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1. grounded to the same Ground Bus as the SMD23 4P input 15 off when the sensor 1s active You can set the logic state of the SMD23 4P input Figure 4 6 Input Wiring when you configure the unit T This ratings refer to the optocouplers ability to prevent damaging voltages from crossing its isolation barrier to the rest of the SMD23 4P If 120 Vac voltage is applied to an input the input itself will still be destroyed 20 Gear Drive Plymouth Ind Park Terryville CT 06786 51 Tel 860 585 1254 Fax 860 584 1973 http www amci com 4 INSTALLING THE SMD23 4P Notes 52 ADVANCED MICRO CONTROLS INC x 9 SETTING THE PROFIBUS ADDRESS This chapter covers to configure Profibus address 5 023 4 using Profibus DP Configuration Tools software available from AMCI This chapter also explains how to configure the P485USB 3 RS485 adapter for use with Profibus devices Required Equipment gt Windows based computer gt RS485 port either built into the computer or as an RS232 converter or USB device The P485USB 3 converter kit from AMCI is an example of a USB device gt AMCI Profibus DP Configuration Tools software SMD23 4P unit gt Profibus network cable Can be made from an RS232 cable and an MS 39 connector Connectors can be ordered from AMCI Cable and connector are included in the P485USB 3 converter kit SMD23 4P power cable using an MS 31 connector tha
2. Modes of Operation An SMD23 4P has two operating modes Configuration Mode and Command Mode You switch between these modes by changing the state of a single bit in the Network Output Data Configuration Mode Configuration Mode gives you the ability to select the proper configuration for your application without hav ing to set any switches SMD23 4P units are shipped from the factory without a valid configuration and must be configured on every power up The ladder logic needed to accomplish this is included in the sample pro grams available from AMCI This method simplifies change over if the unit ever needs to be replaced A valid configuration can be saved to the unit s Flash memory and the SMD23 4P will use this as a default con figuration on every power up If you use this method you can still write down a new configuration to the unit at any time The new configuration is stored in RAM and is lost on power down unless you issue a command to store the new configuration in Flash NOTE The SMD23 4P will not accept move commands and the motor will not receive power until the unit has a valid configuration Command Mode This mode gives you the ability to program and execute stepper moves and reset errors when they occur An SMD23 AP will always power up in this mode but a valid configuration must be sent to it before the unit will apply power to the motor or allow you to issue move commands The command data formats are de
3. POSITION SPEED E Segment2 Segment 4 ccw Segment 6 Figure 2 13 Dwell Move NOTE gt 1 You do not have to preset the position or home the machine before you can use a Dwell Move Because the Dwell Move is based on Relative Moves it can be run from any location 2 The Dwell Move is stored in the internal memory of an SMD23 4P and can be run multiple times once it is written to the unit The Dwell Move data stays in memory until power is removed the unit is sent new Configuration Data or anew Blend or Dwell Move is written to the SMD23 4P 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 be run as soon as you configure your SMD23 4P and enter Command Mode Controlled Stop Conditions The move completes without error gt You toggle the Hold Move control bit in the Network Output Data When this occurs the SMD23 4P decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the move Note that your final position will most likely not be the one you commanded A Dwell Move that is brought to a controlled stop with the Hold Move bit cannot be restarted Immediate Stop Conditions The Immediate Stop bit makes a 0 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input ACW CWW Limit Switch 15 reache
4. Emphasis Font Font used the first time a new term is introduced When viewing the PDF version of the manual clicking on the cross reference text jumps you to referenced section Cross Reference When viewing the PDF version of the manual clicking on HTML Reference the HTML reference text will open your default web browser to the referenced web page Trademark Notices The AMCI logo is a trademark and is a registered trademark of Advanced Micro Controls Inc All other trademarks contained herein are the property of their respective holders 8 ADVANCED MICRO CONTROLS INC ABOUT THIS MANUAL Where To Go From Here This manual contains information that is of interest to everyone from engineers to operators The table below gives a brief description of each chapter s contents to help you find the information you need to do your job Chapter Title Introduction to the SMD23P and SMD24P Intended Audience Anyone new to the SMD23 4P This chapter gives a basic over view of the features available on the unit typical applications and electrical specifications Move Profiles Anyone that needs detailed information on how the unit can be used to control motion in your application Homing the SMD23 4P Anyone that needs detailed information on how the home position of the SMD23 4P can be set Installing the SMD23 4P Anyone that must install an SMD23 4P on a machine Includes i
5. 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 Find Home commands the Jog Move commands and the Registration Move commands The Find Home commands are explained in chapter 3 Homing the SMD23 4P which starts on page 41 The Jog Move commands are fully explained on page 29 and the Registration Move commands are fully explained on page 31 Emergency Stop Input It is possible to configure an input as an Emergency Stop Input When an Emer gency Stop Input is activated the axis will come to an Immediate Stop regardless of the direction of travel Note that power is not removed from the motor Basic Move Types Relative Move Relative Moves move an offset number of steps n from the Current Position A A trapezoidal profile is a Programmed Speed shown to the right but Relative Moves can also gener ate triangular profiles The command s Target Posi Starting Speed tion is the move s offset The offset can be in the range POSITION of 8 388 607 counts Positive offsets will result in A N clockwise moves while negative offsets result in Figure 2 6 Relative Move counter clockwise moves NOTE gt 1 You do not have to preset position or home machine before you can use a Relative Moves That is the Position Invalid status bit can be set 2 Relative Moves allow you to move your machine with
6. MOVE PROFILES 2 Assembled Moves continued Dwell Move A Dwell Move gives you the ability to string multiple relative moves together and run all of them sequentially with a single start condition Like a Blend Move a Dwell Move is programmed into an SMD23 4P as a series of relative moves before the move is started Unlike a Blend Move the motor is stopped between each segment of the Dwell Move for a programed Dwell Time The Dwell Time is programmed as part of the command that starts the move Because the motor is stopped between segments the motor direction can be reversed during the move The sign of the target position for the segment determines the direction of motion for that segment Positive segments will result in clockwise shaft rotation while a negative segment will result in a counter clockwise shaft rotation The following figure shows a drilling profile that enters the part in stages and reverses direction during the operation so chips can be relieved from the bit You can accomplish this Dwell Move with a series of six relative moves that are sent down to the SMD23 4P sequentially The two advantages of a Dwell Move in this case are that the SMD23 4P will be more accurate with the Dwell Time then you can be in your control program and Dwell Moves simplify your program s logic Move holds at the end of each segment for the programmed Dwell Time Starting Speed Starting Speed cw Segment 1 Segment 3 Segment 5
7. 1 to 5000 Deceleration Steps ms sec 1 to 5000 Reserved Must equal zero for compat ibility with future releases 1 2 3 4 3 6 7 8 9 Acceleration Jerk Table 8 3 Relative Move Command Block 0 to 5000 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 73 21 COMMAND DATA FORMAT Command Blocks continued Hold Move Function Command Bits MSW 1650004 Command Bits LSW See pg 71 Jnused See Note Below Jnused See Note Below Jnused See Note Below Jnused See Note Below Jnused See Note Below Jnused See Note Below Jnused See Note Below iuo eR Jnused See Note Below Table 8 4 Hold Move Command Block Unused words are ignored by an SMD23 4P and can be any value including parameter values in the previous command Resume Move Function Command Bits MSW 16540008 Command Bits LSW See pg 71 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 8 5 Resume Move Command Block Reserved 1 2 3 4 5 6 7
8. 1 transition 20 Gear Drive Plymouth Ind Park Terryville CT 06786 43 Tel 860 585 1254 Fax 860 584 1973 http www amci com 1 HoMiNG THE SMD23 4P Homing Profiles continued Profile with Overtravel Limit Figure 3 3 below shows the move profile generated by a Find Home command when you use gt CW Overtravel Limit gt Home Input without Backplane Home Proximity Bit The profile is generated when you encounter an overtravel limit in the direction of travel In this example hitting the CW limit while traveling in the CW direction Hitting the overtravel limit associated with travel in the opposite direction is an Immediate Stop condition The motor will stop all motion and issue a Home Invalid error to your host The SMD23 4P will stop with an error if both overtravel limits are activated while the unit is trying to find the home position CW Home cw Limit Overtravel Switch Limit Starting Speed POSITION Starting Speed SPEED CCW Figure 3 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 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 Starting Speed and stop followed by a two second de
9. 9 Controlled and Immediate Stops 27 Host Control 27 Chapter 1 Introduction to the Hardware Control 27 SMD23P and SMD24P Basic Move Types 27 The SMD23P and SMD24P Families 11 Relative Move 27 General Functionality 12 Controlled Stop 28 Encoder Functionality 12 Immediate Stop 28 Indexer Functionality 13 Absolute Move 28 Driver Functionality 14 Controlled Stop 29 Available Discrete Inputs 14 Immediate Stop 29 Home Input rte eter 14 Move 29 CW Limit Switch or Controlled Stop 30 CCW Limit Switch 14 Immediate Stop 30 Start Indexer Move Input 15 Registration Move 31 Emergency Stop Input 15 Controlled Stop 32 Stop Jog or Immediate Stop 32 Registration Move Input 15 Encoder Moves eerte 32 Capture Encoder Position Input 15 Controlled Stop Conditions 33 General Purpose Input 15 Immediate Stop Conditions 33 Status LED S iussi 16 Assembled Moves sacer 33 SMD23 4P Connecto
10. el 0 0000 TL 2 0 2500 9 0009 oot 0 59 0 02 26 350 0 090 a 856 0 00 6803 15 0 0 5 0 018 47 14 40 20 4 250 23 lt 2 36 0 02 60 0 5 0 2500 eee ane Section S 3X Scale REAR VIEW 26 350 0099 228 0 004 5 8 0 10 Pin 3 BUS GND Pin 4 BUS B Pin 4 Input 2 Pin 3 DC Common NEN Pin 5 N C Pin 5 24Vdcaux DIGITAL IN NA Pin 2 BUS A Pin 1 BUS VDC Pin 1 24Vdemain 2 Pin 2 Input 1 Onsen POWER amp rene DIGITAL IN Figure 4 2 SMD24P Outline Drawing SMD23 4P M12 Mounting The SMD23 4P M12 is not water tight Its IP50 rating makes it acceptable for use in dusty environments with occasional condensation The SMD23 4P should be mounted in such a way that water will naturally drain off of the unit instead of pooling at the motor shaft where the motor wires exit the motor or on the motor laminations SMD23 4P M12P Mounting The SMD23 4P M12P is water tight Its IP67 rating makes it acceptable for use in washdown environments with a directed hose or in environments where it may be exposed to short term immersion in liquids Connecting the Load Care must be exercised when connecting your load to the stepper motor Even small shaft misalignments can cause large loading effects on the bearings of the motor and load The use of a flexible coupler is strongly recommended whenever possibl
11. Acceleration Jerk 0 to 5000 Table 8 9 Jog Move CW Command Block Unused words are ignored by the SMD23 4P and can be any value including parameter values in the previ ous command Reserved 2 3 4 3 6 7 8 9 76 ADVANCED MICRO CONTROLS INC COMMAND DATA FORMAT 21 Command Blocks continued Registration Move CW Function Command Bits MSW 1680080 See pg 71 Bits 7 amp 6 must equal 10 Stopping Distance Upper Word Steps Combined value between Stopping Distance Lower Word 0 and 8 388 607 Programmed Speed Upper Word Command Bits LSW Stens DEE Combined value between S P P the Configured Starting Programmed Speed Lower Word econ Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Min Reg Move Distance Upper Word Steps Combined value between Min Reg Move Distance 0 and 8 388 607 Lower Word Table 8 10 Registration Move CW Command Block Jog Move CCW Function Command Bits MSW 16 0100 See pg 71 Command Bits LSW Bits 7 amp 6 must equal 00 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future relea
12. Like all moves activating a limit will bring the move to an Immediate Stop Unlike other moves a Jog or Registration move can be started when an end limit switch is active provided that the com manded direction is opposite that of the activated switch For example a CW Jog can be issued while the CCW limit switch is active This allows you to move off of an activated end limit switch 5 gt gt 7 lt gt gt 20 Gear Drive Plymouth Ind Park Terryville CT 06786 29 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Basic Move Types continued Jog Move continued As shown below a Jog Moves begins at the programmed Starting Speed accelerates at the programmed rate to the Programmed Speed and continues until a stop condition occurs If it is a Controlled Stop Condition the SMD23 4P will decelerate the motor to the starting speed and stop without losing position If it is an mmedi ate Stop Condition the motion stops immediately and the position becomes invalid It is possible to change the speed of a Jog Move without stopping motion The Programmed Speed Acceler ation and Deceleration parameters can be changed during a Jog Move When the Programmed Spe
13. When set to 0 current is not avail able to the motor under any condition When set to 1 the motor driver section of the SMD23 4P is enabled and current 15 available to the motor but current may be removed for other reasons Motor current is removed if there is a Driver Fault Bit 7 below or if the motor is idle and Idle Current Reduction is programmed to its Jo 0 setting Note that the motor will still receive power under an E Stop condition Motor Stall Detected Bit Set to 1 when a motor stall has been detected Reserved Bit Will always equal zero Reserved Bit Will always equal zero Heart Beat Bit This bit will change state approximately every 500 milliseconds Monitor this bit to verify that the unit and network connection are operating correctly Note that this bit is only available when in Command Mode Limit Condition Active Bit This bit is set if an End Limit Switch is reached during a move This bit will be reset when the Limit Switch changes from its active to inactive state or when a Reset Errors Command is issued Invalid Parameter Change Bit Set during a Jog Move if parameters are changed to invalid values The only way to clear this bit once set is to write correct parameter values to the SMD23 4P Param eters that can be changed during a Jog Move are Programmed Speed Acceleration and Deceleration Reserved Bit Will always equal zero Driver Fault Bit If the driver sect
14. 0 to open it The manual is laid out with an even number of pages in each chapter This makes it easier to print a chapter to a duplex double sided printer Bookmarks of all the chapter names section headings and sub headings were created in the PDF file to help navigate it The bookmarks should have appeared when you opened the file If they didn t press the F5 key on Windows platforms to bring them up Throughout this manual you will also find blue text that functions as a hyperlink in HTML documents Clicking on the text will immediately jump you to the referenced section of the manual If you are reading a printed manual most links include page numbers The PDF file is password protected to prevent changes to the document You are allowed to select and copy sections for use in other documents and if you own Adobe Acrobat version 7 0 or later you are allowed to add notes and annotations Manual Conventions Three icons are used to highlight important information in the manual NOTE gt NOTES highlight important concepts decisions you must make or the implications of those decisions D CAUTION 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
15. 100 programmed motor current in 1 increments Motor current is reduced to selected level if there is no motion for 1 5 seconds Current is restored to full value when motion is started Environmental Specifications Input Power 24 to 48 Vdc surge to 60Vdc without damage to unit Ambient Operating Temperature 4 to 122 F 20 to 50 C Storage Temperature 40 to 1857 40 to 85 C Humidity 0 to 95 non condensing IP Rating SMD23 4P M12 IP50 M SMD23 4P M12P IP67 Status LED s See Status LED s section starting on page 16 Connectors All mating connectors are available separately under the following AMCI part numbers Strip Length Connection Type Power MS 31 18 AWG max 0 197 inches Screw Terminals Network MS 39 18 AWG max 0 197 inches Screw Terminals 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 19 INTRODUCTION TO THE SMD23P AND SMD24P Torque and Power Curves SMD23P 130 Torque and Power Curves Motor Current 3 4A 160 0 140 0 1200 c 48 Torque 85 1000 zz 5 48V Power 80 0 24V Torque 60 0 24V Power 40 0 20 0 0 0 Speed rev sec Figure 1 5 SMD23P 130 Torque and Power Curves SMD23P 240 Torque and Power Curves Motor Current 3 4A 250 4 225 200 175 AS V dc Torque EF 55
