Advanced Micro Controls Inc. SMD17E2

To Next Page

To Previous Page

CALCULATING MOVE PROFILES

SMD17E2 User Manual

ADVANCED MICRO CONTROLS INC.

Notes

Main Page

General Information2
- Important User Information2
- Standard Warranty2
- Returns Policy2
- Hour Technical Support Number2
- WEEE Statement2
- Table of Contents3
About this Manual7
- Audience7
- Applicable Units7
- Trademark Notices7
- Revision Record7
- Navigating this Manual8
- Manual Conventions8
- Manual Layout9
Reference: SMD17E2 Specifications11
- The SMD17E2 Family11
- Specifications14
- Indexer Functionality15
  - Stall Detection with SMD17E2 Units16
- Driver Functionality16
  - Idle Current Reduction17
- Available Discrete Inputs17
- Optional Encoder18
  - Incremental Encoder18
  - Absolute Multi-Turn Encoder18
- Status Led's19
  - Module Status (MS) LED19
  - Network Status (NS) LED20
SMD17E2 Connectors20
- Input Connector20
- Ethernet Connectors21
Gear Drive, Plymouth Ind. Park, Terryville, CT21
Torque and Power Curves21
Power Supply Sizing22
- Regeneration Effects23
Compatible Connectors and Cordsets23
- Connectors23
- Ethernet Cordset24
- Power Cordsets24
Reference: Motion Control (Continued)25
- Target Position26
Definitions25
- Units of Measure25
- Motor Position25
- Home Position25
- Count Direction25
- Starting Speed25
Definition of Acceleration Types26
- Linear Acceleration26
- Triangular S-Curve Accel27
- Trapezoidal S-Curve Accel27
A Simple Move28
Controlled and Immediate Stops29
- Host Control29
- Hardware Control29
Basic Move Types30
- Relative Move30
- Absolute Move31
- CW/CCW Jog Move32
- CW/CCW Registration Move33
Assembled Moves34
- Blend Move35
- Dwell Move36
Assembled Move Programming38
- Control Bits - Output Data38
- Control Bits - Input Data38
- Programming Routine38
- Saving an Assembled Move in Flash38
Indexed Moves39
Synchrostep (Virtual Axis) Moves40
Controlling Moves in Progress41
- Jog Moves41
- Registration Moves41
- Absolute and Relative Moves41
- Assembled Moves41
  - Profiles43
Constant Acceleration Equations43
- Variable Definitions43
- Total Time Equations45
S-Curve Acceleration Equations46
- Triangular S-Curve Accel46
- Trapezoidal S-Curve Accel48
- Determining Waveforms by Values50
Definition of Home Position53
Position Preset53
CW/CCW Find Home Commands53
Homing Inputs54
- Physical Inputs54
- Network Data Input54
Homing Configurations54
Homing Profiles55
- Home Input Only Profile55
- Profile with Backplane_Proximity_Bit56
- Profile with Overtravel Limit57
Controlling Find Home Commands in Progress58
- Controlled Stop Conditions58
- Immediate Stop Conditions58
  - Data Format59
Modes of Operation59
- Configuration Mode59
- Command Mode59
Power up Behavior59
Configuration Mode Data Format59
Command Mode Data Formats59
- Data Format (Continued)60
Output Data Format61
- Configuration Word 0 Format61
- Configuration Word 1 Format63
- Notes on Other Configuration Words64
Input Data Format64
- Configuration Word 0 Format (Word 0)64
- Starting Speed Format64
- Stall Detect Enable65
Invalid Configurations65
- Format67
Data Format67
Command Bits Must Transition68
Output Data Format68
Command Word 069
Command Word 171
Command Blocks72
- Absolute Move72
- Relative Move73
- Hold Move73
- Resume Move74
- Immediate Stop74
- Find Home CW75
- Find Home CCW75
- Jog CW76
- Registration Move CW76
- Jog CCW77
- Registration Move CCW77
- Preset Position78
- Reset Errors78
- Run Assembled Move79
- Preset Encoder Position79
Programming Blocks80
- First Block80
- Segment Block80
Input Data Format81
- Format of Position Data Values81
- Status Word 0 Format81
- Status Word 1 Format83
Notes on Clearing a Driver Fault84
- Location85
- Operating Temperature Guidelines86
- Mounting86
- Power and Input Connector89
  - Compatible Connectors and Cordsets89
- Power Wiring90
- Input Wiring91
  - Cable Shields91
  - Sinking Sensors Require a Pull up Resistor91
- Network Connectors92
  - Compatible Connectors and Cordsets92
  - TIA/EIA-568 Color Codes92
- Ethernet/Ip Connections93
  - Non-DLR Applications93
  - DLR Applications93
- Modbus TCP Connections93
- PROFINET Connections93
- Determine the Best Method for Setting the IP Address95
- Use Factory Default Settings95
- Use the Embedded Web Server96
- Use the AMCI NET Configurator Utility98
Task 3: Implicit Communications with an EDS103
- Obtain the EDS File103
- Install the EDS File103
  - Start the EDS Hardware Installation Tool103
  - Install the EDS File104
Gear Drive, Plymouth Ind. Park, Terryville, CT105
- Host System Configuration106
- Add the SMD17E2 to Your Project106
- Configure the SMD17E2 Driver107
- Buffering the I/O Data108
  - Without an EDS109
- Host System Configuration109
- Add the SMD17E2109
- Configure the SMD17E2111
- Buffer I/O Data112
  - Messaging113
- Required Message Instructions113
- Create Four New Data Files113
- Add the Message Instructions to Your Ladder Logic114
- Troubleshooting117
Task 6: Modbus TCP Configuration119
- Enable Modbus TCP Protocol119
- Modbus Addressing119
  - Modbus Table Mapping119
  - Host Addressing119
- AMCI Modbus TCP Memory Layout120
- Supported Modbus Functions121
- Supported Modbus Exceptions121
Task 7: PROFINET Network Configuration123
- Basic Steps123
- Download the GSDML Files123
- GSDML File Installation123
- Configure the PROFINET Network123
- Add the SMD17E2 to the PROFINET Network124
- Set the I/O Configuration126
- Verify and Download the New Configuration127
- MRP Installations127
- Configure the SMD17E2 as an MRC127
  - Firewall Settings129
  - Test Your Network Interface130

Advanced Micro Controls Inc. SMD17E2 - Page 52

Table of Contents