AMCI SD17060E User manual

SD17060E
Ethernet/IP
Stepper Motor Indexer/Drive
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ADVANCED
MICRO CONTROLS INC.
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Manual #: 940-0S090

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
information within this manual, AMCI assumes no responsibility for the application or the completeness of the
information contained herein.
UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS, INC. BE RESPONSIBLE OR
LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING INDIRECT OR CONSEQUENTIAL DAM-
AGES OR LOSSES, ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS
MANUAL, 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 2009 by Advanced Micro Controls Inc. You may reproduce this manual, in whole or
in part, for your personnal 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 2009 by Advanced Micro Controls Inc.” You may not alter the contents of this document
or charge a fee for reproducing or distributing it.
Standard Warranty
ADVANCED MICRO CONTROLS, INC. warrants that all equipment manufactured by it will be free from
defects, under normal use, in materials and workmanship for a period of [18] months. Within this warranty
period, AMCI shall, at its option, repair or replace, free of charge, any equipment covered by this warranty
which is returned, shipping charges prepaid, within eighteen months from date of invoice, and which upon
examination proves to be defective in material or workmanship and not 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. A "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.
We Want Your Feedback
Manuals at AMCI are constantly evolving entities. Your questions and comments on this manual are both
welcomed and necessary if this manual is to be improved. Please direct all comments to: Technical Documen-
tation, AMCI, 20 Gear Drive, Terryville CT 06786, or fax us at [phone]. You can also e-mail your
questions and comments to techsuppor[email protected]

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
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TABLE OF CONTENTS
General Information
Important User Information ..................... IFC
Standard Warranty ................................... IFC
Returns Policy .......................................... IFC
24 Hour Technical Support Number ........ IFC
We Want Your Feedback ......................... IFC
About This Manual
Audience .................................................. 5
Navigating this Manual ............................ 5
Manual Conventions ................................ 5
Trademark Notices ................................... 5
Revision Record ....................................... 6
Revision History ............................ 6
Where To Go From Here ......................... 6
Chapter 1: Introduction to the
SD17060E
The SD17060E ......................................... 7
Indexer Functionality ............................... 8
Drive Functionality .................................. 8
Ethernet Port ............................................ 9
Network Status LED’s ................... 9
Specifications ........................................... 10
Chapter 2: Motion Control
Motor Position ......................................... 11
Motor Speed ............................................. 11
Acceleration & Deceleration ................... 11
Acceleration Jerk ........................... 12
Available Inputs ....................................... 12
Home Input .................................... 12
CW Limit Switch or
CCW Limit Switch ...................... 12
Emergency Stop Input ................... 13
Encoder Feedback ......................... 13
Z-Pulse Input ................................. 13
Capture Encoder Position Input ..... 13
Stop Manual Move and
Capture Encoder Position Input .. 13
Defining Home Position .......................... 13
Position Preset Command .............. 13
Find Home CW &
Find Home CCW Commands ..... 13
Chapter 2: Motion Control (cont’d)
Manual, Relative, and Absolute Moves ... 16
Manual Moves .............................. 16
Relative Moves ............................. 17
Absolute Moves ............................ 18
Encoder Moves ......................................... 19
Blend Moves ............................................ 20
Blend Move Programming ....................... 21
Network Output Data Control Bits 21
Network Input Data Control Bits .. 21
Programming Routine ................... 21
Controlling Moves In Progress ................ 22
Find Home Moves ........................ 22
Manual Moves .............................. 22
Absolute, Relative and
Encoder Moves ........................... 23
Blend Moves ................................. 23
Electronic Gearing ................................... 23
Encoder Pulses Per Turn ............... 23
Steps per Turn ............................... 23
ELGearing Multiplier and Divisor 23
How It Works ................................ 23
Advanced Ratio Control ............... 24
Stall Detection .......................................... 24
Idle Current Reduction ............................. 24
Current Loop Gain ................................... 25
Chapter 3: General Installation
Guidelines
Grounding ................................................ 27
Grounding Electrode System ........ 27
Ground Bus ................................... 27
Grounding Electrode Conductor ... 28
Grounding Wires ........................... 28
Avoiding Grounding Problems ................ 28
Surge (EMI) Suppression ......................... 29
Incoming Power ........................... 29
Inductive Loads ............................. 30
System Environment ................................ 30
System Layout Considerations ................. 30
Wiring Categories for the
SD17060E ................................... 30
Minimize Voltages in the
System Enclosure ....................... 31

