AMCI SD17040C User manual

SD17040C
Stepper Driver
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ADVANCED
MICRO CONTROLS INC.
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Manual #: 940-0S110
Table of Contents
General Information .................. 2
Introducing the SD17040C ....... 3
Specifications ............................ 4
Mounting the SD17040C ........... 5
Switch Settings ......................... 6
Connecting Your Controller ..... 7
Connecting Your Motor ............ 9
Power Connector and
Indicator LED’s .......................... 10
Verifying System Setup ............ 11
Troubleshooting ........................ 13

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 applications.
Therefore, the user and others responsible for applying these products described herein are responsible for deter-
mining 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 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 copy-
right 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. 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. Start at our website, www.amci.com if you have inter-
net access. 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
during regular business hours, Monday through Friday, 8AM - 5PM Eastern. During non-business hours an
automated 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 Docu-
mentation, 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
Tel: [phone] Fax: [phone] http://www.amci.com
3
INTRODUCING THE SD17040C
The SD17040C
The SD17040C is a micro-stepping driver that is part of the growing line of motion control products from
AMCI. It is designed for use with a variety of stepper motors including AMCI’s size 23 through size 34
motors. The driver can be programmed to a maximum resolution of 50,800 steps per turn and output a motor
current of 1.0 to 4.0ARMS that is programmable in 0.1ARMS increments. Other features of the driver include:
! Inputs that accept 5Vdc to 24Vdc without the need of an external current limiting resistor
! Anti-Resonance Circuitry
! Back-EMF Protection Circuity
! Programmable Step Resolution from 200 to 50,800 steps per turn
! Programmable Idle Current Reduction
! Programmable Current Loop Gain
! Programmable Pulse Train Input (Step/Direction or CW/CCW)
! Programmable Active State for the Disable Input
This manual is designed to get you up and running quickly using the SD17040C stepper driver.
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.

ADVANCED MICRO CONTROLS INC.
4
SPECIFICATIONS
Driver 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.
Indexer ....Motor steps on high going pulse.
250 nS min. pulse width, 2 MHz
maximum input frequency. 500 nS
minimum dwell time between direc-
tion changes.
Disable ....Programmable Active State (ON or
OFF). Disables current to motor.
Driver does not accept steps while dis-
abled.
Fault Output
Electrical Characteristics:
Open Collector/Emitter. 1500 Vac/dc
opto-isolated. 30Vdc, 20 mA max.
The Fault Output is normally on. Turns off under
the following conditions:
Reset ............... The driver initialization is not
yet complete on power up.
Short Circuit .... Motor Phase to Phase or Phase
to Earth Ground
Over Temp ...... Heat Sink temperature exceeds
90° C (195° F)
No Motor ........ The motor interlock terminals
are not connected.
Pulse Train Input
Switch selectable to CW/CCW or Step/Direction.
Motor Current
Switch selectable from 1.0 to 4.0A RMS in 0.1
Amp steps.
Idle Current Reduction
Switch selectable to Not reduced, To 69%, To
50%, or To 0%. Motor current is reduced to
selected level if a step pulse is not received for
one second for the To 50%, and To 0% settings.
For the To 69%, setting, current is reduced after
10 milliseconds. Current is restored to full
value on next pulse.
Resolution
Switch selectable to 200, 400, 1,000, 2,000,
5,000, 10,000, 12,800, 18,000 20,000, 21,600,
25,000, 25,400, 25,600, 36,000, 50,000, or
50,800 steps per turn.
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.
Driver will retain control of motor down to 85Vac
at reduced torque.
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 rec-
ommended
Connectors
All mating connectors are included with driver.
Connector Wire Strip Length Min. Tightening Torque
Indexer 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)

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
5
MOUNTING THE SD17040C
Outline Drawing
There are two ways to mount the SD17040C.
! The first method is with four #10-32 screws into its side panel.
! The second method is by the mounting tabs. Mounting tabs are for #6 screws.
Minimum and maximum screw lengths should be observed to prevent a screw from
shorting to the PC Board.
There are airflow holes in the top and bottom of the enclosure. To ensure adequate convec-
tional airflow, the driver must be mounted in the orientation shown in the drawing.
Grounding
The SD17040C must be grounded for proper operation. The GND connection on the power connector is con-
nected to the SD17040C enclosure and is a sufficient grounding point for most applications. When mounting
the SD17040C on a surface that is electrically conductive and grounded, you should also take steps to ensure
that the two are electrically bonded together. If necessary, remove paint for the bolt mounting surfaces of the
panel to ensure adequate electrical bonding.
