AMCI SMD17K User manual

MICRO CONTROLS INC.
ADVANCED
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Manual #: 940-0S292

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.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
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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 ...................................................... 2
About this Manual
Audience .................................................. 7
Applicable Units ...................................... 7
Navigating this Manual ............................ 7
Manual Conventions ................................ 7
Trademark Notices ................................... 7
Revision Record ....................................... 8
Manual Layout ......................................... 8
Reference: SMD17K Specifications
The SMD17K Family .............................. 9
Part Numbering System ................. 10
General Functionality .................... 10
Encoder Functionality ................... 11
Conformance Markings ........................... 11
UL .................................................. 11
CE .................................................. 11
RoHS ............................................. 11
Specifications ........................................... 12
Indexer Functionality ............................... 13
Synchronizing Moves .................... 14
Stall Detection with 
SMD17K Units ............................ 14
Driver Functionality ................................. 15
Idle Current Reduction .................. 15
Available Discrete Inputs ......................... 15
Home Input .................................... 15
CW Limit Switch or 
CCW Limit Switch ...................... 16
Start Indexer Move Input ............... 16
Emergency Stop Input ................... 16
Stop Jog or Registration 
Move Input .................................. 16
Capture Encoder Position Input ..... 16
General Purpose Input ................... 16
Optional Encoder ..................................... 17
Incremental Encoder ...................... 17
Absolute Multi-turn Encoder ......... 17
Status LED’s ............................................ 17
Run LED ........................................ 17
Error LED ...................................... 18
Reference: SMD17K Specifications
(continued)
SMD17K Connectors ............................... 19
Input Connector ............................ 19
Ethernet Connectors ...................... 19
Torque and Power Curves ........................ 20
Power Supply Sizing ................................ 20
Regeneration Effects ..................... 21
Compatible Connectors and Cordsets ...... 22
Connectors .................................... 22
Ethernet Cordset ........................... 22
Power Cordsets ............................. 22
Reference: Motion Control
Definitions ................................................ 23
Units of Measure ........................... 23
Motor Position .............................. 23
Home Position ............................... 23
Count Direction ............................. 23
Starting Speed ............................... 23
Target Position .............................. 24
Definition of Acceleration Types ............. 24
Linear Acceleration ....................... 24
Triangular S-Curve Accel. ............ 25
Trapezoidal S-Curve Accel. .......... 25
A Simple Move ........................................ 26
Controlled and Immediate Stops .............. 27
Host Control .................................. 27
Hardware Control ......................... 27
Basic Move Types .................................... 28
Relative Move ............................... 28
Absolute Move .............................. 29
CW/CCW Jog Move ..................... 30
CW/CCW Registration Move ....... 31
Assembled Moves .................................... 32
Blend Move ................................... 33
Dwell Move .................................. 34
Assembled Move Programming ............... 36
Control Bits – Output Data ........... 36
Control Bits – Input Data .............. 36
Programming Routine ................... 36
Saving an Assembled Move in Flash 36
Indexed Moves ......................................... 37
Controlling Moves In Progress ................ 38
Jog Moves ..................................... 38
Registration Moves ....................... 38
Absolute and Relative Moves ....... 38
Assembled Moves ......................... 38

