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1. If your year of manufacture is 2009 or later digits 3 and 4 are 709 or greater then this manual applies gt If your month and year of manufacture is December of 2008 or earlier digits 1 through 4 are 1208 or less then most of the information in this manual applies The only difference is that older SD17060B 25 drivers will only accept 24Vdc input signals Refer to Appendix B on page 17 for addi tional information For SD17060B 24 Drives As of this manual the SD17060B 24 has been phased out of production and replaced by the standard SD17060B The older SD17060B drivers required an external resistor when using a 24Vdc input signal and the SD17060B 24 drivers had this resistor added internally With this manual the standard SD167060B driv ers have inputs that accept 5 to 24Vdc signals without the need for an external resistor and they replace the SD17060B 24 in all applications See Appendix C on page 18 for more information 20 Gear Drive Plymouth Ind Park Terryville CT 06786 3 Tel 860 585 1254 Fax 860 584 1973 http www amci com INTRODUCING THE SD17060B The SD17060B and SD17060B 25 The SD17060B and SD17060B 25 are micro stepping drivers that are part of the growing line of motion con trol products from AMCI They are designed for use with a variety of stepper motors including AMCT s size 23 through size 42 motors The two drivers can be programmed to a maximum resolution of 50 800 steps per turn an2. m mam ADVANCED vcro CONTROLS Manual 940 0S063 SD17060B SD17060B 25 Stepper Drivers Table of Contents General Information 2 Introducing the SD17060B 3 Specifications 5 Mounting the SD17060B 6 Switch Settings 7 Connecting Your Controller 8 Connecting Your Motor 10 Power Connector and Indicator LED S e 11 Verifying System Setup 12 Troubleshooting 14 Using Older SD17060B Drivers 16 Using Older SD17060B 25 Drivers 17 Using Older SD17060B 24 Drivers 18 GENERAL INFORMATION Important User Information The products and application data described in this manual are useful in a wide variety of different applications Therefore the user and others responsible for applying these products described herein are responsible for deter mining the acceptability for each application While efforts have been made to provide accurate information 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 O
3. Because of their internal current limiting resistors the inputs on older SD17060B 25 drivers require 24Vdc to operate They cannot be used in 5Vdc or 12Vdc systems Newer SD17060B 25 units manufactured after December 2008 can replace older SD17060B 25 units with out system modification 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http www amci com APPENDIX C USING OLDER SD17060B 24 DRIVERS Applicable Units This appendix applies to all SD17060B 24 drivers The SD17060B 24 has internal current limiting resistors on its inputs and can only be used in 24Vdc systems The SD17060B 24 was phased out of production in December of 2008 and replaced by the redesigned SD17060B Replacing a SD17060B 24 A SD17060B 24 can be replaced by a SD17060B without changes to the system as long as the SD17060B was manufactured after December of 2008 If the SD17060B was manufactured prior to the second half of December 2008 you will have to add current limiting resistors to the circuit before using the SD17060B See appendix on the previous page for more information 20 Gear Drive Plymouth Ind Park Terryville CT 06786 18 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 VI WV COIT l LEADERS IN ADVANCED CONTROL PRODUCTS
4. The SD17060B has a Self Test feature that allows you to verify motor opera tion without an indexer With power applied to the driver toggle the SB4 1 switch The motor will begin to rotate clockwise at 60 RPM You must remove power to the driver to end the self test Please remember to return SB4 1 to its original position before cycling power to the driver 20 Gear Drive Plymouth Ind Park Terryville CT 06786 15 Tel 860 585 1254 Fax 860 584 1973 http www amci com APPENDIX A USING OLDER SD17060B DRIVES Applicable Units This appendix applies to all SD17060B drivers manufactured prior to December of 2008 as well as some SD17060B drivers manufactured during December of 2008 The inputs of these units were designed for use with 5Vdc differential outputs and require external current limiting resistors when used with 12Vdc and 24V dc input signals You will be able to determine the date of manufacture from the serial number on the driver Serial numbers for all AMCI drivers are formed from a date code and sequential number The serial number format is shown below D prefix on all Drive D 1 2 0 80 1 3 5 Serial Number of the 135th drive manufactured Serial Numbers December 2008 Digits 1 amp 2 Month of Manufacture Digits 5 8 Digits 3 amp 4 Sequential Number Year of Manufacture within the month For SD17060B Drives gt If your
