AMCI SD17060E2 User manual

M
ICRO CONTROLS INC.
ADVANCED
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Manual #: 940-0S172
E2 TechnologyE2 Technology

ADVANCED MICRO CONTROLS INC.
GENERAL INFORMATION
Important User Information
The products and application data described in this manual are useful in a wide variety of different applica-
tions. Therefore, the user and others responsible for applying these products described herein are responsible
for determining the acceptability for each application. While efforts have been made to provide accurate infor-
mation within this manual, AMCI assumes no responsibility for the application or the completeness of the
information contained herein.
UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS, INC. BE RESPONSIBLE OR
LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING INDIRECT OR CONSEQUENTIAL DAM-
AGES OR LOSSES, ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS
MANUAL, OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN.
No patent liability is assumed by AMCI, with respect to use of information, circuits, equipment, or software
described in this manual.
The information contained within this manual is subject to change without notice.
This manual is copyright 2019 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
copyright 2019 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 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 [phone] 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 [phone]. Your call will be answered by the factory dur-
ing regular business hours, Monday through Friday, 8AM - 5PM Eastern. During non-business hours an auto-
mated system will ask you to enter the telephone number you can be reached at. Please remember to include
your area code. The system will page an engineer on call. Please have your product model number and a
description of the problem ready before you call.
Waste Electrical and Electronic Equipment (WEEE)
At the end of life, this equipment should be collected separately from any unsorted municipal waste.

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TABLE OF CONTENTS
General Information
Important User Information ..................... 2
Standard Warranty ................................... 2
Returns Policy .......................................... 2
24 Hour Technical Support Number ........ 2
Waste Electrical and Electronic Equipment
(WEEE) .................................................. 2
About this Manual
Audience .................................................. 7
Applicable Units ...................................... 7
Navigating this Manual ............................ 7
Manual Conventions ................................ 8
Trademarks and Other Legal Stuff .......... 8
Revision Record ....................................... 8
Revision History ............................ 8
Manual Layout ......................................... 9
Reference: SD17060E2 &
SD31045E2 
Specifications
Networked Stepper Indexer/Drivers ........ 11
General Functionality .................... 11
Network Data Format .................... 12
Specifications ........................................... 14
Indexer Functionality ............................... 15
Driver Functionality ................................. 16
Available Inputs ....................................... 16
Home Input .................................... 16
CW Limit Switch or CCW Limit Switch 17
Start Indexer Move Input ............... 17
Emergency Stop Input ................... 17
Stop Jog or Registration Move Input 17
Capture Encoder Position Input ..... 17
Encoder Feedback ......................... 17
General Purpose Input ................... 18
Encoder Functionality .............................. 18
Electronic Gearing ......................... 18
Encoder Registration Move ........... 18
Network Interface Description ................. 19
Ethernet Interface .......................... 19
Status LED’s ............................................ 19
Front Panel Status LED’s .............. 19
Ethernet Status LED’s ................... 20
Reference: UL/cUL Recognized 
Installations
UL Required Information ......................... 21
Reference: Motion Control
Definitions ................................................ 23
Units of Measure ........................... 23
Motor Position .............................. 23
Home Position ............................... 23
Count Direction ............................. 23
Starting Speed ............................... 23
Target Position .............................. 24
Definition of Acceleration Types ............. 24
Linear Acceleration ....................... 24
Triangular S-Curve Accel ............. 25
Trapezoidal S-Curve Accel ........... 25
A Simple Move ........................................ 26
Controlled and Immediate Stops .............. 27
Host Control .................................. 27
Hardware Control ......................... 27
Basic Move Types .................................... 27
Relative Move ............................... 27
Absolute Move .............................. 28
CW/CCW Jog Move ..................... 29
CW/CCW Registration Move ....... 31
Encoder Registration Move .......... 32
Assembled Moves .................................... 33
Blend Move ................................... 34
Dwell Move .................................. 35
Assembled Move Programming ............... 37
Control Bits – Output Data ........... 37
Control Bits – Input Data .............. 37
Programming Routine ................... 37
Saving an Assembled 
Move in Flash ............................. 37
Indexed Moves ......................................... 38
Synchrostep (Virtual Axis) Moves ........... 39
Controlling Moves In Progress ................ 40
Find Home Moves ........................ 40
Jog Moves ..................................... 40
Registration Moves ....................... 40
Absolute, Relative, and 
Encoder Registration Moves ...... 40
Assembled Moves ......................... 40

