programmable Motor Current RMS current supplied to the motor can be programmed from 0 1 to 5 4 amps in 0 1 amp increments Reducing the motor current to the minimum needed for your application will significantl...

Страница 16: ... as a CW or CCW Limit Switch When used this way the inputs are used to define the limits of mechanical travel For example if you are moving in a clockwise direction and the CW Limit Switch activates all motion will immediately stop At this point you will only be able to jog in the counter clockwise direction Start Indexer Move Input Indexer Moves are programmed through the Network Data like every ...

Страница 17: ...figure the unused inputs as General Purpose Inputs The inputs are not used by the SMD34K but their on off state is reported in the network data and is available to your host controller Optional Encoder The SMD34K can be ordered with an integral encoder The encoder is typically used for position verification and stall detection Additionally an input can be configured to capture the encoder value wh...

Страница 18: ...1 4 Red ERR LED States Table R1 5 Green ERR LED States LED State Description Off Device in the EtherCAT Init state Fast Blink 4 Hz Device in the EtherCAT Pre Operational Pre Op state Slow Blink 1 Hz Device in the EtherCAT Safe Operational Safe Op state Steady Green Device in the EtherCAT Operational Op state Red LED State Description Off No errors in device operation Single blink 200 ms ON 1 s OFF...

Страница 19: ...ctor that is rated to IP67 when the mate is properly installed Digital Inputs Connector All digital inputs are made at the Digital Inputs Connector This connector is a standard five pin A coded M12 connector that is rated to IP67 when the mate is properly installed Figure R1 6 shows the pinout of the con nector when viewed from the back of the SMD34K Figure R1 6 M12 Input Connector Digital Inputs ...

Страница 20: ...aft 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 issued to restore the correct motor position without having to go through a homing sequence If Stall Detection is enabled on the SMD34K it will also be able to tell the system if the motor shaft rotated more than forty ...

Страница 21: ...Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com SMD34K User Manual SMD34K SPECIFICATIONS 21 Torque and Power Curves Figure R1 8 SMD34K 450 Torque and Power Curves Figure R1 9 SMD34K 850 Torque and Power Curves ...

Страница 22: ...e motor decreases towards the end of its usable speed Therefore the power generated at your machine s operating point may be less than the maximum the motor can generate at a lower speed Example 1 An SMD34K 450 will be running at a maximum of 6 RPS and a 48 Vdc supply will be used Based on the power curve in figure R1 8 on the previous page the combinations will generate a maximum of 105 Watts The...

Страница 23: ...otor power should be used The second line of defense is a regeneration resistor also known as a braking resistor Braking resistors and their control circuitry are built into AMCI AC powered drives They are not included in the SMD products because of the limited ability to dissipate the heat generated by the resistor An external braking resistor and control circuitry can be added to the system The ...

Страница 24: ...raight IP67 rated when properly installed AMCI Binder Description MS 31 99 0436 12 05 Mating connector for Digital Input Connector Female 5 pin A coded Screw terminal connections 6 to 8 mm dia cable Straight IP67 rated when properly installed AMCI Binder Description MS 41 99 0690 58 04 Mating connector for Power Connector Female 4 pin S coded Screw terminal connections 16AWG conductor 8 to 10 mm d...

Страница 25: ...o 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 Position command to set the Motor Position register to a known value The second method is using one of the Find Home commands If you use the unit s Find Home commands the motor position and encoder position reg...

Страница 26: ...e if the Target Position is less than the Current Position The Motor Position value reported back to the host exceeds 8 388 607 counts However you cannot move beyond 8 388 607 counts with an Absolute Move The only way to move beyond 8 388 607 counts is with multiple relative moves or jog commands Definition of Acceleration Types With the exception of Registration Moves all move commands including ...

Страница 27: ...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 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 ...