5. are applied to the driver but the motor only emits a high pitch noise It does not rotate The acceleration or starting speed values may have been set too high when the indexer was programmed The motor may start to accelerate and stall as the acceleration increases The Step Resolution may be set to a values lower than you are expecting For example if the Step Resolution is set to 200 instead of 400 the acceleration value is effectively doubled The motor only runs in one direc tion This problem is usually caused by the directional pulse inputs If your indexer is sending pulses in the CW CCW format and the driver is config ured for the Step amp Direction format the motor will rotate counter clock wise when the driver receives CW pulses and it will not rotate at all when the driver receives CCW pulses If the indexer is sending pulses in the Step amp Direction format and the driver is configured for the CW CCW format the motor will only rotate clockwise even when the indexer is commanding a counter clockwise move The motor runs backwards CW instead of CCW and or CCW instead of CW 1 One of the motor phases may be reversed The quick fix is to reverse the connections on the B windings There may be a problem with the directional inputs Either they are wired incorrectly or the format is wrong Check wiring and see the previous problem for more information on problems with format As its running speed
6. driver s motor and power connectors 2 Apply 115Vac power With the motor attached the power and status LED s should come on green A problem exists if either LED does not light or the Status LED is red Remove power and refer to the Troubleshooting section of this manual which begins on the following page 3 Check for holding torque on the motor If you have less then you expected the most common causes are improper motor current switch settings or having the Idle Current Reduction turned on 4 The Self Test feature of the SD17060B allows you to verify your motor wiring without an indexer With power applied to the driver toggle the SB4 1 switch The motor will begin to rotate clockwise at 60 RPM You must remove power from the driver to stop the rotation If the motor rotates in the counter clockwise direction swap the B and B connections If the motor does not rotate at all verify your current setting and the motor s wiring 5 Have your indexer make a slow move in the clockwise direction for one turn While the turn is in progress the STEP LED should blink Verify that the motor rotated in the correct direction for one complete turn If you are using an optical encoder or other position feedback verify that the indexer or controller is reading it properly 6 Repeat step 4 with a one turn move in the counter clockwise direction Again verify that the motor rotated in the correct direction for one turn NOTE gt Any failures at
7. drivers are formed from a date code and sequential number The serial number format is shown below D prefix on all Drive D 1 2 0 8 0 1 3 5 Serial Number of the 135th drive manufactured Serial Numbers Dmmyyhnnnn in December of 2008 Digits 1 amp 2 Month of Manufacture Digits 5 8 Digits 3 amp 4 Sequential Number Year of Manufacture within the month For SD17060B Drives If your year of manufacture is 2009 or later digits 3 and 4 are 709 or greater then this manual applies gt If your month and year of manufacture is December of 2008 digits 1 through 4 are 71208 and the sequential number is 0135 or greater then this manual applies gt If your month and year of manufacture is December of 2008 digits 1 through 4 are 71208 and the sequential number is less than 70135 then most of the information in this manual applies The only difference is that these older SD17060B drivers require external resistors for input signals greater than 5Vdc Refer to Appendix A on page 16 for additional information f your month and year of manufacture is November of 2008 or earlier digits 1 through 4 are 71108 or less then most of the information in this manual applies The only difference is that these older SD17060B drivers require external resistors for input signals greater than 5Vdc Refer to Appendix A on page 16 for additional information For SD17060B 25 Drives
8. increases the motor begins to run rough and eventually stops while pulses are being applied If you are using single ended outputs for your pulse and direction sig nals you may have a problem with the outputs not switching fast enough See the note on the Resistor in the Connecting Your Indexer section on page 8 You may have a problem with resonance in the system Run the sys tem with the Anti Resonance feature enabled and disabled to see which give you better performance The Anti Resonance feature is set with SB1 5 See page 7 for more information The motor runs erratically The motor is not correctly coupled to the load The deceleration rate is set to high and the inertia of the load is carry ing the motor past the point where it is supposed to stop You are performing a slow move under 1 revolution second while the Step Resolution is set to 200 or 400 steps turn To correct this problem try increasing the indexer s starting speed parameter Do not increase the starting speed beyond your slowest running speed The motor current is set too low and the motor is unable to move the load The motor is not correctly wired Eight lead motors can be wired in series or parallel Series connection gives you more torque at lower speeds and parallel connection gives you more torque at higher speeds NOTE 1 As noted above sometimes a problem that appears to be with the motor is actually a problem with the indexer