Airflow and Wiring Space
To ensure adequate airflow and wiring space, you need two inches (50 mm) of space above and below the
driver, one and one-half inches (37 mm) of space to the left and right of the driver, and one inch (25 mm) of
space in front of the driver. These dimensions are typical for convectional cooling. If you have an active
cooling system such as enclosure fans, you will be able to mount the drivers closer together.
DIR/CCW
+
DIR/CCW
STEP/CW
DISABLE
FAULT
STEP/CW
DISABLE
FAULT
INTERLOCK
B CTAP
EARTH GND
A CTAP
INTERLOCK
B
B
A
A
GND
N
L
STEP/FAULT
POWER
+
+
+
AC POWER
95 – 132 V
AC
50/60 Hz
2.05" (52.1)
1.10"
(27.9)
0.118"
(4.78)
0.152"
(3.86)
dia.
0.312"
(7.92)
dia.
6.71"
(170.4)
0.152"
(3.86)
typ. 1.000"
(25.40)
0.60" (15.2)
6.15"
(156.2)
4.00" (101.6)
4.000"
(101.60)
1.073"
(27.25)
0.875"
(22.23)
7.00"
(177.8)
2.750" (69.85)
#10-32 UNF-2B.
Four places.
Min. screw length = 0.31"
(7.9)
+ thickness of mounting panel.
Max. screw length = 0.62"
(15.8)
+ thickness of mounting panel.

ADVANCED MICRO CONTROLS INC.
6
SWITCH SETTINGS
The SD17040C is configured by DIP switches on the top of the driver. The factory default setting has all
switches in their off (0) position except for SB2-1. (CurrentLoop Gain = 1) All switch setting are latched.
You must cycle power to the driver before changes take effect.
Note on Idle Current Reduction
The SD17040C controls the
RMS current through the
motor. Therefore it can
momentarily put 1.4 times the
motor's rated current through
the windings safely. If you
choose a setting of No Reduc-
tion, the SD17040C will revert
to peak current control when
the motor is not turning. This
feature protects the motor from
damage. You will not see a
reduction in holding torque.
Disable Input
Anti-Resonance
Current Loop Gain
Self-Test Mode
0
1
STEP/DIR
CW/CCW
0
NO REDUCTION
TO 69%
IDLE CURRENT
REDUCTION
0
1
ENABLED
DISABLED
ANTI-RESONANCE
1
0
SWITCH
SETTINGS
ON
0
1
10 1
TO 50%
TO 0%
0
1
0
1
ACTIVE HIGH
ACTIVE LOW
PULSE TRAIN INPUT
DISABLE INPUT
ACTIVE STATE
0 1
1
AutoID
Gain = 1
CURRENT LOOP
GAIN
Gain = 2
Gain = 3
Gain = 4
Gain = 5
Gain = 6
Gain = 7
Gain = 8
Gain = 9
Gain = 10
Gain = 11
Gain = 12
Gain = 13
Gain = 14
Gain = 15
Gain = 16
Gain = 17
Gain = 18
Gain = 19
Gain = 20
Gain = 21
Gain = 22
Gain = 23
Gain = 24
Gain = 25
Gain = 26
Gain = 27
Gain = 28
Gain = 29
Gain = 30
Gain = AutoMode
0
0
10 01 1
11 0 1 0 1 1
11 11 1
11 1 1 1 1 1
1
10 0 1 1 1
1
11 0 1011 1
1
11 1 1 1 1
1
11 1 1111 1
0 1
10 0
0 0
00 0
0 0 0
0 0 0 0
0 01
1 0 0 0
0 00 1
0100 0
0 00
0 0 0 0
0 00 0
0000 0
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0000
100 0
200 STEPS
400 STEPS
RESOLUTION
(Steps / Revolution)
1,000 STEPS
2,000 STEPS
5,000 STEPS
10,000 STEPS
12,800 STEPS
18,000 STEPS
20,000 STEPS
21,600 STEPS
25,000 STEPS
25,400 STEPS
25,600 STEPS
36,000 STEPS
50,000 STEPS
50,800 STEPS
0100
110 0
0010
101 0
0110
111 0
0001
100 1
0101
110 1
0011
101 1
0111
111 1
ON
23451
ON
23451
ON
23451
ON
23451
SB1 SB2 SB3 SB4
1.0
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2.0
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3.0
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
4.0
OUTPUT CURRENT
0000 00
1000 00
0100 00
1100 00
0010 00
1010 00
0110 00
1110 00
0001 00
1001 00
0101 00
1101 00
0011 00
1011 00
0111 00
1111 00
0000 01
1000 01
0100 01
1100 01
0010 01
1010 01
0110 01
1110 01
0001 01
1001 01
0101 01
1101 01
0011 01
1011 01
0111 01
1111 01
0000 10
1000 10
0100 10
1100 10
0010 10
1010 10
0110 10
1110 10
0001 10
1001 10
0101 10
1101 10
0011 10
1011 10
0111 10
1111 10
0000 11
1000 11
0100 11
1100 11
0010 11
1010 11
0110 11
1110 11
0001 11
1001 11
0101 11
1101 11
0011 11
1011 11
0111 11
1111 11
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
4.0
You can program the Disable Input's