Страница 28: ...ed 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 in the move Figure R2 4 above shows a Trapezoidal Profile A Trapezoidal Profile occurs when the Programmed Speed is reached during the move This occurs when the number of steps needed to accelerate ...

Страница 29: ...h 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 restarted and the machine must be homed again before Absolute Moves can be run Note that power is not removed from the motor Hardware Control Stop Jog or Registration Move Input Triggering this input typ...

Страница 30: ...rate and stop When stopped successfully the SMD34K will set a 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 be aborted by starting another move The Resume Move command allows you to change the move s Programmed Speed Acceleration Value and Type and the Deceleration Value and Type The Target Positio...

Страница 31: ...move your machine without having 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 will move the table to the correct position regardless of where the move starts from Controlled Stops The move completes without error You toggle the Hold_Move control bit...

Страница 32: ...tion the motion stops immediately 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 during a Jog Move When the Programmed Speed is changed the motor will accelerate or decelerate to the new Programmed Speed using the new accelerate decelerate parameter values If...

Страница 33: ...ith the command the SMD34K 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 feature of the Registration Moves is the ability to program the driver to ignore the Controlled Stop conditions until a minimum number of steps have occurred This value is programmed through the Min imu...

Страница 34: ... 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 the activated Limit Switch For example it is possible to start a CW Registration Move while the CCW Limit Switch is active Assembled Moves All of the moves explained so far must be run individually to t...

Страница 35: ...ed 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 for the last one the programmed position defines the end of the segment For the last segment the programmed position defines the end of the move 7 Once you enter a segment that segment s programmed ac...

Страница 36: ...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 section starting on page 40 Immediate Stops 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 or CWW Limit Switch is reached If the limit that is reached is the same as th...

Страница 37: ... a new Blend or Dwell Move is written to the SMD34K As described in Saving an Assembled Move in Flash on page 38 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 you configure your SMD34K and enter Command Mode Controlled Stops The move completes without error You toggle the Hold_Move control bit in the Network Output Data When th...

Страница 38: ...a 2 The SMD34K 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 bit is set it writes the data for the first segment in the Network Output Data and sets the Read_Assembled_Data bit 4 The SMD34K checks the data and when finished resets the Waiting_For_Assembled_Segment bit If...

Страница 39: ...ta 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 easiest way to accomplish this is by writing a value of 16 0000 to the command word between issuing move commands A Jog Move that is started as an Indexed Move will come to a controlled stop when the comm...

Страница 40: ...ration Deceleration and Programmed Speed parameters can be written to the SMD34K while a Jog Move is in its hold state If these parameters are accepted without error the move can be resumed and it will use the new parameter values Registration Moves Registration Moves can be brought to a controlled stop with the Hold bit but they cannot be restarted Absolute and Relative Moves Absolute and Relativ...

Страница 41: ... 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 sec2 the smoothest transition occurs when the starting speed is 141 1412 20 000 Figure R3 1 Constant Acceleration Curves Variable Definitions The following variables are used in these equations VS Config...

Страница 42: ...eded 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 SMD34K will generate a Trapezoidal profile If the move is equal to 449 984 steps the SMD34K will generate a Triangular profile and the unit will output one pulse at the programmed speed If the move is less...

Страница 43: ...ezoidal 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 can then calculate your total profile time TT below from the second equation DP Total Number of Steps DA DD TT TA TD DP VP For Triangular Profiles the total time of travel is simply TT TA TD DA DD VM...

Страница 44: ...ble 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 acceleration phase Triangular S Curve Acceleration Figure R3 2 shows the speed profile of a move during its acceleration phase The figure shows the desired tri angular S curve acceleration in red al...

Страница 45: ...rogrammed 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 needed to accelerate to your desired speed In the case of Triangular S curve accelerations where the Acceleration Jerk parameter is optimized at 200 t the value of t must be twice that of the accelerat...

Страница 46: ...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 same amount of time the area of the polygon must equal the area of the rectangle This means that a trapezoidal S curve acceleration profile that is has a period of constant acceleration equal to half of...