16. 4P as well as the formats of the Network Input Data that contains the responses from the unit An SMD23 4P requires ten 16 bit words 20 bytes for Output Data as well as ten 16 bit words for Input Data Multi Word Format Many of the hosts that can be used with the SMD23 4P only support 16 bit integers which limits the range of values from 32 768 to 32 767 or 0 to 65 535 Many parameters of the SMD23 4P exceed this range These parameters are transmitted in two separate words The table below shows how values are split Note that negative values are written as negative numbers in both words First Word Second Word 12 0 12 1 234 567 1 234 567 7 654 321 7 654 321 Figure 8 1 Multi Word Format Examples Command Bits Must Transition Commands are only accepted when the command bit makes a 0 1 transition The easiest way to do this is to write a value of zero into the Command Bits MSW before writing the next command This condition also applies when switching from Configuration Mode to Command Mode If a bit is set in the Control Word Word 0 while in Configuration Mode and you switch to Command Mode with the same bit set the command will not occur because the bit must transition between writes to the unit Output Data Format The following table shows the format of the output network data words when writing command data to the SMD23 4P Function Command Bits MSW Command Bits LSW Command Parameters Word
17. Mode the SMD23 4P responds by placing the present configuration data in the Network Input Data You cannot write new configuration data to the unit while this bit is set The format of the Configuration Data is given in the Input Data Format section of this chapter starting on page 67 Bit 10 Save Configuration An SMD23 4P will store its configuration data to flash memory when this bit makes a 0 gt 1 transition The validity of the configuration data is checked before being written to the flash memory If the data is not correct the transition on this bitis ignored Once the write to flash is completed the SMD23 4P will write OxAAAA into the last status word if the write was successful and the MS LED will begin to flash green If the write is unsuccessful the SMD23 4P will write OxEEEE into the last status word and the MS LED will begin to flash red Once the SMD23 4P issues its response to the Save Configuration command it stops responding to commands and you must cycle power to the unit This design decision prevents the SMD23 4P from responding to con stant save commands from the host controller The flash memory has a minimum of 10 000 write cycles Bits 9 2 Reserved Must equal zero Bit 1 Input 2 Active Level Bit Determines the active state of Input 2 Set to 0 if your sensor has Nor mally Closed NC contacts and the input is active when there is no current flow through it Set to 1 if your sensor has Normally O
18. any value including parameter values in the previ ous command Ww gt milliseconds 0 to 65 535 20 Gear Drive Plymouth Ind Park Terryville CT 06786 79 Tel 860 585 1254 Fax 860 584 1973 http www amci com 21 COMMAND DATA FORMAT Command Blocks continued Preset Encoder Position Function Command Bits MSW 16 4000 Command Bits LSW See pg 71 Encoder Preset Value Upper Word Combined value between Encoder Preset Value 8 388 607 and 8 388 607 Lower Word Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Table 8 16 Preset Encoder Position Command Block Unused words are ignored by the SMD23 4P and can be any value including parameter values in the previ ous command 80 ADVANCED MICRO CONTROLS INC COMMAND DATA FORMAT 21 Programming Blocks The following blocks are used to program an Assembled Move Both of the moves Blend Move and Dwell Move are programmed exactly the same way The bit configuration used when starting the move determines which type of Assembled Move is run First Block Function 16960800 See pg 71 See Note Below Command Bits MSW Command Bits LSW Unused Table 8 17 Assembled Move First Programming Block Unused words are ignored by the SMD23 4P and can be a
19. approved clear epoxy by appending to the part number SMD23 4P 130 M12P SMD23 4P 240 M12P SMD24P 350 M12P SMD23 4P 130E M12P SMD23 4P 240E M12P SMD24P 350E M12P VVVVV 20 Gear Drive Plymouth Ind Park Terryville CT 06786 11 Tel 860 585 1254 Fax 860 584 1973 http www amci com 1 INTRODUCTION TO THE SMD23P AND SMD24P The SMD23 4P and SMD24P Families continued General Functionality Each member of the SMD23 4P family has three integrated parts Anindexer that accepts commands over a PROFIBUS DP connection gt A3 4Arms micro stepping driver that accepts 24 to 48Vdc as its input power source gt Ahigh torque size 23 130 or 240 oz in holding torque or size 24 350 oz in holding torque stepper motor An incremental encoder is also available for applications that require additional position feedback The availability of the PROFIBUS connection makes the SMD23 4P units easy to integrate into a wide vari ety of controller systems This combination of host and driver gives you several advantages Sophisticated I O processing can be performed in the host PLC or other controller before sending commands to the SMD23 4P unit gt All motion logic is programmed in the host eliminating the need to learn a separate motion control language Hliminating the separate indexer and driver lowers Total System Cost An SMD23 4P is powered by nominal 24 to 48Vdc power source and can accept surge vol
20. bit equals 0 and a Jog Move command is issued it will run as a standard Jog Move When this bit equals 1 and a Jog Move command is issued the move will run as a Registration Move Reserved Must equal 0 Save Assembled Move Set this bit to save the programmed Assembled Move to flash memory This bit must be set when the Move Program Mode makes a 1 0 transition at the end of the pro gramming cycle to write the data to flash memory The SMD23 4P responds by flashing the MS LED when the write is complete If the LED is flashing green the write to flash memory was suc cessful If it flashes red then there was an error in writing the data In either case power must be cycled to the SMD23 4P before you can continue This design decision is to protect the flash mem ory from constant write commands The flash memory has a minimum of 10 000 write cycles Blend Move Direction When you command a Blend Move to run this bit determines the direction of rotation Set to 0 for a clockwise Blend Move 1 for a counter clockwise Blend Move Reserved Must equal 0 Encoder Move Valid with an SMD23 4P_E only if this bit to 1 when you command an Absolute or Relative move the move distance will be based on the encoder position not on the motor position Set to 0 for a standard Relative or Absolute move based on motor position Please note that an encoder move does not stop at the programmed en
21. for the SMD23 4P from the www amci com website 1 Install the GSD file into the configuration software for your host controller 2 Add the SMD23 4P to the PROFIBUS Network 3 Set the I O word addresses used to communicate with the SMD23 4P Download the GSD file The GSD files are available on the AMCI website on the http www amci com driverfiles asp web page The file is a ZIP archive that has to be extracted to a folder on your computer Extracting the ZIP file will leave you with four files Two are GSD files and two are icon files GSD File Installation 1 With the SIMATIC manager software started and the correct project open click on the 058 8 8 SIMATIC 300 station icon in project tree Double click on the Hardware icon to open the HW Configuration editor 2 Select Options Install GSD File from the file menu The Install GSD Files window will open 3 Click on the Browse button and CAUTION Installation OF GSD files cannot be undone Do you still want to navigate to the folder that contains continue the schon the extracted GSD files you downloaded from the AMCI website Once at the folder click NS on the OK button 4 Select the SMD23P gsd and SMD24P gsd entries in the file list Install Show Log Select All Deselect All and click on the Install button In the resulting window click on the Close Yes button to confirm the installation of the GS
22. have been explained in the chapter up to this point can be started by a transition on one of the inputs instead of a command from the network If the Indexed Move bit is set when the command is issued the SMD23 4P will not run the move until the configured input makes an inactive to active transition This allows you to run time critical moves that cannot be reliably started from the network because of mes saging time delays gt gt The input must be configured as a Start Indexed Move Input The move begins with an inactive to active transition on the input Note that an active to inactive tran sition on the input will not stop the move The move command must stay in the Network Output Data while performing an Indexed Move The move will not occur if you reset the command word before the input triggers the move The move can be run multiple times as long as the move command data remains unchanged in the Net work Output Data The move will run on every inactive to active transition on the physical input if a move is not currently in progress Once a move is triggered the Start Indexed Move Input is ignored by the SMD23 4P until the triggered move is finished As stated above a move can be run multiple times as long at the move command data 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 eas
23. meaning depends on the command set to the SMD23 4P Table 8 1 Command Mode Data Format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 69 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Command Bits MSW Command Bits MSW 15 14 13 12 11 10 09 08 07 06 05 04103 02 01 00 2 2 2 gt 2 gt gt gt gt 2 2 2 23 9 S gt 2T Figure 8 2 Command Bits MSW Format Bit 15 Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming The SMD23 4P powers up in Command Mode and shows a configuration error hexadecimal value of 6408h if a valid configuration was not previously stored in flash memory This is the factory default behavior An SMD23 4P will not power the motor or accept commands until a valid configuration is written to it or read from flash memory Bit 14 Preset Encoder Bit Valid only with an SMD23 4P_E when set to 1 the SMD23 4P_E will pre set the Encoder Position to the value stored in Output Words 2 and 3 Bit 13 Run Assembled Move When set to 1 an SMD23 4P will run the Assembled Move already stored in memory gt Assembled Move Type Command Bits LSW Bit 9 This bit determines the type of move that is run When this bit equals 0 a Blend Move is run When this bit equals 1 a Dwell Move is run When starting a Dwell Move the Dw
24. of connector Figure 5 2 Programming Cable Power Cable Pin 2 NC Pin 1 Vdc In Power must be brought into the SMD23 4P The power connector is an industry standard M12 A coded 4 pin female connector A straight con nector is available from AMCI under the part number MS 29 Figure 5 3 shows which pins to connect to in order to power the SMD23 AP Pin 3 Vdc Pin 4 NC Common Power Connector Industry Standard M12 Connector A Coded 4 Pin Female As viewed from back of connector Figure 5 3 Power Connector 54 ADVANCED MICRO CONTROLS INC SETTING THE PROFIBUS ADDRESS Computer Configuration RS 485 Port If using a USB serial port device like the P485USB 3 you may have to install device drivers before your computer will recognize the new port You may need a driver CD or you may need to download the drivers from the manufacturer s website before loading them into Windows The P485USB 3 uses an FTDI chipset that already has drivers included in Windows XP and above If they are not pre loaded on your computer allow your computer to connect to the Internet when it wants to search for a driver Your computer will attach to a Microsoft download server and download and install the appropriate drivers Once the serial port is attached and the drivers are installed verify the COM port used by the device Right click on your My Computer icon and select Manage The Computer Management program will open Click on
25. 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 SMD23 4P is the ability to program the driver to ignore the Controlled Stop con ditions until a minimum number of steps have occurred This value is programmed through the Minimum Registration Move Distance parameter which is set when you command the Registration Move The figure below shows how the Minimum Registration Move Distance parameter effects when the Stop Condition is applied to the move As shown in the second diagram Controlled Stop conditions are level triggered not edge triggered If a Controlled Stop Condition occurs before the Minimum Registration Move Distance is reached and stays active the move will begin its controlled stop once the Minimum Registration Move Dis tance has been reached Controlled Stop Condition Programmed Speed SPEED Starting Speed POSITION Minimum Registration Programmed Move Distance Number of Steps Controlled Stop Condition a E Programmed Speed o Starting Speed POSITION Minimum Registration Programmed Move Distance Number of Steps Figure 2 10 Min Registration Move Distance 20 Gear Drive Plymouth Ind Park Terryville CT 06786 31 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Basic Move Types continued Registration Move continued Controlled
26. their factory default settings Once the terminating resistors are set reassemble the P485USB 3 device before proceeding 20 Gear Drive Plymouth Ind Park Terryville CT 06786 53 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls 1 SETTING THE PROFIBUS ADDRESS Cabling Programming Cable D CAUTION There is no industry standard pin out for RS 485 connectors The following section shows how to wire to a P485USB 3 converter as an example When wiring your bus cable verify the RS 485 port pin out for your converter Damage to your SMD23 4P or your RS485 port may occur if the bus cable is not wired correctly A sample cable is shown in figure 5 2 below The AMCI test department uses a standard RS 232 cable with the male connector removed The remaining female connector and cable is wired to an MS 39 connector If you use this method to make a programming cable cut off all unused wires at the cable s outer insulation to isolate them 1 Signal GND Pin 5 on P485USB 3 Pin 2 TxD Signal Pin 1 on PA85USB 3 5 Pina TxD Signal Pin 2 on P485USB 3 Pin 4 NOTE gt DB 9 connections shown are for the P485USB 3 device from AMCI Aen M12 B Coded 5 Pin Connector If using a differ ent adapter the Male Network AMCI MS 39 pin out will most likely be different Industry Standard Viewed from back of Connector Female DB 9 Connector Mates with AMCI P485USB 3 Viewed from back
27. 2 e Click on the New button to open the Properties New subnet PROFIBUS window Use the General tab to set the name of the sub net and the Network Settings tab to set the bus speed and type The Type must be set to DP in Beet order to communi 2 cate with the SMD23 4P 5 Click OK to close two open windows in order to get back to the Properties MPI DP window Click on the Operating Mode tab and confirm that DP Master is a m Config S mma 300 Station Configuration EE ET 5MD23824P til Dg 88 88 c 3 Properties MPIDP RO S2 1 ee ele General Addresses Operating Mode Configuration Clock Short Description MPI DP Name MPI DP Interface PROFIBUS x Properties PROFIBUS interface MPI DP RO S2 1 selected Cancel Help 6 Close the Properties MPI DP window by Figure 6 2 PROFIBUS Interface Parameters clicking on the OK button to get back to HW Configuration Editor screen You will now see the PROFIBUS network line on the screen 60 ADVANCED MICRO CONTROLS INC HosT CONFIGURATION e Adding the SMD23 4P to the PROFIBUS Network 1 If the Hardware Catalog tree is not available on the right side of the HW Configuration Editor window press CTRL K to open it 2 Browse to SMD23P SMD24P icons by clicking through PROFIBUS DP gt Additional
28. 254 Fax 860 584 1973 http www amci com Table of Contents Notes 6 ADVANCED MICRO CONTROLS INC ABOUT THIS MANUAL 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 high lights the manual s remaining chapters their target audience Audience This manual explains the set up installation and operation of AMCI s SMD23 4P and SMD24P families of Integrated Stepper Indexer Driver Motors with PROFIBUS interface It is written for the engineer responsi ble for incorporating these units into a design as well as the engineer or technician responsible for their actual installation Applicable Units This manual applies to all of the units in the SMD23 4P family Model Number Description Size 23 motor 130 oz in holding torque 11 with sealed M12 connectors for IP50 rating Size 23 motor 240 oz in holding torque ME with sealed M12 connectors for IP50 rating 5 SMD23 4P 130E M12 Same as SMD23 4P 130 M12 with integral encoder SMD23 4P 240E M12 Same as SMD23 4P 240 M12 with integral encoder Same as SMD23 4P 130 M12 with FDA approved clear coating shaft and wire seals for IP67 rating Same as SMD23 4P 240 M12 with FDA approved clear coating shaft and wire seals for IP67 rating Same as SMD23 AP 130E M12 with FDA approved clear coating shaft and wire seals for IP67 rating
29. 3 4P and can be any value including parameter values in the previ ous command Reserved 1 2 3 4 3 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 75 Tel 860 585 1254 Fax 860 584 1973 http www amci com 21 COMMAND DATA FORMAT Command Blocks continued Find Home CCW Function Command Bits MSW 16 0040 Command Bits LSW See pg 71 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 8 8 Find Home CCW Command Block Unused words are ignored by the SMD23 4P and can be any value including parameter values in the previ ous command Reserved CO BR eR Move CW Function Command Bits MSW 1680080 See pg 71 Command Bits LSW Bits 7 amp 6 must equal 00 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future releases
30. 4 Click on the Connect Port button to connect to your RS 485 port AMCI Profibus DP Configuration Tool Rev 1 1 m m amm ADVANCED CONTROLS INC PROFIBUS DP Slave Control Comm Settings Parameters www amci com Serial settings Connection Additional Options fu Iz Profibus Default Settings Datatype Bytes Group Free Default Settings Figure 5 5 Connecting to a COM Port gt At this point the NS Network Status LED on the SMD23 4P should be on and red The MS Module Status LED on the SMD23 4P should be on and green 56 ADVANCED MICRO CONTROLS INC SETTING THE PROFIBUS ADDRESS Using the PROFIBUS DP Configuration Tools Program continued AMCI Profibus DP Configuration Tool Rev 1 1 um m m ADVANCED MICRO CONTROLS www amci com DIET PROFIBUS DP Slave Control Comm Settings Parameters Slave Address Current E xL 7 The port is active Profibus DP Slave Device RS485 to RS232 Converter New 0 Change History INC 4 5 25 Computer with serial COM port Figure 5 6 DP Configuration Tool 5 Click on the Slave Control tab Slave Control Tab 6 If you know the present address of the SMD23 4P enter it in the Current field Factory default address is 97 7 If you do not know the present address of the SMD23 4P press the Scan button The program will o
