Advanced Micro Controls Inc. SMD17E2 Manuel utilisateur

MICRO CONTROLS INC.

ADVANCED

SMD17E2

Integrated Stepper

Indexer/Driver/Motor

with Integral 2-Port Ethernet Switch

Device Level Ring functionality for EtherNet/IP

Media Redundancy Protocol for PROFINET

Manual #: 940-0S221

E2 TechnologyE2 Technology

ADVANCED MICRO CONTROLS INC.

GENERAL INFORMATION

Important User Information

The products and application data described in this manual are useful in a wide variety of different applica-

tions. Therefore, the user and others responsible for applying these products described herein are responsible

for determining the acceptability for each application. While efforts have been made to provide accurate infor-

mation within this manual, AMCI assumes no responsibility for the application or the completeness of the

information contained herein.

UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS, INC. BE RESPONSIBLE OR

LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING INDIRECT OR CONSEQUENTIAL DAM-

AGES OR LOSSES, ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS

MANUAL, OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN.

No patent liability is assumed by AMCI, with respect to use of information, circuits, equipment, or software

described in this manual.

The information contained within this manual is subject to change without notice.

in part, for your personal use, provided that this copyright notice is included. You may distribute copies of this

complete manual in electronic format provided that they are unaltered from the version posted by Advanced

Micro Controls Inc. on our official website: www.amci.com. You may incorporate portions of this documents

in other literature for your own personal use provided that you include the notice “Portions of this document

fee for reproducing or distributing it.

Standard Warranty

ADVANCED MICRO CONTROLS, INC. warrants that all equipment manufactured by it will be free from

defects, under normal use, in materials 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 installation or improper testing.

The provisions of the "STANDARD WARRANTY" are the sole obligations of AMCI and excludes all other

warranties expressed or implied. In no event shall AMCI be liable for incidental or consequential damages or

for delay in performance of this warranty.

Returns Policy

All equipment being returned to AMCI for repair or replacement, regardless of warranty status, must have a

Return Merchandise Authorization number issued by AMCI. Call (860) 585-1254 with the model number and

serial number (if applicable) along with a description of the problem during regular business hours, Monday

through Friday, 8AM - 5PM Eastern. An "RMA" number will be issued. Equipment must be shipped to AMCI

with transportation charges prepaid. Title and risk of loss or damage remains with the customer until shipment

is received by AMCI.

24 Hour Technical Support Number

24 Hour technical support is available on this product. If you have internet access, start at www.amci.com.

Product documentation and FAQ’s are available on the site that answer most common questions.

If you require additional technical support, call (860) 583-1254. Your call will be answered by the factory dur-

ing regular business hours, Monday through Friday, 8AM - 5PM Eastern. During non-business hours an auto-

mated system will ask you to enter the telephone number you can be reached at. Please remember to include

your area code. The system will page an engineer on call. Please have your product model number and a

description of the problem ready before you call.

Waste Electrical and Electronic Equipment (WEEE)

At the end of life, this equipment should be collected separately from any unsorted municipal waste.

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

Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com 3

TABLE OF CONTENTS

General Information

Important User Information ..................... 2

Standard Warranty ................................... 2

Returns Policy .......................................... 2

24 Hour Technical Support Number ........ 2

WEEE Statement ..................................... 2

About this Manual

Audience .................................................. 7

Applicable Units ...................................... 7

Trademark Notices ................................... 7

Revision Record ....................................... 7

Navigating this Manual ............................ 8

Manual Conventions ................................ 8

Manual Layout ......................................... 9

Reference: SMD17E2 Specifications

The SMD17E2 Family ............................. 11

Part Numbering System ................. 12

General Functionality .................... 12

Encoder Functionality ................... 13

Network Data Format .................... 13

Specifications ........................................... 14

Indexer Functionality ............................... 15

Stall Detection with 

SMD17E2 Units .......................... 16

Driver Functionality ................................. 16

Idle Current Reduction .................. 17

Available Discrete Inputs ......................... 17

Home Input .................................... 17

CW Limit Switch or 

CCW Limit Switch ...................... 17

Start Indexer Move Input ............... 17

Emergency Stop Input ................... 17

Stop Jog or Registration 

Move Input .................................. 18

Capture Encoder Position Input ..... 18

General Purpose Input ................... 18

Optional Encoder ..................................... 18

Incremental Encoder ...................... 18

Absolute Multi-turn Encoder ......... 18

Status LED’s ............................................ 19

Module Status (MS) LED .............. 19

Network Status (NS) LED ............. 20

Reference: SMD17E2 Specifications



(continued)