active state. When Active High, you must
apply power to the input to disable the
driver. When Active Low, you must apply
power to the input to enable the driver. If
you are not using the input, set this switch
to Active High and the driver will operate
as you expect. When the Disable Input is
active, the SD17040C removes power from
the motor and stops accepting indexer
pulses. Over-temp and Over-current faults
are cleared when the driver transitions from
a Disabled state.
This setting allows you to compensate for
variations in motor properties which will give you smoother motion and better positional
accuracy. See the Setting the Current Loop Gain section on page 11 for more information.
Self-Test mode is controlled by the switch SB4-1. If you change the state of this switch
while power is applied to the SD17040C, the driver will respond by rotating the attached
motor clockwise at 60 RPM with a resolution of 50,000 steps per turn. Note that changing
this switch does not alter the current supplied to the motor. All switch settings are read and
latched on power up. However, you must return this switch to its correct setting for normal
operation before cycling power or resetting the SD17040C.
Allows the SD17040C to compensate for
back-EMF generated by the motor. It
should be left enabled for most applica-
tions. Disable only if you are sure you do
not want this feature or under the advice of
AMCI tech support.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
7
CONNECTING YOUR CONTROLLER
I/O Connector
The I/O connector on the SD17040C accepts inputs from your indexer
as well as the Disable Input and Fault Output.
All inputs accept 5Vdc differential signals and can also be wired to
accept single ended sinking or sourcing inputs of up to 24Vdc without
the need of an additional current limiting resistor.
Input Wiring
All inputs on the SD17040C are low
voltage, low power signals. All wiring
should use shielded, twisted pair cable
such as Belden 9727 instrumentation
cable.
The shield of the cable should be
grounded at one end only, preferably at
the indexer or controller. Do not ground
the shields at the SD17040C. If you
must splice the cable, do not connect the
shields to the ground of the junction
box.
Indexer Inputs
These inputs can be programmed to
accept Step & Direction or CW/CCW
pulses. This setting is controlled by
SB1-1.
Disable Input
When active, the motor current is off
and the driver does not accept indexer
pulses. The active state of the Disable
Input is set by switch SB1-4.
RLD
An additional load resistor may be
required on some PLC outputs to
improve switching time. A symptom of
this problem is that the motor will begin
to run rough at high speeds. A 470 or
560 ohm resistor should be used. For
5V and 12V systems use a 1W resistor.
For 24V systems use a 2W resistor.
These power ratings assume that the out-
put can be normally on. For systems
where you are sure the output is always
normally off, the wattage ratings can be
cut in half.
+
STEP/CW
DISABLE
DISABLE
+
FAULT +
FAULT
STEP/CW
DIR/CCW
DIR/CCW
+
+
+
Indexer Inputs
Disable Input
Fault Output
Indexer/Disable
Input +
5V
Differential
Output
Differential Connection
Shielded, Twisted
Pair Cable
–
Sourcing
Output
V
DC
+5 to +24V
Open Collector Sourcing Connection
R
LD
R
LD
may be needed in applications using a PLC DC output
to generate index pulses at high speeds. See the note on
this page for more information.
Shielded, Twisted
Pair Cable
Open Collector Sinking Connection
Sinking
Output
V
DC
+5 to +24V
Shielded, Twisted
Pair Cable
(As Needed)
+
–
Indexer/Disable
Input
+
–
R
LD
(As Needed)
Indexer/Disable
Input
R
LD
may be needed in applications using a PLC DC output
to generate index pulses at high speeds. See the note on
this page for more information.