TABLE OF CONTENTS
ADVANCED MICRO CONTROLS INC.
4
Chapter 3: General Installation
Guidelines (cont’d)
Power Supply Sizing ..................... 31
Component Placement .................. 31
Conduits to Enclosure ................... 32
Installing a SD17060E ............................. 32
Chapter 4: Installing the SD17060E
Outline Drawing ....................................... 33
Airflow and Wiring Space ........................ 33
Grounding and Powering the System ....... 34
Installing the Stepper Motor ..................... 35
Outline Drawings .......................... 35
Mounting the Motor ...................... 35
Connecting the Load ..................... 35
Extending the Motor Cable ........... 35
Installing the Motor Cable ............ 35
Connecting the Motor ............................... 36
Motor Connector ........................... 36
Motor Wiring ................................ 36
I/O Wiring ................................................ 38
Input Wiring .................................. 38
Output Wiring ............................... 39
Encoder Wiring ............................. 39
Network Status LED’s .................. 40
Chapter 5: IP Address Configuration
Factory Default ......................................... 41
Assumptions ............................................. 41
Firewalls ................................................... 41
Configure Your Network
Interface Card (NIC) .............................. 41
Multiple Network Cards ............... 42
Attach the SD17060E ............................... 42
Start Your Bootp Server ........................... 42
Changing the IP Address .......................... 43
Enabling Bootp Protocol ............... 43
Setting the IP Address ................... 43
Disabling the Bootp Protocol ........ 43
Testing the New IP Address ..................... 43
Chapter 6: Host Configuration
RSLogix 5000 Configuration ................... 45
Configure Bridge Module
(As Needed) ................................ 45
Configuring a Built-in
Ethernet Port (As Needed) .......... 46
Adding the SD17060E .................. 46
RSLogix 500 Configuration ..................... 47
Using Message Instructions in a
MicroLogix 1100 PLC ........................... 47
Troubleshooting ............................ 50
Chapter 7: Network Data Formats
Modes of Operation .................................. 51
Configuration Mode ...................... 51
Command Mode ............................ 51
Multi-Word Format .................................. 51
Configuration Mode ................................. 52
Network Output Data
(Configuration Mode) ................. 52
Control Word Format (Word 0) .... 52
Configuration Word Format
(Word 1) ...................................... 53
Notes on Other
Configuration Words ................... 54
Network Input Data
(Configuration Mode) ................. 54
Control Word Format (Word 0) .... 54
Invalid Configurations .............................. 55
Command Mode ....................................... 55
Standard Network Output
Data Format ................................. 55
Electronic Gearing Mode
Data Format ................................. 56
Control Word 1 Format ................. 56
Control Word 2 Format ................. 57
Description of Motor Current Keys 58
Network Input Data (Command Mode) .... 58
Status Word 1 Format ................... 59
Status Word 2 Format ................... 60
Motor Position Data ...................... 61

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com 5
ABOUT THIS MANUAL
Audience
This manual explains the set-up, installation, and operation of AMCI’s SD17060E Stepper Motor Indexer /
Drive. It is written for the engineer responsible for incorporating the SD17060E into a design, as well as the
engineer or technician responsible for its actual installation.
Navigating this Manual
This manual is designed to be used in both printed and on-line formats. Its on-line form is a PDF document,
which requires Adobe Acrobat Reader version 4.0+ to open it.
Bookmarks of all the chapter names, section headings, and sub-headings were created in the PDF file to help
navigate it. The bookmarks should have appeared when you opened the file. If they didn’t, press the F5 key
on Windows platforms to bring them up.
Throughout this manual you will also find green text that functions as a hyperlink in HTML documents.
Clicking on the text will immediately jump you to the referenced section of the manual. If you are reading a
printed manual, most links include page numbers.
The PDF file is password protected to prevent changes to the document. You are allowed to select and copy
sections for use in other documents and, if you own Adobe Acrobat version 4.05 or later, you are allowed to
add notes and annotations.
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:
Trademark Notices
The AMCI logo is a trademark, and “AMCI” is a registered trademark of Advanced Micro Controls Inc.
All other trademarks contained herein are the property of their respective holders.
Read this chapter to learn how to navigate through the manual and familiarize yourself with the
conventions used in it. The last section of this chapter highlights the manual’s remaining chap-
ters and their targeted audiences.
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.

ABOUT THIS MANUAL
ADVANCED MICRO CONTROLS INC.
6
Revision Record
This manual, 940-0S090, is the first revision of this manual. It was first released January 9, 2009.
Revision History
940-0S090 Initial Release.
Where To Go From Here
This manual contains information that is of interest to everyone from engineers to operators. The table below
gives a brief description of each chapter’s contents to help you find the information you need to do your job.
CHP
Num. Chapter Title Intended Audience
1INTRODUCTION TO
THE SD17060E Anyone new to the SD17060E. This chapter gives a basic overview
of the features available on the unit, typical applications, and electri-
cal specifications.
2MOTION CONTROL Anyone that needs detailed information on how the drive can be used
to control motion in your application.
3GENERAL INSTALLATION
GUIDELINES
Anyone new to installing electronic controls in an industrial environ-
ment. The chapter includes general information on grounding, wir-
ing, and surge suppression that is applicable to any controls
installation.
4INSTALLING THE
SD17060E Anyone that must install a SD170650E on a machine. Includes infor- mation on mounting, grounding, and wiring specific to the unit.
5IP ADDRESS
CONFIGURATION Anyone that must set the IP address of the SD17060E using a BOOTP server.
6HOST CON-
FIGURATION Anyone that needs information on configuring a host controller.
Detailed instructions are given for ControlLogix, CompactLogix, and
MicroLogix systems from Rockwell Automation.
7NETWORK DATA
FORMATS Anyone that needs a Detailed information on the format of the Net- work Data to and from the SD17060E.