9. month and year of manufacture is December of 2008 digits 1 through 4 are 71208 and the sequential number is less than 70135 then this appendix applies gt If your month and year of manufacture is November of 2008 or earlier digits 1 through 4 are 1108 or less then this appendix applies NOTE gt If you are replacing an SD17060 with an older SD17060B then keep any current limiting resistors you already have in the circuit The only wiring change that you will have to make is swapping the STEP CW connections on the indexer connections Current Limiting Resistor Open Collector Sourcing Connection Voc Common Values of Shielded Twisted 5 to 24V Voc Rum Ind avari Disable Pair Cable EE DU Indexer Disable Rum Sourcing Output 15 Volts a 24 Volts JM MINE CS ub As Needed An additional load resistor may be required on some PLC outputs to improve switching time A symptom Input As Needed T of this problem is that the motor will begin to run Rip may be needed in applications using a PLC DC output rough athigh speeds A 470 or 560 ohm resistor to generate index pulses at high speeds See the note on should be used For 5V and 12V systems use a 1W Mls Page ab presen ato resistor For 24V systems use a 2W resistor These Open Collector Sinking Connection power ratings assume that the output can be nor Shielded Twisted Voc mally on For systems whe
10. 254 Fax 860 584 1973 http www amci com EERE SSS CONNECTING YOUR CONTROLLER I O Connector The I O connector on the SD17060B accepts inputs from your indexer as well as the Disable Input and Fault Output All inputs accept 5Vdc differential signals and can also be wired to accept single ended sinking or sourcing inputs of up to 24Vdc without the need of an additional current limiting resistor This is true for all SD17060B and SD17060B 25 units sold by AMCI after December 2008 See Applicable Units on page 3 for information on determining when your unit was shipped from the AMCI factory Input Wiring All inputs on the SD17060B are low voltage low power signals All wiring should use shielded twisted pair cable such as Belden 9727 instrumentation cable The shield of the cable should be grounded at one end only preferably at the indexer or controller Do not ground the shields at the SD17060B If you must splice the cable do not connect the shields to ground of the junction box Indexer Inputs These inputs can be programmed to accept Step amp Direction or CW CCW pulses This setting is controlled by SW1 1 Disable Input When active the motor current is off and the driver does not accept indexer pulses The active state of the Disable Input is set by switch SB 1 4 RLD An additional load resistor may be required on some PLC outputs to improve switching time A symptom of this problem is that
11. 275 inches 0 275 inches 0 275 inches 1 95 Ib in 0 22 nM 4 43Ib in 0 5 nM 4 43lb in 0 5 nM Motor 24 12 AWG Power 24 12 AWG 5 ADVANCED MICRO CONTROLS INC __ eee MOUNTING THE SD17060B Outline Drawing There are two ways to mount the SD17060B The first method is with four 10 32 screws into its side panel The second method is by the mounting tabs Mounting tabs are for 6 screws Minimum and maximum screw lengths should be observed to prevent a screw from shorting to the PC Board NOTE 39 There are airflow holes in the top and bottom of the enclosure To ensure adequate convec tional airflow the driver must be mounted in the orientation shown in the drawing 10 32 UNF 2B 0 152 3 86 dia Four places TOREM p 10 Min screw length 0 31 7 9 thickness of mounting panel 0 312 7 92 dia 27 9 Max screw length 0 62 15 8 thickness of mounting panel i tb DIR ICCW 0 115 DIRICCW 4 78 STEP CW STEP CW DISABLE DISABLE i FAULT FAULT STEP FAULT O A 55 INTERLOCK H H 5 6 15 B Holle 6 71 156 2 e 170 4 EARTH GND Has 4 000 A H2 101 60 a JR SX 7 00 0 2 177 8 INTERL
12. ENABLED 0 12 8005 10111110 0111111010114 active state When Active High you DISABLED 180005750 HINO HiXINDHOITS i i 20 000 STEPS must apply power to the input to disable CURRENT LOOP aeoea Monomio the driver When Active Low you must MEBER Cy Sart i paa uto E apply power to the input to enable the Gain 1 1 0 0 0 0 25800 STEPS 0 0 11 0 0 0 0 20 1 1 1 Gain 2 EP driver If you are not using the input set Gain 3 1 1 0 0 0 50 000STEPS O 1 111 O 1 1 0 1 0 2 2 this switch to Active High and the driver Gain 410 0 1 0 0 50 800 STEPS TTA Aoo will operate as you expect When the Dis Gan 8 0 1 1 0 0 1 0 0 111 0 2 5 Gain 27 1 1 1 0 0 0 1 0 111 0 2 6 able Input is active the SD17060B Gain 8 0 0 0 1 0 1110110127 removes power from the motor and stops Gain 1 0 g 0 SDI7080B 25 0 0 1 1 28 ain accepting indexer pulses Over temp and 1 0 10 M RESOLUTION O 1 1 11 0 3 0 121040111110 11 01 3 1 Over current faults are cleared when the Gain I3 TO T 0 0087885 10101010 010 0 00 1 32 driver transitions from a Disabled state Gain 214 0 1 1 1 0 400 STEPS 1107010 1101010107 1 3 3 Gain 15 1 1 1 10 LOOSTEPSO TOO 01000113 Gain 161010101011 1 600 STEPS i EUM c oca Gain 18 0 3 200 STEPS Allows the SD17060B to compensate for Gain 19 1 1 0 0 4 5 000 STEPS 0 i i 0 0 1 1 0 0 1 3 8 Gain 20100191 10 000 STEPS 11111001 3 9 back EMF generated by the motor It Ga
