AMCI SMD17E2 User manual

MICRO CONTROLS INC.
ADVANCED
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SMD17E2
Integrated Stepper
Indexer/Driver/Motor
with Integral 2-Port Ethernet Switch
Device Level Ring functionality for EtherNet/IP
Media Redundancy Protocol for PROFINET
Manual #: 940-0S221
E2 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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Tel: [phone] Fax: [phone] http://www.amci.com 3
TABLE OF CONTENTS
GENERAL INFORMATION
Important User Information ..................... 2
Standard Warranty ................................... 2
Returns Policy .......................................... 2
24 Hour Technical Support Number ........ 2
WEEE Statement ..................................... 2
About this Manual
Audience .................................................. 7
Applicable Units ...................................... 7
Trademark Notices ................................... 7
Revision Record ....................................... 7
Navigating this Manual ............................ 8
Manual Conventions ................................ 8
Manual Layout ......................................... 9
Reference: SMD17E2 Specifications
The SMD17E2 Family ............................. 11
Part Numbering System ................. 12
General Functionality .................... 12
Encoder Functionality ................... 13
Network Data Format .................... 13
Specifications ........................................... 14
Indexer Functionality ............................... 15
Stall Detection with 
SMD17E2 Units .......................... 16
Driver Functionality ................................. 16
Idle Current Reduction .................. 17
Available Discrete Inputs ......................... 17
Home Input .................................... 17
CW Limit Switch or 
CCW Limit Switch ...................... 17
Start Indexer Move Input ............... 17
Emergency Stop Input ................... 17
Stop Jog or Registration 
Move Input .................................. 18
Capture Encoder Position Input ..... 18
General Purpose Input ................... 18
Optional Encoder ..................................... 18
Incremental Encoder ...................... 18
Absolute Multi-turn Encoder ......... 18
Status LED’s ............................................ 19
Module Status (MS) LED .............. 19
Network Status (NS) LED ............. 20
Reference: SMD17E2 Specifications 
(continued)
SMD17E2 Connectors ............................. 20
Input Connector ............................ 20
Ethernet Connectors ...................... 21
Torque and Power Curves ........................ 21
Power Supply Sizing ................................ 22
Regeneration Effects ..................... 23
Compatible Connectors and Cordsets ...... 23
Connectors .................................... 23
Ethernet Cordset ........................... 24
Power Cordsets ............................. 24
Reference: Motion Control
Definitions ................................................ 25
Units of Measure ........................... 25
Motor Position .............................. 25
Home Position ............................... 25
Count Direction ............................. 25
Starting Speed ............................... 25
Target Position .............................. 26
Definition of Acceleration Types ............. 26
Linear Acceleration ....................... 26
Triangular S-Curve Accel ............. 27
Trapezoidal S-Curve Accel ........... 27
A Simple Move ........................................ 28
Controlled and Immediate Stops .............. 29
Host Control .................................. 29
Hardware Control ......................... 29
Basic Move Types .................................... 30
Relative Move ............................... 30
Absolute Move .............................. 31
CW/CCW Jog Move ..................... 32
CW/CCW Registration Move ....... 33
Assembled Moves .................................... 34
Blend Move ................................... 35
Dwell Move .................................. 36
Assembled Move Programming ............... 38
Control Bits – Output Data ........... 38
Control Bits – Input Data .............. 38
Programming Routine ................... 38
Saving an Assembled Move in Flash 38
Indexed Moves ......................................... 39
Synchrostep (Virtual Axis) Moves ........... 40

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ADVANCED MICRO CONTROLS INC.
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Reference: Motion Control 
(continued)
Controlling Moves In Progress ................ 41
Jog Moves ..................................... 41
Registration Moves ....................... 41
Absolute and Relative Moves ....... 41
Assembled Moves ......................... 41
Reference: Calculating Move 
Profiles
Constant Acceleration Equations ............. 43
Variable Definitions ...................... 43
Total Time Equations .................... 45
S-Curve Acceleration Equations .............. 46
Triangular S-Curve Accel ............. 46
Trapezoidal S-Curve Accel ........... 48
Determining Waveforms 
by Values .................................... 50
Reference: Homing an SMD17E2
Definition of Home Position .................... 53
Position Preset .......................................... 53
CW/CCW Find Home Commands ........... 53
Homing Inputs .......................................... 54
Physical Inputs .............................. 54
Network Data Input ...................... 54
Homing Configurations ............................ 54
Homing Profiles ....................................... 55
Home Input Only Profile .............. 55
Profile with 
Backplane_Proximity_Bit ........... 56
Profile with Overtravel Limit ....... 57
Controlling Find Home 
Commands In Progress .......................... 58
Controlled Stop Conditions .......... 58
Immediate Stop Conditions .......... 58
Reference: Configuration Mode
Data Format
Modes of Operation .................................. 59
Configuration Mode ...................... 59
Command Mode ........................... 59
Power Up Behavior .................................. 59
Configuration Mode Data Format ............ 59
Command Mode Data Formats ................ 59
Reference: Configuration Mode
Data Format (continued)
Output Data Format .................................. 61
Configuration Word 0 Format ....... 61
Configuration Word 1 Format ....... 63
Notes on Other Configuration 
Words .......................................... 64
Input Data Format ..................................... 64
Configuration Word 0 Format 
(Word 0) ...................................... 64
Starting Speed Format ................... 64
Stall Detect Enable ........................ 65
Invalid Configurations .............................. 65
Reference: Command Mode Data
Format
Data Format .............................................. 67
Command Bits Must Transition ............... 68
Output Data Format .................................. 68
Command Word 0 .................................... 69
Command Word 1 .................................... 71
Command Blocks ..................................... 72
Absolute Move .............................. 72
Relative Move ............................... 73
Hold Move .................................... 73
Resume Move ................................ 74
Immediate Stop ............................. 74
Find Home CW ............................. 75
Find Home CCW ........................... 75
Jog CW .......................................... 76
Registration Move CW ................. 76
Jog CCW ....................................... 77
Registration Move CCW ............... 77
Preset Position ............................... 78
Reset Errors ................................... 78
Run Assembled Move ................... 79
Preset Encoder Position ................. 79
Programming Blocks ................................ 80
First Block ..................................... 80
Segment Block .............................. 80
Input Data Format ..................................... 81
Format of Position Data Values .... 81
Status Word 0 Format ................... 81
Status Word 1 Format ................... 83
Notes on Clearing a Driver Fault .............. 84