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CHAPTER 1
INTRODUCTION TO THE SD17060E
The SD17060E
The SD17060E is a 6.0Arms micro-stepping drive with a 170Vdc internal
bus voltage. What makes the SD17060E unique is its built-in indexer that
accepts configuration and command data from a host system over the
internal Ethernet port. This combination of host and drive gives you sev-
eral advantages:
hSophisticated I/O processing can be performed in the host (PLC or
other controller) before sending commands to the SD17060E
hAll motion logic is programmed in the host, eliminating the need to
learn a separate motion control language
hEliminating the separate indexer lowers Total System Cost
The first protocol released for the SD17060E is Ethernet/IP, which makes
the SD17060E easy to integrate into Allen-Bradley controller systems.
The SD17060E is powered by a nominal 120Vac 50/60Hz source. The
output motor current is fully programmable from 1.0Arms to 6.0Arms
which makes the SD17060E compatible with AMCI’s complete line of
size 23 through size 42 stepper motors. Steps per Turn, Idle Current
Reduction, Current Loop Gain, and Anti-Resonance Circuit are also fully
programmable. If you have used other stepper indexer products from
AMCI you will find programming to be very similar to these products.
In addition to power and motor hookups, the SD17060E has 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 config-
ured to be a Fault Output or a general purpose output. Each input can be individually configured as a:
hCW Limit Switch
hCCW Limit Switch
hHome Limit Switch
hCapture Position Input to optionally stops a manual jog
hEmergency Stop Input
In addition to these functions, the inputs can be programmed to accept a quadrature encoder with marker
pulse. An encoder input gives you the ability to:
hHome the machine to the encoder marker pulse
hMake absolute and relative moves based on the encoder count instead of the stepper pulse count.
hDetect motor stall conditions.
An encoder input also allows you to drive the motor through a feature called 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.
This manual is designed to get you up and running quickly using the SD17060E stepper drive.
As such, it assumes you have some basic knowledge of stepper systems, such as the resolution
you want run your motor at, and the reasons why you’d want to use Idle Current Reduction and
the reasons why you wouldn’t. If these terms or ideas are new to you, we’re here to help. AMCI
has a lot of information on our website and we are adding more all the time. If you can’t find what
you’re looking for at http:///www.amci.com, send us an e-mail or call us. We’re here to back you
up with all of our knowledge and experience.

INTRODUCTION
ADVANCED MICRO CONTROLS INC.
1
8
Indexer Functionality
The table below lists the functionality offered by the indexer built into the SD17060E
Table 1.1 Indexer Functionality
Drive Functionality
This table summarizes the features of the stepper motor drive portion of the SD17060E.
Feature Description
Ethernet/IP Allows easy setup and communication with a wide range of host controllers
such as the latest PLC’s from Allen-Bradley.
Programmable Inputs Each of the three inputs can be programmed as a Home Limit, Over Travel
Limit, Capture Input, Manual Jog Stop, or E-Stop Input. They can also be
programmed to accept a quadrature encoder.
Programmable Output The single output on the SD17060E 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 SD17060E can
home to a discrete input or to an encoder marker pulse.
Manual Move Allows you to jog the motor in either direction based on a input bit from
your controller.
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.
Blend Move Allows you to perform a sequence of relative moves without stopping
between each one.
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 SD17060E is configured to accept an encoder, the encoder can be
used to verify motion when a move command is issued.
Electronic Gearing The SD17060E 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.
Feature Benefits
170Vdc 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 SD17060E 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 from 1.0 to 6.0 amps
in 0.2 amp increments. This allows you to use the drive 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.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
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INTRODUCTION 1
9
Drive Functionality (continued)
Table 1.2 Drive Functionality
Ethernet Port
The Ethernet Port is located on the top of the SD17060E. The connector is a standard RJ-45 jack that will
accept any standard 100baseT cable. The Ethernet port on the SD17060E has “auto switch” capability. This
means that a standard cable can be used when connecting the SD17060E to any device.
Figure 1.1 Ethernet Port Location
Network Status LED’s
The status LED’s indicate the health of the network connection between the SD17060E and its host. The Sta-
tus LED on the front of the unit indicates the state of the SD17060E itself.
hNetwork Status –Indicates the status of the connection between the SD17060E and its host. This LED
will briefly flash red on power up while the SD17060E is initializing. It will flash
green when the SD17060E has an IP address but valid configuration data has not yet
been written to the drive. It is on steady green when a connection is established and
valid configuration data has been written to the SD17060E. It will be on steady red
if there is an IP address conflict.
hUnit Status – Indicates the status of the connection between the SD17060E and its Ethernet daughter
board. This LED will briefly flash red on power up while the SD17060E is initializing.
It will be green and on steady when the Ethernet daughter board and the rest of the
SD17060E are communicating correctly.
hLink Status – On when there is a physical link between the Ethernet port of the SD17060E and the
Ethernet port of the device the SD17060E is plugged into. This LED will flash when
data is being transmitted over the Ethernet link.
Feature Benefits
Programmable Current
Loop Gain Allows you to tailor the drive circuitry to the motor’s impedances, thereby maximizing your motor’s performance.
Programmable
Steps per 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 SD17060E the ability to modify motor current wave-
forms 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.
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 SD17060E from damage by removing power from the motor if the internal temperature of the drive exceed a safe operating threshold.
Network Status
Unit Status
Link Status
Not Used
STATUS LED's
SD17060E TOP VIE
W