TABLE OF CONTENTS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
4
Reference: Motion Control 
(continued)
Electronic Gearing .................................... 41
Motor_Resolution ......................... 41
ELGearing Multiplier 
and Divisor .................................. 41
How It Works ................................ 41
Controlled Stop Conditions .......... 41
Immediate Stop Conditions .......... 41
Advanced Ratio Control ............... 42
Stall Detection .......................................... 42
Idle Current Reduction ............................. 42
Current Loop Gain ................................... 43
Reference: Calculating Move 
Profiles
Constant Acceleration Equations ............. 45
Variable Definitions ...................... 45
Total Time Equations .................... 47
S-Curve Acceleration Equations .............. 48
Triangular S-Curve Accel ............. 48
Trapezoidal S-Curve Accel ........... 50
Determining Waveforms 
by Values .................................... 52
Reference: Homing an AMCI 
Networked Driver
Definition of Home Position .................... 55
Position Preset .......................................... 55
CW/CCW Find Home Commands ........... 55
Homing Inputs .......................................... 55
Physical Inputs .............................. 55
Backplane Inputs ........................... 55
Homing Configurations ............................ 56
Homing Profiles ....................................... 56
Home Input Only Profile .............. 56
Profile with Network 
Backplace_Proximity_Bit ........... 57
Profile with Overtravel Limit ....... 58
Reference: Configuration Mode
Data Format
Modes of Operation .................................. 59
Configuration Mode ...................... 59
Command Mode ........................... 59
Power Up Behavior .................................. 59
Word Addressing ...................................... 59
Configuration Mode Data Format ............ 59
Multi-Word Data Format .............. 60
Reference: Configuration Mode
Data Format (continued)
Command Mode Data Formats ................. 60
Output Data Format .................................. 61
Configuration Word 0 Format ....... 62
Configuration Word 1 Format ....... 64
Notes on Other 
Configuration Words ................... 65
Input Data Format ..................................... 66
Configuration Word 0 Format ....... 66
Invalid Configurations .............................. 66
Chapter 7: Command Mode Data
Format
Data Format .............................................. 67
Command Bits Must Transition ............... 68
Output Data Format .................................. 68
Command Word 0 .................................... 69
Command Word 1 .................................... 71
Description of Motor 
Current Keys ............................... 72
Command Blocks ..................................... 73
Absolute Move .............................. 73
Relative Move ............................... 73
Hold Move .................................... 74
Resume Move ................................ 74
Immediate Stop ............................. 75
Find Home CW ............................. 75
Find Home CCW ........................... 76
Jog CW .......................................... 76
Registration Move CW ................. 77
Virtual Axis Follower Move ......... 77
Jog CCW ....................................... 78
Registration Move CCW ............... 78
Encoder Follower Move ................ 79
Preset Position ............................... 79
Reset Errors ................................... 80
Run Assembled Move ................... 80
Preset Encoder Position ................. 81
Programming Blocks ................................ 82
First Block ..................................... 82
Segment Block .............................. 82
Input Data Format ..................................... 83
Format of Position Data Values .... 83
Status Word 0 Format ................... 83
Status Word 1 Format ................... 85
Notes on Clearing a Driver Fault .............. 87
Reset Driver Fault ......................... 87

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Networked Indexer/Driver User Manual TABLE OF CONTENTS
5
Reference: General Installation
Guidelines
Grounding ................................................ 89
Grounding Electrode System ......... 89
Ground Bus .................................... 89
Grounding Electrode Conductor .... 90
Grounding Wires ........................... 90
Avoiding Grounding Problems ................ 90
Surge (EMI) Suppression ......................... 91
Incoming Power ............................ 91
Inductive Loads ............................. 92
System Environment ..................... 92
System Layout Considerations ................ 92
Wiring Categories for the 
SD17060E2 or SD31045E2 ........ 92
Minimize Voltages in the 
System Enclosure ........................ 93
Power Supply Sizing ..................... 93
Component Placement ................... 93
Conduits to Enclosure .................... 94
Installing an AMCI Networked Driver .... 94
Task 1: Installing an AMCI 
Networked Driver
Location ................................................... 95
Safe Handling Guidelines ........................ 95
Prevent Electrostatic Damage ........ 95
Prevent Debris From 
Entering the Unit ......................... 95
Remove Power Before Servicing .. 95
Airflow and Wiring Space ....................... 95
Outline Drawings ..................................... 96
SD17060E2 Outline Drawing ........ 96
SD31045E2 Outline Drawing ........ 97
Mounting Methods ................................... 97
Grounding and Powering the System ...... 98
Installing the Stepper Motor .................... 99
Outline Drawings ........................... 99
Mounting the Motor ...................... 99
Connecting the Load ...................... 99
Extending the Motor Cable ........... 99
Installing the Motor Cable ............. 99
Connecting the Motor .............................. 100
Motor Connector ........................... 100
Interlock Wiring ............................ 100
Motor Wiring ................................. 101
Task 1: Installing an AMCI Net-
worked Driver (continued)
Digital Input Wiring ................................. 102
Cable Shields ................................ 102
Input Wiring .................................. 102
Output Wiring ............................... 103
Encoder Wiring ............................. 103
Ethernet Connections ............................... 104
EtherNet/IP Connections .......................... 104
Non-DLR Applications ................. 104
DLR Applications ......................... 104
PROFINET Connections .......................... 104
Non-MRP Applications ................ 104
MRP Applications ......................... 104
Modbus TCP Connections ....................... 105
Task 2: Set the IP Address
Determine the Best Method for 
Setting the IP Address ............................ 107
Use Factory Default Settings ................... 107
Use the Embedded Web Server ................ 108
Use the AMCI NET Configurator 
Utility ..................................................... 111
Task 3: Using the EDS File with 
EtherNet/IP
Problems On Some Systems .................... 115
Obtain the EDS file .................................. 115
Install the EDS file ................................... 115
Start the EDS Hardware 
Installation Tool .......................... 115
Install the EDS File ....................... 116
Configure the Ethernet Adapter 
on Your PLC .......................................... 118
Add the SD17060E2 or SD31045E2 
to Your Project ....................................... 118
Configure the SD17060E2 or 
SD31045E2 Driver ................................. 119
General Tab ................................... 119
Connection Tab ............................. 119
Configuration Tab ......................... 119
Buffering the I/O Data ............................. 120
Task 4: Implicit Communications
Without EDS
Host System Configuration ...................... 121
Adding the SD17060E2 or SD31045E2 .. 121
Configuring the SD17060E2 or 
SD31045E2 ............................................ 123
Buffering I/O Data ................................... 124