31. 8 9 Unused words are ignored by the SMD23 4P and can be any value including parameter values in the previ ous command This is typically the case when resuming a move the words are listed as Unused to high light that the target position of a held move cannot be changed when the move is resumed 74 ADVANCED MICRO CONTROLS INC COMMAND DATA FORMAT 21 Command Blocks continued Immediate Stop Function Command Bits MSW 1650010 Command Bits LSW See pg 71 Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below iuo rr eR Unused See Note Below Table 8 6 Immediate Stop Command Block Unused words are ignored by the SMD23 4P and can be any value including parameter values in the previ ous command Find Home CW Function Command Bits MSW 16320020 Command Bits LSW See pg 71 Unused See Note Below Unused See Note Below Programmed Speed Upper Word Combined value between Steps Second the Configured Starting Programmed Speed Lower Word Speed and 2 999 999 Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Must equal zero for compat ibility with future releases Acceleration Jerk 0 to 5000 Table 8 7 Find Home CW Command Block Unused words are ignored by the SMD2
32. D RxD TxD isolated Red Pin 5 N C Pin 2 BUS A Pin 1 BUS VDC RxD TxD isolated Green NETWORK M12 Connector B Coded 5 Pin Female View shows the front of the unit s connector which is the same view as the back of its mating connector Figure 1 4 M12 PROFIBUS Connector Pinout Compatible Connectors and Cordsets Many different connectors and cordsets are available on the market all of which will work with the SMD23 4P provided that the manufacturer follows the connector and Ethernet standards AMCI has reviewed the following connectors and PROFIBUS cordsets for compatibility with the SMD23 4P Connectors Binder Description NETWORK mating connector B coded male straight Screw terminal connections 6 to 8 mm 99 0437 105 05 dia cable Plastic body IP67 rated when properly installed NETWORK mating connector B coded male right angle Screw terminal connections 6 to 8 mm dia cable Plastic body IP67 rated when properly installed Mating connector for Power Connector Female 5 pin A coded Screw terminal connections 6 to 8 mm dia cable Straight plastic body IP67 rated when properly installed Mating connector for Power Connector Female 5 pin A coded Screw terminal connections PMNS 6 to 8 mm dia cable Right angle plastic body IP67 rated when properly installed Table 1 4 Compatible Connectors 20 Gear Drive Plym
33. D files Figure 6 1 GSD File Installation 5 Click the Close button to close the Install GSD File window 20 Gear Drive Plymouth Ind Park Terryville CT 06786 59 Tel 860 585 1254 Fax 860 584 1973 http www amci com 2 HosT CONFIGURATION Configure the PROFIBUS Network 1 If the HW Configuration editor is not open click on the SIMATIC 300 station icon in the project tree and then double click on the Hardware icon to open the HW Configuration editor 2 If the Hardware Catalog tree is not available on the right side of the HW Configuration Editor window press CTRL K to open it 3 If not already present install the processor in the mounting rail by first navigating to the appropriate PLC folder the Hardware Catalog and then dragging the proper icon to slot 2 of the rail In this example the folder 15 SIMATIC 300 gt CPU 300 gt CPU 317 2PN DP gt 6ES7 317 2EJ10 0ABO and the proper icon is V2 3 4 If the PROFIBUS network is not already configured you must configure the network parameters including the PLC s address Transmission Rate and Profile In this example a Double click on the MPI DI device of the processor This will open the Properties MPI DP window b Set the name of the network c Under Interface click on the Type drop down menu and select PROFIBUS This will open the Properties PROFIBUS Interface MPI DP window d Set the PROFIBUS address of the PLC Default of
34. D s on the rear cover The tables below list the var ious states of the LED s and their meaning NS LED MS LED BUS State DEVICE Stare Definition No Power Normal Operation Data Exchange Mode 1 No communications 2 SMD23 4P has not received data for an extended period of time Possible bus line interruption NR25 is operational but has not received any configuration On data since power up Possible bus line interruption or wiring error Parameter Configuration Error Invalid data or incorrect On Flashing data length was received by the unit Flashing On New address received from Profibus Master Address cannot be read from Flash Memory on power up Synchronous Flashing Default address of 97 is presently being used Fatal Internal Error Cycle power to the unit If the error persists contact AMCI for further assistance Table 1 3 Network Status LED States Alternate Flashing SMD23 4P Connectors Power amp Input Connector As shown in figure 1 2 the Power amp Digital Input Connector is located on the back of the unit below the PROFIBUS Network connector All digital input and power supply connections are made at this connector Figure 1 3 shows the pinout of the connector when viewed from the back of the SMD23 4P NETWORK Pin 4 Input 2 Pin 3 DC Common amp Pin 5 24Vdcaux POWER amp MS Pin 1 24Vde
35. Device Manager gt Click on the sign next to the Ports COM amp LPT entry in the device tree Your COM port device will show up in that branch Verify that your device is listed in the range of COMI to COM4 If itis not you will have to change this setting Start by right clicking on the RS 485 device in the device tree and selecting Properties from the drop down menu gt Select the Port Settings tab and then click on the Advanced button Click on the drop down list for COM Port Number and select one of the four options If the COM Port shows In Use it was probably reserved by a USB device you used before and is actually avail able Figure 5 4 is a screen capture of a PASSUSB 3 installed as COM 2 Computer Management File Action Window Help Computer Management Local System Tools 1 Event Viewer 8 Shared Folders Local Users and Groups Performance Logs and Alert Device Manager Storage Removable Storage Disk Defragmenter Disk Management Ta Services and Applications E ENG DN DDL95XC1 9 9 Computer Disk drives Display adapters v Use FIFO buffers requires 16550 compatible UART sm Select lower settings to correct connection problems Cancel Select higher settings for faster performance Receive Buffer Low 1 7 High 14 Transmi
36. Field Devices gt Drives gt AMCI Products Drag and drop the appropriate icon onto the PROFIBUS network line HW Config SIMATIC 300 1 Configuration 7 317 SMD23P ly Station Edit Insert PLC Options Window Help 89 FIO e CPU 317 2 PN DP gt 97 SMD23P Profibus DP Slot DP ID Order Number Designation 1 104 SMD23P 10 Words PROFIBUS 1 DP master system 1 2 3 4 R Press F1 to get Help Eind Profile _ Standard PROFIBUS DP Additional Field Devices General 1 5 Drives AMCI Products 5 023 Profibus DP SMD24P Profibus DP Switching Devices Encoders Compatible PROFIBUS DP Slaves Qj CiR Object Closed Loop Controller Configured Stations 2 DP VO slaves Address Q Add Comment 256 275 256 275 v PROFIBUS DP slaves for SIMATIC 57 M7 and 5 07 distributed rack Figure 6 3 SMD23P Added to PROFIBUS Network 3 In the Properties PROFIBUS interface SMD23 4P Profibus DP window that opened when you dropped the icon onto the network line use the Parameters tab to set the network address of the SMD23 4P device This address must be the same one you set with the AMCI PROFIBUS DP Configuration Tool software or the factory default of 97 If you have created more than one subn
37. II designations of the Inter national Electrotechnical Commission IEC Safe Handling Guidelines Prevent Electrostatic Damage Electrostatic discharge can damage any SMD23 4P product if the discharge is directed at the I O pins Follow these guidelines when handling the unit 1 Touch a grounded object to discharge static potential before handling the unit 2 Work in a static safe environment whenever possible 3 Do not touch the pins of the network connector or I O connector 4 Do not disassemble the unit Prevent Debris From Entering the Unit While mounting of all devices be sure that all debris metal chips wire strands tapping liquids etc is prevented from falling into the unit specifically the M12 connectors Debris may cause damage to the unit or unintended machine operation with possible personal injury Remove Power Before Servicing in a Hazardous Environment Remove power before removing or installing any SMD23 4P units in a hazardous envi ronment 20 Gear Drive Plymouth Ind Park Terryville CT 06786 45 Tel 860 585 1254 Fax 860 584 1973 http www amci com INSTALLING THE SMD23 4P Mounting All AMCI motor have flanges on the front of the motor for mounting This flange also acts as a heatsink so motors should be mounted on a large unpainted metal surface Mounting a motor in this fashion will allow a significant amount of heat to be dissipated away from the motor which will increase the unit s lif
38. MOVE PROFILES 2 Controlled and Immediate Stops Once a move is started there are several ways to stop the move before it comes to an end These stops are broken down into two types gt Controlled Stop The axis immediately begins decelerating at move s programmed deceleration value until it reaches the configured Starting Speed The axis stops at this point The motor position value is still considered valid after a Controlled Stop and the machine does not need to be homed again before Absolute Moves can be run Immediate Stop The axis immediately stops outputting pulses regardless of the speed the motor is running at Because it is possible for the inertia of the load attached to the motor to pull the motor beyond the stopping point the motor position value is considered invalid after an Immediate Stop and the machine must be homed before Absolute Moves can be run Host Control Hold Move Command This command can be used with some moves to bring the axis to a Controlled Stop The move can be resumed and finished or it can be aborted Not all moves are affected by this command The section Basic Move Types starting on page 27 describes each 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 before Absolute Moves can be run Hardware Control
39. O CONTROLS INC INTRODUCTION TO THE SMD23P AND SMD24P 5 Available Discrete Inputs continued Start Indexer Move Input Indexer Moves are programmed through the Network Data like every other move The only difference is that Indexer Moves are not run until a Start Indexer Move Input makes a inactive to active state transition This allows an SMD23 4P to run critically timed moves that cannot be reliably started from the network due to data transfer lags If the quadrature encoder is available and one of the discrete DC inputs is programmed as a Start Indexer Move Input then the quadrature encoder position data will be captured whenever the DC input makes a tran sition An inactive to active state transition on the DC input will also trigger an Indexer Move if one is pend ing Emergency Stop Input When an input is defined as an Emergency Stop or E Stop Input motion will immediately stop when this input becomes active The driver remains enabled and power is supplied to the motor In addition to stopping moves in progress moves cannot begin while this input is active Stop Jog or Registration Move Input When an input is configured as a Stop Jog or Registration Move Input triggering this input during a Jog Move or Registration Move will bring the move to a controlled stop The controlled stop is triggered on an inactive to active state change on the input Only Jog Moves and Registration Moves can be stopped this way all other moves ign
40. Qui 2 Input 2 Input 1 Q c 8 0 5 Config Config RESERVED Bit must equal zero Figure 7 1 Configuration Mode Control Word Format Bit 15 Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming An SMD23 4P powers up in Command Mode and shows a configuration error hexadecimal value of 6408h unless a valid configuration had been previously written to the flash memory of the unit The SMD23 4P will not power the motor or accept commands until a valid configuration is written to it or read from its internal flash memory Bit 14 Anti Resonance Enable Bit 0 enables the anti resonance feature of the SMD23 4P 1 disables the anti resonance feature The Anti resonance feature will provide smoother operation in most cases If you are still experiencing resonance problems with this feature enabled disable this feature and test the machine again Bit 13 Stall Detection Enable Bit 0 disables motor stall detection 1 enables motor stall detection Only valid with the SMD23 4P E units that have a built in encoder The encoder pulses turn must be programmed to a value of 1 024 and the encoder must be enabled by setting bit 10 to 1 See Bit 10 below Bit 11 Home Proximity Bit Enable Bit 0 when the Home Proximity bit is not used when homing the SMD23 4P 1 when the Home Proximity bit is used when homin
41. SMD23 4P The range for the position value is 32 768 000 to 32 767 999 The data is transmitted in the Multi Word Format described on page 69 Note that both words in the multi word format will be negative if the position value is negative Encoder Position Data These two inputs words report the encoder position based on the quadrature pulses from the internal encoder of an SMD23 A4P E The range for the encoder position value is 32 768 000 to 32 767 999 The data is transmitted in the Multi Word Format described on page 69 Note that both words in the multi word format will be negative if the encoder position value is negative Captured Encoder Position Data These two inputs words report the position of the internal encoder of an SMD23 4P_E when an input transi tions for its inactive to its active state The input must be configured as a Capture Encoder Value input or as a Stop Jog and Capture Encoder Value input The range for the captured encoder position value is 32 768 000 to 32 767 999 The data is transmitted in the Multi Word Format described on page 69 Note that both words in the multi word format will be negative if the captured encoder position value is negative Notes on Clearing a Driver Fault A Driver Fault occurs when there is an over temperature condition When a Driver Fault occurs the SMD23 4E sets bit 7 of the Status Bits LSW word in the Network Input Data The only way to clear this fault is to lower the temperature o
42. SMD23 4P 130 M12P SMD23 4P 240 M12P SMD23 4P 130E M12P Same as SMD23 4P 240E M12 with FDA approved clear coating shaft and wire seals for IP67 rating Size 24 motor 350 oz in holding torque with sealed M12 connectors for IP50 rating SMD24P 350E M12 Same as SMD24P 350 M12 with integral encoder Same as SMD24P 350 M12 with FDA approved clear coating shaft and wire seals for IP67 rating Same as SMD24P 350E M12 with FDA approved clear coating shaft and wire seals for IP67 rating SMD24P 350 M12P SMD24P 350E M12P Part Number Description NOTE gt In general only difference between the SMD23 and SMD24 units are the outline drawings They are functionally equivalent When information in this manual applies to all of the units in the families and the SMD23 AP is used When a part of this manual only applies to units with encoders the name SMD23 4P E is used Revision Record This manual 940 0S140 is the initial release of this manual It was first released March 25th 2014 Revision History 940 0S140 First Release March 25 2014 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 Tel 860 585 1254 Fax 860 584 1973 http www amci com ABOUT THIS MANUAL Navigating this Manual This manual is designed to be used in both printed and on line formats Its on line form is a PDF document which requires Adobe Acrobat Reader version 7
43. Stop Conditions The Registration Move Command bit is reset to 0 gt A positive transition on an input configured as a Stop Jog or Registration Move Input NOTE gt Starting a Registration Move with a Stop Jog or Registration Move Input in its active state will result in a move of Minimum Registration Distance Programmed Number of Steps gt You toggle the Hold Move control bit in the Network Output Data The SMD23 4P responds by using the programmed Deceleration value to bring the move to a stop without using the value of the Pro grammed Number of Steps parameter A Registration Move does not go into the Hold State if the Hold Move control bit is used to stop the move and it cannot be restarted Immediate Stop Conditions The Immediate Stop bit makes a 0 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input ACW CWW Limit Switch 15 reached If the limit that 1s reached 15 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 again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued NOTE 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 po
44. Terryville CT 06786 37 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Controlling Moves In Progress An SMD23 4P has the ability to place a running move on hold and later resume the move if an error did not occur while the move was in its Hold state One potential application for this feature is bringing a move to a controlled stop when your controller senses an end of stock condition The move can be put in its Hold state until the stock 1s replenished and then the move can be resumed Note that you do not have to resume a move once it has been placed in its Hold state You can place a move in its Hold state to prematurely end the move with a controlled stop and issue any type of new move from the stopped position The figure below shows a profile of a move that is placed in its Hold state and later resumed Hold Bit Move Activates Complete Programmed Speed SPEED Starting Speed POSITION Position Held for a length of time Move resumes when Resume Bit activates Figure 2 14 Hold Resume a Move Profile Find Home Moves A Find Home command can be placed in a Hold state but cannot be resumed This give you the ability to bring a Find Home command to a controlled stop if an error condition occurs Jog Moves Jog Moves can be placed in a Hold state and resumed if error conditions such as programming errors have not occurred New Acceleration Deceleration and Programmed Speed parame