INTRODUCTION
ADVANCED MICRO CONTROLS INC.
10
1
Specifications
Drive Type
Two bipolar MOSFET H-bridges with 170Vdc
output bus. 20KHz PWM current control.
Physical Dimensions
Width: 2.1 inches max.
Depth: 4.0 inches max.
Height: 6.2 inches
7.0 inches with mounting tabs
Weight
2.4 lbs. (1.1 kg.)
Inputs
Electrical Characteristics for all Inputs: ........
Differential. 1500 Vac/dc opto-isolated. 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. 1500 Vac/dc opto-
isolated. 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 drive 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.
Motor Current
Programmable from 1.0 to 6.0ARMS in 0.2
Amp steps.
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 cur-
rent is reduced to selected level if there is no
motion for 1 second. 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 ......... 95 to 132Vac, 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 hybrid. 4, 6, or 8 lead
motor
Insulation .... Minimum 500Vdc phase-to-
phase and phase-to-case
Inductance .. 0.3 mH minimum. 2.5 to 45 mH
recommended
Status LED
Steady Green ....... Drive OK
Blinking Red ....... Short Circuit Fault
Over Temp Fault
Interlock Missing
The SD17060E will only detect motor errors
when the motor current is enabled.
Connectors
All mating connectors are included with drive.
Connector Wire Strip Length Min. Tightening Torque
I/O 28 - 16 AWG 0.275 inches 1.95 lb-in (0.22 nM)
Motor 24 - 12 AWG 0.275 inches 4.43lb-in (0.5 nM)
Power 24 - 12 AWG 0.275 inches 4.43lb-in (0.5 nM)

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CHAPTER 2
MOTION CONTROL
Motor Position
Commutators are used in motor designs to switch current to the windings of the motor to achieve rotation.
Stepper motors do not have commutators. Instead, the windings of the motor are brought out and attached to
a stepper drive such as the SD17060E. The SD17060E directly controls the current through each winding to
achieve motion. This gives the SD17060E the ability to control not only the speed the motor rotates at, but
also the position that the motor stops at. Therefore we can talk about the position of the motor (angle of the
shaft) and moving the motor from one position to another (rotating the shaft ndegrees). This is open loop
positioning control.
This manual assumes that you, the reader, know how a stepper motor works. If you don’t
know, or need a refresher, further information on stepper motors can be found in the Tech
Tutorial section of our website at http://www.amci.com/tech-tutorials.asp.
The number of steps required to achieve one complete rotation of the motor shaft is fully programmable on
the SD17060E. This parameter is called Steps per Turn and can be programmed to any value between 200
and 32,767.
Motor Speed
The rotational speed of the motor shaft is controlled by the SD17060E by controlling how fast the currents
through the windings change. The speed of the shaft is determined by a parameter called Programmed Speed
and the units of this parameter is steps per second.
The Steps per Turn parameter has an effect on the actual rotational speed of the shaft. If you program the
Steps per Turn to 500 and perform a move with a Programmed Speed of 5,000 steps per second, the shaft will
rotate at 5,000/500 = 10 revolutions per second while running at the programmed speed.
There is a Starting Speed parameter in addition to the Programmed Speed parameter that is also defined in
terms of steps/sec. The Starting Speed is the speed at which all moves begin and end. A low Starting Speed
is needed to prevent the motor from stalling when moving a large inertial load. A higher starting speed can be
used on small inertial loads to minimize the time required to accelerate to the Programmed Speed.
The Starting Speed parameter has a range of 1 to 1,000,000 steps/sec.
Acceleration & Deceleration
Like all motor systems, a stepper motor must usually accelerate to its Programmed Speed and decelerate
before coming to a complete stop. The rates of acceleration and deceleration are completely programmable
on the SD17060E as well as the type of acceleration used.
Accelerations and decelerations are programmed in units of steps per millisecond per second (steps/ms/sec)
and have a range of 1 to 5000. When determining the acceleration and deceleration values of your move you
will most likely determine them in terms of revolutions/sec2. To convert to steps/ms/sec, multiply your revo-
lutions/sec2value by the value of the Steps per Turn parameter and divide by 1,000.
The function of the SD17060E is to control the position and speed of a stepper motor. This chap-
ter outlines the parameters used by the SD17060E to achieve this control and the types of moves
available. Once you are done with this chapter you will have a solid understanding of how the
SD17060E operates.