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SMD17E2 User Manual TABLE OF CONTENTS
5
Task 1: Installing the SMD17E2
Location ................................................... 85
IP50 Rated Units ............................ 85
IP64 Rated Units ............................ 85
Prevent Electrostatic Damage ........ 85
Prevent Debris From 
Entering the Unit ......................... 85
Remove Power Before Servicing .. 85
Operating Temperature Guidelines .......... 86
Mounting .................................................. 86
SMD17E2-M12 Mounting ............ 86
SMD17E2-M12S Mounting .......... 86
SMD17E2-60 Outline Drawing ..... 87
SMD17E2-80 Outline Drawing ..... 88
Connecting the Load ...................... 88
Power and Input Connector ..................... 89
Compatible Connectors
and Cordsets .................................. 89
Power Wiring ........................................... 90
Input Wiring ............................................. 91
Cable Shields ................................. 91
Sinking Sensors Require a 
Pull Up Resistor .......................... 91
Network Connectors ................................ 92
Compatible Connectors 
and Cordsets ................................ 92
TIA/EIA-568 Color Codes ............ 92
EtherNet/IP Connections ......................... 93
Non-DLR Applications ................. 93
DLR Applications .......................... 93
Modbus TCP Connections ....................... 93
PROFINET Connections ......................... 93
Non-MRP Applications ................. 93
MRP Applications ......................... 93
Task 2: Set the IP Address and 
Protocol
Determine the Best Method for 
Setting the IP Address ........................... 95
Use Factory Default Settings ................... 95
Use the Embedded Web Server ............... 96
Use the AMCI NET Configurator 
Utility ..................................................... 98
Task 3: Implicit Communications
with an EDS
Obtain the EDS file .................................. 103
Install the EDS file ................................... 103
Start the EDS Hardware 
Installation Tool .......................... 103
Install the EDS File ....................... 104
Task 3: Implicit Communications
with an EDS (continued)
Host System Configuration ...................... 106
Add the SMD17E2 to Your Project ......... 106
Configure the SMD17E2 Driver .............. 107
General Tab ................................... 107
Connection Tab ............................. 107
Configuration Tab ......................... 107
Buffering the I/O Data ............................. 108
Task 4: Implicit Communications
Without an EDS
Host System Configuration ...................... 109
Add the SMD17E2 ................................... 109
Configure the SMD17E2 .......................... 111
Buffer I/O Data ........................................ 112
Task 5: EtherNet/IP Explicit 
Messaging
Required Message Instructions ................ 113
Create Four New Data Files. .................... 113
Add the Message Instructions 
to your Ladder Logic .............................. 114
Troubleshooting ....................................... 117
Task 6: Modbus TCP Configuration
Enable Modbus TCP Protocol .................. 119
Modbus Addressing ................................. 119
Modbus Table Mapping ................ 119
Host Addressing ............................ 119
AMCI Modbus TCP Memory Layout ...... 120
Supported Modbus Functions .................. 121
Supported Modbus Exceptions ................ 121
Task 7: PROFINET Network 
Configuration
Basic Steps ............................................... 123
Download the GSDML files .................... 123
GSDML File Installation .......................... 123
Configure the PROFINET Network ......... 123
Add the SMD17E2 to the 
PROFINET Network .............................. 124
Set the I/O Configuration ......................... 126
Verify and Download the 
New Configuration ................................. 127
MRP Installations ..................................... 127
Configure the SMD17E2 as an MRC ....... 127

TABLE OF CONTENTS SMD17E2 User Manual
ADVANCED MICRO CONTROLS INC.
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Optional Task A: Configure Your

Network Interfaces
Firewall Settings ....................................... 129
Disable All Unused Network Interfaces ... 129
Configure Your Network Interface .......... 129
Test Your Network Interface .................... 130