CONNECTING YOUR CONTROLLER
ADVANCED MICRO CONTROLS INC.
8
Output Wiring
The ±Fault Output is an optically isolated transistor capable of driving a typical PLC input. The Fault Output
is normally on (conducts current) and turns off under the following conditions:
! The Interlock jumper is missing on the motor connector
! There is a short in the motor, either phase to phase or phase to ground
! The heatsink temperature exceeds 90°C (195°F)
! The driver is in its reset state and is not ready to accept pulses
Both ends of the output are uncommitted, so it can be wired as a sourcing or sinking output. The figure shows
a typical connection as a sourcing output.
RLIMIT
A resistor may be needed to limit the current through the Fault Output. The value, and power rating of the
resistor is dependent on the value of Vdc, the voltage drop across the input, and the current requirements of
the input.
SD17040C
Fault Output
FAULT+
FAULT–
R
LIMIT
*
V
DC
+5 to +24V
Open Collector Sourcing Output
PLC Input
Shielded, Twisted
Pair Cable
Ic
FAULT OUTPUT Electrical Specifications
VDC max: VCESAT:
30Vdc 1Vdc @ 20 mA
Power Dissipation: 20 mW max.
Ic max: 20 mA
SAT

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
9
CONNECTING YOUR MOTOR
Compatible Motors
The SD17040C will work with many different motors, including those not sold by AMCI. This section
assumes that you have already chosen your motor and you are looking for wiring information. No wire colors
are given because there is no single industry wide color coding standard for stepper motor wires. You must
refer back to your motor data sheets for this information.
AMCI offers several different stepper motors in sizes 23, 34, and 42. Refer to our website, www.amci.com,
for additional information on these products.
Motor Wiring
The Interlock jumper is a safety
device that is needed for proper
operation. The SD17040C will not
power the motor without this jumper.
When the jumper is installed,
up to 170Vdc is present on the
connector. Do not use the Interlock
for anything other than its
intended use as a safety device.
INTERLOCK
B CTAP
B
B
EARTH GND
A CTAP
INTERLOCK
A
A
8
LEAD
MOTOR
Eight Lead Series Connected
Motor Case
INTERLOCK
B CTAP
B
B
EARTH GND
A CTAP
INTERLOCK
A
A
8
LEAD
MOTOR
Eight Lead Parallel Connected
Motor Case
INTERLOCK
B CTAP
B
B
EARTH GND
A CTAP
INTERLOCK
A
A
6
LEAD
MOTOR
Six Lead Series Connected
Motor Case
INTERLOCK
B CTAP
B
B
EARTH GND
A CTAP
INTERLOCK
A
A
6
LEAD
MOTOR
Six Lead Center Tap Connected
Motor Case
INTERLOCK
B CTAP
B
B
EARTH GND
A CTAP
INTERLOCK
A
A
4
LEAD
MOTOR
Four Lead Connected
Motor Case
SHIELDS SHIELDS
SHIELDS SHIELDS
SHIELDS
Interlock Jumper Interlock Jumper
Interlock Jumper Interlock Jumper
Interlock Jumper
Motor Case
Motor Case
Motor Case
NOTES
1)
170Vdc is present on the
connector when power is applied
to the motor. Install the supplied
rubber boot on the connector
during normal operation.
2)
Motor connections should be tight.
Loose connections may lead to
arcing which will heat the connector.
Phoenix Contact specifies a tighten-
ing torque of 4.4 to 5.4 lb-in. (0.5 to
0.6 Nm)
3)
Refer to the torque vs. speed curves on your motor's
specifications sheet to determine if you should wire the
motor to the SD17040C in series, parallel, or centertap
configuration.

ADVANCED MICRO CONTROLS INC.
10
POWER CONNECTOR AND INDICATOR LED’s
Power Connector
The SD17040C operates on 115Vac. If 230Vac is the only power available, consider using one
of the 230Vac drivers available from AMCI. Information on these drivers can be found on our
website, http://www.amci.com. If this is not an option, a step-down transformer must be
installed to power the SD17040C. The transformer must have a minimum power rating of 600
VA.
The SD17040C must be grounded for proper operation. Grounding is accomplished with the
GND pin on the power connector, and through proper bonding to the enclosure. Power con-
nections should be tight. Loose connections may lead to arcing which will heat the connector.
