AMCI SD17060E-K User manual

MICRO CONTROLS INC.
ADVANCED
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Manual #: 940-0S301

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 2020 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 2020 by Advanced Micro Controls Inc.” You may not alter the contents of this document or charge a
fee for reproducing or distributing it.
Standard Warranty
ADVANCED MICRO CONTROLS, INC. warrants that all equipment manufactured by it will be free from
defects, under normal use, in materials and workmanship for a period of [18] months. Within this warranty
period, AMCI shall, at its option, repair or replace, free of charge, any equipment covered by this warranty
which is returned, shipping charges prepaid, within eighteen months from date of invoice, and which upon
examination proves to be defective in material or workmanship and not caused by accident, misuse, neglect,
alteration, improper installation or improper testing.
The provisions of the "STANDARD WARRANTY" are the sole obligations of AMCI and excludes all other
warranties expressed or implied. In no event shall AMCI be liable for incidental or consequential damages or
for delay in performance of this warranty.
Returns Policy
All equipment being returned to AMCI for repair or replacement, regardless of warranty status, must have a
Return Merchandise Authorization number issued by AMCI. Call [phone] with the model number and
serial number (if applicable) along with a description of the problem during regular business hours, Monday
through Friday, 8AM - 5PM Eastern. An "RMA" number will be issued. Equipment must be shipped to AMCI
with transportation charges prepaid. Title and risk of loss or damage remains with the customer until shipment
is received by AMCI.
24 Hour Technical Support Number
24 Hour technical support is available on this product. If you have internet access, start at www.amci.com.
Product documentation and FAQ’s are available on the site that answer most common questions.
If you require additional technical support, call [phone]. Your call will be answered by the factory dur-
ing regular business hours, Monday through Friday, 8AM - 5PM Eastern. During non-business hours an auto-
mated system will ask you to enter the telephone number you can be reached at. Please remember to include
your area code. The system will page an engineer on call. Please have your product model number and a
description of the problem ready before you call.
Waste Electrical and Electronic Equipment (WEEE)
At the end of life, this equipment should be collected separately from any unsorted municipal waste.

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TABLE OF CONTENTS
General Information
Important User Information ..................... 2
Standard Warranty ................................... 2
Returns Policy .......................................... 2
24 Hour Technical Support Number ........ 2
WEEE Statement ..................................... 2
About this Manual
Audience .................................................. 7
Applicable Units ...................................... 7
Navigating this Manual ............................ 7
Manual Conventions ................................ 7
Trademark Notices ................................... 7
Revision Record ....................................... 8
Revision History ............................ 8
Manual Layout ......................................... 8
Reference: SD17060E-K &
SD31045E-K Specs
Networked Stepper Indexer/Drivers ........ 9
Conformance Markings ........................... 10
UL .................................................. 10
CE .................................................. 10
RoHS ............................................. 10
Specifications ........................................... 11
Indexer Functionality ............................... 12
Standard Functionality ................... 12
Synchronizing Moves .................... 13
Encoder Functionality ................... 13
Driver Functionality ................................. 14
Idle Current Reduction .................. 15
Current Loop Gain ......................... 15
Available Inputs ....................................... 15
Home Input .................................... 15
CW Limit Switch or
CCW Limit Switch ..................... 15
Start Indexer Move Input ............... 15
Emergency Stop Input ................... 16
Stop Jog or 
Registration Move Input .............. 16
Capture Encoder Position Input ..... 16
Encoder Feedback ......................... 16
General Purpose Input ................... 16
Network Interface Description ................. 17
Ethernet Interface .......................... 17
Status LED’s ............................................ 17
Front Panel Status LED’s .............. 17
Top Panel Status LED’s ................ 18
Reference: UL/cUL Recognized 
Installations
UL Required Information ......................... 19
Reference: Motion Control
Definitions ................................................ 21
Units of Measure ........................... 21
Motor Position .............................. 21
Home Position ............................... 21
Count Direction ............................. 21
Starting Speed ............................... 21
Target Position .............................. 22
Definition of Acceleration Types ............. 22
Linear Acceleration ....................... 22
Triangular S-Curve Accel. ............ 23
Trapezoidal S-Curve Accel. .......... 23
A Simple Move ........................................ 24
Controlled and Immediate Stops .............. 25
Host Control .................................. 25
Hardware Control ......................... 25
Basic Move Types .................................... 25
Relative Move ............................... 25
Absolute Move .............................. 26
CW/CCW Jog Move ..................... 27
CW/CCW Registration Move ....... 29
Encoder Registration Move .......... 30
Assembled Moves .................................... 31
Blend Move ................................... 32
Dwell Move .................................. 33
Assembled Move Programming ............... 35
Control Bits – Output Data ........... 35
Control Bits – Input Data .............. 35
Programming Routine ................... 35
Saving an Assembled 
Move in Flash ............................. 36
Indexed Moves ......................................... 36
Controlling Moves In Progress ................ 37
Find Home Moves ........................ 37
Jog Moves ..................................... 37
Registration Moves ....................... 37
Absolute, Relative, and 
Encoder Registration Moves ...... 37
Assembled Moves ......................... 37
Electronic Gearing ................................... 38
Motor_Resolution ......................... 38
ELGearing Multiplier and Divisor 38
How It Works ................................ 38
Controlled Stop Conditions .......... 39
Immediate Stop Conditions .......... 39
Advanced Ratio Control ............... 39