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ABOUT THIS MANUAL
Audience
This manual explains the installation and operation of the SMD17E2 Integrated Stepper Indexer/Driver/
Motors from AMCI. It is written for the engineer responsible for incorporating these products into a design as
well as the engineer or technician responsible for their actual installation.
These devices support the EtherNet/IP, Modbus TCP, and PROFINET protocols. Each unit contains a two
port Ethernet switch, which simplifies network wiring. When the EtherNet/IP protocol 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.
Applicable Units
This manual applies to all of the units in the SMD17E2 family.
Part Number Description
Trademark Notices
The AMCI logo is a trademark of Advanced Micro Controls Inc.
All other trademarks contained herein are the property of their respective holders.
Revision Record
This manual, 940-0S221, is the second revision of this manual. It fixes typographical errors and adds the
WEEE notification. It was first released January 9th, 2019.
Revision History
940-0S220: June 18st, 2018 - Initial Release
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.
Model Number Description
SMD17E2-60-M12 Size 17 motor, 60 oz-in holding torque with sealed M12 connectors for an
IP50 rating.
SMD17E2-80-M12 Size 17 motor, 80 oz-in holding torque with sealed M12 connectors for an
IP50 rating.
SMD17E2-60A-M12 Same as SMD17E-60-M12 with an integrated absolute multi-turn encoder.
SMD17E2-80A-M12 Same as SMD17E-80-M12 with an integrated absolute multi-turn encoder.
SMD17E2-60E-M12 Same as SMD17E-60-M12 with an integrated incremental encoder.
SMD17E2-80E-M12 Same as SMD17E-80-M12 with an integrated incremental encoder.
SMD17E2-60-M12S Size 17 motor, 60 oz-in holding torque with sealed M12 connectors and shaft
seal for an IP64 rating.
SMD17E2-80-M12S Size 17 motor, 80 oz-in holding torque with sealed M12 connectors and shaft
seal for an IP64 rating.
SMD17E2-60A-M12S Same as SMD17E2-60-M12S with an integrated absolute multi-turn encoder.
SMD17E2-80A-M12S Same as SMD17E2-80-M12S with an integrated absolute multi-turn encoder.
SMD17E2-60E-M12S Same as SMD17E2-60-M12S with an integrated incremental encoder.
SMD17E2-80E-M12S Same as SMD17E2-80-M12S with an integrated incremental encoder.

ABOUT THIS MANUAL SMD17E2 User Manual
ADVANCED MICRO CONTROLS INC.
8
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 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.
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:
Format Description
Normal Font Font used throughout this manual.
Emphasis Font Font used the first time a new term is introduced.
Cross Reference When viewing the PDF version of the manual, clicking on
the cross reference text jumps you to referenced section.
HTML Reference When viewing the PDF version of the manual, clicking on
the HTML reference text will open your default web
browser to the referenced web page.

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Tel: [phone] Fax: [phone] http://www.amci.com
SMD17E2 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 Integrated Stepper Indexer/Driver/Motor products from AMCI, this manual
contains the information you need to determine if these products are the right products for your applica-
tion. The first chapter, SMD17E2 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 an Integrated Stepper Indexer/Driver/Motor 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 references and tasks. Using an Integrated Stepper Indexer/Driver/Motor product
requires you to complete multiple tasks, and the manual is broken down into sections that explain how
to complete each one.
Manual Sections
Section Title Section Description
SMD17E2 Specifications Complete specifications for the SMD17E2 products.
Motion Control Reference information on how the SMD17E2 can be used to con-
trol motion in your application.
Calculating Move Profiles Reference information on calculating detailed move profiles.
Homing an SMD17E2 Reference information on how to set the home position of the
SMD17E2.
Configuration Mode Data
Format Reference information on the format of the network data to and
from the SMD17E2 that is used to configure it.
Command Mode Data
Format Reference information on the format of the network data to and
from the SMD17E2 that is used to command it.
Installing the SMD17E2 Task instructions covering how to install an SMD17E2 on a
machine. Includes information on mounting, grounding, and wir-
ing specific to the units.
Set the IP Address and
Protocol Task instructions that covers the options for setting the IP address
on an SMD17E2.
Implicit Communications
with an EDS Task instructions that cover how to add an SMD17E2 to an  EtherNet/IP host that supports the use of EDS files.
Implicit Communications
Without an EDS Task instructions for adding an SMD17E2 to a project as a generic
device. This configuration is for EtherNet/IP hosts that do not sup-
port EDS files while supporting implicit communications.
EtherNet/IP Explicit
Messaging Task instructions for adding message instructions to you host con-
troller program that write data to the SMD17E2 through message
instructions.
Modbus TCP
Configuration Task instructions for communicating with an SMD17E2 using the
Modbus TCP protocol.
PROFINET Network
Configuration Task instructions for communicating with an SMD17E2 using the
PROFINET protocol.
Optional: Configure Your
Network Interfaces Instructions for the optional task of configuring network interfaces
on your computer or laptop.

ABOUT THIS MANUAL SMD17E2 User Manual
ADVANCED MICRO CONTROLS INC.
10
Notes