Phoenix Contact specifies a tightening torque of 4.4 to 5.4 lb-in (0.5 to 0.6 nM)
Indicator LED’s
The SD17040C has two indicator LED’s.
STEP/FAULT
!
!Green: Driver Operational
!Flashing Green: Driver Operational, Receiving Pulses
!Red: Driver Fault (The Over Temperature and Over Current faults can be cleared with the Disable Input.)
1) Over Temperature Fault: The heatsink temperature exceeds 90°C (195°F)
2) Over Current Fault: Generally, a short exists somewhere in the system. This can be a short in the
motor or in the driver itself.
A)Phase–Phase Short: There is an electrical short between the two motor windings. The short
exists in the motor cable or in the motor itself.
B)Phase–Ground Short: One of the motor’s windings is shorted to earth ground. (The EARTH
GND terminal of the Motor Connector is used as the reference point.) The
fault can be in the motor cable or in the motor itself.
C)Back EMF: In applications with large motors and high deceleration rates, back-EMF generated
by the motor may also cause this fault.
3) Interlock Fault: The two Interlock Terminals on the motor connector are not connected with a short
jumper.
!Flashing Red:
Current Loop Gain AUTOID Error. There is a problem with the motor wiring or the motor
current is set tozero.
!Flashing Red/Green @ 1Hz: Step Violation: The indexer sent step pulsesto the SD17040C before the
driver was ready for them. The driver was disabled, in a fault condition,or had not completed its initialization
sequence on power up or reset. The stepper motor position will be invalid. The motor is not disabled and can still
be driven. While there is motion, the LED will flash at approximately 4 Hz.
!CURRENT LOOP GAIN: This LED is also used when the Current Loop Gain is set to AutoID. (SB2:1-
5 all turned off) When set to AutoID, the driver will determine the parameters of the attached motor and
will flash the Step/Fault LED green the number of times that the parameter should be set to. Flashing
red indicates a problem with the motor wiring or the motor current is set to zero. Further information
can be found in the next section of the manual, Verifying System Setup.
Power
!
!Green: Power is applied to the driver in the range of 95 or 132 Vac.
AC POWER
95 – 132 V AC
50/60 Hz
GND
N
L

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
11
VERIFYING SYSTEM SETUP
Setting the Current Loop Gain
Setting the Current Loop Gain correctly allows you to maximize your motor’s performance. The SD17040C
takes into account the line voltage, output current and motor impedances when determining the optimum gain
for your system.
Assuming a stable line voltage of 115 Vac, the following gains can be used for AMCI motors. These gain set-
tings are factory suggestions and are average settings for our motors. Your system may benefit from increas-
ing or decreasing these settings. In general, increase the setting by one or two counts to improve high speed
performance or decrease the settings for quieter low speed operation.
If you are using a non-AMCI motor, use the AutoID setting to determine the correct gain for your system. Turn
off all of the switches in switch bank 2 and then verify that the motor current is set correctly and the motor is
attached to the driver. Cycle power to the driver. The
STEP/FAULT LED will begin to blink almost immedi-
ately. Count the number of blinks. This number is what you should initially set the Current Loop Gain to.
Use the Switch Setting page of this manual to determine the correct switch settings. When you are done,
cycle power to the SD17040C and verify motor operation using the System Checkout procedure on the follow-
ing page. If need be, adjust the Current Loop Gain settings up or down depending on your application.
In most cases, the Current Loop Gain can be set to its AutoMode setting and the SD17040C will automatically
determine the proper gain on every power up or reset. This procedure is done in under two seconds.
GAIN SETTINGS
MOTOR CURRENT "
""
"1 A 1.5 A 2 A 3 A 4 A
MOTOR PART #
SM23-130 (Series) 467
SM23-130 (Parallel) 2 3 4
SM23-240 (Series) 6 8 10
SM23-240 (Parallel) 4 5 6
SM34-450 6 9 11
SM34-850 11 14 17
SM34-1100 12 17 21

VERIFYING SYSTEM SETUP
ADVANCED MICRO CONTROLS INC.
12
System Checkout
1) Verify all wiring and grounding before applying power to the SD17040C. Make sure the rubber boots are
on the driver’s motor and power connectors.
2) Apply 115Vac power. With the motor attached, the power and status LED’s should come on green. A
problem exists if either LED does not light, or the Status LED is red. Remove power and refer to the
Troubleshooting section of this manual which begins on the following page.