Страница 47: ...rations 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 the figure when the Trapezoidal S curve is programmed to spend 50 of its time at the programmed acceleration value the time spent in the acceleration phase will be 133 33 of the time spent if a const...

Страница 48: ...e 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 point doubling the time and distance will yield the total time and distance traveled Example 1 Jerk 20 Because af is less than or equal to the programmed acceleration of 58 000 steps sec2 the resultin...

Страница 49: ...t 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 jerk property af calculated final acceleration j 400 58 000 steps sec 100 j 232 000 steps sec Just as displacement 1 2 at 2 speed 1 2 jt 2 15 000 steps sec 232 000 steps sec t 2 2 t 2 15 000 steps sec 1...

Страница 50: ...CALCULATING MOVE PROFILES SMD34K User Manual ADVANCED MICRO CONTROLS INC 50 Notes ...

Страница 51: ...arately 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 position to the encoder position the programmed Steps per Turn and Counts per Turn parameter values are used to scale the encoder position before the motor position is set to it For example assume tha...

Страница 52: ...ve 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 SMD34K before is can be used If you decide to activate this bit when you configure the unit and then never set it to a 1 the SMD34K will never act on the physical Home Input Homing Configurations A SMD34...

Страница 53: ...ration 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 delay 4 Acceleration to the Programmed Speed opposite to the requested direction 5 Run opposite the requested direction until the Home Input transitions from Active to Inactive 6 Deceleration to the Sta...

Страница 54: ...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 minimum speed the profile will run at If the axis decelerates to the Starting Speed before reaching the Home Input it will continue at this speed Figure R4 2 shows the Backplane_Proximity_Bit staying active...

Страница 55: ...command This can occur if the overtravel limits are not wired to the SMD34K correctly or if both overtravel limits are activated while the unit is trying to find the home position Figure R4 3 Profile with Overtravel Limit 1 Acceleration from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed 3 Hit CW Limit and immediately stop followed by a two second delay 4 Accel...

Страница 56: ...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 Network Input Data An inactive to active transition on an input configured as an E Stop Input The overtravel limit associated with travel in the opposite direction is activated i e Activating the CCW limit during a CW Find Home command This can occur i...

Страница 57: ...ce 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 SMD34K units with built in encoders The Use_Encoder bit which is bit 10 of this word must also be set to 1 You must also program the Encoder_Resolution parameter in CoE index 8010 05 This chapter covers th...

Страница 58: ...cted Bits 5 3 Input 2 Function See the table below Bits 2 0 Input 1 Function See the table below Table R5 2 Configuration Data Input Function Selections Bits 8 7 6 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 SMD34K but it s status is reported in the Network Data This allows the input to be used as a discrete DC input to the hos...

Страница 59: ...qual 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 to zero Bit 9 is Reserved It must always be set to zero 0 0 0 CW Limit 0 0 1 CCW Limit 0 1 0 Start Indexed Move 0 1 1 Stop Jog Reg Move 1 0 0 E Stop 1 0 1 Home 1 1 0 Input 2 General Purpose 0 0 0 CW Limit 0 0 1 C...

Страница 60: ...ly Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your sensor has Normally Open NO contacts and current flows through the input when it is active Bit 0 IN1_Active_Level Determines the active state of Input 1 Set to 0 if your sensor has Normally Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your senso...

Страница 61: ... The following 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 function such as two CW Limit Switches An error does not occur if both are configured as General Purpose Inputs 4 Setting the Stall Detection Enable Bit without configuring the SMD34K to u...

Страница 62: ...CONFIGURATION DATA FORMAT SMD34K User Manual ADVANCED MICRO CONTROLS INC 62 Notes ...

Страница 63: ...e Network Output Data used to command the SMD34K 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 device ESI file The size of each data element is also defined by the ESI file Commands are only accepted when a command bit makes a 0 1 transition The easiest way to do this is to write a value of z...