45. active transition on an input configured as an E Stop Input ACW CWW Limit Switch 15 reached If the limit that 15 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 again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued Move Jog Moves move in the programmed direction as long as the command is active Two commands are avail able the Jog Move will rotate the shaft in a clockwise direction while the Jog Move will rotate the shaft in a counter clockwise direction These commands are often used to give the operator manual control over the axis NOTE The Target Position value must be zero during Jog Move If it is not zero you will perform a Registration Move and the final stopping position may be unexpected Jog Moves are typically used to drive the machine under direct operator control but they can also be used when you are interested in controlling the speed of the shaft instead of its position One such application is driving a conveyor belt In this application you are only interested in driving the conveyor at a specific speed and you may need to vary the speed based on environmental conditions The CW Limit and CCW Limit inputs behave differently for Jog Moves and Registration Moves than all other move types
46. ady to accept data for the next segment 7 Steps 3 to 6 are repeated for the remaining segments until the entire move profile has been entered The maximum number of segments per profile is 16 8 After the last segment has been transferred the host exits Assembled Move Programming Mode by resetting the Program Move bit 9 The SMD23 4P resets the Move Program Mode bit and the Transmit Blend Move Segment bit Saving an Assembled Move in Flash The SMD23 4P also contains the Write Assembled Move bit that allows you to store the Assembled Move in flash memory This allows you to run the Assembled Move right after power up without having to go through a programming sequence first To use this bit you follow the above programming routine with the Write Assembled Move bit set When you reach step 9 in the sequence the SMD23 4P responds by resetting the Move Program Mode and Transmit Blend Move Segments bits as usual and then it will flash the Status LED If the LED is flashing green the write to flash memory was successful If it flashes red then there was an error in writing the data In either case power must be cycled to the SMD23 4P before you can continue With a limit of 10 000 write cycles the design decision that requires you to cycle power to the SMD23 4P was made to prevent an application from damaging the module by continuously writing to it 36 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Indexed Moves All of the moves that
47. an error bit is reported to your host controller In order for the Stall Detection to work correctly you must program the Encoder Pulses Turn parameter to 1 024 in the Configuration Data of the 5 23 4 E Idle Current Reduction Idle Current Reduction allows you to prolong the life of your motor by reducing its idling temperature Val ues for this parameter range from 0 no holding torque when idle to 100 Idle current reduction should be used whenever possible By reducing the current you are reducing the PR losses in the motor which results in an exponential not linear drop in motor temperature This means that even a small reduction in the idle current can have a significant effect on the temperature of the motor NOTE gt Note that the reduction values are to values not by values Setting a motor current to 2Arms and the current reduction to 25 will result in an idle current of 0 5Apk The SMD23 4P always switches from RMS to peak current control when the motor is idle to prevent motor damage due to excessive heating 4 e 9 9 HR 20 Gear Drive Plymouth Ind Park Terryville CT 06786 39 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Notes 40 ADVANCED MICRO CONTROLS INC CHAPTER3 C HOMING THE SMD23 4P This chapter explains the various ways of homing the SMD23 4P Inputs used to h
48. be issued before moves are allowed in that direction again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued NOTE gt Note that it is possible to start a move while CW CCW Limit Switch is active as long as the direction of travel is opposite that of the activated Limit Switch For example it is possi ble to start a clockwise Jog Move while the CCW Limit Switch is active 30 ADVANCED MICRO CONTROLS INC MOVE PROFILES Pd Basic Move Types continued Registration Move Similar to a Jog Move a Registration Move will travel in the programmed direction as long as the command is active Registration Moves result in clockwise rotation of the shaft Registration Moves result in coun ter clockwise rotation of the shaft When the command terminates under Controlled Stop conditions the SMD23 4P will output a programmed number of steps as part of bringing the move to a stop Note that all position values programmed with a Registration Move are relative values not absolute machine positions Controlled Stop Condition Programmed Speed SPEED Starting Speed POSITION Programmed Number of Steps Figure 2 9 Registration Move NOTE gt If the Programmed Number of Steps are less than number of steps needed to bring axis to a stop based on the Programmed Speed and Deceleration values set with the command the SMD23 4P will decelerate at the
49. ch has been reached A motor stall has been detected Absolute moves cannot be performed while the position is invalid Transmit Move Segment Bit The SMD23 4P sets this bit to tell the host that it is ready to accept the data for the next segment of your assembled move profile Its use is explained in the Assembled Move Programming section of this manual starting on page 36 Program Move Mode Bit The SMD23 4P sets this bit to signal the host that it is ready to accept assembled move profile programming data Its use is explained in the Assembled Move Program ming section of this manual starting on page 36 Move Complete Bit Set to 1 when the present Absolute Relative Jog Registration or Assem bled Move command completes without error This bit is reset to 0 when the next move command is written to the SMD23 4P 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 outside of their valid ranges This bit is not set on a command error for any other type of command Finally this bit is not set at the end of a homing operation Decelerating Bit Set to 1 when the present move is decelerating Set to at all other times Accelerating Bit Set to 1 when the present move is accelerating Set to at all other times Ho
50. coder position It starts to decelerate at this posi tion A full description of Encoder Moves starts on page 32 Reserved Must equal 0 Reserved Must equal 0 72 ADVANCED MICRO CONTROLS INC COMMAND DATA FORMAT 1 Command Blocks The following section lists the output data format for the sixteen different commands Absolute Move Function Command Bits MSW 1650001 Command Bits LSW See pg 71 Abs Target Position Upper Word Abs Target Position Lower Word Steps Combined value between 8 388 607 and 48 388 607 Programmed Speed Upper Word Programmed Speed Lower Word Steps Second Combined value between the Configured Starting Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Reserved Must equal zero for compat ibility with future releases BY WI DN eR Relative Move Acceleration Jerk Table 8 2 Absolute Move Command Block Function Command Bits MSW 0 to 5000 16560002 Command Bits LSW See pg 71 Rel Target Position Upper Word Rel Target Position Lower Word Steps Combined value between 8 388 607 and 48 388 607 Programmed Speed Upper Word Programmed Speed Lower Word Steps Second Combined value between the Configured Starting Speed and 2 999 999 Acceleration Steps ms sec
51. d If the limit that 15 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 again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued 20 Gear Drive Plymouth Ind Park Terryville CT 06786 35 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Assembled Move Programming All of the segments in a Blend or Dwell Move must be written to the SMD23 4P before the move can be run Segment programming is controlled with two bits in the Network Output Data and two bits in the Network Input Data Blend and Dwell Moves are programmed in exactly the same way When you start the move a bit in the command data determines which type of Assembled Move is run In the case of a Blend Move the signs of the segment s Target Positions are ignored and all segments are run in the same direction In the case of a Dwell Move the signs of the segment s Target Positions determine the direction of the segment For Dwell Moves the Dwell Time is sent to the SMD23 4P as part of the command Control Bits Output Data gt Program Move bit Set this bit to tell the SMD23 AP that you want to program a Blend Dwell Move Profile The SMD23 4P will respond by setting the Move Program Mode bit in the Network Input Data At the beginning of the pro
52. d Move bits can be found in the Controlling Moves In Progress section of this manual starting on page 38 Note that a move in its hold state does not need to be resumed The move is automatically cancelled if another move is started in its place Bit2 Hold Move Bit Set to 1 to hold a move The move will decelerate to its programmed Starting Speed and stop The move can be completed by using the Resume Move bit or it can be aborted by simply starting another move Use of the Hold Move and Resume Move bits can be found in the Controlling Moves In Progress section of this manual starting on page 38 Bit 1 Relative Move Bit Setto 1 to perform a Relative Move using the data in the rest of the Command Data The full explanation of a Relative Move can be found starting on page 27 Bit 0 Absolute Move Bit Set to 1 to perform an Absolute Move using the data in the rest of the Com mand Data The full explanation of an Absolute Move can be found starting on page 28 Command Bits LSW Command Bits LSW 15 14 13 12111 10 09 08107 06 05 04 03 02 01 00 Figure 8 3 Command Bits LSW Format Bit 15 Driver Enable Bit 0 to disable the motor current 1 to enable motor current A valid configura tion must be written to the SMD23 AP before the driver can be enabled Bits 14 12 Reserved Must equal 0 Bit 11 Backplane Home Proximity Bit When the SMD23 4P is configured to use the Backplane Home Pr
53. deal of information on our website and we are adding more all the time If you can t find what you re looking for at http www amci com send us an e mail or call us We re here to support you with all of our knowledge experience The SMD23P and SMD24P Families The SMD23 and SMD24 are growing product lines from AMCI with a simple concept a low cost stepper indexer driver and motor that can be attached to any popular industrial network All Profibus SMD23P and SMD24P units use the Decentralized Periphery profile Profibus DP which is the most commonly used Profibus pro file Each SMD23 4P appears to be a communi cations adapter to the PROFIBUS Master There are presently twelve members of the SMD23 4P family Each unit has M12 connec tors for power I O and PROFIBUS connections The following six units have an IP50 environ mental rating gt SMD23P 130 M12 130 oz in motor SMD23P 240 M12 240 oz in motor SMD24P 350 M12 350 oz in motor SMD23P 130E M12 130 oz in motor with built in encoder SMD23P 240E M12 240 oz in motor with built in encoder gt SMD24P 350E M12 350 oz in motor with built in encoder The built in 1 024 count per turn encoder gives you additional functionality such as position verification moves based on encoder position and stall detection Figure 1 1 SMD23 4P vw NON Finally if an IP67 rating is important the units can be ordered with a shaft seal wire potting and an FDA
54. do not have to configure and use CW or CCW Limits If you choose to configure the module this way then the SMD23 4P has no way to automatically prevent overtravel during a homing operation You must prevent overtravel by some external means or ensure that the homing command is issued in the direction that will result in reaching the homing input directly 2 You can use a bit in the Network Output Data as a home proximity input Using this bit is completely optional Homing Profiles NOTE gt The Find Home command is used in all of these examples The Find Home command will generate the same profiles in the opposite direction Home Input Only Profile Figure 3 1 below shows the move profile generated by a Find Home command when you use the Home Input without the Backplane Home Proximity bit CW Home Limit Switch Starting Speed Starting Speed POSITION SPEED CCW Figure 3 1 Home Input Profile 1 Acceleration 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 Starting Speed and stop followed by a two second delay 7 Return to the Home Input at the configured Sta
55. e 20 Gear Drive Plymouth Ind Park Terryville CT 06786 47 4 Tel 860 585 1254 Fax 860 584 1973 http www amci com INSTALLING THE SMD23 4P Network Connector The diagram below shows the pinout of the SMD23 4P network connector Pin 3 BUS GND Pin 4 BUS B Pin 5 N C Pin 2 BUS A Pin 1 BUS VDC POWER amp MS DIGITAL IN NS NETWORK ERU M12 Connector 24 to 48 Voc APIC d View a ien o which is the same view as the back of its mating connector Figure 4 3 Network BUS OUT Connector Pinout Profibus Terminators The Profibus must be terminated on both ends for proper operation The network connector on the SMD23 4P has the additional signals required to terminate the Profibus network The network can be terminated on the connector itself but standard procedure is to terminate the network on a separate terminator so that devices can be removed from the network without disrupting the connections of the other devices Compatible Wiring There are many suppliers of Profibus interconnection products Installing a pre assembled and tested cordset is the most common way to wire a Profibus system For those companies wishing to make their own cables cable and connectors are also available from a wide variety of suppliers A small sampling of companies is given below Cordsets Phoenix Contact hitp www phoenixcontact com Turck Inc Attp www turck com or http
56. e Position of the machine must be set before running an Absolute Move See chapter 3 Homing the SMD23 4P which starts on page 41 for information on homing the machine 2 The Motor Position must be valid before you can use an Absolute Move The Motor Posi tion becomes valid when you preset the position or home the machine 3 Absolute Moves allow you to 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 28 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Basic Move Types continued Absolute Move continued Controlled Stop Conditions The move completes without error gt You toggle the Hold Move control bit in the Network Output Data Note that your holding position will not be the final position you commanded unless you toggle the Hold Move control bit during the decel eration stage of the move You can resume a held Absolute Move by using the Resume Move bit or the move can be aborted by starting another move The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 38 Immediate Stop Conditions The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt Ainactive to
57. e SMD23 4P Definition of Home Position 41 Position Preset 41 Find Home Commands 41 Homing Inputs 999599 41 Physical Inputs 41 Backplane Inputs 41 Homing Configurations 42 Homing Profiles 42 Home Input Only Profile 42 Profile with Backplane Home Proximity Bit 43 Profile with Overtravel Limit 44 Chapter 4 Installing the SMD23 4P Chapter 4 Installing the SMD23 4P continued Compatible Wiring eese 48 Cordsets iatis 48 Cables ete anre 48 COnnecClOtS i cane ias 49 Power amp Input Connector 49 Power Wirng 50 Input Wiring 51 Chapter 5 Setting the PROFIBUS Address Required Equipment sss 53 RS 485 Port Configuration 53 Cabling sedent 54 Computer Configuration 55 Connecting to the SMD23 4P 56 Using the PROFIBUS DP Configuration Tools Utility 56 Chapter 6 Host Configuration Basic Steps iiiter ee 59 Download the GSD file 59 GSD File Instal
58. e and relative moves based on the encoder count instead of the stepper pulse count Detect motor stall conditions 12 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23P AND SMD24P Indexer Functionality The table below lists the functionality offered by the indexer built into the SMD23 AP Feature PROFIBUS DP Description Allows easy setup and communication with a wide range of host controllers Programmable Inputs Each of the inputs can be programmed as a Home Limit Over Travel Limit Capture Input Manual Jog Stop Start Indexer Move E Stop Input or a General 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 SMD23 4P homes to a discrete input and can use a bit in the Network Data as a home proximity input Relative Move Allows you to drive the motor a specific number of steps in either direction from the current location Absolute Move Allows you to drive the motor from one known location to another known location Jog Move Allows you to jog the motor in either direction based on an input bit from your host controller Registration Move Allows you to jog the motor in either direction based on an input bit from your host controller When a controlled stop is issued the move will output a programmable number of
59. e 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 SMD23 4P Programming in an idle current reduction can also significantly reduce the temperature of the motor Motors should be mounted using the heaviest hardware possible AMCI motors can produce high torques and accelerations that may weaken and shear inadequate mounting hardware 1 The motor case must be grounded for proper operation This is usually accomplished through its mounting hardware If you suspect a problem with your installation such as mounting the motor to a painted surface then run a bonding wire from 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 performance will result SMD23P Outline Drawing Length 0 05 X ____ gt engin 1 3 1 520 0 005 0 70 max 1 55 40 02 lt gt T 0 81 40 04 0 001 38 61 0 13 17 8 39 4 40 5 20 6 1 0 03 0 06 0 01 gt lt 0 003 1 5 0 3 2 0 08 1 60 40 6 D S 1 5000 0 0010 84 S 38 100 0 025 Eg sl Optional Nitr
60. e direct all comments to Technical Documenta tion AMCI 20 Gear Drive Terryville CT 06786 or fax us at 860 584 1973 You can also e mail your questions and comments to techsupport amci com ADVANCED MICRO CONTROLS INC TABLE OF CONTENTS General Information Chapter 2 Move Profiles Important User Information 2 Units of Measure eene 23 Standard Warranty 2 Definition of Count Direction 23 Returns Policy eterne 2 Definition of Home Position 23 24 Hour Technical Support Number 2 Definition of Starting Speed 23 We Want Your Feedback 2 Definition of Target Position 24 Relative Coordinates 24 ABOUT THIS MANUAL Absolute Coordinates 24 7 D finigonot Acceleration Types acces 24 Applicable Units esses 7 Linear hechas ou ro 24 Revision Record 7 Triangular S Curve Revision History 7 Acceleration 25 Navigating this Manual 8 Trapezoidal S Curve Manual Conventions 8 Acceleration 25 Trademark Notices cce 8 A Simple MOVE neces 26 Where To Go From Here