MOTION CONTROL
ADVANCED MICRO CONTROLS INC.
2
12
Acceleration & Deceleration (continued)
Acceleration Jerk
The Jerk parameter controls the type of acceleration used by
the SD17060E during the move.
When Jerk = 0, Constant acceleration is used. The drive will
accelerate the motor at a constant rate until the programmed
speed is reached. This type of acceleration will reached the
programmed speed the fastest, but changes in acceleration at
the beginning and ending of the acceleration period are
abrupt. This may cause problems in systems with large iner-
tial loads.
When Jerk = 1, Triangular S Curve acceleration is used. The
drive will accelerate the motor at a constantly changing rate
until the programmed speed is reached. This type of acceler-
ation will be the slowest in reaching the programmed speed,
but it offers the smoothest acceleration.
When the Jerk parameter is programmed in the range of 2 to
5000, Trapezoidal S Curve acceleration is used. In this accel-
eration type, the acceleration changes smoothly at the begin-
ning and the ending, and accelerates linearly during the mid
portion of the acceleration time. The value of the
Jerk parame-
ter sets the time of linear acceleration, with larger values set-
ting a longer linear acceleration period. This acceleration type
offers a good compromise between the smoothness of acceler-
ation and the time it takes to reach the programmed speed.
Available Inputs
The SD17060E 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 SD17060E uses these inputs is fully programma-
ble as well as their active states. (Normally Open (NO) or Normally Closed (NC) inputs.)
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. The
SD17060E allows you to define this starting position in two ways. The first is with a Position Preset Com-
mand. 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 SD17060E that will cause the unit to seek this sensor. How the
SD17060E actually finds the Home sensor is described in the following section.
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.
Velocity
Time
Acceleration
Time
Constant Acceleration
Figure 2.1 Constant Acceleration
Figure 2.2 Triangular S Curve Acceleration
Velocity
Time
Acceleration
Time
Triangular S Curve Acceleration
Figure 2.3 Trapezoidal S Curve Acceleration
Velocity
Time
Acceleration
Time
Trapezoidal S Curve Acceleration

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MOTION CONTROL 2
13
Available Inputs (continued)
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. Additionally, no move can begin while this input is active.
Encoder Feedback
The SD17060E can be configured to accept a quadrature encoder instead of discrete inputs. Input 1 accepts
the ±A pulses and Input 2 accepts the ±B pulses. Input 3 can be configured for three different functions when
using encoder feedback as described below.
An encoder is used by the SD17060E in one of two ways.
When the encoder is mounted on the back of the motor controlled the SD17060E, the encoder is used for
position feedback. The position data of the encoder can be preset to any value within its range, it is reported
through the Network Data, and it can be captured during a move. The addition of an encoder also allows you
to preform an Encoder Move, which is described in the Encoder Moves section, starting on page 19.
It is also possible to have the encoder mounted on a shaft that is not mechanically coupled to the motor con-
trolled by the SD17060E. In this configuration you can simply monitor the encoder data, or you can use a
feature of the SD17060E called Electronic Gearing. When this feature is active, the SD17060E will change
the position of the motor in response to a change in encoder position. The ratio of encoder turns to motor
turns is fully programmable.
Z-Pulse Input
When Inputs 1 and 2 are configured to act as encoder inputs, Input 3 can be configured to accept the ±Z pulse
from the encoder. The SD17060E only uses the Z-pulse when homing the position as described below.
Capture Encoder Position Input
When Inputs 1 and 2 are configured to act as encoder inputs, Input 3 can be configured as a Capture Encoder
Position Input. The encoder position is captured and reported in the Network Data whenever this input tran-
sitions from inactive to active.
Stop Manual Move and Capture Encoder Position Input
When Inputs 1 and 2 are configured to act as encoder inputs, Input 3 can be configured as an external control
for Manual Moves. Manual Moves are described staring on page 16, but this move type is also called a Jog.
If this input makes an inactive to active transition during a Manual Move, the Encoder Position in captured
and the move is brought to a controlled stop. This input only affects Manual Moves. It will not stop other
move types and encoder data will not be captured.
Defining Home Position
Home Position is a known position on the machine that it must be brought to before normal operation can
begin. The SD17060E allows you to define this starting position in two ways.
Position Preset Command
This command gives you the ability to preset the position value anywhere in the range of –8,388,608 to
+8,388,607. The actual physical position of the machine is determined by sensors brought into the host.
Find Home CW & Find Home CCW Commands
The other way to home the machine is to attach a discrete DC sensor to one of the inputs and configure the
SD17060E to use this sensor as a Home Limit Switch. You can optionally configure one or both of the other
inputs as CW or CCW Overtravel Limits to define the mechanical limits of your travel. When used, these
overtravel limits can affect the homing operation. The figures on the following pages show the profiles that
can occur when homing the machine using a Home Limit Switch.