TABLE OF CONTENTS SMD17K User Manual
ADVANCED MICRO CONTROLS INC.
4
Reference: Calculating Move 
Profiles
Constant Acceleration Equations ............. 39
Variable Definitions ...................... 39
Total Time Equations .................... 41
S-Curve Acceleration Equations .............. 42
Triangular S-Curve Accel. ............ 42
Trapezoidal S-Curve Accel. .......... 44
Determining Waveforms 
by Values .................................... 46
Reference: Homing an SMD17K
Definition of Home Position .................... 49
Position Preset .......................................... 49
CW/CCW Find Home Commands ........... 49
Homing Inputs .......................................... 50
Physical Inputs .............................. 50
Network Data Input ...................... 50
Homing Configurations ............................ 50
Homing Profiles ....................................... 51
Home Input Only Profile .............. 51
Profile with 
Backplane_Proximity_Bit ........... 52
Profile with Overtravel Limit ....... 53
Controlling Find Home 
Commands In Progress .......................... 54
Controlled Stop Conditions .......... 54
Immediate Stop Conditions .......... 54
Reference: Configuration Data 
Format
CoE Registers ........................................... 55
Data Format .............................................. 55
CFG_Word_0 Format ................... 55
CFG_Word_1 Format ................... 58
Notes on Other 
Configuration Words .................. 58
Invalid Configurations .............................. 58
Reference: Command Data Format
Command Bits Must Transition ............... 59
Output Data Format .................................. 59
CMD_word0 ............................................. 60
CMD_word1 ............................................. 62
Command Blocks ..................................... 63
Absolute Move .............................. 63
Relative Move ............................... 64
Hold Move .................................... 64
Resume Move ............................... 65
Reference: Command Data Format
(continued)
Immediate Stop ............................. 65
Find Home CW ............................. 66
Find Home CCW ........................... 66
Jog CW .......................................... 67
Registration Move CW ................. 67
Jog CCW ....................................... 68
Registration Move CCW ............... 68
Preset Position ............................... 69
Reset Errors ................................... 69
Run Assembled Move ................... 70
Preset Encoder Position ................. 70
Programming Blocks ................................ 71
First Block ..................................... 71
Segment Block .............................. 71
Input Data Format ..................................... 72
STATUS_word0 Format ............... 72
STATUS_word1 Format ............... 74
Notes on Clearing a Driver Fault .............. 75
Task 1: Installing the SMD17K
Location .................................................... 77
IP50 Rated Units ........................... 77
IP64 Rated Units ........................... 77
IP65/7 Rated Units ........................ 77
Safe Handling Guidelines ......................... 77
Prevent Electrostatic Damage ....... 77
Prevent Debris From 
Entering the Unit ......................... 78
Remove Power Before Servicing .. 78
Operating Temperature Guidelines .......... 78
Mounting .................................................. 78
SMD17K-M12 Mounting .............. 78
SMD17K-M12S Mounting ........... 79
SMD17K-M12P Mounting ........... 79
SMD17K-80 Outline Drawing ...... 79
Connecting the Load ..................... 79
Power and Input Connector ...................... 80
Compatible Connectors 
and Cordsets ................................ 80
Power Wiring ............................................ 81
MS-31 Connector .......................... 81
CNPL-2M and 
CMPL-5M Cables ....................... 81
Extending Power Leads ................. 81
Main Power Wiring Only .............. 81
Auxiliary Power, Single Supply .... 82
Auxiliary Power, Dual Supply ...... 82
Power Supply Troubleshooting ..... 82

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SMD17K User Manual TABLE OF CONTENTS
5
Task 1: Installing the SMD17K 
(continued)
Input Wiring ............................................. 83
Cable Shields ................................. 83
Sinking Sensors Require a 
Pull Up Resistor .......................... 83
Network Connectors ................................ 84
Compatible Connectors 
and Cordsets ................................ 84
TIA/EIA-568 Color Codes ............ 84
Task 2: EtherCAT System 
Configuration
Install the ESI file .................................... 85
Obtain the ESI file ......................... 85
Install the ESI file .......................... 85
Restart the Programming 
System If Needed ........................ 85
Add the SMD17K to the Project .............. 85
Scan for the SMD17K Device ....... 85
Rename the Device ........................ 85
Configure the SMD17K ................ 86
Create a DUT ........................................... 87
Create Variables Based on the DUT ........ 87
Link Variable Names to I/O Words ......... 87
Chapter 3: Distributed Clock -
SYNC0 Setup
Verify Main PLC Task Timing ................ 89
Create New PLC Task ............................. 90
Set Operational Mode .............................. 92
Set CFG_word1 Value to 
Enable SYNC0 ....................................... 93

TABLE OF CONTENTS SMD17K User Manual
ADVANCED MICRO CONTROLS INC.
6
Notes

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ABOUT THIS MANUAL
Audience
This manual explains the installation and operation of the SMD17K Integrated Stepper Indexer/Driver/
Motors from AMCI. It is written for the engineer responsible for incorporating these products into a design as
well as the engineer or technician responsible for their actual installation.
Applicable Units
This manual applies to all of the units in the SMD17K family.
Navigating this Manual
This manual is designed to be used in both printed and on-line forms. Its on-line form is a PDF document,
which requires Adobe Acrobat Reader version 7.0+ to open it. You are allowed to select and copy sections for
use in other documents and add notes and annotations. If you decide to print out this manual, all sections con-
tain 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 the first time a new term is introduced.
Cross Reference When viewing the PDF version of the manual, clicking on
the cross reference text jumps you to referenced section.
HTML Reference When viewing the PDF version of the manual, clicking on
the HTML reference text will open your default web
browser to the referenced web page.