3) Check for holding torque on the motor. If you have less then you expected, the most common causes are
improper motor current switch settings or having the Idle Current Reduction turned on.
4) The Self-Test feature of the SD17040C allows you to verify your motor wiring without an indexer. With
power applied to the driver, toggle the SB4-1 switch. The motor will begin to rotate clockwise at 60 RPM.
You must remove power from the driver to stop the rotation. If the motor rotates in the counter-clockwise
direction, swap the +B and –B connections. If the motor does not rotate at all, verify your current setting
and the motor’s wiring.
5) Have your indexer make a slow move in the clockwise direction for one turn. While the turn is in progress,
the STEP LED should blink. Verify that the motor rotated in the correct direction for one complete turn. If
you are using an optical encoder or other position feedback, verify that the indexer or controller is reading it
properly.
6) Repeat step 5 with a one turn move in the counter-clockwise direction. Again verify that the motor rotated
in the correct direction for one turn.
Any failures at steps 5 or 6 are usually caused by not setting the Pulse Train Input switch cor-
rectly or programming the wrong number of pulses in the indexer profile. If the motor rotates
in the wrong direction you can swap the +B and –B connections instead of altering your pro-
gramming.
7) If you are using the Disable Input, verify its operation with the motor stopped. Note that the motor will have
no holding torque while this input is active and the motor’s shaft will be free to rotate.
8) If you are using the Fault Output, verify that it is On (conducting). Remove power from the SD17040C,
disconnect the motor, and re-apply power. The STEP/FAULT LED should be red and the Fault Output
should be off (not conducting).
9) Remove power and re-attach the motor. Power the driver.
10) Consider altering the motor current or enabling the Idle Current Reduction if it is not already enabled.
Lowering the motor current or enabling Idle Current Reduction can greatly reduce motor heating.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
13
TROUBLESHOOTING
Indexer Problems
Driver Problems
Symptom Solution
My indexer/PLC reports a fault
from the SD17040C when every-
thing seems fine.
Your logic may be reversed. On the SD17040C, the Fault Output is on (con-
ducts current) when the driver is working correctly and turns off (stops cur-
rent flow) when there is a fault with the driver. Therefore, losing power to the
driver appears as a fault. If you’re expecting the fault output to turn on and
conduct current when there is a fault, then your logic is reversed.
The motor is running faster/slower
than expected and/or the distance
traveled is farther/shorter than
expected.
Most likely a problem with the SD17040C’s Step Resolution setting or the
indexer’s programming. If the motor is running too fast, the Step Resolu-
tion on the SD17040C is set lower than the indexer’s programmer
assumed it would. If the motor is running slow, the Step Resolution is set
higher than the indexer programmer assumed it would be.
Symptom Solution
Both LED’s are off, and the Fault
Output is active. (Not conducting)
Power is applied to the driver.
1) The AC line voltage may be too low. It must be greater than 85Vac
for the SD17040C to operate properly.
2) One or both of the 10A fuses may be blown. These fuses will not
blow under normal circumstances, so call AMCI for assistance.
Blown fuses may be a sign of serious installation problems.
Both LEDs are green, the Fault
Output is inactive, (conducting) but
the motor is not powered.
1) The ±Disable input may be active. The active state, (power applied
or power removed), is set by DIP switch SB1-4. This switch may be
set incorrectly.
2) The Idle Current Reduction may be set to its To 0% setting. With this
setting, current is removed from the motor if a directional pulse is not
received for one second.
The
STEP/FAULT LED does not
blink when the indexer sends
pulses to the driver. The motor
does not turn.
1) Verify that your two directional inputs on the Indexer Connector are
not swapped or cross-wired.
2) If the inputs are wired as a sinking or sourcing instead of differential,
verify that they are wired correctly. If your indexer has sourcing out-
puts, then the inputs of the SD17040C must be wired as sinking
inputs and vice versa.
The
STEP/FAULT LED is red. The driver is experiencing a fault condition. All faults are latched, so
power must be cycled to the driver or the Disable Input must be toggled
before the fault will clear.
1) Over Temp Fault. Is the driver very hot? It shuts down when its
internal temperature exceeds 90°C (195°F).
2) Interlock Fault. The motor is not plugged into the driver or a wire
jumper was not installed between the two Interlock pins on the Motor
Connector.
3) Short in Motor. Shut off the SD17040C and disconnect the motor.