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Networked Indexer/Driver User Manual TABLE OF CONTENTS
6
Task 5: EtherNet/IP Explicit

Messaging
Required Message Instructions ................ 125
Create Four New Data Files ..................... 125
Add the Message Instruction(s) to 
your Ladder Logic ................................. 126
Troubleshooting ....................................... 129
Task 6: Modbus TCP Configuration
Enable Modbus TCP Protocol ................. 131
Modbus Addressing ................................. 131
Modbus Table Mapping ................ 131
Host Addressing ............................ 132
AMCI Modbus TCP Stepper 
Driver Memory Layout .......................... 132
Supported Number of Connections .......... 132
Supported Modbus Functions .................. 133
Supported Modbus Exceptions ................ 133
Task 7: PROFINET Network 
Configuration
Basic Steps ............................................... 135
Download the GSDML files .................... 135
GSDML File Installation ......................... 135
Configure the PROFINET Network ........ 135
Add the Networked Driver to the 
PROFINET Network ............................. 136
Set the I/O Configuration ......................... 138
Verify and Download the New 
Configuration ......................................... 138
MRP Installations .................................... 139
Configure the SD17060x2 as an MRC .... 139
Optional Task A: Configure Your 
Network Interfaces
Firewall Settings ...................................... 141
Disable All Unused Network Interfaces .. 141
Configure Your Network Interface .......... 141
Test Your Network Interface ................... 142

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ABOUT THIS MANUAL
Audience
This manual explains the installation and operation of AMCI’s Networked Stepper Indexer/Drivers. It is writ-
ten for the engineer responsible for incorporating these products into a design as well as the engineer or tech-
nician responsible for their actual installation.
Applicable Units
This manual applies to the SD17060E2 and SD31045E2 units.
“E2” units released prior to January, 2019, support the EtherNet/IP and Modbus TCP protocols. They
are factory configured for the EtherNet/IP protocol.
“E2” units that were released on or after January 1st, 2019, support the EtherNet/IP, Modbus TCP, and
PROFINET protocols, These units are factory configured for the EtherNet/IP protocol.
The serial numbers for all SD units are date coded and follows the format D‘MMYYnnnn’. ‘MMYY’ is the
month and year of manufacturer and ‘nnnn’ is a sequential number that resets every month.
Each unit contains a two port Ethernet switch, which simplifies network wiring. When the EtherNet/IP proto-
col is used, the unit can act as a node in a Device Level Ring (DLR). When PROFINET is enabled, the unit
supports the Media Redundancy Protocol (MRP) and can be incorporated in PROFINET installations that use
a redundant ring topology.
With the exception of power requirements and output current, the information in this manual applies equally
to the SD17060E2 and SD31045E2 units. The term “Networked Driver” is used when the information applies
to all drivers.
Navigating this Manual
This manual is designed to be used in both printed and on-line forms. Its on-line form is a PDF document,
which requires Adobe Acrobat Reader version 7.0+ to open it. You are allowed to select and copy sections for
use in other documents and, if you own Adobe Acrobat version 7.0 or later, you are allowed to add notes and
annotations. If you decide to print out this manual, all sections contain an even number of pages which allows
you to easily print out a single chapter on a duplex (two-sided) printer.
Read this chapter to learn how to navigate through this manual and familiarize
yourself with the conventions used in it. The last section of this chapter highlights
the manual’s remaining chapters and their target audience.