TABLE OF CONTENTS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
4
Reference: Calculating Move 
Profiles
Constant Acceleration Equations ............. 41
Variable Definitions ...................... 41
Total Time Equations .................... 43
S-Curve Acceleration Equations .............. 44
Triangular S-Curve Accel. ............ 44
Trapezoidal S-Curve Accel. .......... 46
Determining Waveforms 
by Values .................................... 48
Reference: Homing an AMCI 
Networked Driver
Definition of Home Position .................... 51
Position Preset .......................................... 51
CW/CCW Find Home Commands ........... 51
Homing Inputs .......................................... 51
Physical Inputs .............................. 51
Backplane Inputs ........................... 51
Homing Configurations ............................ 52
Homing Profiles ....................................... 52
Home Input Only Profile .............. 52
Profile with Network 
Backplace_Proximity_Bit ........... 53
Profile with Overtravel Limit ....... 54
Controlling Find Home 
Commands In Progress .......................... 55
Controlled Stops ........................... 55
Immediate Stops ........................... 55
Reference: Configuration Data 
Format
CoE Registers ........................................... 57
Output Data Format .................................. 57
CFG_Word_0 Format .............................. 57
CFG_Word_1 Format .............................. 60
Current Loop Gain ................................... 62
Notes on Other Configuration Words ...... 63
Invalid Configurations .............................. 63
Reference: Command Mode Data
Format
Command Bits Must Transition ............... 65
Output Data Format .................................. 65
CMD_word0 ............................................. 66
CMD_word1 ............................................. 68
Description of 
Motor Current Keys .................... 69
Reference: Command Mode Data
Format
Command Blocks ..................................... 70
Absolute Move .............................. 70
Relative Move ............................... 70
Hold Move .................................... 71
Resume Move ................................ 71
Immediate Stop ............................. 72
Find Home CW ............................. 72
Find Home CCW ........................... 73
Jog CW .......................................... 73
Registration Move CW ................. 74
Jog CCW ....................................... 74
Registration Move CCW ............... 75
Encoder Follower Move ................ 76
Preset Position ............................... 76
Reset Errors ................................... 77
Run Assembled Move ................... 77
Preset Encoder Position ................. 78
Programming Blocks ................................ 79
First Block ..................................... 79
Segment Block .............................. 79
Input Data Format ..................................... 80
STATUS_word0 Format ............... 80
STATUS_word1 Format ............... 82
Notes on Clearing a Driver Fault .............. 83
Reset Driver Fault ......................... 83
Reference: General Installation
Guidelines
Grounding ................................................. 85
Grounding Electrode System ........ 85
Ground Bus ................................... 85
Grounding Electrode Conductor ... 86
Grounding Wires ........................... 86
Avoiding Grounding Problems ................. 86
Surge (EMI) Suppression ......................... 87
Incoming Power ........................... 87
Inductive Loads ............................. 88
System Environment ..................... 88
System Layout Considerations ................. 88
Wiring Categories for the 
SD17060E-K or SD31045E-K .... 88
Minimize Voltages in the 
System Enclosure ........................ 89
Power Supply Sizing ..................... 89
Component Placement .................. 89
Conduits to Enclosure ................... 90