Pull back the rubber boot and verify the following with an ohmmeter.
a) Open circuit from “A+” to “B+” pins. (Tests for short between
phases.)
b) Open circuit from “A+” to “Earth Ground” and “B+” to “Earth
Ground”. (Tests for short between phase and case.)
If any of these readings is not an open circuit, then check your wiring.
The most common cause of a short between phases is cross-wiring
the phases when wiring the connector. If you see a phase-to-case
short, make sure you don’t have a stray wire from the “B+” or “A-” ter-
minals hitting the Earth Ground terminal on the connector.

TROUBLESHOOTING
ADVANCED MICRO CONTROLS INC.
14
Motor Problems
As noted above, sometimes a problem that appears to be with the motor is actually a problem
with the indexer. The SD17040C has a Self-Test feature that allows you to verify motor opera-
tion without an indexer. With power applied to the driver, toggle the SB4-1 switch. The motor
will begin to rotate clockwise at 60 RPM. You must remove power to the driver to end the self
test.
Please remember to return SB4-1 to its original position before cycling power to the driver.
Symptom Solution
The motor has no holding torque. 1) If the Step/Fault LED is red, then a problem exists with the driver or
motor. Refer to Power Connector and Indicator LED’s on page 10 for
information.
2) If the motor rotates when commanded but has no holding torque,
then your Idle Current Reduction switch is set to the To 0% setting.
This setting removes motor current when the driver is idle for more
than one second. Other idle current reduction settings are available.
See Switch Settings on page 6 for more information.
3) The SD17040C ships with the motor current set to its minimum value
of 1.0 amp. It’s possible that it was not set for your application. See
Switch Settings starting on page 6 for the proper switch settings.
The SD17040C blinks its
STEP/
FAULT
LED green when pulses are
applied to the driver, but the motor
only emits a high pitch noise. It
does not rotate.
1) The acceleration or starting speed values may have been set too
high when the indexer was programmed. The motor may start to
accelerate and stall as the acceleration increases.
2) The Step Resolution may be set to a values lower than you are
expecting. For example, if the Step Resolution is set to 200 instead
of 400, the acceleration value is effectively doubled.
The motor only runs in one direc-
tion. This problem is usually caused by the directional pulse inputs. If your indexer is sending pulses in the CW/CCW format and the driver is config-
ured for the Step & Direction format, the motor will rotate counter-clock-
wise when the driver receives CW pulses,and it will not rotateat all when
the driver receives CCW pulses. If the indexer is sending pulses in the
Step & Direction format and the driver is configured for the CW/CCW for-
mat, the motor will only rotate clockwise, even when the indexer is com-
manding a counter-clockwise move.
The motor runs backwards. (CW
instead of CCW and/or CCW
instead of CW)
1) One of the motor phases may be reversed. The “quick fix” is to
reverse the connections on the ±B windings.
2) There may be a problem with the directional inputs. Either they are
wired incorrectly or the format is wrong. Check wiring and see the
previous problem for more information on problems with format.
As its running speed increases, the
motor begins to run rough, and
eventually stops while pulses are
being applied.
1) If you are using single ended outputs for your pulse and direction sig-
nals, you may have a problem with the outputs not switching fast
enough. See the note on the RLD Resistor in the Connecting Your
Indexer section on page 7.
2) You may have a problem with resonance in the system. Run the sys-
tem with the Anti-Resonance feature enabled and disabled to see
which give you better performance. The Anti-Resonance feature is
set with SB1-5. See page 6 for more information.
The motor runs erratically. 1) The motor is not correctly coupled to the load.
2) The deceleration rate is set to high and the inertia of the load is carry-
ing the motor past the point where it is supposed to stop.
3) You are performing a slow move, (under 1 revolution/second) while
the Step Resolution is set to 200 or 400 steps/turn. To correct this
problem, try increasing the indexer’s starting speed parameter. Do
not increase the starting speed beyond your slowest running speed.
4) The motor current is set too low and the motor is unable to move the
load.
5) The motor is not correctly wired. Eight lead motors can be wired in
series or parallel. Series connection gives you more torque at lower
speeds and parallel connection gives you more torque at higher
speeds.

LEADERS IN ADVANCED CONTROL PRODUCTS
ADVANCED MICRO CONTROLS INC.
ADVANCED MICRO CONTROLS INC.ADVANCED MICRO CONTROLS INC.
ADVANCED MICRO CONTROLS INC.
20 GEAR DRIVE, TERRYVILLE, CT 06786 T: [phone] F: [phone]
www.amci.com