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)

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Networked Indexer/Driver User Manual SD17060E-K & SD31045E-K SPECIFICATIONS
11
Specifications
Driver Type
Two bipolar MOSFET H-bridges with 20KHz
PWM current control.
SD17060E-K Drivers: 170Vdc output bus.
SD31045E-K Drivers: up to 310Vdc output bus.
Physical Dimensions
Width: SD17060E-K Drivers: 2.1 inches max.
SD31045E-K Drivers: 2.7 inches max.
Depth: 4.0 inches max.
Height: 6.2 inches
7.0 inches with mounting tabs
Weight
SD17060E-K Drivers: 2.4 lbs. (1.1 kg.) max.
SD31045E-K Drivers: 2.7 lbs. (1.25 kg.) max.
Inputs
Electrical Characteristics for all Inputs: . . . .
Differential. UL 1577 recognized, 3750 Vrms for
1 minute. 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. Opto-isolated. (2500
Vac rms (f=60 Hz, t=1 min. duration) 
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 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.
Faults are reported in the Network Input Data and
can be cleared through the Network Output Data.
Motor Interlock
Two pins that must be shorted together before
power will be applied to motor. Can be shorted
together through mechanical relay contacts.
Motor Current
SD17060E-K Drivers: Programmable from 1.0 to
6.0 Arms.
SD31045E-K Drivers: Programmable from 1.0 to
4.4 Arms.
Motor 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 current
is reduced to selected level if there is no motion
for 1.5 seconds. 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 ....... SD17060E-K Drivers: 95 to
132Vac, 50/60 Hz, 
5.0 Apk max.
SD31045E-K Drivers: 95 to
264Vac, 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. 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
Connectors
All mating connectors are included with driver.
Connector Wire Strip Length Min./Max. Tightening Torque
I/O 28 - 16 AWG 0.275 inches 1.91/2.23 lb-in (0.22/0.25 Nm)
Motor 24 - 12 AWG 0.275 inches 4.46/5.35 lb-in (0.5/0.6 Nm)
Power 24 - 12 AWG 0.275 inches 4.46/5.35 lb-in (0.5/0.6 Nm)

SD17060E-K & SD31045E-K SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
12
Indexer Functionality
Standard Functionality
The table below lists the functionality offered by the indexer built into the AMCI Networked Drivers
Table R1.1 Indexer Standard Functionality
Feature Description
Programmable Inputs Each of the three inputs can be programmed as a Home Limit, Over Travel
Limit, Capture Input, Jog Stop, or E-Stop Input. They can also be pro-
grammed to accept a quadrature encoder.
Programmable Output The single output on the Networked Driver 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 Networked Driver
can home to a discrete input or to an encoder marker pulse.
Synchronous Moves
Using the Distributed Clock functionality of the EtherCAT system, multiple
devices can synchronize the start of their moves to the SYNC0 signal. Moves
will begin within ±25 microseconds of each other.
Jog Move Allows you to jog the motor in either direction based on a bit from your con-
troller.
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.
Registration Move Allows you to jog the motor in either direction based on a command bit from
your controller. When a controlled stop is issued, the move will output a pro-
grammable number of steps before coming to a stop.
Assembled Move Allows you to perform a sequence of relative moves. These moves can be
performed with or without stopping between them.
Indexer Move Allows you to program a move that is run when one of the programmable
inputs makes a transition.
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.