61. e48 VdcPower on 22 125 24VdcTorque 100 75 24VdcPower 50 25 0 Speed rev sec Figure 1 6 SMD23P 240 Torque and Power Curves 20 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23P AND SMD24P Torque and Power Curves continued SMD24P 350 Torque and Power Curves Motor Current 3 4A ET N 5 lt lt 48Vdc Torque 5 e48Vdc Power oz 5 24 Torque 24Vdc Power Speed rev sec Figure 1 7 SMD24P 350 Torque and Power Curves 20 Gear Drive Plymouth Ind Park Terryville CT 06786 21 Tel 860 585 1254 Fax 860 584 1973 http www amci com E INTRODUCTION TO THE SMD23P AND SMD24P Notes 22 ADVANCED MICRO CONTROLS INC _______ o CHAPTER 2 7 8 PROFILES When a move command is sent to an SMD23 4P the unit calculates the entire pro file before starting the move or issuing an error message This chapter explains how the SMD23 4P calculates profiles and the different move types that are avail able Appendix A Calculating Move Profiles provides example profile calcula tions if your application requires precise move profiles Units of Measure Distance Every distance is measured in steps Your programming will give you a specific number of steps needed to complete one rotation of the motor shaft It is up to you to determine how many steps are required to travel the required distance in your application Speed All speeds are
62. ed is changed the motor will accelerate or decelerate to the new Programmed Speed using the new accelerate decelerate parameter values Figure 2 8 below shows an example of a Jog Move where the speed and acceler ation values are changed while the move is in progress Once the move is initiated with the Programmed Speed greater than the Starting Speed changing the Programmed Speed to a value less than the Starting Speed will cause the SMD23 4P to issue an invalid parameter error The Jog Move will continue to run at the last valid speed Programmed Speeds Changed During Move Starting Speed 9 2 POSITION Change in Change in Controlled Parameters Parameters Stop Condition Figure 2 8 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 gt You toggle the Hold Move control bit in the Network Output Data The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 38 Immediate Stop Conditions The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt Ainactive to active transition on an input configured as an E Stop Input ACW CWW Limit Switch 15 reached If the limit that 15 reached 15 the same as the direction of travel for example hitting the CW limit while running a CW move a Reset Errors command must
63. een Segment Blocks for each Assembled Move 20 Gear Drive Plymouth Ind Park Terryville CT 06786 81 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Input Data Format The correct format for the Network Input Data when an SMD23 4P is in Command Mode is shown below Command Mode Input Data Status Bits MSW Status Bits LSW Motor Position Upper Word Motor Position Lower Word Encoder Position Upper Word Encoder Position Lower Word Captured Encoder Position Upper Word Captured Encoder Position Lower Word Value of Motor Current X10 Last programmed value of the Acceleration Jerk Parameter Table 8 19 Network Input Data Format Command Mode Status Bits MSW Format Status Bits IVISW 15 14 13 12 11 10 09 08107 06 05 04103 02 01 Figure 8 4 Command Mode Status Bits MSW Format Bit 15 Mode Bit 1 for Configuration Mode Programming 0 for Command Mode Programming An SMD23 4P powers up in Command Mode and shows a configuration error hexadecimal value of 6408h unless a valid configuration had been previously written to the flash memory of the unit The SMD23 4P will not power the motor or accept commands until a valid configuration is written to it or read from its internal flash memory Bit 14 Controller OK Bit 1 when the SMD23 4P is operating without a fault 0 wh
64. elerates at the programmed Acceleration Value until the speed of the motor reaches the Programmed Speed 2 The motor continues to run at the Programmed Speed until it reaches the point where it must decelerate before reaching point B 3 The motor decelerates at the Deceleration Value until the speed reaches the Starting Speed which occurs at the Target Position B The motor stops at this point The Starting Speed parameter is programmed when the SMD23 4P is configured by the host con troller The Acceleration Value Deceleration Value and Programmed Speed parameters are pro grammed when the move command is sent to the SMD23 4P Figure 2 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 and decelerate are less than the total number of steps in the move Figure 2 5 below shows a Triangular Profile A Triangular Profile occurs when the number of steps needed to accelerate to the Programmed Speed and decelerate from the Programmed Speed are greater than the total number of steps in the move In this case the profile will accelerate as far as it can before it has to decelerate to reach the Starting Speed at the Target Position The Programmed Speed may never be reached Programmed Speed n o Starting Speed POSITION A B Figure 2 5 A Triangular Profile 26 ADVANCED MICRO CONTROLS INC
65. ell Time is programmed in word 9 of the Command Data The value is programmed in milliseconds and can range from 0 to 65 536 gt Blend Move Direction Command Bits LSW Bit 4 This bit 15 used to determine the direction that the Blend Move will be run in When this bit equals 0 the Blend Move runs in the clock wise direction When this bit equals 1 the Blend Move is run in the counter clockwise direc tion Bits 11 amp 12 Program Move amp Program Move Segment Bits These bits are used 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 36 Bit 10 Reset Errors When set to 1 the SMD23 4P will clear all existing errors and attempt to use the present data to run a new command This command also resets the Move Complete bit Bit 9 Preset Motor Position Bit When set to 1 the SMD23 4P will preset the Motor Position to the value stored in Output Words 2 and 3 This command also resets the Move Complete bit Bit 8 Move CCW When set to 1 the SMD23 4P will run a Jog Move in the counter clockwise direction A full explanation of a Jog Move can be found starting on page 29 gt Run Registration Move Command Bits LSW Bit 7 When this bit equals 0 and a Jog Move command is issued it will run as a standard Jog Move When this bit equals 1 and a Jog Move comma
66. en an internal fault condition exists Bit 13 Configuration Error Bit 1 on power up before a valid configuration has been written to the SMD23 4P or after any invalid configuration has been written to the unit 0 when the SMD23 4P has a valid configuration written to it or if valid configuration data is read from flash memory on power up Bit 12 Command Error Bit 1 when an invalid command has been written to the SMD23 4P This bit can only be reset by the Reset Errors bit Command Bits MSW Bit 10 Bit 11 Input Error Bit 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 gt If the opposite End Limit Switch is reached during a homing operation This bit is reset by a Reset Errors command The format of the command is given on page 79 82 ADVANCED MICRO CONTROLS INC COMMAND DATA FORMAT 21 Input Data Format continued Status Bits MSW Format continued Bit 10 Position Invalid Bit 1 when Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 gt Aconfiguration is written to the SMD23 4P The motor position has not been preset The machine has not been homed The Network Connection has been lost and re established An Immediate or Emergency Stop has occurred An End Limit Swit
67. ensors require an external 1 Ground only one end of shield pull up resistor because the input to the 2 Shield is usually grounded where the signal is generated If a good quality earth ground connection is not available at the sensor the shield can be SMD23 4P also sinks current Table 4 3 grounded to the same Ground Bus as the SMD23 4P below shows the values of pull up resistors that will allow the SMD23 4P input to acti DC Sinking Sensor SENSOR POWER vate along with the current that the sensor Run a seperate wire from the power supply E to each sensor Do Not daisy chain power must be able to sink when it 1s active from one sensor to the next Input Pull Up Sensor Current CABLE SHIELD 45Vdc to 24Vdc Voltage Resistor When Active SS pu SINKING m an iind SENSOR O SS E Sut 300 16 7mA 12 14K 86mA Grounding Strap maybe required by local safety 24 3 8K 6 3mA Inputt or 2 DC Common codes SMD23 4P INPUT Pull up Resistor is Required Table 4 3 Pull Up Resistor CONNECTOR See Notes GROUND THE SHIELD OF THE SENSOR CABLE The logical states of the sensor and SMD23 1 Ground only one end of shield 2 Shield is usually grounded where the signal is generated If a good quality 4P input will be reversed The SMD23 AP earth ground connection is not available at the sensor the shield can be x
68. et select the proper subnet in this tab as well Use the General tab to set the name of the SMD23 4P in your project Click the OK button to close the Properties window 4 With the icon selected detailed information on the SMD23 4P device is available in the detailed view section of the window which is below the graphic view of your setup The default PI Peripheral Input and PQ Peripheral Output memory locations that were assigned when the SMD23 4P was added are shown in this view If you want to change these addresses double click anywhere in the detail view row to open the Properties DP slave window From here you can set the starting addresses for the SMD23 4P The ending addresses will automatically update Click the OK button to confirm your selection Continue by adding any remaining devices to your PROFIBUS network Remember to compile and down load the changes to your PLC 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 61 2 HosT CONFIGURATION Notes 62 ADVANCED MICRO CONTROLS INC _______ S w CONFIGURATION MODE DATA FORMAT This chapter covers formats the Network Output Data used configure SMD23 4P as well as the formats of the Network Input Data that contains the responses from the unit An SMD23 4P requires ten 16 bit words 20 bytes for Output Data as well as ten 16 bit words for Input Data
69. f the motor and cycle power to the SMD23 4P 20 Gear Drive Plymouth Ind Park Terryville CT 06786 85 Tel 860 585 1254 Fax 860 584 1973 http www amci com ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE CT 06786 T 860 585 1254 F 860 584 1973 WWW amci com LEADEHS IN ADVANCED CONTHOL PHODUCTS
70. g the SMD23 4P Note that this bit is not the Home Proximity Bit but enables or disables its operation Do not use the Home Prox imity bit if you only want to home to the Home Limit Switch Leave this bit equal to 0 Bit 10 Quadrature Encoder Enable Bit 0 when Quadrature Encoder is not used 1 to enable a Quadrature Encoder Only valid with the SMD23 4P E units that have the built in encoder 64 ADVANCED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT V Configuration Mode Output Data Format continued Control Word Format continued Bits 5 3 Input 2 Configuration Bits See Table Below Bits 2 0 Input 1 Configuration Bits See Table Below Function General Purpose Input 28 071 The input is not used in any of the functions of the SMD23 AP but it s status is reported in the Network Data This allows the input to be used as a discrete DC input to the host controller CW Limit Input defines the mechanical end point for CW motion CCW Limit Input defines the mechanical end point for CCW motion Start Indexed Move Starts a move that is held in memory Start Indexed Move Capture Encoder Value When the encoder is enabled on an SMD23 4P E the encoder position value is captured whenever this input transitions An inactive to active state transition will also trigger an Indexed Move if one is pending in the SMD23 4P E Stop Jog or Registratio
71. g the decel eration stage of the move You can resume a held Relative Move by using the Resume Move command The use of the Hold Move and Resume Move bits is further explained in the Controlling Moves In Progress section starting on page 38 Immediate Stop Conditions The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input ACW CWW Limit Switch 15 reached If the limit that 15 reached 15 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 again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued Absolute Move Absolute Moves move from the Current Position A to a given position B The SMD23 4P calculates the direction and the number of steps needed to move to the given position and moves that number of steps A Starting Speed trapezoidal profile is shown to the right but Absolute POSITION Moves can also generate triangular profiles The com A B mand s Target Position can be in the range of Figure 2 7 Absolute Move 8 388 607 counts The move will be clockwise if the Target Position is greater than the Current Position and counter clockwise if the Target Position is less than the Current Position Programmed Speed SPEED NOTE gt 1 The Hom
72. gister to a known value The second method is using one of the Find Home commands If you use the unit s Home commands the motor position and encoder registers will automatically be set to zero once the home position is reached Defining a Home Position is completely optional Some applications such as those that use the SMD23 AP for speed control don t require position data at all Definition of Starting Speed The Starting Speed is the speed that moves will begin and end at This value is set while configuring the unit and it has a valid range of 1 to 1 999 999 steps second This value is typically used to start the move above the motor s low frequency resonances In micro stepping applications this setting also limits the amount of time needed for acceleration and deceleration AMCI does not specify a default value because it is very dependent on motor size and attached load 20 Gear Drive Plymouth Ind Park Terryville CT 06786 23 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Definition of Target Position The Target Position is position that you want the move to end at There are two ways to define the Target Position with relative coordinates or absolute coordinates Relative Coordinates Relative coordinates define the Target Position as an offset from the present position of the motor Most SMD23 4P moves use relative coordinates The range of values for the Target Position whe
73. gramming cycle the SMD23 4P will also set the Transmit Move Segment bit to signify that it is ready for the first segment gt Program Move Segment bit Set this bit to tell the SMD23 4P that the data for the next segment is available in the remaining data words Control Bits Input Data Move Program Mode bit The SMD23 4P sets this bit to tell you that it is ready to accept segment programming data in the output data words The actual transfer of segment data is controlled by the Program Move Segment and Transmit Move Segment bits gt Transmit Move Segment bit The SMD23 AP will set this bit to signal the host that it is ready to accept the data for the next segment Programming Routine 1 The host sets the Program Move bit in the Network Output Data 2 The SMD23 4P responds by setting both the Move Program Mode and Transmit Move Segment bits in the Network Input Data 3 When the host detects that the Transmit Move Segment bit is set it writes the data for the first segment in the Network Output Data and sets the Program Move Segment bit 4 The SMD23 4P checks the data and when finished resets the Transmit Move Segment bit If an error is detected it also sets the Command Error bit 5 When the host detects that the Transmit Move Segment bit is reset it resets the Program Move Segment bit 6 The SMD23 4P detects that the Program Move Segment bit is reset and sets the Transmit Move Segment bit to signal that it is re
74. iest way to accomplish this is by writing a value of Ox0000 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 command bit in the Network Output Data is reset to zero It is possible to perform an Indexed Registration Move by configuring two inputs for their respective functions The first input configured as a Start Indexed Move Input starts the move and the second configured as a Stop Manual or Registration Move Input causes the registration function to occur You cannot issue a Hold Command with the Indexed Bit set and have the Hold Command trigger on the inactive to active transition of a physical input Hold Commands are always acted upon as soon as they are accepted from the Network Output Data You cannot issue an Immediate Stop Command with the Indexed Bit set and have the Immediate Stop Command trigger on the inactive to active transition of a physical input Immediate Stop Commands are always acted upon as soon as they are accepted from the Network Output Data If you need this functionality consider programming the physical input as an E Stop Input You cannot issue a Clear Error Command with the Indexed Bit set and have the Clear Error Command trigger on the inactive to active transition of a physical input Clear Error Commands are always acted upon as soon as they are accepted from the Network Output Data 20 Gear Drive Plymouth Ind Park
75. ile Shaft Br ye A Y Seal Option P a lo 0 2500 0 0000 0 20 0 01 4 20 16 0 02 5 1 20 3 pad iid 6 350 0 000 1 856 0 008 vee 0 00 0 0 f 47 14 40 2 0 5 4 046 00 I lt 2 25 57 max SMD23E 130 E M12 P 3 80 96 5 SMDOSE SANE 4 60 Gree 0 2500 7000097 section Sec 9X Scale 000 0 2 6 350 915 0 228 0 004 AMCI Motor Length 5 8 0 10 REAR VIEW f b om 6 Pin 3 BUS GND Pin 4 BUS B Pin 4 Input 2 Pin 3 DC Common Pin 5 N C Pin 5 24Vdcaux DIGITAL IN POWER Pin 2 BUS A lt gt Pin 1 BUS VDC Pin 1 24Vdcemain Pin 2 Input 1 REQUIREMENT P EN eU RACE POWER amp NETWORK DIGITAL IN Figure 4 1 SMD23P Outline Drawing 46 ADVANCED MICRO CONTROLS INC INSTALLING THE SMD23 AP 4 Mounting continued SMD24P Outline Drawing 5 08 0 05 1 520 0 005 0 70 max 1 55 0 02 2861 0 13 17 8 max 39 4 40 5 2 EA g oa 60 Max z gee 1 5000 0 0010 Sad P Y 38 100 0025 59 J 4 t 27 2 or 5 A Optional Nitrile Shaft 1 2 5 nn e Y Seal Option P