13. K D S ET ON ee a C e Motor Case nterlock Jumper 2 170 is present on the connector when power is applied to the motor Install the supplied rubber boot on the connector during normal operation Refer to the torque vs speed curves on your motor s M nouid betot specifications sheet to determine if you should wire the 3 Motor connections should De Loose connections may lead to motor to the SD17060B in series parallel or centertap arcing which will heat the connector configuration Phoenix Contact specifies a tighten ing torque of 4 4 to 5 4 Ib in 0 5 to 0 6 Nm 10 ADVANCED MICRO CONTROLS INC POWER CONNECTOR AND INDICATOR LED s Power Connector The SD17060B operates 115Vac If 230Vac is the only power available consider using GNP one of the 230Vac drivers available from AMCI Information on these drivers can be found N on our website http www amci com If this is not an option a step down transformer must L be installed to power the SD17060B The transformer must have a minimum power rating of 800 VA AC POWER The SD17060B must be grounded for proper operation Grounding is accomplished with the 95 132 Vac 50 60 Hz GND pin on the power connector and through proper bonding to the enclosure Power con nections should be tight Loose connections may lead to arcing which will heat the connector Phoenix Contact specifies a tightening torqu
14. Motor Current Switch selectable from 1 0 to 6 3ARMS in 0 1 Amp steps Idle Current Reduction Switch selectable to Not reduced To 69 To 50 or To 0 Motor current is reduced to selected level if a step pulse is not received for one second for the 50 and To 0 set tings For the To 69 setting current is reduced after 10 milliseconds Current is restored to full value on next pulse Resolution SD17060B Switch selectable to 200 400 1 000 2 000 5 000 10 000 12 800 18 000 20 000 21 600 25 000 25 400 25 600 36 000 50 000 or 50 800 steps per turn SD17060B 25 Switch selectable to 200 400 1 000 1 600 2 000 3 200 5 000 10 000 12 800 18 000 20 000 21 600 25 000 36 000 50 000 or 50 800 steps per turn Internal Power Fuses 10 Amp Slow Blow Both Line and Neutral are fused Fuses are not user replaceable Environmental Specifications Input Power 95 to 132Vac 50 60 Hz 5 0 Apk max Driver will retain control of motor down to 85 Vac at reduced torque Ambient Operating Temperature 4 to 122 F 20 to 50 C Storage Temperature 40 to 185 F 40 to 85 C Humidity 0 to 95 non condensing Motor Specifications Type 2 phase hybrid 4 6 or 8 lead motor Insulation Minimum 500Vdc phase to phase and phase to case Inductance 0 3 mH minimum 2 5 to 45 mH rec ommended Connectors All mating connectors are included with driver Strip Length Min Tightening Torque 0
15. OCK Hole SE xis POWER e aot GND POWER N 95 132Vac 5 1 073 50 60 Hz L i 27 25 eee C Y C 1 1 ff ff gt _ 2 750 69 85 _ 0 152 9 0 60 15 2 0 875 3 86 22 23 typ 1 000 I 4 00 101 8 25 40 00 101 6 Grounding The SD17060B must be grounded for proper operation The GND connection on the power connector is con nected to the SD17060B enclosure and is a sufficient grounding point for most applications When mounted the SD17060B on a surface that is electrically conductive and grounded you should also take steps to ensure that the two are electrically bonded together If necessary remove paint for the bolt mounting surfaces of the panel to ensure adequate electrical bonding Airflow and Wiring Space To ensure adequate airflow and wiring space you need two inches 50 mm of space above and below the driver one and one half inches 37 mm of space to the left and right of the driver and one inch 25 mm of space in front of the driver These dimensions are typical for convectional cooling If you have an active cooling system such as enclosure fans you will be able to mount the drivers closer together ADVANCED MICRO CONTROLS INC SWITCH SETTINGS The SD17060B is configured by DIP switches on the top of the driver The factory default setting has all switches in their off 0 position excep
16. R 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 2009 by Advanced Micro Controls 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 copy right 2009 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 cause
17. ansistors for greater efficiency and fewer thermal loses Greater efficiency and a thinner front panel means you can space the drivers closer together in an enclosure gt The Disable Input on the SD17060B can be used to reset the driver The 5017060 could only be reset by cycling power to it The SD17060B has the same back panel mounting pattern allowing you to quickly change between units gt The Current Loop Gain now has an automatic setting that allows the SD17060B to determine the appropriate gain when the driver is powered up However improvements sometimes require changes and there are a few minor changes between the drivers gt The 3STEP OWpins on the Indexer Connector are swapped This change makes the SD17060B indexer pinout the same as a majority of our other drivers gt The 5017060 required external resistors to use 12 or 24 inputs These resistors are no longer needed when using the 50170608 and they must be eliminated for proper operation This statement only applies to SD1760B drivers shipped during the second half of December 2008 and later See Applicable Units on page 3 to determine when your SD717060B driver was shipped The third harmonic switch settings on the 5017060 have been replaced with the following on the 5017060 1 Disable Input Active State Allows you to program the Disable Input to be active when volt age is applied to the input or active when voltage is removed The default sett