SMD17E2 Connectors ............................. 20

Input Connector ............................ 20

Ethernet Connectors ...................... 21

Torque and Power Curves ........................ 21

Power Supply Sizing ................................ 22

Regeneration Effects ..................... 23

Compatible Connectors and Cordsets ...... 23

Connectors .................................... 23

Ethernet Cordset ........................... 24

Power Cordsets ............................. 24

Reference: Motion Control

Definitions ................................................ 25

Units of Measure ........................... 25

Motor Position .............................. 25

Home Position ............................... 25

Count Direction ............................. 25

Starting Speed ............................... 25

Target Position .............................. 26

Definition of Acceleration Types ............. 26

Linear Acceleration ....................... 26

Triangular S-Curve Accel ............. 27

Trapezoidal S-Curve Accel ........... 27

A Simple Move ........................................ 28

Controlled and Immediate Stops .............. 29

Host Control .................................. 29

Hardware Control ......................... 29

Basic Move Types .................................... 30

Relative Move ............................... 30

Absolute Move .............................. 31

CW/CCW Jog Move ..................... 32

CW/CCW Registration Move ....... 33

Assembled Moves .................................... 34

Blend Move ................................... 35

Dwell Move .................................. 36

Assembled Move Programming ............... 38

Control Bits – Output Data ........... 38

Control Bits – Input Data .............. 38

Programming Routine ................... 38

Saving an Assembled Move in Flash 38

Indexed Moves ......................................... 39

Synchrostep (Virtual Axis) Moves ........... 40

TABLE OF CONTENTS

SMD17E2 User Manual

ADVANCED MICRO CONTROLS INC.

Reference: Motion Control



(continued)

Controlling Moves In Progress ................ 41

Jog Moves ..................................... 41

Registration Moves ....................... 41

Absolute and Relative Moves ....... 41

Assembled Moves ......................... 41

Reference: Calculating Move



Profiles

Constant Acceleration Equations ............. 43

Variable Definitions ...................... 43

Total Time Equations .................... 45

S-Curve Acceleration Equations .............. 46

Triangular S-Curve Accel ............. 46

Trapezoidal S-Curve Accel ........... 48

Determining Waveforms 

by Values .................................... 50

Reference: Homing an SMD17E2

Definition of Home Position .................... 53

Position Preset .......................................... 53

CW/CCW Find Home Commands ........... 53

Homing Inputs .......................................... 54

Physical Inputs .............................. 54

Network Data Input ...................... 54

Homing Configurations ............................ 54

Homing Profiles ....................................... 55

Home Input Only Profile .............. 55

Profile with 

Backplane_Proximity_Bit ........... 56

Profile with Overtravel Limit ....... 57

Controlling Find Home 

Commands In Progress .......................... 58

Controlled Stop Conditions .......... 58

Immediate Stop Conditions .......... 58

Reference: Configuration Mode

Data Format

Modes of Operation .................................. 59

Configuration Mode ...................... 59

Command Mode ........................... 59

Power Up Behavior .................................. 59

Configuration Mode Data Format ............ 59

Command Mode Data Formats ................ 59

Reference: Configuration Mode

Data Format (continued)