ABOUT THIS MANUAL Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
8
Manual Conventions
Three icons are used to highlight important information in the manual:
NOTES highlight important concepts, decisions you must make, or the implications of those
decisions.
CAUTIONS tell you when equipment may be damaged if the procedure is not followed
properly.
WARNINGS tell you when people may be hurt or equipment may be damaged if the pro-
cedure is not followed properly.
The following table shows the text formatting conventions:
Trademarks and Other Legal Stuff
The AMCI logo is a trademark of Advanced Micro Controls Inc. “CIP” is a trademark of Open DeviceNet
Vendor Association, Inc. “EtherNet/IP” is a trademark of ControlNet International, Ltd. under license by
Open DeviceNet Vendor Association, Inc. “Adobe” and “Acrobat” are registered trademarks of Adobe Sys-
tems Incorporated.
All other trademarks contained herein are the property of their respective holders.
Revision Record
This manual, 940-0S172 is the second release of this manual. It was first released on September 28th, 2018. It
changes manual layout and adds information on the PROFINET protocol.
Revision History
940-0S171: May 31, 2016 - Changes to IEC 60417 grounding symbols.
940-0S170: May 23, 2016 - Initial Release
Format Description
Normal Font Font used throughout this manual.
Emphasis Font Font used for parameter names and the first time a new term is introduced.
Cross Reference When viewing the PDF version of the manual, clicking on a blue cross refer-
ence jumps you to referenced section of the manual.
HTML Reference When viewing the PDF version of the manual, clicking on a red cross reference
opens your default web browser to the referenced section of the AMCI website
if you have Internet access.

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Networked Indexer/Driver User Manual ABOUT THIS MANUAL
9
Manual Layout
You will most likely read this manual for one of two reasons:
If you are curious about the Networked Stepper Indexer/Driver products from AMCI, this manual con-
tains the information you need to determine if these products are the right products for your application.
The first chapter, SD17060E2 & SD31045E2 Specifications contains all of the information you will
need to fully specify the right product for your application.
 If you need to install and use a Networked Stepper Indexer/Driver product from AMCI, then the rest of
the manual is written for you. To simplify installation and configuration, the rest of the manual is broken
down into
tasks and references . Using a Networked Stepper Indexer/Driver requires you to complete
multiple tasks, and the manual is broken down into sections that explain how to complete each one.
Section Title Page # Section Description
SD17060E2 &
SD31045E2
Specifications 11 Complete specifications for the SD17060E2 and SD31045E2
products.
UL/cUL Recognized
Installations 21 Installation guidelines that must be followed in order for an instal- lation of a Networked Driver to meet UL/cUL criterion.
Motion Control 23 Reference information on how the driver can be used to control
motion in your application.
Calculating Move
Profiles 45 Reference information on calculating detailed move profiles.
Homing an AMCI
Networked Driver 55 Reference information on how the home position of the
SD17060E2 or SD31045E2 can be set.
Configuration Mode
Data Format 59 Reference information on the format of the network data to and
from the SD17060E2 or SD31045E2 that is used to configure it.
Command Mode
Data Format 67 Reference information on the format of the network data to and
from the SD17060E2 or SD31045E2 that is used to command it.
General Installation
Guidelines 89 Reference information on grounding, wiring, and surge suppres- sion, that is applicable to any control system installation.
Installing an AMCI
Networked Driver 95 Task instructions covering how to install an SD17060E2 or
SD31045E2 on a machine. Includes information on mounting,
grounding, and wiring specific to the units.
Set the IP Address 107 Task instructions that covers the options for setting the IP address
on an SD17060E2 or SD31045E2.
Using the EDS File
with EtherNet/IP 115 Task instructions that cover how to add an SD17060E2 or
SD31045E2 to a EtherNet/IP host that supports the use of EDS
files.
Implicit
Communications
Without EDS 121 Task instructions for adding a Networked Driver to a project as a
generic device. This configuration is for EtherNet/IP hosts that do
not support EDS files while supporting implicit communications.
EtherNet/IP Explicit
Messaging 125 Task instructions for adding message instructions to you host con-
troller program that write data explicitly to the SD17060E2 or
SD31045E2.
Modbus TCP
Configuration 131 Task instructions for communicating with an SD17060E2 or
SD31045E2 using the Modbus TCP protocol.
PROFINET Network
Configuration 135 Task instructions that covers how to add a Networked Drive to a
PROFINET network.
Optional: Configure
Your Network
Interfaces 21 Instructions for the optional task of configuring network interfaces
on your computer or laptop.