18. d by accident misuse neglect alteration improper installation or improper testing The provisions of the STANDARD WARRANTY are the sole obligations of AMCI and excludes all other warranties expressed or implied In no event shall AMCI be liable for incidental or consequential damages or for delay in performance of this warranty Returns Policy All equipment being returned to AMCI for repair or replacement regardless of warranty status must have a Return Merchandise Authorization number issued by AMCI Call 860 585 1254 with the model number and serial number if applicable along with a description of the problem 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 Start at our website www amci com if you have inter net access 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 during regular business hours Monday through Friday 8AM 5PM Eastern During non business hours an automated 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 ha
19. d output a motor current of 1 0 to 6 3ARMS that is programmable in 0 1 ARMS increments Other fea tures of the two drivers include gt Inputs that accept 5Vdc to 24Vdc without the need of an external current limiting resistor gt Anti Resonance Circuitry Back EMF Protection Circuity gt Programmable Idle Current Reduction gt Programmable Current Loop Gain gt Programmable Pulse Train Input Step Direction or CW CCW gt Programmable Active State for the Disable Input The only difference between the SD17060B and the SD17060B 25 is the resolution settings available on the two drivers The table below shows the settings available on each driver with the differences highlighted Figure 1 Available Position Resolutions Most of the information in this manual applies to both drivers and the SD17060B part number is used to refer to both When giving information that only applies to the SD17060B 25 the SD17060B 25 part num ber will be used Replacing an Older SD17060B When replacing a SD17060B that was produced prior to December 2008 with a unit that was produced after December 2008 you will have to remove any current limiting resistors if you had driven the inputs with 12 or 24Vdc Refer to Appendix A USING OLDER SD17060B DRIVES on page 16 Upgrading from the SD17060 The SD17060B replaces the AMCI SD17060 in all applications The SD17060B has several advantages The SD17060B uses the latest power switching tr
20. e of 4 4 to 5 4 Ib in 0 5 to 0 6 nM Indicator LED s The SD17060B has two indicator LED s STEP FAULT O gt Green Driver Operational Flashing Green Driver Operational Receiving Pulses Red Driver Fault The Over Temperature and Over Current faults can be cleared with the Disable Input 1 Over Temperature Fault The heatsink temperature exceeds 90 C 195 2 Over Current Fault Generally a short exists somewhere in the system This can be a short in the motor or in the driver itself A Phase Phase Short There is an electrical short between the two motor windings The short exists in the motor cable or in the motor itself B Phase Ground Short One of the motor s windings is shorted to earth ground The EARTH GND terminal of the Motor Connector is used as the reference point The fault can be in the motor cable or in the motor itself C Back EMF In applications with large motors and high deceleration rates back EMF generated by the motor may also cause this fault 3 Interlock Fault The two Interlock Terminals on the motor connector are not connected with a short jumper Flashing Red Current Loop Gain AUTOID Error There is a problem with the motor wiring or the motor current is set to zero gt Flashing Red Green 9 1Hz Step Violation The indexer sent step pulses to the SD17060B before the driver was ready for them The driver was disabled in a fault condition or had not completed its initialization se
21. e second The STEP FAULT LED does not blink when the indexer sends pulses to the driver The motor does not turn Verify that your two directional inputs on the Indexer Connector are not swapped or cross wired If the inputs are wired as a sinking or sourcing instead of differential verify that they are wired correctly If your indexer has sourcing out puts then the inputs of the SD17060B must be wired as sinking inputs and vice versa Also note if you are using an older SD17060B 24 or older SD17060B 25 the outputs must be at 24 If you are using a 24Vdc system and you are converting from an older SD17060B to a newer SD17060B you must remove the exter nal 3 9K resistors from your wiring Refer to the Applicable Units section on page 3 to determine the age of you driver The STEP FAULT LED is red The driver is experiencing a fault condition All faults are latched so power must be cycled to the driver or the Disable Input must be toggled before the fault will clear 1 Over Temp Fault Is the driver very hot It shuts down when its internal temperature exceeds 90 C 195 F 2 Interlock Fault The motor is not plugged into the driver or a wire jumper was not installed between the two Interlock pins on the Motor Connector 3 Short in Motor Shut off the SD17060B and disconnect the motor Pull back the rubber boot and verify the following with an ohmmeter Open circuit from A to B pins Tests