Output Data Format .................................. 61

Configuration Word 0 Format ....... 61

Configuration Word 1 Format ....... 63

Notes on Other Configuration 

Words .......................................... 64

Input Data Format ..................................... 64

Configuration Word 0 Format 

(Word 0) ...................................... 64

Starting Speed Format ................... 64

Stall Detect Enable ........................ 65

Invalid Configurations .............................. 65

Reference: Command Mode Data

Format

Data Format .............................................. 67

Command Bits Must Transition ............... 68

Output Data Format .................................. 68

Command Word 0 .................................... 69

Command Word 1 .................................... 71

Command Blocks ..................................... 72

Absolute Move .............................. 72

Relative Move ............................... 73

Hold Move .................................... 73

Resume Move ................................ 74

Immediate Stop ............................. 74

Find Home CW ............................. 75

Find Home CCW ........................... 75

Jog CW .......................................... 76

Registration Move CW ................. 76

Jog CCW ....................................... 77

Registration Move CCW ............... 77

Preset Position ............................... 78

Reset Errors ................................... 78

Run Assembled Move ................... 79

Preset Encoder Position ................. 79

Programming Blocks ................................ 80

First Block ..................................... 80

Segment Block .............................. 80

Input Data Format ..................................... 81

Format of Position Data Values .... 81

Status Word 0 Format ................... 81

Status Word 1 Format ................... 83

Notes on Clearing a Driver Fault .............. 84

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

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

SMD17E2 User Manual

TABLE OF CONTENTS

Task 1: Installing the SMD17E2

Location ................................................... 85

IP50 Rated Units ............................ 85

IP64 Rated Units ............................ 85

Prevent Electrostatic Damage ........ 85

Prevent Debris From 

Entering the Unit ......................... 85

Remove Power Before Servicing .. 85

Operating Temperature Guidelines .......... 86

Mounting .................................................. 86

SMD17E2-M12 Mounting ............ 86

SMD17E2-M12S Mounting .......... 86

SMD17E2-60 Outline Drawing ..... 87

SMD17E2-80 Outline Drawing ..... 88

Connecting the Load ...................... 88

Power and Input Connector ..................... 89

Compatible Connectors

and Cordsets .................................. 89

Power Wiring ........................................... 90

Input Wiring ............................................. 91

Cable Shields ................................. 91

Sinking Sensors Require a 

Pull Up Resistor .......................... 91

Network Connectors ................................ 92

Compatible Connectors 

and Cordsets ................................ 92

TIA/EIA-568 Color Codes ............ 92

EtherNet/IP Connections ......................... 93

Non-DLR Applications ................. 93

DLR Applications .......................... 93

Modbus TCP Connections ....................... 93

PROFINET Connections ......................... 93

Non-MRP Applications ................. 93

MRP Applications ......................... 93

Task 2: Set the IP Address and



Protocol

Determine the Best Method for 

Setting the IP Address ........................... 95

Use Factory Default Settings ................... 95

Use the Embedded Web Server ............... 96

Use the AMCI NET Configurator 

Utility ..................................................... 98

Task 3: Implicit Communications

with an EDS

Obtain the EDS file .................................. 103

Install the EDS file ................................... 103

Start the EDS Hardware 

Installation Tool .......................... 103

Install the EDS File ....................... 104

Task 3: Implicit Communications

with an EDS (continued)

Host System Configuration ...................... 106

Add the SMD17E2 to Your Project ......... 106

Configure the SMD17E2 Driver .............. 107

General Tab ................................... 107

Connection Tab ............................. 107

Configuration Tab ......................... 107

Buffering the I/O Data ............................. 108

Task 4: Implicit Communications

Without an EDS

Host System Configuration ...................... 109

Add the SMD17E2 ................................... 109

Configure the SMD17E2 .......................... 111

Buffer I/O Data ........................................ 112

Task 5: EtherNet/IP Explicit



Messaging

Required Message Instructions ................ 113

Create Four New Data Files. .................... 113

Add the Message Instructions 

to your Ladder Logic .............................. 114

Troubleshooting ....................................... 117

Task 6: Modbus TCP Configuration

Enable Modbus TCP Protocol .................. 119

Modbus Addressing ................................. 119

Modbus Table Mapping ................ 119

Host Addressing ............................ 119

AMCI Modbus TCP Memory Layout ...... 120

Supported Modbus Functions .................. 121

Supported Modbus Exceptions ................ 121

Task 7: PROFINET Network



Configuration

Basic Steps ............................................... 123

Download the GSDML files .................... 123

GSDML File Installation .......................... 123

Configure the PROFINET Network ......... 123

Add the SMD17E2 to the 

PROFINET Network .............................. 124

Set the I/O Configuration ......................... 126

Verify and Download the 

New Configuration ................................. 127

MRP Installations ..................................... 127

Configure the SMD17E2 as an MRC ....... 127

TABLE OF CONTENTS

SMD17E2 User Manual

ADVANCED MICRO CONTROLS INC.

Optional Task A: Configure Your



Network Interfaces

Firewall Settings ....................................... 129

Disable All Unused Network Interfaces ... 129

Configure Your Network Interface .......... 129

Test Your Network Interface .................... 130

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

Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com 7

ABOUT THIS MANUAL

Audience

This manual explains the installation and operation of the SMD17E2 Integrated Stepper Indexer/Driver/

Motors from AMCI. It is written for the engineer responsible for incorporating these products into a design as

well as the engineer or technician responsible for their actual installation.

These devices support the EtherNet/IP, Modbus TCP, and PROFINET protocols. Each unit contains a two

port Ethernet switch, which simplifies network wiring. When the EtherNet/IP protocol 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 be incorporated in PROFINET installations that use a redundant ring

topology.

Applicable Units

This manual applies to all of the units in the SMD17E2 family.

Part Number Description

Trademark Notices

The AMCI logo is a trademark of Advanced Micro Controls Inc.

All other trademarks contained herein are the property of their respective holders.

Revision Record

This manual, 940-0S221, is the second revision of this manual. It fixes typographical errors and adds the

WEEE notification. It was first released January 9th, 2019.

Revision History

940-0S220: June 18st, 2018 - Initial Release

Read this chapter to learn how to navigate through this manual and familiarize

yourself with the conventions used in it. The last section of this chapter highlights

the manual’s remaining chapters and their target audience.

Model Number Description

SMD17E2-60-M12 Size 17 motor, 60 oz-in holding torque with sealed M12 connectors for an

IP50 rating.