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Networked Indexer/Driver User Manual SD17060E-K & SD31045E-K SPECIFICATIONS
13
Indexer Functionality (continued)
Synchronizing Moves
By default, the Networked Driver products use the SyncManager 2 event to control the transfer of data from
the EtherCAT Slave Controller (ECS) to the microprocessor that controls motion. This allows the Networked
Driver to execute commands as soon as new data arrives. When more than one axis is updated with a single
EtherCAT packet, the time difference between axis updates is very short. Updating multiple axes with a single
packet allows the EtherCAT network to out perform the update times of other industrial network protocols.
On very fast machines, or large machines that require more than one transfer to update all axes, the EtherCAT
Distributed Clock (DC) functionality can be used to closely synchronize motion over multiple axes if using
the SyncMaster2 event proves to be ineffective.
The EtherCAT Distributed Clock functionality is built into the ECS used by the Networked Driver products.
The
Networked Driver can act as the reference clock for the system if it is the first device in the EtherCAT
network. The SYNC0 signal, which is based off of the Distributed Clock, can be use to synchronize the start
of moves over multiple devices. The time between when the SYNC0 signal is received by the main processor
of the
Networked Driver and when the driver begins to cause motion is 520 ± 25 microseconds. The 520
microseconds is the time required to read the data from the ECS once the SYNC0 signal becomes active. The
±25 microseconds is caused by the 20 kHz update frequency of the PWM drivers.
For the Networked Driver , the minimum update time on the SYNC0 signal is two milliseconds. If the task
time is less than two milliseconds, the SYNC0 time must be a multiple of the task time.
Encoder Functionality
Two of the three inputs available on the Networked Drive can be configured to accept AB quadrature signals
from an incremental encoder. These signals are always decoded using X4 decoding. When configured this way,
the indexer section of the Networked Driver has the following additional functionality.
Table R1.2 Indexer Encoder Functionality
Stall Detection
When Stall Detection is enabled, the Networked Driver monitors the encoder for position changes, regardless
of whether or not a move is in progress. If the error between the encoder position and the motor position
exceeds forty-five degrees, the Networked Driver responds in the following manner:
The stall is reported in the network input data.
The motor position becomes invalid. (The machine must be homed or the motor position preset before
Absolute moves can be run again.
If a move was in progress, the move is stopped.
Note that a move does not have to be in progress for stall detection to be useful. By enabling stall detection,
the Networked Driver can notify the system if the motor shaft moves more than forty-five degrees while the
motor should be holding the load. For example, if the motor should hold a load against gravity, but the Idle
Current Reduction parameter is set to high, the Networked Driver will issue a stall detection error if the load
begins to fall.
Feature Description
Stall Detection When the Networked Driver is configured to accept an encoder, the encoder
can be used to verify motion when a move command is issued.
Encoder Registration
Move Uses the count from a quadrature encoder to determine when a move begins to decelerate and stop. Commonly used in spooling/despooling applications.
Electronic Gearing The Networked Driver 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.

SD17060E-K & SD31045E-K SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
14
Indexer Functionality (continued)
Encoder Functionality (continued)
Encoder Registration Move
The encoder position acts as a registration mark in an Encoder Registration Move. Typically, the encoder is
mounted separately from the motor. With this mode, the Networked Driver will drive the motor until the
desired encoder count is reached, at which time the motor begins to decelerate and stop. This functionality is
useful in spool winding or unwinding applications, where the motor drives the spool and the encoder mea-
sures the material length as it enters or exits the spool. As the spool diameter increases or decreases, the pro-
grammed distance remains the same because you are measuring material, not the number of turns.
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.
Driver Functionality
This table summarizes the features of the stepper motor driver portion of the SD17060E-K and SD31045E-K.
Table R1.3 Driver Functionality
Feature Benefits
170 Vdc or 310 Vdc
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 Networked Driver 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 in 0.2 amp incre-
ments. This allows you to use a Networked Driver 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.
Programmable
Current Loop Gain Allows you to tailor the driver circuitry to the motor’s impedances, thereby maximizing your motor’s performance.
Programmable
Motor Steps/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 Networked Driver the ability to modify motor cur-
rent waveforms 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. A mechanical
contact can be used to disable the current to the motor. The voltage between
the two interlock pins never exceeds 5Vdc, but 115/230Vac may be present
between either of the Interlock pins and either of the power supply inputs.
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 Networked Driver from damage by removing power from the
motor if the internal temperature of the driver exceed a safe operating thresh-
old.