22. ent and turns off under the following conditions The Interlock jumper is missing on the motor connector here is a short in the motor either phase to phase or phase to ground gt The heatsink temperature exceeds 90 195 F gt The driver is in its reset state and is not ready to accept pulses Both ends of the output are uncommitted so it can be wired as a sourcing or sinking output The figure shows a typical connection as a sourcing output Open Collector Sourcing Output Voc to 24V ER FAuLT lC 4 PLC Input ro O NAV N 50170608 FAULT Yi SUEDE Shielded Twisted MI Pair Cable FAULT OUTPUT Electrical Specifications max 30Vdc VcEsar 1Vdc 20 mA lc max 20 mA Power Dissipation 20 mW max RLIMIT A resistor may be needed to limit the current through the Fault Output The value and power rating of the resistor is dependent on the value of Vdc the voltage drop across the input and the current requirements of the input 20 Gear Drive Plymouth Ind Park Terryville CT 06786 9 Tel 860 585 1254 Fax 860 584 1973 http www amci com Eee CONNECTING YOUR MOTOR Compatible Motors The SD17060B will work with many different motors including those not sold by AMCI This section assumes that you have already chosen your motor and you are looking for wiring information No wire colors are given because there is no single i
23. for short between phases b Open circuit from A to Earth Ground and B to Earth Ground Tests for short between phase and case If any of these readings is not an open circuit then check your wiring The most common cause of a short between phases is cross wiring the phases when wiring the connector If you see a phase to case short make sure you don t have a stray wire from the or A ter minals hitting the Earth Ground terminal on the connector 20 Gear Drive Plymouth Ind Park Terryville CT 06786 14 Tel 860 585 1254 Fax 860 584 1973 http www amci com TROUBLESHOOTING Motor Problems Symptom The motor has no holding torque Solution 1 Ifthe Step Fault LED is red then a problem exists with the driver or motor Refer to Power Connector and Indicator LED s on page 11 for information If the motor rotates when commanded but has no holding torque then your Idle Current Reduction switch is set to the To 0 setting This setting removes motor current when the driver is idle for more than one second There are other idle current reduction settings available See Switch Settings on page 7 for more information The SD17060B ships with the motor current set to its minimum value of 1 0 amp It s possible that it was not set for your application See Switch Settings starting on page 7 for the proper switch settings The SD17060B blinks its STEP FAULT LED green when pulses
24. in 21 1001 800 STEPS Otoio 0 00 1 0 1 4 0 should be eft enabled for most applica amer tions Disable only if you are sure you do Gan 24 0 0 01 1 21 600 STEPS p 1 T0 0 43 ain 225 1 0 0 1 1 5 000 STEPS O O n want m feature or under the advice of Gain 228 0 101 H 36 000 STEPS 1 0 i TOTO Gain 227 1 1 0 1 1 50 000 STEPS 0 MCT tech support Gain 28 0 D TY 50 800 STEPS T T T 1 TTTOTA7 Gain 29 Current Loop Gain Gain 230 0 111 1 1 1 00 0 1 43 Gain AutoMode 1 1 1 1 1 This setting allows you to compensate for 1 5 1 variations in motor properties which will give you smoother motion and better positional 901811 54 accuracy See Setting the Current Loop Gain section on page 12 for more information ont 9 11 0 0 011 1 1 5 6 Self Test Mode 1 001 1 115 7 01 0111 1 5 8 Self Test mode is controlled by the switch SB4 1 If you change the state of this switch 111 0 11 1 5 9 while power is applied to the SD17060B the driver will respond by rotating the attached oett eo motor clockwise at 60 RPM with a resolution of 50 000 steps per turn Note that changing 9 1 1 1 1 1 2s this switch does not alter the current supplied to the motor All switch settings are read and latched on power up However you must return this switch to its correct setting for normal operation before cycling power or resetting the SD17060B 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 AN Tel 860 585 1
25. ing mimics the behavior of the Disable Input on the SD17060 2 Anti Resonance Enable The anti resonance circuitry can be enabled or disabled 4 ADVANCED MICRO CONTROLS INC HEU oo SPECIFICATIONS Driver Type Two bipolar MOSFET H bridges with 170Vdc output bus 20KHz PWM current control Physical Dimensions Width 2 1 inches max Depth 4 0 inches max Height 6 2 inches 7 0 inches with mounting tabs Weight 2 4 Ibs 1 1 kg Inputs Electrical Characteristics for all Inputs Differential 1500 Vac dc opto isolated Can be wired as single ended inputs Indexer Motor steps on high going pulse 250 nS min pulse width 2 MHz maximum input frequency 500 nS minimum dwell time between direc tion changes Disable Programmable Active State ON or OFF Disables current to motor Driver does not accept steps while dis abled Fault Output Electrical Characteristics Open Collector Emitter 1500 Vac dc opto isolated 30V dc 20 mA max The Fault Output is normally on Turns off under the following conditions The driver initialization is not yet complete on power up Short Circuit Motor Phase to Phase or Phase to Earth Ground Over Temp Heat Sink temperature exceeds 90 C 195 F No Motor The motor interlock terminals are not connected Pulse Train Input Switch selectable to CW CCW or Step Direction Connector Indexer 28 16 AWG