Страница 64: ...an be run Their use is explained in the Assembled Move Programming section of this manual starting on page 38 Bit 10 Reset_Errors When this bit makes a 0 1 transition the unit will clear all existing command errors and reset the Move_Complete bit in the Network Input Data This bit does not clear a configu ration error or the Position_Invalid status bit Reset_Errors will also clear a driver fault c...

Страница 65: ... invalid When this command is issued the SMD34K internally shorts the motor windings together to dissipate any regeneration energy in the motor instead of sending it back through the power supply The motor windings are shorted for a maximum of 300 milliseconds Once the short is released on the windings the SMD34K reestablishes current through the windings and sets the Stopped bit Word 0 bit 3 in t...

Страница 66: ...Backplane_Proximity_Bit sec tion found on page 54 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 Command Word 1 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 Reverse_Blend_Direction bit Command Word 1 Bit 4 In a ...

Страница 67: ...hout error the unit will respond by setting the Acknowledge bit Bit 13 of Status Word 1 Format see page page 78 Bit 4 Reverse_Blend_Direction When you command a Blend Move to run this bit determines the direc tion of rotation Set to 0 for a clockwise Blend Move 1 for a counter clockwise Blend Move Bits 3 2 Reserved Must equal 0 Bit 1 Motor Current If reset to 0 when a move command is issued the mo...

Страница 68: ...8 388 607 Velocity UDINT Programmed Speed Steps Second Combined 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 Motor Current 0 1 amps 0 to 54 Ignored if bit 1 of Command Word 1 is not set Jerk UINT Acceleration Jerk 0 to 5000 ESI File Name Data Size Function Uni...

Страница 69: ...command ESI File Name Data Size Function Units Range CMD_Word0 UINT Command Word 0 16 0008 CMD_Word1 UINT Command Word 1 See pg 66 Position DINT Unused See Note Below Velocity UDINT Programmed Speed Steps Second Combined 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...

Страница 70: ...cond Combined 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 Motor Current 0 1 amps 0 to 54 Ignored if bit 1 of Command Word 1 is not set Jerk UINT Acceleration Jerk 0 to 5000 ESI File Name Data Size Function Units Range CMD_Word0 UINT Command Word 0 16 0040 CMD...

Страница 71: ...er 16 bits ESI File Name Data Size Function Units Range CMD_Word0 UINT Command Word 0 16 0080 CMD_Word1 UINT Command Word 1 See pg 66 Bit 7 must equal 0 Position DINT Unused See Note Below Velocity UDINT Programmed Speed Steps Second Combined 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...

Страница 72: ...nction Units Range CMD_Word0 UINT Command Word 0 16 0100 CMD_Word1 UINT Command Word 1 See pg 66 Bit 7 must equal 0 Position DINT Unused See Note Below Velocity UDINT Programmed Speed Steps Second Combined 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 Motor Cur...

Страница 73: ...s command will reset the Move_Complete status bit in 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 Command Word 0 16 0200 CMD_Word1 UINT Command Word 1 See pg 66 Set bit 13 to preset the motor position to the encoder position Position DINT Position Preset Value Steps ...

Страница 74: ...d 1 See pg 66 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 See Note Below Deceleration UINT Unused See Note Below Motor_Current UINT Unused See Note Below Jerk UINT Unused with Blend Move Dwell Time with Dwell Move milliseconds 0 to 65 535 ESI File Name Data Size Functio...

Страница 75: ...nd 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 SMD34K will respond to this by setting bit 9 in Status Word 0 and the next Segment Block can be written to the unit You can write a maximum of sixteen Segment Blocks for each Assembled Move ESI File Name Data Size Function Units Range CMD_Word0 UINT Command Word 0 16 0800...