MOTION CONTROL
ADVANCED MICRO CONTROLS INC.
2
14
Defining Home Position (continued)
Find Home CW & Find Home CCW Commands (continued)
All of following diagrams show the results of Find Home CW Commands. Profiles for Find
Home CCW commands would be identical if a CCW Limit switch was used instead of a CW
Limit switch.
Simple Homing Profile
Figure 2.4 Simple Homing Profile
1) Begin move at the Starting Speed and accelerate to Programmed Speed.
2) Run at the Programmed Speed until Home Input activates.
3) Decelerate to the Starting Speed and stop. Wait 2 seconds before continuing.
4) Accelerate to the Programmed Speed in the direction opposite of the commanded direction.
5) Run in the direction opposite of the requested direction until the Home Input transitions from Active to
Inactive.
6) Decelerate to a stop and wait 2 seconds.
7) Return to the Home Input at the programmed Starting Speed. Stop when the Home Input transitions
from Inactive to Active.
Overtravel Limit Activates During Homing Profile
Figure 2.5 Overtravel Limit Activates During Homing Profile
1) Begin move at the Starting Speed and accelerate to Programmed Speed.
2) Run at the Programmed Speed until Home Input activates.
3) Unit hits end of travel limit and immediately stops. The SD17060E waits 2 seconds before
continuing.
4) Accelerate to the Programmed Speed in the direction opposite of the commanded direction.
5) Run in the direction opposite of the requested direction until the Home Input transitions from Active to
Inactive.
6) Decelerate to a stop and wait 2 seconds.
7) Return to the Home Input at the programmed Starting Speed. Stop when the Home Input transitions
from Inactive to Active.
(CW)
(CCW)
SPEED
POSITION
Starting Speed
Starting Speed
Home Limit
Switch
➀
➀➀
➀➁
➁➁
➁➂
➂➂
➂
➃
➃➃
➃➅
➅➅
➅➄
➄➄
➄
➆
➆➆
➆
(CW)
(CCW)
SPEED
POSITION
Starting Speed
Starting Speed
Home
Limit
Switch ➀
➀➀
➀➁
➁➁
➁➂
➂➂
➂
➃
➃➃
➃
➅
➅➅
➅➄
➄➄
➄
➆
➆➆
➆
CW
Overtravel
Limit

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MOTION CONTROL 2
15
Defining Home Position (continued)
Find Home CW & Find Home CCW Commands (continued)
Homing Operation When Home Limit Already Active
Figure 2.6 Home Limit Active
1) Accelerate towards the Programmed Speed in the direction opposite of the commanded direction.
2) Decelerate and stop when Home Input transitions from active to inactive. Wait 2 seconds before
continuing.
3) Return to the Home Limit at the programmed Starting Speed. Stop when Home Limit transitions from
inactive to active.
Homing Operation When Overtravel Limit Already Active
Figure 2.7 Overtravel Limit Active
1) Accelerate to the Programmed Speed in the direction opposite of the commanded direction.
2) Run in the direction opposite of the requested direction until the Home Input transitions from Active to
Inactive.
3) Decelerate to a stop and wait 2 seconds.
4) Return to the Home Input at the programmed Starting Speed. Stop when the Home Input transitions
from Inactive to Active.
(CW)
(CCW)
SPEED
POSITION
Starting Speed
Starting Speed
Home Limit
Switch
➀
➀➀
➀
➁
➁➁
➁
➂
➂➂
➂
Programmed Speed
Programmed Speed
(CW)
(CCW)
SPEED
POSITION
Starting Speed
Starting Speed
Home
Limit
Switch
➀
➀➀
➀
➁
➁➁
➁
➂
➂➂
➂
➃
➃➃
➃
CW
End of Travel
Limit
Programmed Speed