ABOUT THIS MANUAL Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
10
Notes

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REFERENCE 1
SD17060E2 & SD31045E2 SPECIFICATIONS
Networked Stepper Indexer/Drivers
The AMCI SD17060E2 is a 6.0Arms micro-stepping driver with a 170Vdc internal bus voltage. The AMCI
SD31045E2 is a 4.4Arms micro-stepping driver with a maximum internal bus voltage of 310Vdc. What makes
each drive unique is its built-in indexer that accepts configuration and command data from a host system over
the internal Ethernet port.
The SD17060E2 and SD31045E2 drivers can be configured to use either 
Ethernet/IP, PROFINET, or Modbus/TCP protocols, which makes these units easy to integrate into a wide
variety of controller systems.
The SD1706E2 and SD31045E2 are members of the growing line of products from AMCI that incorporate
our E2 Technology. E2 Technology by AMCI is an innovative new multi-protocol approach to Ethernet dis-
tributed I/O.
E2 Technology products are simple and intuitive, allowing easy transition between multiple common indus-
trial Ethernet protocols without the need to physically switch parts. An advanced web server integrated into
all AMCI E2 Technology devices facilitates simple device configuration and troubleshooting via web-
browser. Furthermore, an impressive array of advanced features for each supported protocol has been incor-
porated into the devices to meet many unique application requirements.
Each unit has two Ethernet ports which are internally connected through an onboard, two port, 10/100 Mbps
ethernet switch. These ports allow you to wire your network in a “daisy-chain” fashion, which may lower net-
work wiring costs and complexities.
The two ports also allow the units to function as members of a redundant Device Level Ring (DLR) network
when using the EtherNet/IP protocol or as clients in a Media Redundancy Protocol (MRP) network when
using PROFINET.
In DLR environments, the units act as Beacon-Based Ring Nodes. All units can process beacon packets at the
default rate of every 400 microseconds. Beacon-based nodes can respond faster to network changes than
nodes that only process Announce packets.
General Functionality
The 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 Networked Indexer/Driver.
All motion logic is programmed in the host, eliminating the need to learn a separate motion control lan-
guage
The integral two port Ethernet switch simplifies network cabling
The DLR functionality eliminates single point failures in EtherNet/IP environments
The MRP functionality eliminates single point failures in PROFINET environments
Eliminating the separate indexer lowers Total System Cost
This manual is designed to get you up and running quickly with either the
SD17060E2 or the SD31045E2 from AMCI. 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 great 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 and
experience.

SD17060E2 & SD31045E2 SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
12
Networked Stepper Indexer/Drivers (continued)
General Functionality (continued)
Both Networked Drivers can be powered from a nominal 115 Vac, 50/60 Hz source and they will have a 170
Vdc motor bus voltage with this input supply. The SD31045E2 Drivers can also be powered by a nominal 230
Vac 50/60 Hz source and they will have a 310 Vdc motor bus voltage with this input supply.
The output motor current is fully programmable on these Networked Drivers. The SD17060E2 Drivers can be
programmed from 1.0 Arms to 6.0 Arms, while the SD31045E2 Drivers can be programmed from 1.0 Arms
to 4.4 Arms. It is even possible to change the motor current setting while the move is in progress. These
ranges of output currents makes the Networked Drivers compatible with the complete line of stepper motors
from AMCI.
In addition to the Motor Current setting, the Motor Steps per Turn, Idle Current Reduction, and Anti-Reso-
nance Circuit features are also fully programmable. If you have used other stepper indexer products from
AMCI you will find the programming to be very similar to these products.
All Networked Drivers from AMCI are true RMS motor current control drivers. This means that you will
always receive the motor’s rated torque regardless of the Motor_Resolution setting. (Drivers that control the
peak current to the motor experience a 30% decrease in motor torque when microstepping a motor.) The Net-
worked Drivers automatically switch from RMS to peak current control when the motor is idle to prevent
overheating the motor.
In addition to power and motor hookups, the Networked Drivers have three DC inputs and one DC output that
are used by the indexer. Configuration data from the host sets the function of these points. The output can be
configured to be a Fault Output or a general purpose output. Each input can be individually configured as a:
CW or CCW Limit Switch
Home Limit Switch
Capture Encoder Position Input
Stop Jog or Registration Move Input
Start Indexer Move
Emergency Stop Input
A/B Encoder Inputs
General Purpose Input
Network Data Format
In order to support any host that communicates with the EtherNet/IP, PROFINET, or Modbus TCP protocols,
the format of the data read from and written to the
Networked Driver while in command mode is completely
programmable. The format of the network input and output data can be programmed separately.
The smallest data size used by the Networked Driver is the sixteen bit word, however some parameters and
data values can exceed this size. For these thirty-two bit values, the default data format is referred to as the
multi-word format. The data value is split between the hundreds digit and the thousands digit. For example, a
value of 12,345 would have 12 placed in the first (lower addressed) word, and 345 placed in the second (higher
addressed) word. This format greatly simplifies setting parameter values when programming command blocks.

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Networked Indexer/Driver User Manual SD17060E2 & SD31045E2 SPECIFICATIONS
13
Networked Stepper Indexer/Drivers (continued)
Network Data Format (continued)
The other data format is a signed thirty-two bit integer format. When using the thirty-two bit format, there is
one additional parameter named Data Endian. Its use is best explained with an example. The value of
123,456 equals 0001:E240 in hexadecimal. When storing and transmitting this data, some host controllers
will store the least significant word (16#E240) in the lower addressed word in their data tables, while others
will store the most significant word (16#0001) in the lower addressed word in their data tables. These control-
lers expect thirty-two bit values to be returned to them using the same format. Least significant word first is
called little endian, most significant word first is called big endian. Rockwell Automation controllers use lit-
tle endian format, while the default Modbus format is big endian.
The range of values when using the multi-word format is -32,768,000 to 32,767,999. When
used in continuous rotation applications, it is possible to overflow these values. When a posi-
tion value overflows, the value of the associated data words will become indeterminate. AMCI
strongly suggests using the signed 32-bit integer format for continuous rotation applications.
EtherNet/IP applications that use an EDS file have the parameters and data values defined as
double integers. In these applications, the data formats should be programmed to the thirty-
two bit integer format and the Data Endian parameter should be set to little endian.

