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