26. ndustry wide color coding standard for stepper motor wires You must refer back to your motor data sheets for this information AMC I offers several different stepper motors in sizes 23 34 and 42 Refer to our website www amci com for additional information on these products Motor Wiring Eight Lead Series Eight Lead Parallel INTERLOCK 102 iD Bt EARTHGND a a y 1D Motor Case Six Lead Series Connected Six Lead Center Tap Connected Motor Case Motor Case d INTERLOCK KON INTERLOCK 10 6 Bce D Bcr iOH LEAD B IQ IQ MOTOR B Be L EARTH D EARTHGND L shews 2 S a O a O At lt A l E N z A J INTERLOCK di INTERLOCK 3 ee Motor Case Interlock Jumper Interlock Jumper 1 The Interlock jumper is a safety device that is needed for proper operation The SD17060B will not Four Lead Connected MotorCase INTERLOCK y ae Bcme iQ power the motor without this jumper B Qi n When the jumper is installed B 142 Y up to 170Vdc is present on the ra connector Do not use the Interlock for anything other than its intended use as a safety device INTERLOC
27. ove high speed performance or decrease the settings for quieter low speed operation GAIN SETTINGS MOTOR CURRENT gt 1A 15A 2A 3A 4A 5A 6A SM23 130 Series 4 SM23 130 Parallel SM23 240 Series 5 23 240 Parallel 5 34 450 5 34 850 5 34 1100 SM42 1800 If you are using a non AMCI motor use the AutolD setting to determine the correct gain for your system Turn off all of the switches in switch bank 2 and then verify that the motor current is set correctly and the motor is attached to the driver Cycle power to the driver The STEP FAULT LED will begin to blink almost immediately Count the number of blinks This number is what you should initially set the Current Loop Gain to Use the Switch Setting page of this manual to determine the correct switch settings When you are done cycle power to the SD17060B and verify motor operation using the System Checkout procedure on the following page and adjust the Current Loop Gain settings up or down depending on your application LT lt tc In most cases the Current Loop Gain can be set to its AutoMode setting and the SD17060B will automatically determine the proper gain on every power up or reset This procedure is done in under two seconds 12 ADVANCED MICRO CONTROLS INC VERIFYING SYSTEM SETUP System Checkout 1 Verify all wiring and grounding before applying power to the SD17060B Make sure the rubber boots are on the
28. power to the driver appears as a fault If you re expecting the fault output to turn on and conduct current when there is a fault then your logic is reversed The motor is running faster slower than expected and or the distance traveled is farther shorter than expected Driver Problems Symptom Both LED s are off and the Fault Output is active Not conducting Power is applied to the driver Most likely a problem with the SD17060B s Step Resolution setting or the indexer s programming If the motor is running too fast the Step Resolution on the SD17060B is set lower than the indexer s programmer assumed it would If the motor is running slow the Step Resolution is set higher than the indexer programmer assumed it would be Solution The AC line voltage may be too low It must be greater than 85Vac for the SD17060B to operate properly One or both of the 10A fuses may be blown These fuses will not blow under normal circumstances so call AMCI for assistance Blown fuses may be a sign of serious installation problems Both LEDs are green the Fault Output is inactive conducting but the motor is not powered The Disable input may be active The active state power applied or power removed is set by DIP switch SB1 4 This switch may be set incorrectly The Idle Current Reduction may be set to its To 0 setting With this setting current is removed from the motor if a directional pulse is not received for on
29. quence on power up or reset The stepper motor position will be invalid The motor is not disabled and can still be driven While there is motion the LED will flash at approximately 4 Hz gt CURRENT LOOP GAIN This LED is also used when the Current Loop Gain is set to AutoID SB2 1 5 all turned off When set to AutoID the driver will determine the parameters of the attached motor and will flash the Step Fault LED green the number of times that the parameter should be set to Flash ing red indicates a problem with the motor wiring or the motor current is set to zero Further informa tion can be found in the next section of the manual Verifying System Setup Power O Green Power is applied to the driver in the range of 95 or 132 Vac 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com VERIFYING SYSTEM SETUP Setting the Current Loop Gain Setting the Current Loop Gain correctly allows you to maximize your motor s performance The SD17060B takes into account the line voltage output current and motor impedances when determining the optimum gain for your system Assuming a stable line voltage of 115 Vac the following gains can be used for AMCI motors These gain settings are factory suggestions and are average settings for our motors Your system may benefit from increasing or decreasing these settings In general increase the setting by one or two counts to impr