Страница 76: ...an only 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 for homing Starting a Jog Move in the same direction as an active End Limit Switch The opposite End Limit Switch is reached during a homing operation A SyncManager 2 timeout event has occurred Th...

Страница 77: ...ete Set to 1 when the present Absolute Relative Jog Registration or Assembled Move command completes without error This bit is reset to 0 when the next move command is written to the SMD34K when the position is preset or a Reset Errors command is issued to the unit This bit is also set along with the Command_Error bit Bit 12 of this word when any Jog Move or Registration Move parameters are outsid...

Страница 78: ...2 while power was removed from the unit The internal battery is fully discharged or damaged The unit itself is damaged If this bit is set cycle power to the unit If the bit remains set contact AMCI technical support for assistance Bit 11 Heartbeat_Bit This bit will change state approximately every 500 milliseconds Monitor this bit to verify that the unit and network connection are operating correc...

Страница 79: ... the device Bit 3 Reserved Will always equal zero Bit 2 IN3_Active 1 when Input 2 is in its active state The active state of the input is programmed as explained in the Configuration Word 1 Format section starting on page 60 Bit 1 IN2_Active 1 when Input 2 is in its active state The active state of the input is programmed as explained in the Configuration Word 1 Format section starting on page 60 ...

Страница 80: ...COMMAND DATA FORMAT SMD34K User Manual ADVANCED MICRO CONTROLS INC 80 Notes ...

Страница 81: ...d and do not exceed the impulse voltage capability of the product s insu lation These criteria are equivalent to the Pollution Degree 4 and Over Voltage Category II designations of the Inter national Electrotechnical Commission IEC 1 2 Safe Handling Guidelines 1 2 1 Prevent Electrostatic Damage Electrostatic discharge can damage the SMD34K Follow these guidelines when han dling the unit 1 Touch a ...

Страница 82: ...amount of heat to be dissipated away from the motor which will increase the unit s life by reduc ing its operating temperature If you cannot mount the motor on a large metal surface you may need to install a fan to force cooling air over the SMD34K Motors should be mounted using the heaviest hardware possible AMCI motors can produce high torques and accelerations that may weaken and shear inadequa...

Страница 83: ...e mounted on the end of the motor shaft that is internal to the unit Exces sive axial load may cause encoder mis alignment and damage to the unit This type of damage is not covered under warranty 0 003 0 075 A A 0 059 0 01 1 50 0 25 2 74 0 01 69 6 0 25 4 0 22 0 008 0 2 4 5 6 2 74 0 01 69 6 0 25 3 37 0 02 85 5 0 5 SHAFT SEAL 0 512 0 006 13 0 15 SECTION S S 2X Scale 3 37 0 02 85 5 0 5 1 37 34 8 Refe...

Страница 84: ...34K the unit will set the Stall_Detected bit Status Word 1 bit 14 if the motor shaft rotated more than forty five degrees with power removed S coded connectors are typically used in AC applications while T coded connectors are typi cally used in DC applications However T coded connectors and cordsets are typically limited to a maximum voltage of 60 Vdc The SMD34K can be run at voltages as high as ...

Страница 85: ...M cable pins 1 2 and 3 are black wires Pin 4 is a green yellow wire The Green yellow wire is also connected to the silver knurled nut on the connector In most applications the green yellow wire should not be used It should be electrically isolated at the flying lead end Do not apply 120 Vac to any pins of the SMD34K If this occurs the unit will be dam aged and you will void the unit s warranty 1 6...

Страница 86: ... SMD34K will report a Driver_Fault when power is removed from the DCPowerMAIN pin 1 6 4 Auxiliary Power Dual Supplies Figure T1 5 below shows how to wire main and auxiliary power to the SMD34K units using two power supplies When designing your own cable that uses an MS 41 connector connections only have to be made to pin 1 DCPowerMAIN pin 2 DCPowerAUX and pin 3 DC Common The figure below shows how...