ABOUT THIS MANUAL SMD17K User Manual
ADVANCED MICRO CONTROLS INC.
8
Revision Record
This manual, 940-0S292, is the third release of this manual. It corrects typographical errors and adds some
clarification notes to command and status bits. It was first released December 15th, 2020.
Revision History
940-0S291: November 20th, 2020 - Added UL Recognized Component information
940-0S290: October 28th, 2020 - Initial Release
Manual Layout
You will most likely read this manual for one of two reasons:
If you are curious about the Integrated Stepper Indexer/Driver/Motor products from AMCI, this manual
contains the information you need to determine if these products are the right products for your applica-
tion. The first chapter, SMD17K Specifications contains all of the information you will need to fully
specify the right product for your application.
If you need to install and use an Integrated Stepper Indexer/Driver/Motor product from AMCI, then the
rest of the manual is written for you. To simplify installation and configuration, the rest of the manual is
broken down into references and tasks. Using an Integrated Stepper Indexer/Driver/Motor product
requires you to complete multiple tasks, and the manual is broken down into sections that explain how
to complete each one.
Manual Sections
Section Title Page # Section Description
SMD17K Specifications 9 Complete specifications for the SMD17K products.
Motion Control 23 Reference information on how the SMD17K can be used to
control motion in your application.
Calculating Move Profiles 39 Reference information on calculating detailed move profiles.
Homing an SMD17K 49 Reference information on how to set the home position of the
SMD17K.
Configuration Data
Format 55 Reference information on the format of the CANopen over EtherCAT (CoE) data that is used to configure the units.
Command Data Format 59 Reference information on the format of the network data to and
from the SMD17K that is used to command it.
Installing the SMD17K 77 Task instructions covering how to install an SMD17K on a machine. Includes information on mounting, grounding, and
wiring specific to the units.
EtherCAT System
Configuration 85 Task instructions on how to add an SMD17K to an EtherCAT network.
Distributed Clock -
SYNC0 Setup 89
Optional task instructions that covers how to configure an
SMD17K to use the Distributed Clock functionality of the Ether-
CAT protocol.

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Tel: [phone] Fax: [phone] http://www.amci.com 9
REFERENCE 1
SMD17K SPECIFICATIONS
The SMD17K Family
The SMD17K units are part of a growing product line from
AMCI with a simple concept: a stepper indexer, driver, and
motor that can be attached to any popular industrial net-
work. Each SMD17K attaches to your Ethernet based net-
work and communicates using the EtherCAT protocol.
EtherCAT uses standard Ethernet cabling, but forgoes the
full TCP/IP stack typically associated with Ethernet com-
munications. 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 trans-
mitting the packet to the next slave. This solution leads to
a transmission delay 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 SMD17K units. The ESI file is required to add the
device to the network. Configuration of the SMD17K is
accomplished 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 SMD17K 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.
Each unit can be ordered with an optional incremental or absolute multi-turn encoder. This encoder gives you
the additional functionality of position verification and stall detection. The absolute multi-turn encoder allows
you to track machine position with power removed, eliminating the need to home the machine after cycling
power.
Three different IP ratings are available in the SMD17K product lines.
IP50: Units have sealed M12 D-coded connectors for their ethernet ports. A sealed M12 A-coded con-
nector is used for power and two digital inputs.
IP64: Units have a shaft seal and sealed M12 D-coded connectors for their ethernet ports. A sealed
M12 A-coded connector is used for power and two digital inputs.
IP65/67: Units have a shaft seal and sealed M12 D-coded connectors for their ethernet ports. A sealed
M12 A-coded connector is used for power and two digital inputs. Additionally, the units are
sealed with an FDA approved epoxy.
This manual is designed to get you up and running quickly with an SMD17K prod-
uct from AMCI. As such, it assumes you have some basic knowledge of stepper
systems. If you are new to stepper systems, 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 IP50 Rated SMD17K

SMD17K SPECIFICATIONS SMD17K User Manual
ADVANCED MICRO CONTROLS INC.
10
The SMD17K Family (continued)
Part Numbering System
Figure R1.2 Part Numbering System
General Functionality
Each member of the SMD17K family has three integrated parts:
An indexer that accepts commands over an EtherCAT connection
A 2.0 Arms micro-stepping driver that accepts 24 to 48 Vdc as its input power source
A high torque size 17 stepper motor.
An incremental or absolute multi-turn encoder is also available for applications that require position feedback
or verification.
This 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 SMD17K unit
All motion logic is programmed in the host, eliminating the need to learn a separate motion control lan-
guage
The elimination of the separate indexer and driver lowers total system cost.
An SMD17K is powered by a nominal 24 to 48 Vdc power source, and can accept surge voltages of up to
60 Vdc without damage. The output motor current is fully programmable from 0.1 Arms to 2.0 Arms which
makes the SMD17K suitable to a wide range of applications. In addition to the Motor Current setting, 
the Motor Steps per Turn, Idle Current Reduction, and Anti-Resonance Circuit features are also fully pro-
grammable. If you have used other stepper indexer products from AMCI, you will find programming an 
SMD17K to be very similar to these products.
The SMD17K contains a true RMS motor current control driver. This means that you will always receive the
motor’s rated torque regardless of the Motor Steps/Turn setting. (Drivers that control the peak current to the
motor experience a 30% decrease in motor torque when microstepping a motor.) The combination of an
ultra-low inductance motor and a high-power, true RMS driver gives unprecedented torque vs. speed perfor-
mance for any DC application.
CONNECTOR TYPE
M12 =
Network: (2) 4 pin Female D-Type
Power: (1) 5 pin MaleA-Type
M12 Connectors
SMD17
K
80–M12–
ENCODER
‘blank’= No encoder
A=Absolute Multi-turn Encoder
2,048 counts/turn.
E = Incremental Encoder
4,096 counts/turn max.
TORQUE
80 = 80 oz-in
IP RATING
†
‘blank’= IP50
S = IP64
P
= IP65/67
† All connectors must be properly installed to achieve the listed IP rating.