76. ion of the SMD23 4P is enabled this bit will be a 1 during an Overtemperature Fault This bit can only be cleared by cycling power to the SMD23 AP Network Lost Error Bit If the physical network connection is lost at any time this bit will be set when the connection is re established The Input Error bit will also be set Note that this bit is not set if the communication loss is not due to a physical error Reserved Bit Will always equal zero Temperature Warning Bit This bit is set to 1 when the processor internal temperature exceeds 90 C At this point the heatsink temperature is typically near 83 C If this bit trips often and you want to lower the operating temperature of the unit consider installing a fan to force additional air flow around the unit Reserved Bit Will always equal zero Reserved Bit Will always equal zero Input2 State Bit 1 when Input 2 is in its active state The active state of the input is programmed as explained in the Configuration Word Format section starting on page 66 Input1 State Bit 1 when Input 1 is in its active state The active state of the input is programmed as explained in the Configuration Word Format section starting on page 66 84 ADVANCED MICRO CONTROLS INC COMMAND DATA FORMAT 3 Input Data Format continued Motor Position Data These two inputs words report the motor position based on the number of steps output by the
77. ity Programmed Speed SPEED ACCELERATION TIME 2t TIME Figure 2 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 2 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 dcr eee Programmed Speed SPEED ACCELERATION Figure 2 3 Trapezoidal S Curve Acceleration SSeS E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 25 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES A Simple Move As shown in the figure below a move from position A Current Position to position B Target Position con sists of several parts Programmed Speed SPEED Starting Speed POSITION Figure 2 4 A Trapezoidal Profile 1 The move begins at point A where the motor jumps from rest to the configured Starting Speed The motor then acc
78. lation 59 Configure the PROFIBUS Network 60 Adding the SMD23 4P to the PROFIBUS Network 61 Chapter 7 Configuration Mode 45 Data Format Safe Handling Guidelines 45 Modes of Operation 63 Prevent Electrostatic Damage 45 Configuration Mode 63 Prevent Debris From Command Mode 63 De Un ree S m Multi Word Format eese 63 Remove Power Before Servicing ina Hazardous 45 Output Data Format 64 Control Word Format 64 Mounting 46 Configuration Word Format 66 SMD23P Outline Drawing 46 Notes on Other VED DINE p Configuration Words 67 SMD23 4P M12 Mounting 47 SMD23 4P M12P Mounting 47 Input Data Format 67 Connecting the Load 47 Control Word Format Word 0 67 Network Connector ess 48 Invalid Configurations 68 Profibus Terminators 48 4 ADVANCED MICRO CONTROLS INC Table of Contents Chapter 8 Command Mode Data Format Multi Word Format 69 Command Bits Must Transition 69 Out
79. lay 7 Return to the Home Input at the configured Starting Speed Stop when the Home Input transitions from Inactive to Active NOTE oo limit is active when the Find Home Command is active the profile will begin at step 4 44 ADVANCED MICRO CONTROLS INC CHAPTER 4 INSTALLING THE SMD23 4P This chapter gives detailed information on installing the SMD23 4P units The per son responsible for installing the SMD23 4P should be familiar with general instal lation practices Location SMD23 4P units are IP50 rated are suitable for use in an industrial environment that meet the following crite ria gt Only non conductive pollutants normally exist in the environment but an occasional temporary con ductivity caused by condensation is expected Transient voltages are controlled and do not exceed the impulse voltage capability of the product s insu lation These criteria are equivalent to the Pollution Degree 2 and Over Voltage Category II designations of the Inter national Electrotechnical Commission IEC SMD23 4P M12P units are IP67 rated are suitable for use in an industrial environment that meet the follow ing criteria Continuous conductivity occurs due to conductive dust rain or other wet conditions Transient voltages are controlled 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
80. ls Inc You may reproduce this manual in whole or 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 copyright 2014 by Advanced Micro Controls Inc You may not alter the contents of this document or charge a 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 warra
81. m 4 INSTALLING THE SMD23 4P Power Wiring The SMD23 4P accepts 24 to 48Vdc as its input power AMCI strongly suggests using 18 AWG or larger wire for the power connections The MS 31 connector will accept up to 18 gauge wire D CAUTION Do not apply 120 Vac to any pins of the SMD23 4P If this occurs the unit will be dam aged and you will void the unit s warranty Figure 4 5 below shows how to wire power to the SMD23 4P units Note that Pin 5 DCPower yx is only used when you introduce a circuit for removing power from the motor POWER amp DIGITAL IN Pin 3 DC C Pin 4 Input 2 Pin 5 DC Poweraux Pin 1 DC Powermain 24Vdc to 48Vdc Power Supply POWER amp DIGITAL IN Power Control Circuit 24Vdc to 48Vdc Power Supply Pin 2 Input 1 Figure 4 5 M12 Power Wiring 50 ADVANCED MICRO CONTROLS INC INSTALLING THE SMD23 AP Input Wiring Figure 4 6 below shows how to wire discrete DC differential sourcing and sinking sensors to Inputs 1 and 2 of the SMD23 4P Input Specifications DC Differential Sensor SENSOR POWER Run a seperate wire from the power supply Single Ended 2500 Vac dc opto isolated to each sensor Do Not daisy chain power from one sensor to the next Accepts 3 5 to 27Vdc without the need for an ex
82. m mm EH ADVANCED cro CONTROLS INC Manual 940 0S140 SIVID23P amp SIVID24P Integrated Stepper Indexer Driver IVlotor with PROFIBUS Interface SIVID23P 130 IVI12 SMD23P 240 M12 SIVID23P 130E IM12 SMD23P 240E M12 SMD23P 130 M12P 5 023 240 12 SMD23P 130E M12P SIVID23P 240E IVI12P SMD24P 350 M12 SMD24P 350E M12 SNMID24P 350 M12P SIVID24P 350E IVI12P 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 This manual is copyright 2014 by Advanced Micro Contro
83. main Pin 2 Input 1 DIGITAL IN NS POWER amp DIGITAL IN POWER M12 Connector REQUIREMENT 24 to 48 Voc S A Coded 5 Pin Male mmm amm View shows the front of the unit s connector M P which is the same view as the back of its mating connector Figure 1 2 SMD23 4P Rear Cover Figure 1 3 M12 Power and Digital Input Connector Digital inputs on the SMD23 4P units are single ended and referenced to the DC Common pin There are two power pins powers both the control electronics and the motor DCPower powers only the control electronics Using the DCPower pin is optional If your application requires you to cut power to your motor under some conditions using the DCPower pin allows you to cut power to your motor without losing your network connection The connector is a standard five pin A coded M12 connector that is rated to IP67 when the mate is properly attached 18 AWG wire should be used for the VdcMAIN and DC Common connections 16 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23P AND SMD24P SMD23 4P M12 Connectors continued PROFIBUS Connector Figure 1 2 also shows the placement of the sealed PROFIBUS Connector while figure 1 4 shows the connec tor pinout when viewed from the back of the SMD23 4P The connector is a standard five pin B coded female M12 connector that is rated to IP67 when the mate is properly attached Pin 4 BUS B Pin 3 BUS GN
84. measured in steps second Since the number of steps needed to complete one shaft rotation is determined by your programming it is up to you to determine how many steps per second is required to rotate the motor shaft at your desired speed Acceleration The typical unit of measure for acceleration and deceleration is steps second second or steps second However when programming an SMD23 4P all acceleration and deceleration values must be pro grammed in the unit of measure of steps millisecond second gt convert from steps second to steps millisecond second divide the value by 1000 This must be done when converting from a value used in the equations to a value programmed into an SMD23 4P gt convert from steps millisecond second to steps second multiply the value by 1000 This must be done when converting from the value programmed into an SMD23 4P to the value used in the equa tions Definition of Count Direction Clockwise moves will always increase the motor position register that is reported back to the host Some of the moves such as the Jog Move have a positive and negative command A positive command such as the Jog Move command will result in a clockwise rotation of the shaft Definition of 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 re
85. ming Complete Bit Set to 1 when a homing command has completed successfully 0 at all other times Axis Stopped Bit Set to 1 when the motor is not in motion Note that this is stopped for any rea son not just a completed move For example an Immediate Stop command during a move will set this bit to 1 but the Move Complete Bit bit 7 above will not be set Hold State Bit Set to 1 when a move command has been successfully brought into a Hold State Hold States are explained is the Controlling Moves In Progress section starting on page 22 CCW Move Bit Set to 1 when the motor is rotating in a counter clockwise direction CW Move Bit Set to 1 when the motor is rotating in a clockwise direction 20 Gear Drive Plymouth Ind Park Terryville CT 06786 83 Tel 860 585 1254 Fax 860 584 1973 http www amci com COMMAND DATA FORMAT Input Data Format continued Status Bits LSW Format Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status Bits LSW 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 5 5 8 S a 5 0 195 0 5 0 10 81 gt al jo Figure 8 5 Command Mode Status Bits LSW Format Driver Enabled Bit Present state of global Driver Enable Bit
86. n Move Brings a Jog or Registration Move to a controlled stop Stop Jog or Registration Move Capture Encoder Value When the encoder is enabled on an SMD23 AP the encoder position value is captured when the input triggers a controlled stop to a Manual or Registration move Emergency Stop All motion is immediately stopped when this input makes an inactive to active transition Home Used to define the home position of the machine Invalid Combination This bit combination is reserved Table 7 3 Configuration Mode Control Word Format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 65 Tel 860 585 1254 Fax 860 584 1973 http www amci com CONFIGURATION MODE DATA FORMAT Configuration Mode Output Data Format continued Configuration Word Format Configuration Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 0 gt DriveEn ActSt 2 ActSt 1 RdConfig SavConfi RESERVED Bit must equal zero Figure 7 2 Configuration Mode Config Word Format Bit 15 Driver Enable Bit 0 to disable the motor driver circuitry 1 to enable the motor driver circuitry When the motor driver is disabled all voltage is removed from the motor Bits 14 12 Reserved Must equal zero Bit 11 Read Present Configuration If this bit is set when you enter Configuration
87. n Pin 2 Input 1 MS eo POWER amp DIGITAL IN Som M12 Connector REQUIREMENT A Coded 5 Pin Male View shows the front of the unit s connector which is the same view as the back of its mating connector OLD o AMCI gt Figure 4 4 I O Connector Digital inputs on the SMD23 4P units are single ended and referenced to the DC Common pin There are two power pins DCPowery powers both the control electronics and the motor DCPower powers only the control electronics Using the DCPower pin is optional If your application requires you to cut power to your motor under some conditions using DCPower pin allows you to cut power to your motor without losing your network connection The connector is a standard five pin A coded M12 connector that is rated to IP67 when the mate is properly attached Many different connectors and cordsets are available on the market all of which will work with the SMD23 4P provided that the manufacturer follows the M12 A coding standards The following mating connector is available from AMCI AMCI Binder Description Mating connector for Power Connector Female 5 pin A coded Screw terminal connections 6 to 8 mm dia cable Straight IP67 rated when properly installed MS 31 99 0436 12 05 Table 4 2 Compatible Input Connector 20 Gear Drive Plymouth Ind Park Terryville CT 06786 49 Tel 860 585 1254 Fax 860 584 1973 http www amci co
88. n it is treated as an offset is 8 388 607 counts Positive offsets will result in clockwise moves while negative offsets result in counter clockwise moves The Current Motor Position that is reported back to the host has a range of 32 768 000 to 32 767 999 counts The only way to move beyond 8 388 607 counts is with multiple relative moves or jog com mands Absolute Coordinates Absolute coordinates treat the Target Position as an actual position on the machine Note that you must set the Home Position on the machine before you can run an Absolute Move See Definition of Home Position on the previous page The range of values for the Target Position when it is treated as an actual position on the machine is 8 388 607 counts The move will be clockwise positive if the Target Position is greater than the Cur rent Position and counter clockwise negative if the Target Position is less than the Current Position The Current Motor Position register that is reported back to the host has a range of 32 768 000 to 32 767 999 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 homing commands allow you to define the acceleration type used during the move The SMD23 AP supports three types of accelerations a
89. nd decelerations The type of acceleration used is controlled by the Acceleration Jerk parameter Linear Acceleration When the Acceleration Jerk parameter equals zero the axis accelerates or decelerates at a constant rate until the programmed speed is reached This offers the fastest acceleration but consideration must be given to insure the smoothest transition from rest to the acceleration phase of the move For the smoothest transition from the starting speed the starting speed should be equal to the square root of the acceleration in steps sec For example if the choose acceleration is 20 000 steps sec the smoothest transition occurs when the starting speed is 141 1412 20 000 Note that other values will work correctly but you may notice a quick change in velocity at the beginning of the acceleration phase Programmed Speed SPEED TIME t TIME Figure 2 1 Linear Acceleration ACCELERATION 24 ADVANCED MICRO CONTROLS INC MOVE PROFILES 4 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 when compared to Linear Acceleration Triangular S Curve Acceleration takes twice as long to achieve the same veloc
90. nd is issued the move will run as a Registration Move Bit 7 Jog Move CW When set to 1 the SMD23 4P will run a Jog Move in the clockwise direction A full explanation of a Jog Move can be found starting on page 29 Run Registration Move Command Bits LSW Bit 7 When this bit equals 0 and a Jog Move command is issued it will run as a standard Jog Move When this bit equals 1 and a Jog Move command is issued the move will run as a Registration Move 70 ADVANCED MICRO CONTROLS INC COMMAND DATA FORMAT 21 Command Bits MSW continued Bit6 Find Home CCW When set to 1 the SMD23 4P will attempt to move to the Home Limit Switch in the counter clockwise direction A full explanation of homing can be found in the Homing the SMD23 4P chapter starting on page 41 Bit5 Find Home CW When set to 1 the SMD23 4P will attempt to move to the Home Limit Switch in the clockwise direction A full explanation of homing can be found in the Homing the SMD23 4P chapter starting on page 41 Bit 4 Immediate Stop Bit When set to 1 the SMD23 4P will stop 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 become invalid Bit 3 Resume Move Bit Set to 1 to resume a move that you previously placed in a hold state Use of the Resume Move and Hol
91. nformation on mounting grounding and wiring specific to the units Setting the PROFIBUS ddress Anyone that must set the PROFIBUS address of the SMD23 4P use the PROFIBUS DP Configuration Tool software that is available from AMCI Host Configuration Anyone needing guidance on configuring a PROFIBUS host controller to communicate with the SMD23 4P A Siemens SIMATIC S7 317 CPU is used as an example host Configuration Mode Data Format Anyone that needs detailed information on the format of the net work data to and from the SMD23 4P that is used to configure the unit Command Mode Data Format Anyone that needs detailed information on the format of the net work data to and from the SMD23 4P that is used to command the unit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 9 Tel 860 585 1254 Fax 860 584 1973 http www amci com ABOUT THIS MANUAL Notes 10 ADVANCED MICRO CONTROLS INC ____ CHAPTER1 ___ INTRODUCTION TO THE SMID23P AND SMD24P This manual 15 designed get quickly running with the SMD23P SMD24P lines of Integrated Stepper Indexer Driver Motors As such it assumes you have a basic understanding of stepper systems such as the resolution you want to run your motor at and the reasons why you d want to use Idle Current Reduction and the reasons why you wouldn t If these terms or ideas are new to you we re here to help AMCI has a great
92. nty 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 7271 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 We Want Your Feedback Manuals at AMCI are constantly evolving entities Your questions and comments on this manual are both wel comed and necessary if this manual is to be improved Pleas
93. ny value including parameter values from the pre vious command Once the first block is transmitted the SMD23 4P responds by setting bits 8 and 9 in the Status Bits MSW word See Status Bits MSW Format starting on page 82 Once these are set you can then start transmitting Segment Blocks Segment Block Function Command Bits MSW 1651800 Command Bits LSW See pg 71 Rel Target Position Upper Word Rel Target Position Lower Word Steps Combined value between 8 388 607 and 48 388 607 Programmed Speed Upper Word Programmed Speed Lower Word Steps Second Combined value between the Configured Starting Speed and 2 999 999 Acceleration Steps ms sec 1 to 5000 Deceleration Steps ms sec 1 to 5000 Reserved Must equal zero for compat ibility with future releases 1 2 3 4 5 6 7 8 9 Acceleration Jerk 0 to 5000 Table 8 18 Assembled Move Segment Programming Block Note that each Segment Block starts with bits 11 and 12 set in the Command Bits MSW word 16111800 When the SMD23 4P sees bit 12 of Command Bits MSW set it will accept the block and reset bit 9 in the Status Bits MSW word When your program sees this bit reset it must respond by resetting bit 12 of Com mand Bits MSW The SMD23 4P will respond to this by setting bit 9 the Status Bits MSW word and the next Segment Block can be written to the SMD23 4P You can write a maximum of sixt