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Networked Indexer/Driver User Manual SD17060E-K & SD31045E-K SPECIFICATIONS
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Driver Functionality (continued)
Idle Current Reduction
Idle Current Reduction allows you to prolong the life of your motor by reducing its idling temperature. Values
for this parameter range from 0% (no holding torque when idle) to 100%.
Idle current reduction should be used whenever possible. By reducing the current, you are reducing the I2R
losses in the motor. Therefore, the temperature drop in the motor is exponential, not linear. This means that
even a small reduction in the idle current can have a large effect on the temperature of the motor.
Note that the reduction values are “to” values, not “by” values. Setting a motor current to 
4 Arms and the current reduction to 25% will result in an idle current of 1 Apk. (The Net-
worked Driver always switches from RMS to peak current control when the motor is idle to
prevent motor damage due to excessive heating.)
Current Loop Gain
This feature gives you the ability to adjust the gain of the power amplifiers in the Networked Driver to match
the electrical characteristics of your motor. The value of this parameter can range from 1 to 40 with 40 repre-
senting the largest gain increase. In general, using a larger gain will increase high speed torque but the motor
will run louder. A lower gain will offer quieter low speed operation at the cost of some high speed torque.
The use of this feature is completely optional and you can leave the Current Loop Gain at its default setting of
“1” for standard motor performance.
Available Inputs
Each Networked Driver 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 Networked Driver uses these inputs is fully pro-
grammable as well as their active states. (Each input can be programmed to act as a Normally Open (NO) or
Normally Closed (NC) input.)
Home Input
Many applications require that the machine be brought to a known position before normal operations can
begin. This is commonly called “homing” the machine or bringing the machine to its “home” position. Each
Networked Driver allows you to define this starting position in two ways. The first is with a Position Preset
Command. 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 Networked Driver that will cause the unit to seek this sensor.
How the Networked Driver actually finds the home sensor is described in the reference chapter Homing an
AMCI Networked Driver starting on page 51.
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.
Start Indexer Move Input
Indexer Moves are programmed through the Network Data like every other move. The only difference is that
Indexer Moves are not run until a Start Indexer Move Input makes a inactive-to-active state transition. This
allows a Networked Driver to run critically timed moves that cannot be reliably started from the network due
to data transfer lags.
If Inputs 1 and 2 are programmed as quadrature encoder inputs and Input 3 is programmed as a Start Indexer
Move Input, then the quadrature encoder position data will be captured whenever Input 3 transitions. An inac-
tive-to-active state transition will also trigger an Indexer Move if one is pending.

SD17060E-K & SD31045E-K SPECIFICATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
16
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. The driver remains enabled and power is supplied to the motor. No move can begin
while this input is active.
Stop Jog or Registration Move Input
When an input is configured as a Stop Jog or Registration Move Input, triggering this input during a Jog
Move or Registration will bring the move to a controlled stop. The controlled stop is triggered on an inactive-
to-active state change on the input. Only Jog Moves and Registration Moves can be stopped with this input
type, all other moves will ignore this input.
If Inputs 1 and 2 are programmed as quadrature encoder inputs and Input 3 is programmed as a Stop Jog or
Registration Move Input, then the quadrature encoder position data will be captured when Input 3 makes an
inactive-to-active transition to bring a Jog or Registration Move to a controlled stop. The encoder position
data is not captured if a Jog or Registration Move is not in progress. If you want to capture encoder position
data on every transition of Input 3, configure it as a Start Indexer Move Input.
Capture Encoder Position Input
As described in the Start Indexer Move Input and Stop Jog or Registration Move Input sections above, a
Networked Driver can be configured to capture the encoder position value on a transition on Input 3.
Encoder Feedback
Each Networked Driver can be configured to accept a quadrature encoder instead of discrete inputs. Inputs 1
and 2 can be programmed to accept the ±A and ±B signals from a quadrature encoder. When using an
encoder, you can wire the ±Z signal to Input 3. The ±Z signal can them be used to home the machine to the Z
pulse if Input 3 is configured as a Home Input. You can also use the Z pulse to capture the encoder position on
every completed turn by programming Input 3 as a Stop Jog or Registration Move Input or a Capture Encoder
Position Input.
Additional information on the ways to use an encoder with a Networked Driver is described in the Encoder
Functionality section on page 13.
General Purpose Input
If your application does not require all three inputs, you can configure the unused inputs as General Purpose
Inputs. The inputs are not used by the Networked Driver, but the input state is reported in the network data.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
Networked Indexer/Driver User Manual SD17060E-K & SD31045E-K SPECIFICATIONS
17
Network Interface Description
The network interface is located on the top of the drive, towards the tabbed mounting surface. The network
status LED’s are also located in this area.
Ethernet Interface
The Ethernet Interface on the SD17060E-K and SD31045E-K drivers has two standard RJ-45 jacks that
accept any standard 100Base-TX cable. Both ports are also auto MDI-X capable. This means that a standard
cable can be used when connecting the Ethernet Driver to any device. Crossover cables are never needed.
Figure R1.2 Ethernet Interface Location
The “IN” network jack in the diagram above must be attached to the upstream device in the EtherCAT net-
work. (Closer to the network master.) The “OUT” jack must be attached to the next (downstream) device in
the network of the Networked Driver is not the last device in the network.
Status LED’s
Two status LED’s are located on the front panel of the Networked Driver. EtherCAT status LED’s are located
on the top of the device.
Front Panel Status LED’s
Power: This green LED should be on when power is applied to the drive. If the LED is off, the input
voltage is below 95Vac or one or both of the internal fuses are blown. The fuses are not field replace-
able.
Status: Steady Green ...... Driver OK
Steady Red ......... Short Circuit Fault
Over Temperature Fault
Interlock Missing
Blinking Green ... Successful write to Flash memory. Cycle power to the drive.
Blinking Red ...... Failure to write to Flash memory. Cycle power to the drive before 
attempting another write.
A Networked Driver will only detect motor errors when the motor current is enabled.
IN
ERR
RUN
OUT