SMD17E2-80-M12 Size 17 motor, 80 oz-in holding torque with sealed M12 connectors for an

IP50 rating.

SMD17E2-60A-M12 Same as SMD17E-60-M12 with an integrated absolute multi-turn encoder.

SMD17E2-80A-M12 Same as SMD17E-80-M12 with an integrated absolute multi-turn encoder.

SMD17E2-60E-M12 Same as SMD17E-60-M12 with an integrated incremental encoder.

SMD17E2-80E-M12 Same as SMD17E-80-M12 with an integrated incremental encoder.

SMD17E2-60-M12S Size 17 motor, 60 oz-in holding torque with sealed M12 connectors and shaft

seal for an IP64 rating.

SMD17E2-80-M12S Size 17 motor, 80 oz-in holding torque with sealed M12 connectors and shaft

seal for an IP64 rating.

SMD17E2-60A-M12S Same as SMD17E2-60-M12S with an integrated absolute multi-turn encoder.

SMD17E2-80A-M12S Same as SMD17E2-80-M12S with an integrated absolute multi-turn encoder.

SMD17E2-60E-M12S Same as SMD17E2-60-M12S with an integrated incremental encoder.

SMD17E2-80E-M12S Same as SMD17E2-80-M12S with an integrated incremental encoder.

ABOUT THIS MANUAL

SMD17E2 User Manual

ADVANCED MICRO CONTROLS INC.

Navigating this Manual

This manual is designed to be used in both printed and on-line forms. Its on-line form is a PDF document,

which requires Adobe Acrobat Reader version 7.0+ to open it. You are allowed to select and copy sections

for use in other documents and add notes and annotations. If you decide to print out this manual, all sections

contain an even number of pages which allows you to easily print out a single chapter on a duplex (two-sided)

printer.

Manual Conventions

Three icons are used to highlight important information in the manual:

NOTES highlight important concepts, decisions 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 may be damaged if the pro-

cedure is not followed properly.

The following table shows the text formatting conventions:

Format Description

Normal Font Font used throughout this manual.

Emphasis Font Font used the first time a new term is introduced.

Cross Reference When viewing the PDF version of the manual, clicking on

the cross reference text jumps you to referenced section.

HTML Reference When viewing the PDF version of the manual, clicking on

the HTML reference text will open your default web

browser to the referenced web page.

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

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

SMD17E2 User Manual

ABOUT THIS MANUAL

Manual Layout

You will most likely read this manual for one of two reasons:

If you are curious about the Integrated Stepper Indexer/Driver/Motor products from AMCI, this manual

contains the information you need to determine if these products are the right products for your applica-

tion. The first chapter, SMD17E2 Specifications contains all of the information you will need to fully

specify the right product for your application.

If you need to install and use an Integrated Stepper Indexer/Driver/Motor product from AMCI, then the

rest of the manual is written for you. To simplify installation and configuration, the rest of the manual

is broken down into references and tasks. Using 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 Title Section Description

SMD17E2 Specifications Complete specifications for the SMD17E2 products.

Motion Control Reference information on how the SMD17E2 can be used to con-

trol motion in your application.

Calculating Move Profiles Reference information on calculating detailed move profiles.

Homing an SMD17E2 Reference information on how to set the home position of the

SMD17E2.

Configuration Mode Data

Format Reference information on the format of the network data to and

from the SMD17E2 that is used to configure it.

Command Mode Data

Format Reference information on the format of the network data to and

from the SMD17E2 that is used to command it.

Installing the SMD17E2 Task instructions covering how to install an SMD17E2 on a

machine. Includes information on mounting, grounding, and wir-

ing specific to the units.

Set the IP Address and

Protocol Task instructions that covers the options for setting the IP address

on an SMD17E2.

Implicit Communications

with an EDS Task instructions that cover how to add an SMD17E2 to an 

EtherNet/IP host that supports the use of EDS files.

Implicit Communications

Without an EDS Task instructions for adding an SMD17E2 to a project as a generic

device. This configuration is for EtherNet/IP hosts that do not sup-

port EDS files while supporting implicit communications.

EtherNet/IP Explicit

Messaging Task instructions for adding message instructions to you host con-

troller program that write data to the SMD17E2 through message

instructions.

Modbus TCP

Configuration Task instructions for communicating with an SMD17E2 using the

Modbus TCP protocol.

PROFINET Network

Configuration Task instructions for communicating with an SMD17E2 using the

PROFINET protocol.

Optional: Configure Your

Network Interfaces Instructions for the optional task of configuring network interfaces

on your computer or laptop.

ABOUT THIS MANUAL

SMD17E2 User Manual

ADVANCED MICRO CONTROLS INC.

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