Страница 87: ... without the need of a current limiting resistor Additional information on how the digital inputs can be used can be found in the Available Discrete Inputs section starting on page 16 1 7 1 Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market all of which will work with the SMD34K provided that the manufacturer follows the A coded M12 standards The ...

Страница 88: ...te wire color for the CNPL 2M and CNPL 5M cables Figure T1 8 Wiring Inputs 1 2 1 8 2 1 Sinking Sensors Require a Pull Up Resistor Sinking output sensors require an external pull up resistor because inputs 1 and 2 of the SMD34K units also sink current Table T1 1 below shows the values of pull up resistors that will allow the unit s input to activate along with the current that the sensor must be ab...

Страница 89: ...iscrete DC sourcing and sinking sensor to input 3 of the SMD34K Colors in parentheses are the appropriate wire color for the CNPL 2M and CNPL 5M cables Figure T1 10 Wiring Input 3 1 9 Network Connectors Figure T1 11 shows the Ethernet connector pinout when viewed from the back of the SMD34K The Ethernet ports on the units are both 100Base TX and are auto MDI X capable This means that a standard ca...

Страница 90: ...e standards is acceptable The CNER 5M cable available from AMCI follows the 568B standard Note that accidently reversing the Tx Rx pairs will not affect the operation of the SMD34K The SMD34K has an auto switch port that will automatically adjust for swapped pairs Table T1 5 TIA EIA Color Codes AMCI Description MS 28 Mating connector for Ethernet port connector Screw terminal connections 6 to 8 mm...

Страница 91: ...e new ESI file 2 2 Add the SMD34K to the Project This section assumes that the TwinCAT software is in Config Mode 2 2 1 Scan for the SMD34K Device 1 Attach the SMD34K device to the network and power up the device 2 At this point the device is in its INIT state The ERR LED will be on green and the RUN LED will be off 3 Right click on the EtherCAT adapter that the SMD34K is attached to In the drop d...

Страница 92: ...r 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 configuration setting An example is a STATUS_word1 register change from 0x4408 to 0x6408 6 To make these changes permanent you must define values under the Startup tab Click on the Startup tab 7 Right click ...

Страница 93: ...tPos 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 nTrappedEnc AT I DINT nLastCurrent AT I UINT nLastJerk AT I UINT END_STRUCT END_TYPE 2 4 Create Variables Based on the DUT The location of the actual variable s used in the system s program depends on programm...

Страница 94: ...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 5 Repeat steps three and four for the remaining input and output words of the SMD34K ...

Страница 95: ...trigger a syn chronous command update Input 3 must not be attached to sensors when using the DC func tionality 3 1 Verify Main PLC Task Timing 1 In the Solutions 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 Cycle Ticks and its time in milliseconds The...

Страница 96: ...nd 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 that open enter the desired update time in Cycle Ticks By default each Cycle Tick is 1 millisecond 4 If needed expand out the new task so that the Outputs icon is visible 5 Right click on the Outputs ...

Страница 97: ...k 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 CMD_word0 variable of the correct SMD34K This will link the CMD_word0 of the unit to the variable created for the task The SMD34K will update at the time specified by the new task Figure T3 3 Linking...

Страница 98: ... Click on the Advanced Settings button 6 Verify or set the following Cyclic Mode Enable checkbox is checked Sync Unit Cycle µs is equal to the time of the correct task If not the variables are not linked correctly SYNC 0 Sync Unit Cycle radio button is enabled In the drop down menu set the multiplier as needed so that the Sync Unit Cycle µs time multiplied by the multiplier value is between 2 and ...

Страница 99: ...dure 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 surface and select Add New Item in the resulting pop up menu 6 Click on the button next to the 8010 0 Index field to expand it 7 Double click on the 8010 02 field This opens a dialog that will allow...

Страница 100: ...LEADERS IN ADVANCED CONTROL PRODUCTS ADVANCED MICRO CONTROLS INC ...

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