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Networked Indexer/Driver User Manual TABLE OF CONTENTS
5
Task 1: Installing an AMCI 
Networked Driver
Location ................................................... 91
Safe Handling Guidelines ........................ 91
Prevent Electrostatic Damage ........ 91
Prevent Debris From
Entering the Unit ........................... 91
Remove Power Before 
Servicing ...................................... 91
Airflow and Wiring Space ....................... 91
Outline Drawings ..................................... 92
SD17060E-K Outline Drawing ..... 92
SD31045E-K Outline Drawing ..... 93
Mounting Methods ................................... 93
Grounding and Powering the System ...... 94
Installing the Stepper Motor .................... 95
Outline Drawings ........................... 95
Mounting the Motor ...................... 95
Connecting the Load ...................... 95
Extending the Motor Cable ........... 95
Installing the Motor Cable ............. 95
Connecting the Motor .............................. 96
Motor Connector ........................... 96
Interlock Wiring ............................ 96
Motor Wiring ................................. 97
Digital Input Wiring ................................. 98
Cable Shields ................................. 98
Input Wiring .................................. 98
Output Wiring ................................ 99
Encoder Wiring ............................. 99
Ethernet Connections ............................... 100
Task 2: EtherCAT System 
Configuration
Install the ESI file ..................................... 101
Obtain the ESI file ........................ 101
Install the ESI file ......................... 101
Restart the Programming 
System If Needed ........................ 101
Add the Networked Driver
to the Project .......................................... 101
Scan for the Networked Driver ..... 101
Rename the Device ....................... 101
Configure the Networked Driver .. 102
Create a DUT ........................................... 103
Create Variables Based on the DUT ........ 103
Link Variable Names to I/O Words ......... 103
Chapter 3: Distributed Clock -
SYNC0 Setup
Verify Main PLC Task Timing ................ 105
Create New PLC Task .............................. 106
Set Operational Mode .............................. 108
Set CFG_word1 Value to
Enable SYNC0 ....................................... 109

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Networked Indexer/Driver User Manual TABLE OF CONTENTS
6
Notes

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ABOUT THIS MANUAL
Audience
This manual explains the installation and operation of AMCI’s Networked Stepper Indexer/Drivers with the
EtherCAT®network interface. 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.
Applicable Units
This manual applies to the SD17060E-K and SD31045E-K units.
With the exception of power requirements and output current, the information in this manual applies equally
to the SD17060E-K and SD31045E-K units. The term “Networked Driver” is used when the information
applies to both drivers.
Navigating this Manual
This manual is designed to be used in both printed and on-line forms. Its on-line form is a PDF document,
which requires Adobe Acrobat Reader version 7.0+ to open it. You are allowed to select and copy sections for
use in other documents and, if you own Adobe Acrobat version 7.0 or later, you are allowed to add notes and
annotations. If you decide to print out this manual, all sections contain an even number of pages which allows
you to easily print out a single chapter on a duplex (two-sided) printer.
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 of Advanced Micro Controls Inc. EtherCAT®is a registered trademark and
patented technology, licensed by Beckhoff Automation GmbH, Germany. “Adobe” and “Acrobat” are regis-
tered trademarks of Adobe Systems Incorporated.
All other trademarks contained herein are the property of their respective holders.
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.
Format Description
Normal Font Font used throughout this manual.
Emphasis Font Font used for parameter names and the first time a new term is introduced.
Cross Reference When viewing the PDF version of the manual, clicking on a blue cross refer-
ence jumps you to referenced section of the manual.
HTML Reference When viewing the PDF version of the manual, clicking on a red cross reference
opens your default web browser to the referenced section of the AMCI website
if you have Internet access.