MOTION CONTROL
ADVANCED MICRO CONTROLS INC.
2
16
Defining Home Position (continued)
Find Home CW & Find Home CCW Commands (continued)
In addition to homing the machine with a discrete DC sensor, the SD17060E can be homed to an encoder Z-
Pulse. This encoder is typically mounted on the motor but it can be mounted anywhere on the machine. In
most cases, the encoder completes multiple rotations over the complete travel of the machine. In order to
home the machine to the correct pulse, the SD17060E has a Home Proximity bit defined in its Network Out-
put Data. When this bit is enabled, the SD17060E will ignore all transitions on the Home Limit input while
the Home Proximity bit = 0.
Homing Operation To Encoder Z-Pulse with Home Proximity Bit
Figure 2.8 Homing with Encoder Z-Pulse
1) Begin move at the Starting Speed and accelerate to Programmed Speed.
2) Run at the Programmed Speed.
3) Ignore Home Limit (Z-Pulse) because the Home Proximity Bit is not set.
4) Decelerate to the Starting Speed when the Home Proximity Bit transitions from Off to On.
5) Run at the programmed Starting Speed until the Home Limit (Z-Pulse) transitions from Inactive to
Active.
Manual, Relative, and Absolute Moves
The SD17060E performs three basic types of moves.
hManual Moves – The motor rotates in the programmed direction as long as the command bit is active.
These moves can be stopped with an external switch, or sensor, brought directly into the SD17060E.
hRelative Moves – The motor rotates in the programmed direction for the specified number of counts.
hAbsolute Moves – The motor rotates from the present, known position to a programmed position. The
number of counts to move and the direction of rotation are determined by the differ-
ence between the current and target positions.
You can mix all types of moves when running your machine. For example, once the machine
is homed, you can perform an Absolute Move to a specific location followed by a Relative
Move.
Manual Moves
Manual Moves are controlled with two bits in the Network Output Data. A “1” on the CW Manual Move bit
commands a clockwise move while a “1” on the CCW Manual Move bit commands a counter-clockwise
move. The move continues as long as the command bit is set. Note that both bits cannot be set at the same
time.
Manual Moves are typically used to drive the machine under direct operator control. Manual Moves can also
be used when you are interested in controlling the speed of the shaft instead of its position. One such applica-
tion is driving a conveyor belt. In this application you are only interested in driving the conveyor at a specific
speed, and you may need to vary the speed based on environmental conditions.
(CW)
(CCW)
SPEED
POSITION
Starting Speed
Starting Speed
Backplane
Proximity
Bit
➀
➀➀
➀➁
➁➁
➁➃
➃➃
➃➄
➄➄
➄
Home
Input Home
Input
➂
➂➂
➂

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MOTION CONTROL 2
17
Manual, Relative, and Absolute Moves (continued)
Manual Moves (continued)
As shown below, a Manual Moves begins at the programmed Starting Speed, accelerates at the programmed
rate to the Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop condi-
tion, the SD17060E will decelerate the motor to the starting speed and stop without losing position. If it is an
Immediate Stop condition, the motion stops immediately and the position becomes invalid.
It is possible to change the speed of a Manual Move without stopping the motion. The Programmed Speed,
Acceleration, and Deceleration parameters can be changed during a Manual Move. When the Programmed
Speed is changed, the motor will accelerate or decelerate to the new Programmed Speed using the new accel-
erate/decelerate parameter values. If you write a Programmed Speed to the SD17060E that is less than the
starting speed, the Manual Move will continue at the Starting Speed.
Figure 2.9 Manual Move
Controlled Stop Conditions
hThe Manual Move Command bit is reset to “0”.
hA positive transition on an input configured as a Stop Manual Move and Capture Encoder Position
input.
hYou toggle the Hold Move control bit in the Network Input Data. The use of the Hold Move and
Resume Move bits is explained in the Controlling Moves In Progress section starting on page 22.
Immediate Stop Conditions
hThe Immediate Stop bit makes a 0 p1 transition in the Network Input Data.
hA positive transition on an input configured as a E-Stop Input.
hA CW/CWW Limit Switch is reached.
Relative Moves
To start a Relative Move you must specify the values of the Acceleration/Deceleration parameters, the Pro-
grammed Speed, and the number of counts, or position offset, to travel. A positive position offset value will
cause clockwise motion, while a negative offset value will cause counter-clockwise motion.
Two relative moves of 7,500 steps are shown below. The first is with a programmed Acceleration and Decel-
eration rates that allow the move to reach the Programmed Speed. The second move is with low acceleration/
deceleration rates that do not allow the move to reach the Programmed Speed before deceleration must occur.
Figure 2.10 Relative Moves
SPEED
POSITION
Starting Speed
Change in
Parameters Change in
Parameters Controlled Stop Condition
SPEED
POSITION
Starting Speed
Programmed Speed
5,000 12,500 20,000
7,500 Counts 7,500 Counts