SD17060E2 & SD31045E2 SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
14
Specifications
Driver Type
Two bipolar MOSFET H-bridges with 20KHz
PWM current control.
SD17060E2 Drivers: 170Vdc output bus.
SD31045E2 Drivers: up to 310Vdc output bus.
Physical Dimensions
Width: SD17060E2 Drivers: 2.1 inches max.
SD31045E2 Drivers: 2.7 inches max.
Depth: 4.0 inches max.
Height: 6.2 inches
7.0 inches with mounting tabs
Weight
SD17060E2 Drivers: 2.4 lbs. (1.1 kg.) max.
SD31045E2 Drivers: 2.7 lbs. (1.25 kg.) max.
Inputs
Electrical Characteristics for all Inputs: . . . .
Differential. UL 1577 recognized, 3750 Vrms for
1 minute. Can be wired as single ended inputs.
Accepts 3.5 to 27Vdc without the need for an
external current limiting resistor.
Output
Electrical Characteristics:
Open Collector/Emitter. Opto-isolated. (2500
Vac rms (f=60 Hz, t=1 min. duration) 
30Vdc, 20 mA max.
The Output can be programmed to be a general
purpose output or a Fault Output.
The Fault Output is normally on. Turns off under
the following conditions:
Reset .................. 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.
Faults are reported in the Network Input Data and
can be cleared through the Network Output Data.
Motor Interlock
Two pins that must be shorted together before
power will be applied to motor. Can be shorted
together through mechanical relay contacts.
Motor Current
SD17060E2 Drivers: Programmable from 1.0 to
6.0 Arms in 0.2 Arms steps.
SD31045E2 Drivers: Programmable from 1.0 to
4.4 Arms in 0.2 Arms steps.
Motor Resolution
Programmable to any value from 200 to 32,767
steps per revolution.
Idle Current Reduction
Programmable from 0% to 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.
Internal Power Fuses
10 Amp Slow Blow. Both Line and Neutral are
fused. Fuses are not user replaceable.
Environmental Specifications
Input Power ....... SD17060E2 Drivers: 95 to
132Vac, 50/60 Hz, 
5.0 Apk max.
SD31045E2 Drivers: 95 to
264Vac, 50/60 Hz, 
5.0 Apk max.
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. 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
recommended
Connectors
All mating connectors are included with driver.
Connector Wire Strip Length Min./Max. Tightening Torque
I/O 28 - 16 AWG 0.275 inches 1.91/2.23 lb-in (0.22/0.25 Nm)
Motor 24 - 12 AWG 0.275 inches 4.46/5.35 lb-in (0.5/0.6 Nm)
Power 24 - 12 AWG 0.275 inches 4.46/5.35 lb-in (0.5/0.6 Nm)

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
Networked Indexer/Driver User Manual SD17060E2 & SD31045E2 SPECIFICATIONS
15
Indexer Functionality
The table below lists the functionality offered by the indexer built into the AMCI Networked Drivers
Table R1.1 Indexer Functionality
Feature Description
Multiple Network
Protocols The SD17060E2 and SD31045E2 units can be configured to communicate
with EtherNet/IP, PROFINET, or Modbus TCP protocols. This allows easy
setup and communication with a wide range of host controllers.
EtherNet/IP-DLR The SD17060E2 and SD31045E2 units act as Beacon-Based Nodes in
Device Level Ring environments. This functionality results in the fastest
response to changes in the redundant network.
PROFINET-MRP The SD17060E2 and SD31045E2 units have Media Redundancy Protocol
support, which adds redundancy to the PROFINET protocol.
Programmable Inputs Each of the three inputs can be programmed as a Home Limit, Over Travel
Limit, Capture Input, Jog Stop, or E-Stop Input. They can also be pro-
grammed to accept a quadrature encoder.
Programmable Output The single output on the Networked Driver can be programmed as a Fault
Output or as a general purpose DC output point.
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. The Networked Driver
can home to a discrete input or to an encoder marker pulse.
Jog Move Allows you to jog the motor in either direction based on a bit from your con-
troller.
Registration Move Allows you to jog the motor in either direction based on a command bit from
your controller. When a controlled stop is issued, the move will output a pro-
grammable number of steps before coming to a stop.
Encoder Registration
Move Uses the count from a quadrature encoder to determine when a move begins to decelerate and stop. Commonly used in spooling/despooling applications.
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.
Assembled Move Allows you to perform a sequence of relative moves. These moves can be
performed with or without stopping between them.
Indexer Move Allows you to program a move that is run when one of the programmable
inputs makes a transition.
Hold Move Allows you to suspend a move and 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 the Networked Driver is configured to accept an encoder, the encoder
can be used to verify motion when a move command is issued.
Electronic Gearing The Networked Driver can be configured to control the position of a motor
based on feedback from an external encoder. The ratio of encoder pulses to
motor pulses is full programmable and can be changed on-the-fly.