ABOUT THIS MANUAL Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
8
Revision Record
This manual, 940-0S301 is the second release of this manual. It corrects typographical errors and adds some
clarification notes to command and status bits. It was first released on December 25th, 2020.
Revision History
940-0S300: November 25th, 2020 - Initial Release
Manual Layout
You will most likely read this manual for one of two reasons:
If you are curious about the Networked Stepper Indexer/Driver products from AMCI, this manual con-
tains the information you need to determine if these products are the right products for your application.
The first chapter, SD17060E-K & SD31045E-K Specifications contains all of the information you will
need to fully specify the right product for your application.
 If you need to install and use a Networked Stepper Indexer/Driver product from AMCI, then the rest of
the manual is written for you. To simplify installation and configuration, the rest of the manual is broken
down into
tasks and references . Using a Networked Stepper Indexer/Driver requires you to complete
multiple tasks, and the manual is broken down into sections that explain how to complete each one.
Section Title Page # Section Description
SD17060E-K &
SD31045E-K
Specifications 9Complete specifications for the SD17060E-K and SD31045E-K
products.
UL/cUL Recognized
Installations 19 Installation guidelines that must be followed in order for an instal- lation of a Networked Driver to meet UL/cUL criterion.
Motion Control 21 Reference information on how the driver can be used to control
motion in your application.
Calculating Move
Profiles 41 Reference information on calculating detailed move profiles.
Homing an AMCI
Networked Driver 51 Reference information on how the home position of the
SD17060E-K or SD31045E-K can be set.
Configuration Data
Format 57 Reference information on the format of the CANopen over Ether- CAT (CoE) data that is used to configure the unit.
Command Mode
Data Format 65 Reference information on the format of the network data to and
from the SD17060E-K or SD31045E-K that is used to command it.
General Installation
Guidelines 85 Reference information on grounding, wiring, and surge suppres- sion, that is applicable to any control system installation.
Installing an AMCI
Networked Driver 91 Task instructions covering how to install an SD17060E-K or
SD31045E-K on a machine. Includes information on mounting,
grounding, and wiring specific to the units.
EtherCAT System
Configuration 101 Task instructions that covers how to add a Networked Drive to an
EtherCAT network.
Optional: Distributed
Clock - SYNC0 Setup 105 Optional Task instructions that covers how to configure an
SD17060E-K or SD31045E-K to use the Distributed Clock 
functionality of the EtherCAT protocol.