MOTION CONTROL
ADVANCED MICRO CONTROLS INC.
2
18
Manual, Relative, and Absolute Moves (continued)
Relative Moves (continued)
Controlled Stop Conditions
hThe move completes without error.
hYou toggle the Hold Move control bit in the Network Input Data and do not resume the move. Note
that your holding position will most likely not be the final position you commanded. The use of the
Hold Move and Resume Move bits is explained the Controlling Moves In Progress section starting on
page 22.
Immediate Stop Conditions
hThe Immediate Stop bit makes a 0 p1 transition in the Network Input Data.
hA positive transition on an input configured as a E-Stop Input.
hA CW/CWW Limit Switch is reached.
1) You do not have to preset the position or home the machine before you can use a Relative
Moves.
2) Relative Moves allow you to move your machine without having to calculate absolute posi-
tions. If you are indexing a rotary table, you can preform a relative move of 30° multiple
times without recalculating new positions in your controller. If you perform the same
action with Absolute Moves, you would have to calculate your 30° position followed by
your 60° position, followed by your 90° position, etc.
Absolute Moves
Before you can perform an Absolute Move you must set the machine position to a known value. This is
accomplished by using the Preset Position command or homing the machine.
To start an Absolute Move you must specify the values of the Acceleration/Deceleration parameters, the Pro-
grammed Speed, and the Final Position you wish to travel to. A final position greater than the starting posi-
tion will cause clockwise motion. A final position less than the starting position will cause counter-clockwise
motion.
Two Absolute Moves are shown below. The first is with a programmed Acceleration and Deceleration rates
that allow the move to reach the Programmed Speed. The second move is with low acceleration/deceleration
rates that do not allow the move to reach the Programmed Speed before deceleration must occur.
Figure 2.11 Absolute Moves
Controlled Stop Conditions
hThe move completes without error.
hYou toggle the Hold Move control bit in the Network Input Data and do not resume the move. Note
that your holding position will most likely not be the final position you commanded. The use of the
Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section starting
on page 22.
SPEED
POSITION
Starting Speed
Programmed Speed
5,000 12,500 20,000
First
Final Position Second Final Position

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MOTION CONTROL 2
19
Manual, Relative, and Absolute Moves (continued)
Absolute Moves (continued)
Immediate Stop Conditions
hThe Immediate Stop bit makes a 0 p1 transition in the Network Input Data.
hA positive transition on an input configured as a E-Stop Input.
hA CW/CWW Limit Switch is reached.
1) The Motor Position must be valid before you can use an Absolute Move. The Motor Posi-
tion becomes valid when you preset the position or home the machine.
2) Absolute Moves allow you to move your machine without having to calculate relative posi-
tions. If you are indexing a rotary table, you can drive the table to any angle without having
to calculate the distance to travel. For example an Absolute Move to 180° will move the
table to the correct position regardless of where the move starts from.
Encoder Moves
When the SD17060E is configured to use a quadrature encoder, the position value from the encoder can be
used to control the move instead of the position of the motor. Absolute and relative type moves are both sup-
ported.
The figure below represents either a relative Encoder Move of 11,000 counts or an absolute Encoder Move to
position 16,000. The figure shows that the encoder position you program in the move defines the point at
which the motor begins to decelerate and stop. It does not define the stopping position as it does in other
move types. The endpoint of the move depends on the speed of the motor when the programmed encoder
position is reached and the deceleration values. This behavior is different from Absolute and Relative Moves
where the position you program into the move is the end point of the move.
Figure 2.12 Encoder Move
Controlled Stop Conditions
hThe move completes without error
hYou toggle the Hold Move control bit in the Network Input Data and do not resume the move. Note
that your holding position will most likely not be the final position you commanded. The use of the
Hold Move and Resume Move bits is explained in the Controlling Moves In Progress section of this
chapter starting on page 22.
Immediate Stop Conditions
hThe Immediate Stop bit makes a 0 p1 transition in the Network Input Data.
hA positive transition on an input configured as a E-Stop Input.
h A CW/CWW Limit Switch is reached.
SPEED
POSITION
Starting Speed
Programmed Speed
5,000 16,000
Programmed
Encoder Position

MOTION CONTROL
ADVANCED MICRO CONTROLS INC.
2
20
Encoder Moves (continued)
You do not have the preset the position or home the machine before you can use a relative
Encoder Move.
Blend Moves
All of the moves explained so far must complete or be stopped before another move can begin. A Blend
Move gives you the ability to string multiple relative moves together and run all of them sequentially without
having to stop the shaft between moves.
Each Relative Move defines a segment of the Blend Move. The following restrictions apply when program-
ming Blend Moves.
1) Each segment of the Blend Move must be written to the SD17060E before the move can be initiated.
The SD17060E supports Blend Moves with up to sixteen segments.
2) Each segment is a relative move. Blend Moves cannot be programmed with absolute coordinates.
3) All segments must be in the same direction. If you want to reverse direction, you must program and
run the first Blend Move then program the second move and run it in the opposite direction. You can
also run the same profile in opposite direction as shown below.
4) The Programmed Speed of each segment must be greater than or equal to the Starting Speed. The
Programmed Speed must also be different from the previous segment.
The figure below shows a three segment Blend Move that is run twice. It is first run in the clockwise direc-
tion, and then in the counter-clockwise direction.
Figure 2.13 Blend Move
Controlled Stop Conditions
hThe move completes without error.
hYou toggle the Hold Move control bit in the Network Input Data. When this occurs, the SD17060E
decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the
move. Note that your final position will most likely not be the one you commanded. The use of the
Hold Move bit is explained in the Controlling Moves In Progress section starting on page 22.
Starting Speed
SPEED
POSITION
Starting Speed
End of
Segment 1 CW
CW
CCW
End of
Segment 2 CW End of Segment 3 CW
End of
Segment 1 CCW
End of
Segment 2 CCW
End of
Segment 3 CCW