SD17060E2 & SD31045E2 SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
16
Driver Functionality
This table summarizes the features of the stepper motor driver portion of the SD17060E2 and SD31045E2.
Table R1.2 Driver Functionality
Available Inputs
Each Networked Driver has three DC inputs that accept 3.5 to 27Vdc signals. (5 to 24Vdc nominal) They can
be wired as differential, sinking, or sourcing inputs. How the Networked Driver uses these inputs is fully pro-
grammable as well as their active states. (Each input can be programmed to act as a Normally Open (NO) or
Normally Closed (NC) input.)
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. Each
Networked Driver allows you to define this starting position in two ways. The first is with a Position Preset
Command. 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 Networked Driver that will cause the unit to seek this sensor.
How the Networked Driver actually finds the home sensor is described in the reference chapter Homing an
AMCI Networked Driver starting on page 55.
Feature Benefits
170 Vdc or 310 Vdc
Output Bus A high voltage output bus means you can derive more high speed torque (power) from your stepper motor.
RMS Current Control RMS current control give the Networked Driver 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 in 0.2 amp incre-
ments. This allows you to use a Networked Driver with the full line of
AMCI stepper motors.
Programmable Idle
Current Reduction Extends motor life by reducing the motor current when not running. This extends the life of the motor by reducing its operating temperature.
Programmable
Current Loop Gain Allows you to tailor the driver circuitry to the motor’s impedances, thereby maximizing your motor’s performance.
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 the Networked Driver the ability to modify motor cur-
rent waveforms to compensate for mechanical resonance in your system.
This will give you smooth performance over the entire speed range of the
motor.
Motor Interlock
Safety feature that prevents power from being applied to the motor connec-
tor if a wire jumper does not exist between two of its pins. A mechanical
contact can be used to disable the current to the motor. The voltage between
the two interlock pins never exceeds 5Vdc, but 115/230Vac may be present
between either of the Interlock pins and either of the power supply inputs.
Wiring Short Detection Safety feature that removes power from the motor if a short is detected in
one of the windings of the motor.
Over Temperature
Detection Protects the Networked Driver from damage by removing power from the
motor if the internal temperature of the driver exceed a safe operating thresh-
old.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
Networked Indexer/Driver User Manual SD17060E2 & SD31045E2 SPECIFICATIONS
17
Available Inputs (continued)
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 move in the counter-
clockwise direction.
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 a Networked Driver to run critically timed moves that cannot be reliably started from the network due
to data transfer lags.
If Inputs 1 and 2 are programmed as quadrature encoder inputs and Input 3 is programmed as a Start Indexer
Move Input, then the quadrature encoder position data will be captured whenever Input 3 transitions. An inac-
tive-to-active state transition will also trigger an Indexer Move if one is pending.
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. No move can 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 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 with this input
type, all other moves will ignore this input.
If Inputs 1 and 2 are programmed as quadrature encoder inputs and Input 3 is programmed as a Stop Jog or
Registration Move Input, then the quadrature encoder position data will be captured when Input 3 makes an
inactive-to-active transition to bring a Jog or Registration Move to a controlled stop. 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 Input 3, 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, a
Networked Driver can be configured to capture the encoder position value on a transition on Input 3.
Encoder Feedback
Each Networked Driver can be configured to accept a quadrature encoder instead of discrete inputs. Inputs 1
and 2 can be programmed to accept the ±A and ±B signals from a quadrature encoder. When using an
encoder, you have two additional choices when configuring Input 3. First, the ±Z signal can be wired to Input
3 and used to home the machine. Second, Input 3 can be used to capture the encoder position when it transi-
tions if it is programmed as a Capture Encoder Position Input or a Jog Move Stop Input.
Additional information on the ways to use an encoder with a Networked Driver is described in the Encoder
Functionality section on page 18.