94. ome Posi tion based on sensors brought into the unit The Find Home command begins searching by rotating the motor shaft clockwise and ends when the home sensor triggers while the SMD23 4P is rotating clockwise at the starting speed The Find Home command operates in the same way but starts and ends with counter clockwise rotation Homing Inputs Four inputs can be used when homing the module These inputs are either physical inputs attached to the module or bits in the network output data words Physical Inputs gt Home Input This input is used to define the actual home position of the machine CW Limit Switch Input This input is used to prevent overtravel in the clockwise direction CCW Limit Switch Input This input is used to prevent overtravel in the counter clockwise direction Backplane Inputs gt Home Proximity Bit The SMD23 4P can be configured to ignore changes on the physical homing input until the Home Proximity Bit makes a 01 transition The SMD23 4P will home on the next inactive to active change on the physical input once this transition occurs You must program your host to control the state of this bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 41 Tel 860 585 1254 Fax 860 584 1973 http www amci com HoMiNG THE SMD23 4P Homing Configurations An SMD23 4P must have one of its DC inputs configured as the home input before one of the Find Home commands can be issued 1 You
95. ome the unit are introduced and diagrams that show how the unit responds to a homing command are given Definition of Home Position The Home Position can be any position on your machine that you can sense and stop at Once at the Home Position the motor position register of an SMD23 4P must be set to an appropriate value If you use the mod ule s Find Home commands the motor position register will automatically be set to zero once the home position is reached The Encoder Position register will also be reset to zero if the quadrature encoder is avail able and enabled NOTE gt Defining a Home Position is completely optional Some applications such as those that use the SMD23 4P for speed control don t require position data at all With the exception of Absolute Moves an SMD23 4P can still perform all of its move commands if the Home Position is not defined Position Preset One of the ways to define the Home Position is to issue the Preset Position command to the SMD23 4P Before doing this your host controller will need a way of sensing position The machine position data must be brought into the host the correct preset value calculated and this value written to the SMD23 4P with the Position Preset command The motor and encoder position values can be preset anywhere in the range of 8 388 607 to 8 388 607 Find Home Commands The other choice is to use the module s Find Home commands to order the SMD23 4P to find the H
96. on is set when the move command is issued gt Dwell Move A Dwell Move gives you the ability to string multiple relative moves together and the SMD23 4P will stop between each move for a programed Dwell Time Because motion stops between each segment a Dwell Move allows you to reverse direction during the move Blend Moves Each Relative Move defines a segment of the Blend Move The following restrictions apply when program ming Blend Moves 1 Each segment of the Blend Move must be written to the SMD23 4P before the move can be initiated The SMD23 4P supports Blend Moves with up to sixteen segments 2 Each segment is programmed as a relative move Blend Moves cannot be programmed with absolute coordinates 3 AII segments run in the same direction The sign of the target position is ignored and only the magnitude of the target position is used The move s direction is controlled by the bit pattern used to start the move If you want to reverse direction during your move consider using the Dwell Move which is explained on page 35 4 The Programmed Speed 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 tha
97. or driver portion of an SMD23 4P Feature RMS Current Control Benefits RMS current control give an SMD23 4P the ability to drive the 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 motor can be programmed from 1 0 to 3 4 amps in 0 1 amp increments Reducing the motor current to the minimum needed for your application will significantly reduce the motors operating tempera ture Programmable Idle Current Reduction Extends motor life by reducing the motor current when motion is not occur ring This extends the life of the motor by reducing its operating temperature Programmable Motor Steps Turn Allows you to scale your motor count to a real world value counts per inch counts per degree etc Anti Resonance Circuitry This circuitry gives an SMD23 4P the ability to modify motor current wave forms to compensate for mechanical resonance in your system This will give you smooth performance over the entire speed range of the motor Over Temperature Detection An SMD23 4P sets a warning bit in the network data when the temperature of the unit approaches its safe operating threshold Over Temperature Protection Available Discrete Inputs Protects your SMD23 4P from damage by removing power from the motor if the internal temperature of the drive
98. ore this input If the quadrature encoder is available the quadrature encoder position data will be captured when the DC input makes an inactive to active transition if it is configured as a Stop Jog or Registration Move Input The encoder position data is not captured if a Jog or Registration Move is not in progress If you want to capture encoder position data on every transition of a DC input configure it as a Start Indexer Move Input Capture Encoder Position Input As described in the Start Indexer Move Input and Stop Jog or Registration Move Input sections above an SMD23 AP can be configured to capture the encoder position value on a transition on a discrete DC input General Purpose Input If your application does not require all of the inputs you can configure the unused inputs as General Purpose Inputs The inputs are not used by the SMD23 AP but the input state is reported in the network data so their state can be monitored by your host controller SSS SS SS lt 9 3 20 Gear Drive Plymouth Ind Park Terryville CT 06786 15 Tel 860 585 1254 Fax 860 584 1973 http www amci com 1 INTRODUCTION TO THE SMD23P AND SMD24P Status LED s As shown in figure 1 2 below the NR25 has two status LE
99. out having to calculate absolute posi tions If you are indexing a rotary table you can preform a relative move of 30 multiple times without recalculating new positions in your controller If you perform the same action with Absolute Moves you would have to calculate your 30 position followed by your 60 position followed by your 90 position etc 20 Gear Drive Plymouth Ind Park Terryville CT 06786 27 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Basic Move Types continued Relative Move continued Relative Moves can be brought to a Controlled Stop by using the Hold Move Command from your host con troller When the command is accepted the axis will immediately decelerate at the programmed rate and stop When stopped successfully the SMD23 4P will set a 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 Position cannot be changed with the Resume Move Command Controlled Stop Conditions The move completes without error gt You toggle the Hold Move control bit in the Network Output Data Note that your holding position will not be the final position you commanded unless you toggle the Hold Move control bit durin
100. outh Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http www amci com E INTRODUCTION TO THE SMD23P AND SMD24P Compatible Connectors and Cordsets continued PROFIBUS Cordsets There are many different suppliers of Profibus interconnections Installing a pre assembled and tested cordset is the most common way to wire a Profibus system For those companies wishing to make their own cables cable and connectors are also available from a wide variety of suppliers A small sampling of companies is given below Cordsets Phoenix Contact http www phoenixcontact com Turck Inc http www turck com http www turck usa com gt Lumberg Automation http www lumberg automationusa com Cables gt Belden Inc http www belden com Belden part 3079A or 3079 are suggested Phoenix Contact http www phoenixcontact com Phoenix Contact part 2744652 Power Supply Sizing An external 24 to 48Vdc power supply is required to power the control electronics and the stepper motor so it must be rated to supply current to motor The general rule of thumb is to specify a supply that can output the maximum current for your motor The maximum motor current for the SMD23 4P is 3 4 Arms but this can be limited under software configuration By using the torque curves of your motor it is possible to calculate the maximum power your motor will out put and size your supply accordingly If you use power calcula
101. oximity bit the unit will ignore the state of the Home Input as long as this bit equals 0 This bit must equal 1 before a transition on the Home Input can be used to home the machine Further information on using the Home Proximity bit can be found in the Homing Inputs section starting on page 41 E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 71 Tel 860 585 1254 Fax 860 584 1973 http www amci com 21 COMMAND DATA FORMAT Command Bits LSW continued Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved Must equal 0 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 gt 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 Blend Move Direction bit Command Bits LSW Bit 4 In a Dwell Move the Dwell Time between seg ments is programmed in Word 9 of the command data Run As An Indexed Move If this bit is set when a move command is issued the SMD23 4P will not run the move immediately but will instead wait for an inactive to active transition on an input configured as a Start Indexer Move input The move command data including this bit must remain in the Network Output Data registers while performing an Indexed Move Run Registration Move When this
102. pen NO contacts and current flows through the input when it is active Bit 0 Input 1 Active Level Bit Determines the active state of Input 1 Set to 0 if your sensor has Nor mally 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 66 ADVANCED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT Configuration Mode Output Data Format continued Notes on Other Configuration Words gt Information on the Multi Word Format used when programming the Starting Speed can be found on page 63 gt Changes to the Idle Current only take effect at the end of the first move after re configuration Input Data Format The format for the Network Input Data when an SMD23 AP is in Configuration Mode is shown below Configuration Data Control Word Mirror of Output Data Config Word Mirror of Starting Speed Upper Word Mirror of Starting Speed Lower Word Mirror of Motor Steps Turn 0000 Mirror of Encoder Pulses Turn Mirror of Idle Current Percentage 1 2 3 4 5 6 7 8 Mirror of Motor Current X10 0000 or Status message when writing Configuration data to flash memory Table 7 4 Network Input Data Format Configuration Mode Control Word Format Word 0 When the Configuration data is valid and accep
103. pen a new window and scan every address from 2 to 123 It will then list the address that it found the SMD23 AP at Double click on the found address to copy it into the Current field 8 Entered the desired SMD23 4P address into the New field 9 Press the Change button The new address will be written to the SMD23 4P and the program will display a message prompt Slave Address changed Please check device LEDs for verification Figure 8 Successful Address Change Search for Slave Devices Bearches for slave address 42 Figure 7 Searching for the SMD23 4P 10 If the change was successful the NS LED on the SMD23 4P will be blinking red 11 Cycle power to the SMD23 4P and wait for MS LED to be on and green 12 In order to verify the address change press the SCAN button The program will scan through addresses 2 through 123 and will report the address of the SMD23 4P 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 57 Ls 1 SETTING THE PROFIBUS ADDRESS Notes 58 ADVANCED MICRO CONTROLS INC CHAPTER 6 HosT CONFIGURATION This chapter outlines the steps commonly needed the 5 023 4 communi cating with the Profibus master A Siemens SIMATIC S7 317 controller is used as an example Basic Steps Configuring a PROFIBUS host requires a few basic steps 1 Download the ZIP archive that contains the GSD files
104. put Data Format esses 69 Command MSW 70 Command Bits LSW 71 Command Blocks 73 Absolute Move 73 Relative Move 73 Hold Move 74 Resume Move 74 Immediate 75 Find Home 75 Find Home CCW 76 0 Move 76 Registration Move CW 77 Jog Move CCW 77 Registration Move CCW 78 Preset Position 78 Reset mu 79 Run Assembled Move 79 Preset Encoder Position 80 Programming Blocks 81 First Block 0555599 99595959 81 Segment Block 81 Input Data Format eese 82 Status MSW Format 82 Status Bits LSW Format 84 Motor Position Data 85 Encoder Position Data 85 Captured Encoder Position Data 85 Notes on Clearing a Driver Fault 85 gt SS EE EEE 20 Gear Drive Plymouth Ind Park Terryville CT 06786 5 Tel 860 585 1
105. r exceeds a safe operating threshold Table 1 2 Driver Functionality The SMD23 4P has two discrete DC inputs that accept 3 5 to 27Vdc signals 5 to 24Vdc nominal They can be wired as differential sinking or sourcing inputs How your SMD23 4P uses these inputs is fully program mable as well as their active states Programming their active states allow them to act as Normally Open NO or Normally Closed NC contacts Home Input Many applications require that the machine be brought to a known position before normal operation can begin This is commonly called homing the machine or bringing the machine to its home position An SMD23 4P allows you to define this starting position in two ways The first is with a Position Preset com mand The second is with a sensor mounted on the machine When you define one of the inputs as the Home Input you can issue commands to the SMD23 4P that will cause the unit to seek this sensor How the SMD23 4P actually finds the Home sensor is described in the Homing the SMD23 4P chapter starting on page 41 CW Limit Switch or CCW Limit Switch Each input can be defined 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 14 ADVANCED MICR
106. rs 16 Blend Moves 33 Power amp Input Connector 16 Controlled Stop 34 PROFIBUS Connector 17 Immediate Stop 34 Compatible Connectors and Cordsets 17 Dwell Move 35 Connectors 17 Controlled Stop 35 PROFIBUS Cordsets 18 Set ga MN 18 Assembled Move Programming 36 18 Control Bits Output Data 36 Power Supply 18 Control Bits Input 36 TD Programming Routine 36 19 Savi bled aving an Assemble Torque and Power Curves 20 Move 36 20 Gear Drive Plymouth Ind Park Terryville CT 06786 3 lt gt Tel 860 585 1254 Fax 860 584 1973 http www amci com Table of Contents Chapter 2 Move Profiles continued Indexed MOVES seen 37 Controlling Moves In Progress 38 Find Home Moves 38 JOR MOVES iret ettet 38 Registration Moves 38 Absolute Relative and Encoder Moves 38 Assembled Moves 38 Stall Detection with SMD23 4P_E 39 Idle Current Reduction 39 Chapter 3 Homing th
107. rting Speed Stop when the Home Input transitions from inactive to active NOTE gt If the Home Input is active when command is issued the move profile begins at step 5 above 42 ADVANCED MICRO CONTROLS INC HoMiNG THE SMD23 4P 1 Homing Profiles continued Profile with Backplane Home Proximity Bit Figure 3 2 below shows the move profile generated by a Find Home command when you use the Home Input with Backplane Home Proximity bit CW Home Home 8 Proximity Bit Home Input Input Active 2 Starting Speed Starting Speed POSITION SPEED CCW Figure 3 2 Homing with Proximity 1 Acceleration from the configured Starting Speed to the Programmed Speed 2 Run at the Programmed Speed 3 Ignores the Home Input because Home Proximity Bit has not made a 0 gt 1 transition 4 Deceleration towards the Starting Speed when the Home 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 NOTE Figure 3 2 shows the Backplane Home Proximity Bit staying active until the SMD23 AP reaches its home position This is valid but does not have to occur As stated in step 4 the SMD23 4P starts to hunt for the home position as soon and the Backplane Home Proximity Bit makes 0
108. scribed in the following chapter Multi Word Format Many of the hosts that can be used with an SMD23 4P only support 16 bit integers which limits the range of values from 32 768 to 32 767 or 0 to 65 535 Many parameters of an SMD23 4P exceed this range These parameters are transmitted in two separate words The table below shows how values are split Note that negative values are written as negative numbers in both words First Word Second Word 12 12 12 345 345 1 234 567 567 7 654 321 Table 7 1 Multi Word Format Examples 20 Gear Drive Plymouth Ind Park Terryville CT 06786 63 Tel 860 585 1254 Fax 860 584 1973 http www amci com CONFIGURATION MODE DATA FORMAT Output Data Format The correct format for the Network Output Data when the SMD23 4P is in Configuration Mode is shown below Configuration Data Control Word See below Configuration Word See below Starting Speed Upper Word Combined value between 1 Starting Speed Lower Word and 1 999 999 steps sec Motor Steps Turn 200 to 32 767 Reserved Set to zero Encoder Pulses Turn Set to 1 024 Idle Current Percentage 0 to 100 10 to 34 Represents 1 0 to 3 4 Arms Motor Current X10 1 2 3 4 5 6 7 8 9 Reserved Set to zero Table 7 2 Network Output Data Format Configuration Mode Control Word Format Control Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 5
109. scribed in Saving an Assembled Move in Flash on page 36 it is also possible to save a Blend Move to flash memory This move is restored on power up and can be run as soon as you enter Command Mode 3 In addition to the bit used to command the move there is a control bit that specifies which direction the Blend Move is run in Controlled Stop Conditions The move completes without error gt You toggle the Hold Move control bit in the Network Output Data When this occurs the SMD23 4P decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the move Note that your final position will most likely not be 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 section starting on page 38 Immediate Stop Conditions The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input gt ACW CWW Limit Switch is reached If the limit 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 again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued 34 ADVANCED MICRO CONTROLS INC