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REFERENCE 1
SD17060E-K & SD31045E-K SPECIFICATIONS
Networked Stepper Indexer/Drivers
The AMCI SD17060E-K is a 6.0Arms micro-stepping driver with
a 170Vdc internal bus voltage. The AMCI SD31045E-K is a
4.4Arms micro-stepping driver with a maximum internal bus volt-
age of 310Vdc. Each Networked Driver attaches to your Ethernet
based network and communicates using the EtherCAT protocol.
EtherCAT uses standard Ethernet cabling, but forgoes the full
TCP/IP stack typically associated with Ethernet communications.
The EtherCAT protocol transfers data to and from multiple slaves
with a single packet of information. Data for each slave is located
at a known position within the packet. EtherCAT slave devices use
a hardware only solution to read and write data to the packet
before transmitting the packet to the next slave. This solution
leads to a delay between nodes that is typically 4 microseconds or
less. This results in a very fast and deterministic network.
An EtherCAT Slave Information (ESI) file is available for the
Networked Driver units. The ESI file is required to add the device
to the network. Configuration of the Networked Driver is accom-
plished using the CANopen PDO and SDO objects. EtherCAT
supports CANopen through its CANopen over Ethernet (CoE)
interface.
Motion commands and status information is transmitted using the
output and input variables assigned to the Networked Driver when
the EtherCAT system is configured.
Each unit also supports the Distributed Clock (DC) functionality
of the EtherCAT system. This allows you to synchronize the start
of moves across devices using the SYNC0 signal instead of the
SyncManager 2 event.
The combination of host and driver gives you several advantages:
Sophisticated I/O processing can be performed in the host (PLC or other controller) before sending
commands to the Networked Indexer/Driver.
All motion logic is programmed in the host, eliminating the need to learn a separate motion control lan-
guage
Eliminating the separate indexer lowers Total System Cost
Both Networked Drivers can be powered from a nominal 115 Vac, 50/60 Hz source and they will have a 170
Vdc motor bus voltage with this input supply. The SD31045E-K Drivers can also be powered by a nominal
230 Vac 50/60 Hz source and they will have a 310 Vdc motor bus voltage with this input supply.
This manual is designed to get you up and running quickly with either the
SD17060E-K or the SD31045E-K from AMCI. As such, it assumes you have some
basic knowledge of stepper systems, such as the resolution you want run your
motor at, and the reasons why you’d want to use Idle Current Reduction and the
reasons why you wouldn’t. If these terms or ideas are new to you, we’re here to
help. AMCI has a great deal of information on our website and we are adding more
all the time. If you can’t find what you’re looking for at http:///www.amci.com, send
us an e-mail or call us. We’re here to support you with all of our knowledge and
experience.
Figure R1.1 SD17060E-K Drive

SD17060E-K & SD31045E-K SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
10
Networked Stepper Indexer/Drivers (continued)
The output motor current is fully programmable on these Networked Drivers. The SD17060E-K Drivers can
be programmed from 1.0 Arms to 6.0 Arms, while the SD31045E-K Drivers can be programmed from 1.0
Arms to 4.4 Arms. It is even possible to change the motor current setting while the move is in progress. These
ranges of output currents makes the Networked Drivers compatible with the complete line of stepper motors
from AMCI.
In addition to the Motor Current setting, the Motor Steps per Turn, Idle Current Reduction, and Anti-Reso-
nance Circuit features are also fully programmable. If you have used other stepper indexer products from
AMCI you will find the programming to be very similar to these products.
All Networked Drivers from AMCI are true RMS motor current control drivers. This means that you will
always receive the motor’s rated torque regardless of the Motor_Resolution setting. (Drivers that control the
peak current to the motor experience a 30% decrease in motor torque when microstepping a motor.) The Net-
worked Drivers automatically switch from RMS to peak current control when the motor is idle to prevent
overheating the motor.
In addition to power and motor hookups, the Networked Drivers have three DC inputs and one DC output that
are used by the indexer. Configuration data from the host sets the function of these points. The output can be
configured to be a Fault Output or a general purpose output. Each input can be individually configured as a:
CW or CCW Limit Switch
Home Limit Switch
Capture Encoder Position Input
Stop Jog or Registration Move Input
Start Indexer Move
Emergency Stop Input
A/B Encoder Inputs
General Purpose Input
Conformance Markings
The Networked Driver devices meet the requirements for the following conformance markings when
installed and operated in accordance with the instructions contained in their product documentation.
ULListed component in the USA and Canada. UL file number is E231137.
US: UL 61800-5-1 Standard For Safety For Adjustable Speed Electrical Power Drive Systems - Part 
5-1: Safety Requirements - Electrical, Thermal and Energy
Canada: CSA C22.2 No. 274 - Adjustable Speed Drives
CE
Directive 2014/30/EU of the European Parliament and of the Council (EMC), of 26 February 2014 on
the harmonisation of the laws of the Member States relating to electromagnetic compatibility; per EN
61800-3:2004/A1:2012.
Directive 2014/35/EU of the European Parliament and of the Council (Low Voltage), of 26 February
2014 on the harmonisation of the laws of the Member States relating to the making available on the
market of electrical equipment designed for use within certain voltage limits; per EN 61010-1:2010.
RoHS
Directive (EU) 2015/863 (RoHS 3) and Directive 2011/65/EU (RoHS 2)