SD17060E2 & SD31045E2 SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
18
Available Inputs (continued)
General Purpose Input
If your application does not require all three inputs, you can configure the unused inputs as General Purpose
Inputs. The inputs are not used by the Networked Driver, but the input state is reported in the network data.
Encoder Functionality
Inputs 1 and 2 can be programmed to accept the ±A and ±B signals from a quadrature encoder. When using an
encoder, you have two additional choices when configuring Input 3. First, the ±Z signal can be wired to Input
3 and used to home the machine. Second, Input 3 can be used to capture the encoder position when it transi-
tions if it is programmed as a Capture Encoder Position Input or a Jog Move Stop Input.
Using an encoder input gives you the ability to:
Home the machine to the encoder marker pulse
Detect motor stall conditions
Run Encoder Registration Moves
Electronic Gearing
In this mode, the stepper motor follows the rotation of an external encoder. This encoder is typically attached
to another motor. The ratio of encoder pulses to stepper pulses is programmable over a wide range. This mode
electronically couples the two motors together through a programmable gear ratio.
Encoder Registration Move
The encoder position acts as a registration mark in an Encoder Registration Move. Typically, the encoder is
mounted separately from the motor. With this mode, the Networked Driver will drive the motor until the
desired encoder count is reached, at which time the motor begins to decelerate and stop. This functionality is
useful in spool winding or unwinding applications, where the motor drives the spool and the encoder mea-
sures the material length as it enters or exits the spool. As the spool diameter increases or decreases, the pro-
grammed distance remains the same because you are measuring material, not the number of turns.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
Networked Indexer/Driver User Manual SD17060E2 & SD31045E2 SPECIFICATIONS
19
Network Interface Description
The network interface is located on the top of the drive, towards the tabbed mounting surface. The network
status LED’s are also located in this area.
Ethernet Interface
The Ethernet Interface on the SD17060E2 and SD31045E2 drivers has two standard RJ-45 jacks that accept
any standard 100baseT cable. Both jacks are used in EtherNet/IP DLR and PROFINET MRP applications. If
you are using the Modbus TCP protocol, or are not using DLR or MRP functionality, then you can connect to
either jack. Both Ethernet ports on the Ethernet Drivers have “auto switch” capability. This means that a stan-
dard cable can be used when connecting the Ethernet Driver to any device. Crossover cables are never
needed.
Figure R1.1 Ethernet Interface Location
The two ports are internally connected to an ethernet switch. In non-DLR applications, either port can be
used. You also have the ability to daisy chain a second device off of the Networked Driver if this would sim-
plify your network wiring.
There are two LED’s on each of the RJ-45 jacks. The left LED is not used. The right LED shows the link sta-
tus of the Ethernet connection. This LED will be on if the hardware connection is correct.
There are two additional LED’s to the left of the jacks. The Module Status (MS) LED gives additional infor-
mation on the status of the unit. The Network Status (NS) LED gives additional information on the status of
the network protocol.
Status LED’s
Front Panel Status LED’s
Power: This green LED should be on when power is applied to the drive. If the LED is off, the input
voltage is below 95Vac or one or both of the internal fuses are blown. The fuses are not field replace-
able.
Status: Steady Green ...... Driver OK
Steady Red ......... Short Circuit Fault
Over Temperature Fault
Interlock Missing
Blinking Green ... Successful write to Flash memory. Cycle power to the drive.
Blinking Red ...... Failure to write to Flash memory. Cycle power to the drive before 
attempting another write.
A Networked Driver will only detect motor errors when the motor current is enabled.
1
MS
NS
2

SD17060E2 & SD31045E2 SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
20
Status LED’s (continued)
Ethernet Status LED’s
Link Status –On when there is a physical link
between the Ethernet port of the Networked
Driver and the Ethernet port of the device the
driver is plugged into. This LED will flash
when data is being transmitted over the Ether-
net link.
Module Status (MS) LED – The Module Status
LED is a bi-color red/green LED. The state of
the LED depends on the state of the network
adapter module.
Table R1.3 Module Status LED States
Network Status (NS) LED – The Network Status LED is a bi-color red/green LED. The state of the LED
depends on the protocol the SMD34E2 is configured to.
Table R1.4 Network Status LED States
LED State EtherNet/IP Definition Modbus TCP Definition PROFINET Definition
Off No Power No Power No power
Alternating
Red/Green Power up Self-Test Power up Self-Test Power up Self-Test
Flashing
Green Waiting for valid 
physical connection to the
network.
Waiting for valid 
physical connection to the
network. Not Implemented
Steady Green Drive and Network are
operational. Drive and Network are operational. Device Name or IP Address are set.
Flashing Red Network Connection
Timeout Not Implemented Device Name or IP Address are not set.
Steady Red Major Fault. Cycle power
to the unit to attempt to
clear the fault.
Major Fault. Cycle power
to the unit to attempt to
clear the fault.
Major Fault. Cycle power to
the unit to attempt to clear the
fault.
LED State EtherNet/IP Definition Modbus TCP Definition PROFINET Definition
Off No Power OR
No IP Address No Power OR No IP Address No power, duplicate IP address
on the network, or no connec-
tion to IO Controller.
Alternating
Red/Green Power up Self-Test Power up Self-Test Power up Self-Test
Flashing
Green Ethernet connection,
but no CIP 
connections
Indicates number of connec-
tions with 2 second delay
between groups. The unit
supports up to 5 concurrent
connections.
On-line, Stop state. A connec-
tion with the IO Controller is
established and it is in its
STOP state.
Steady Green Valid Ethernet  network and CIP con-
nections Not Implemented On-line, Run state. A connec-
tion with the IO Controller is
established and it is in its RUN
state.
Flashing Red Network Connection
Timeout Not Implemented Not Implemented
Steady Red Duplicate IP address on network. Not Implemented
1
MS
NS
2
Figure R1.2 Ethernet Status LED’s