110. sed See Note Below Table 8 13 Preset Position Command Block Unused words are ignored by the SMD23 4P and can be any value including parameter values in the previ ous command Presetting the position will also reset the Move Complete status bit 78 ADVANCED MICRO CONTROLS INC COMMAND DATA FORMAT 21 Command Blocks continued Reset Errors Function Command Bits MSW 16540400 Command Bits LSW See pg 71 Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below iuo rr eR Unused See Note Below Table 8 14 Reset Errors Command Block Unused words are ignored by the SMD23 4P and can be any value including parameter values in the previ ous command Resetting errors will also reset the Move Complete status bit Run Assembled Move Function Command Bits MSW 16 2000 See pg 71 Blend Move Bit 9 0 Command Bits LSW Dwell Move Bit 9 1 Blend Move direction set by Bit 4 Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused See Note Below Unused with Blend Move Dwell Time with Dwell Move Table 8 15 Run Assembled Move Command Block Unused words are ignored by the SMD23 4P and can be
111. ses Acceleration Jerk 0 to 5000 Table 8 11 Jog Move CCW Command Block Unused words are ignored by the SMD23 4P and can be any value including parameter values in the previ ous command Reserved 2 3 4 5 6 7 8 9 20 Gear Drive Plymouth Ind Park Terryville CT 06786 77 Tel 860 585 1254 Fax 860 584 1973 http www amci com 21 COMMAND DATA FORMAT Command Blocks continued Registration Move CCW Function Command Bits MSW 1680100 See pg 71 Command Bits LSW Bits 7 amp 6 must equal 10 Stopping Distance Upper Word Steps Combined value between Stopping Distance Lower Word and 48 388 607 Combined value between Steps per the Configured Startin Programmed Speed Lower Word Second Speed Ad 2 999 099 Programmed Speed Upper Word Acceleration Steps ms sec to 5000 Deceleration Steps ms sec to 5000 Min Reg Move Distance Upper Word Steps Combined value between Min Reg Move Distance 0 and 8 588 607 Lower Word Table 8 12 Registration Move CCW Command Block Preset Position Function Command Bits MSW 16560200 Command Bits LSW See pg 71 Position Preset Value Upper Word Combined value between Position Preset Value 8 388 607 and 8 388 607 Lower Word Unused See Note Below Unused See Note Below U nused See Note Below Unused See Note Below Unused See Note Below Unu
112. ssi ble to start a clockwise Registration Move while the CCW Limit Switch is active Encoder Moves When an SMD23 4P is ordered with an integral quadrature encoder SMD23 4P xxxE part numbers the position value from the encoder can be used to control the move instead of the position of the motor Abso lute and relative type moves are both supported NOTE gt You do not have the preset the position or home the machine before you can use a relative Encoder Move The figure below represents either a relative Encoder Move of 11 000 counts or an absolute Encoder Move to position 16 000 The figure shows that the encoder position programmed into the move defines the point at which the motor begins to decelerate and stop It does not define the stopping position as it does in other move types The endpoint of the move depends on the speed of the motor when the programmed encoder position is reached and the deceleration values This behavior is different from Absolute and Relative Moves where the position you program into the move is the end point of the move Programmed Encoder Position a Programmed Speed o Starting Speed POSITION 5 000 16 000 Figure 2 11 Encoder Move 32 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Encoder Moves continued Controlled Stop Conditions The move completes without error gt You toggle the Hold Move control bit in the Network Output Data Note that your holding position will mo
113. st likely not be the final position you commanded You can resume a held Encoder Move by using the Resume Move bit or the move can be aborted by starting another move The use of the Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting on page 38 Immediate Stop Conditions The Immediate Stop bit makes a 0 gt 1 transition in the Network Input Data gt A positive transition on an input configured as an E Stop Input ACW CWW Limit Switch 15 reached If the limit that 15 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 again If the limit that is reached is opposite the direction of travel a Reset Errors command does not have to be issued Assembled Moves All of the moves explained so far must be run individually to their completion or must be stopped before another move can begin The SMD23 4P also gives you the ability to pre assemble more complex profiles from a series of relative moves that are then run with a single command Each Assembled Move can consist of 2 to 16 segments Two types of Assembled Moves exist in an SMD23 4P gt Blend Move A Blend Move gives you the ability to string multiple relative moves together and run all of them sequentially without stopping the shaft between moves A Blend Move can be run in either direction and the directi
114. steps before coming to a stop Encoder Move SMD23 4P E units that are ordered with an internal encoder can perform moves based on the encoder position instead of the motor position The encoder position sets the point that the move begins to decelerate Blend Move Allows you to perform a sequence of relative moves without stopping between them Dwell Move Allows you to perform a sequence of relative moves with a stop between each move that has a programmable length of time Used to create highly accurate move profiles that avoid network latency issues Indexer Move Allows you to program a move that is held in memory The move is run when one of the programmable inputs makes a transition Hold Move Allows you to suspend a move and optionally restart it without losing your position value Resume Move Allows you to restart a previously held move operation Immediate Stop Allows you to immediately stop all motion if an error condition is detected by your host controller Stall Detection When an SMD23 4P is purchased with the encoder option the encoder can be used to verify motion when a move command is issued Table 1 1 Indexer Functionality 20 Gear Drive Plymouth Ind Park Terryville CT 06786 13 Tel 860 585 1254 Fax 860 584 1973 http www amci com 1 INTRODUCTION TO THE SMD23P AND SMD24P Driver Functionality This table summarizes the features of the stepper mot
115. t Buffer Low 1 High 15 8 COM Port Number in use COM4 in use COMS in use COME in use Figure 5 4 Device Manager Settings gt Click on the appropriate OK and or Apply buttons to apply the setting and close the windows gt Close the Computer Management program 20 Gear Drive Plymouth Ind Park Terryville CT 06786 55 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls 1 SETTING THE PROFIBUS ADDRESS Computer Configuration continued AMCI PROFIBUS DP Configuration Tools software The PROFIBUS DP Configuration Tools software is available on our website at hitp www amci com product software asp Simply download the software and extract the zip file Running the resulting exe file will install the program in the correct Program Files folder and create a desktop icon he install program does not make changes to your computer s registry Connecting to the SMD23 4P Attach your programming cable to the SMD23 4P and your RS 485 port gt Attach your power cable to the SMD23 4P Apply power to the SMD23 AP If needed attach your RS 485 port to your computer Verify the COM port number for the device Using the PROFIBUS DP Configuration Tools Utility 1 Start the program by double clicking on the desktop icon 2 Click on the Comm Settings tab 3 If not using COMI click on the drop down list for Port and select the appropriate port
116. t can be ordered from AMCI gt 24to 48 power supply v RS 485 Port Configuration RS 485 can be used as a 4 wire full duplex interface or as a 2 wire half duplex interface PROFIBUS uses RS 485 in its 2 wire half duplex configuration The P485USB 3 converter from AMCI can be configured for either and its factory default settings are for 2 wire half duplex You may have to open the converter to set line termination resistors The P485USB 3 ships with the line terminators off AMCI has tested communications over a nine foot RS232 cable at 9600 baud and termination resistors were not required If your system has a longer cable run between the programming port and the SMD23 4P termination may be needed The termination resistors on the H Tele C485USB 3 are 120 ohms between the signals and 750 ohm Ta bias resistors from signal to either VCC or GND These are RS485 standard values not PROFIBUS standard values Two small phillips head screws have to be removed to open the C485USB 3 The screws are behind the gray panel and are the only screws on the device Once they are removed the two Figure 5 1 C485USB 3 DIP Switch Settings cover pieces separate and the PC board can be removed Figure 5 1 shows the converter PC board and the DIP switches that must also be set before the P485USB 3 can interface with PROFIBUS devices All three DIP Switches must be in their OFF state which is down in this picture which are
117. t segment s programmed acceleration and deceleration values are used to change the speed of the motor 8 The blend segment must be long enough for the acceleration or deceleration portions of the segment to occur 20 Gear Drive Plymouth Ind Park Terryville CT 06786 33 Tel 860 585 1254 Fax 860 584 1973 http www amci com V MOVE PROFILES Assembled Moves continued Blend Moves continued The figure below shows a three segment Blend Move that is run twice It is first run in the clockwise direc tion and then in the counter clockwise direction The deceleration value programmed with segment 3 is used twice in the segment Once to decelerate from the Programmed Speed of segment 2 and once again to decelerate at the end of the move End of End of End of CW Segment1CW Segment 2 CW Segment 3 CW Starting Speed POSITION Starting Speed SPEED cow End of End of End of Segment 3 CCW Segment 2CCW Segment 1 CCW Figure 2 12 Blend Move NOTE gt 1 You do not have to preset the position or home machine before you can use a Blend Move Because the Blend Move is based on Relative Moves it can be run from any location 2 The Blend Move is stored in the internal memory of the SMD23 4P and can be run multiple times once it is written to the unit The Blend Move data stays in memory until power is removed the unit is sent new Configuration Data or a new Blend or Dwell Move is written to the SMD23 4P As de
118. tages of up to 60Vdc without damage The output motor current is fully programmable from 1 0Arms to 3 4Arms which makes the SMD23 4P 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 program mable If you have used other stepper indexer products from AMCI you will find programming an SMD23 4P to be very similar to these products The SMD23 4P contains a true RMS motor current control driver This means that you will always receive the motor s rated torque regardless of the Motor Steps Turn setting Drivers that control the peak current to the motor experience a 30 decrease in motor torque when microstepping a motor The SMD23 AP auto matically switches from RMS to peak current control when the motor is idle to prevent overheating the motor The SMD23 4P units have two DC inputs Configuration data from the host sets the function of these inputs Each input can be individually configured as a CW or CCW Limit Switch Home Limit Switch gt Capture Position Input Will capture encoder position on SMD23 4P E units Stop Manual or Registration Move Input Start Indexer Move Emergency Stop Input General Purpose Input Encoder Functionality All SMD23 4P units can be ordered with an internal 1 024 count turn incremental encoder Using an encoder gives you the ability to Make absolut
119. ted this word mirrors the value of the Control Word written to the SMD23 4P When the SMD23 4P is not configured or the data written to it is invalid then this word has the same format as the Status Bits MSW word when the SMD23 4P is in Command Mode This format is explained in the Status Bits MSW Format section starting on page 82 On power up the value of this word will be 6408h unless a valid configuration had been previously written to the flash memory of the unit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 67 Tel 860 585 1254 Fax 860 584 1973 http www amci com CONFIGURATION MODE DATA FORMAT Invalid Configurations 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 This includes setting the Lower Word of the Starting Speed to a value greater than 999 3 You configure both inputs to have the same function such as two CW Limit Switches Note that you can have both inputs configured to be General Purpose Inputs 4 Setting the Stall Detection Enable Bit without configuring the SMD23 4P E to use the encoder 5 Setting the Input Configuration bits for either input to 111 See table 7 3 on page 65 for more information 68 ADVANCED MICRO CONTROLS INC CHAPTER 8 COMMAND IVIODE DATA FORMAT This chapter covers the formats of the Network Output Data used to command the SMD23
120. ternal current limiting resistor CABLE SHIELD 5 24 a gt lsolated Power Input 10 SOURCING SENSOR same supply to CF 1 power all inputs Input 20 Input G ding St bi Input1 or Input2 required bv Optocoupler codes SMD23 4P INPUT CONNECTOR GROUND THE SHIELD OF THE SENSOR CABLE 1 Ground only one end of shield DC Commono 2 Shield is usually grounded where the signal is generated If a good quality Input earth ground connection is not available at the sensor the shield can be Optocoupler grounded to the same Ground Bus as the SMD23 4P Figure 4 7 Simplified Input Schematic DC Sourcing Sensor SENSOR POWER Because they are low power signals cabling Run a seperate wire the power supply from the sensor to the SMD23 4P should be to each sensor Do Not daisy chain power from one sensor to the next done using a twisted pair cable with an over all shield The shield should be grounded at the end when the signal is generated which is SOURCING Supply the sensor end If this is not practical the use the m neo shield should be grounded to the same ground bus as the SMD23 4P Input or Input2 saisie arap maybe 20 Common O cedes safety Sinking Output Sensors Require a Pull Up SMD23 4P INPUT Resistor CONNECTOR EBGUND FUE OF THE EENSOR CABLE Sinking output s
121. ters can be written to the SMD23 4P 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 Relative and Encoder Moves Absolute Relative and Encoder Moves can be placed in a Hold state and resumed if error conditions such as programming errors have not occurred New Acceleration Deceleration and Programmed Speed parameters can be written to the SMD23 4P while these moves are in their hold states If the parameters are accepted without error the move can be resumed and it will use the new parameter values Note that a change to the Target Position is ignored Assembled Moves A Blend or Dwell Move can be placed in a Hold state but cannot be resumed This give you the ability to pre maturely end an Assembled Move with a controlled stop The Assembled Move is not erased from memory and can be run again without having to reprogram it 38 ADVANCED MICRO CONTROLS INC MOVE PROFILES 2 Stall Detection with SMD23 4P E Units One of the additional features available to you when you order an SMD23 4P with an encoder is Stall Detec tion When Stall Detection is enabled the SMD23 4P E 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
122. tions double the calculated power when sizing your supply to account for power conversion losses and guarantee stall free operation SMD23 4P M12 units have an additional pin that supplies power to the electronics only This allows you to remove power from the motor without losing the network connection 18 AWG wire should be used for the VdcMAIN and DC Common connections 18 ADVANCED MICRO CONTROLS INC INTRODUCTION TO THE SMD23P AND SMD24P ls Specifications Driver Type Two bipolar MOSFET H bridges with 20KHz PWM current control Physical Dimensions See page 46 for the SMD23P See page 47 for the SMD24P Weight SMD23 4P 130 E M12 P 2 30 lbs 1 05 kg SMD23 4P 240 E M12 P 2 80 lbs 1 27 kg All weights are without mating connectors Inputs Electrical Characteristics Single ended sinking 2500 Vac dc opto isolated DC Inputs accept 3 5 to 27Vdc without the need for an external current limiting resistor Faults Faults are reported in the Network Input Data and can be cleared through the Network Output Data Motor Current Programmable from 1 0 to 3 4Arms in 0 1 Amp steps DCPower yx Current 70 mA 24Vdc 40mA 48Vdc Connector AMCI Part Wire Motor Counts per Turn Programmable to any value from 200 to 32 767 steps per revolution Incremental Encoder Internal incremental encoder available as an option Encoder supplies 1 024 counts per turn Idle Current Reduction Programmable from 0 to
123. www turck usa com Lumberg Automation hitp www lumberg automationusa com Cables gt Belden Inc http www belden com Belden part 3079A or 3079E are suggested gt Phoenix Contact hitp www phoenixcontact com Phoenix Contact part 2744652 48 ADVANCED MICRO CONTROLS INC INSTALLING THE SMD23 AP 4 Compatible Wiring continued Connectors AMCI uses Binder connectors in our SMD23 4P units The table below lists the Binder part number of the straight and right angle mating connectors for the network connector NOTE gt These mating connectors are same source suggestions which means that you are not required to use them Any industry standard M12 B coded 5 pin connector will mate with the SMD23 4P network connectors Binder Description Network mating connector B coded male straight Screw terminal 99 0437 105 05 connections 6 to 8 mm dia cable Plastic body IP67 rated when properly installed Network mating connector B coded male right angle Screw terminal 99 0437 145 05 connections 6 to 8 mm dia cable Plastic body IP67 rated when properly installed Table 4 1 Suggested Mating Connectors Network Power amp Input Connector The Input Connector is located on the back of the SMD23 4P below the network connector Figure 4 4 shows the pin out for the Input Connector when viewed from the back of the unit Pin 4 Input 2 Pin 3 DC Common Q Pin 5 24Vdcaux Pin 1 24Vdcmai

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