30. re you are sure the output Pair Cable 5 to 24V is always normally off the wattage ratings can be cut ct uu in half JEEP WC t CA Rip 1 0 As Needed o Rip may be needed in applications using a PLC DC output to generate index pulses athigh speeds See the note on this page for more information 20 Gear Drive Plymouth Ind Park Terryville CT 06786 16 Tel 860 585 1254 Fax 860 584 1973 http www amci com APPENDIX B USING OLDER SD17060B 25 DRIVERS Applicable Units This appendix applies to all SD17060B 25 drivers manufactured prior to December of 2008 The inputs of these units were designed for use with 24Vdc outputs and will not work with 5Vdc differential input signals You will be able to determine the date of manufacture from the serial number on the driver Serial numbers for all AMCI drivers are formed from a date code and sequential number The serial number format is shown below D prefix on all Drive D 1 2 0 80 1 3 5 Serial Number of the 135th drive manufactured Serial Numbers Ip in December of 2008 mmyynnnn Digits 1 amp 2 Month of Manufacture Digits 5 8 Digits 3 amp 4 Sequential Number Year of Manufacture within the month For SD17060B 25 Drives f your month and year of manufacture is December of 2008 or earlier digits 1 through 4 are 1208 or less then this appendix applies Using Older SD17060B 25 Units
31. steps 5 or 6 are usually caused by not setting the Pulse Train Input switch cor rectly or programming the wrong number of pulses in the indexer profile If the motor rotates in the wrong direction you can swap the B and B connections instead of altering your pro gramming 7 If you are using the Disable Input verify its operation with the motor stopped Note that the motor will have no holding torque while this input is active and the motor s shaft will be free to rotate 8 If you are using the Fault Output verify that it is On conducting Remove power from the SD17060B disconnect the motor and re apply power The STEP FAULT LED should be red and the Fault Output should be off not conducting 9 Remove power and re attach the motor Power the driver 10 Consider altering the motor current or enabling the Idle Current Reduction if it is not already enabled Lowering the motor current or enabling Idle Current Reduction can greatly reduce motor heating 20 Gear Drive Plymouth Ind Park Terryville CT 06786 13 Tel 860 585 1254 Fax 860 584 1973 http www amci com TROUBLESHOOTING Indexer Problems Symptom My indexer PLC reports a fault from the SD17060B when every thing seems fine Solution Your logic may be reversed On the SD17060B the Fault Output is on con ducts current when the driver is working correctly and turns off stops cur rent flow when there is a fault with the driver Therefore losing
32. t for SB2 1 CurrentLoop Gain 1 switch setting are latched You must cycle power to the driver before changes take effect Note on Idle Current Reduction SB1 SB2 SB3 SBA The SD17060B controls the RMS current through the moto Wl Therefore it can momentarily put 1 4 times the motor s rated current through the windings safely If you choose a setting STEP DIR of No Reduction the CWICCW SD17060B will revert to peak 0 0 0 0 0 10 REDUCTION current control when the motor NOREDUCTION OTO 0 0 0 0 0 10 0 is not turning This feature pro 10 30 0 1 SDIT 00100010 tects the motor from damage TO 0 i 0 D 0 0 x 2 You will not see a reduction in Steps Revolution 1111107010 1 0 i 200 5 10103010 01010 1 0 O 1 0 holding torque 0 400STEPS 1 0 0 0 1 0 0 1 O O 1 0 Disable Input ACTNELOWH asters rrOrr010 111 E 5000 5 010 110 1 2 You can program the Disable Input s 10 000 110110 1 0 1 1 0 O 1 3
33. the motor will begin to run rough at high speeds A 470 or 560 ohm resistor should be used For 5V and 12V systems use a 1W resistor For 24V systems use a 2W resistor These power ratings assume that the out put can be normally on For systems where you are sure the output is always normally off the wattage ratings can be cut in half DIR CCW H DIR CCW sTEP cW E Indexer Inputs STEP CW DISABLE E 1 Disable Input rauti J Fault Output Differential Connection Mee _ 577777 Indexer Disable Differential Input Output E i TE ER YT scis Shielded Twisted Pair Cable Open Collector Sourcing Connection Voc 5 to 24V Shielded Twisted pot Cable Sourcing Output XT Needed Input Rip may be needed in applications using a PLC DC output to generate index pulses athigh speeds See the note on this page for more information Open Collector Sinking Connection Shielded Twisted 1 Pair Cable to 24V a RLD x As Needed Rip may be needed in applications using a PLC DC output to generate index pulses athigh speeds See the note on this page for more information ADVANCED MICRO CONTROLS INC CONNECTING YOUR CONTROLLER Output Wiring The Fault Output is an optically isolated transistor capable of driving a typical PLC input The Fault Output is normally on conducts curr
34. ve 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 Please direct all comments to Technical Documentation 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 S INTRODUCING THE SD17060B This manual is designed to get you up and running quickly using the SD17060B or SD17060B 25 stepper drivers As such it assumes you have some basic knowledge of stepper systems such as the resolution you want 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 lot 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 back you up with all of our knowledge and experience Applicable Units This manual applies to all SD17060B and SD17060B 25 drivers manufactured after December of 2008 as well as some SD17060B drivers manufactured during December of 2008 You will be able to determine the date of manufacture from the serial number on the driver Serial numbers for all AMCI
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