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ADVANCED MICRO CONTROLS INC.
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Status LED’s (continued)
Top Panel Status LED’s
There are two LED’s on each of the RJ-45 jacks. The left LED is not used. The right LED shows the link 
status of the Ethernet connection. They are on when there is a physical connection between the Networked
Driver and the previous or next device in the network. They blink when data is being transmitted over the 
network.
There are two additional LED’s to the left of the jacks. The green RUN LED indicates the logical state of the
device. The red ERR LED indicates an error state in the EtherCAT protocol.
EtherCAT Run LED
The green RUN LED indicates the logical state of the device.
Table R1.4 Module RUN LED States
EtherCAT ERR LED
The ERR LED location houses a red LED that indicates an error state in the EtherCAT protocol.
Table R1.5 Red ERR LED States
LED State Description
Off Device in the EtherCAT Init state
Fast Blink (4 Hz) Device in the EtherCAT Pre-Operational (Pre-Op) state
Slow Blink (1 Hz) Device in the EtherCAT Safe-Operational (Safe-Op) state
Steady Green Device in the EtherCAT Operational (Op) state.
Red LED State Description
Off No errors in device operation
Single blink
200 ms ON / 1 s OFF Problems with synchronization such as with the Distrib- uted Clock (DC) PLL.
Double Blink
200 ms Pulses / 1 s between SYNC manager watchdog timeout. The master has not
updated the output data in the configured time interval. The
Networked Driver has switched to the Safe-OP state.
Slow Blink
(1 Hz) All other issues, such as cable disconnect. The Networked
Driver has switched to the Safe-OP state.

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REFERENCE 2
UL/CUL RECOGNIZED INSTALLATIONS
UL Required Information
If your installation is to meet UL requirements, you must be aware of the following information when using
the SD17060E-K or SD31045E-K.
Maximum surrounding air temperature is +50°C
The driver does not incorporate internal motor overload protection.
The driver does not provide motor over temperature protection.
The driver does not provide overspeed protection.
The driver shall be used in pollution degree 1 or 2 environments. If the driver is mounted in an enclo-
sure, this enclosure must meet these requirements.
All wiring to the driver shall be R/C (AVLV2), minimum rating of 80°C, 300V, except secondary low-
voltage circuit wiring.
Use 75°C copper conductors only.
Terminals shall be tighten to manufacturer’s recommended torques
Power Connector shall be rated for a minimum 12A, 600V, in a pollution degree 2 environment†
Motor Connector shall be rated for a minimum 16A, 600V, in a pollution degree 2 environment†
I/O Connector shall be rated for a minimum 8A, 300V, in a pollution degree 2 environment†
† The mating connectors supplied with these units meet these requirements. A complete connector kit, includ-
ing all connectors and protective boots, can be ordered from AMCI under the part number AK-DRIVES.

Additional mating connectors can be ordered directly from Phoenix Contact under the following part num-
bers:
Table R2.1 Mating Connectors
The SD17060E-K and SD31045E-K drivers are Underwriter Laboratory Inc.®listed
devices. It is listed as “Industrial Control Equipment” under the control number
60GB. The UL file number is E231137. These units are appropriate for UL and cUL
applications.
Location Phoenix Contact Part Number
Power 1737822
Motor 1912919
I/O 1803633

UL/CUL RECOGNIZED INSTALLATIONS Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
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Notes