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SMD17K User Manual SMD17K SPECIFICATIONS
11
The SMD17K Family (continued)
General Functionality (continued)
The SMD17K units have two DC inputs that are used by the indexer. Configuration data from the host sets the
function of these inputs. Each input can be individually configured as a:
CW or CCW Limit Switch
Home Limit Switch
Capture Position Input (Will capture encoder position on units with the internal encoder.)
Stop Jog or Registration Move Input
Start Indexer Move
Emergency Stop Input
General Purpose Input
Encoder Functionality
All SMD17K units can be ordered with an internal incremental or absolute multi-turn encoder. Incremental
encoders can be programmed to 1,024, 2,048, or 4,069 counts per turn. Absolute encoders have a fixed reso-
lution of 2,048 counts per turn and encode a total of 221 turns. (32 bits total.) Using an encoder gives you the
ability to:
Verify position during or after a move
Detect motor stall conditions
Maintain machine position when power is removed if using an absolute encoder.
The motor position can be preset to the encoder position with a single command. SMD17K units with abso-
lute encoders allow you to preset the encoder position and save the resulting offset in Flash memory.
Conformance Markings
The SMD17K family meets the requirements for the following conformance markings when installed and
operated in accordance with the instructions contained in the product documentation.
ULRecognized component in the USA and Canada.
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)

SMD17K SPECIFICATIONS SMD17K User Manual
ADVANCED MICRO CONTROLS INC.
12
Specifications
Network Interface
100Base-TX. Two M12 4 pin D-coded connectors.
Supports all standard EtherCAT topologies.
Physical Dimensions
See Outline Drawing, page 79
Weight
SMD17K-80-M12 ................. 1.07 lb. (0.49 kg)
Weight is without mating connectors
Maximum Shaft Loads
Radial: 6.5 lb (29 N) at center of flat on shaft
Axial: 5.6 lb (25 N)
Rotor Inertia
82 g-cm2
Maximum Operating Temperature†
203°F /95°C Note that this is the internal tempera-
ture of the driver electronics, not maximum ambi-
ent temperature. The temperature of the motor is
not directly measured.
Over Temperature Fault
Over temperature faults are detected and reported.
Inputs
Electrical Characteristics: 
Single ended sinking.
Accept 3.5 to 27Vdc without the need for an 
external current limiting resistor. Can accept
surges up to 35 Vdc without damage.
Motor Current
Programmable from 0.1 to 2.0 Arms in 0.1 A steps.
DCPowerAUX Current
70 mA @ 24 Vdc, 40mA @48 Vdc
Motor Counts per Turn
Programmable to any value from 200 to 32,767
steps per revolution.
Internal Encoder (Optional)
Incremental encoder option supplies 1,024, 2,048,
or 4,096 counts per turn.
Absolute encoder option supplies 2,048 counts per
turn, 32 bit max. counts.
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.
Environmental Specifications†
Input Power ....... 24 to 48 Vdc, surge to 60 Vdc
without damage to unit.
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
IP Rating ........... IP50 standard
IP64 with shaft seal
IP65/67 with epoxy coating.
Status LED’s
See Status LED’s section starting on page 17.
Connectors and Cables
All mating connectors are available separately
under the following AMCI part numbers.
Connector AMCI Part # Wire Strip Length Connection Type
Ethernet MS-28 18 AWG max. 0.197 inches Screw Terminals
I/O MS-31 18 AWG max. 0.197 inches Screw Terminals
Cable AMCI Part # Length
Ethernet CNER-5M 5 meters
Power & I/O CNPL-2M or CNPL-5M 2 meters or 5 meters
† A properly designed system requires a heatsink sufficient to keep the operating temperature within 
prescribed limits based on ambient conditions and required power levels.

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SMD17K User Manual SMD17K SPECIFICATIONS
13
Indexer Functionality
The table below lists the functionality offered by the indexer built into the SMD17K.
Table R1.1 Indexer Functionality
Feature Description
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.
Programmable
Inputs
Each of the inputs can be programmed as a Home Limit, Over Travel Limit, Capture
Input, Manual Jog Stop, Start Indexer Move, E-Stop, or a General Purpose Input.
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. An SMD17K homes to a discrete
input and can use a bit in the Network Data as a home proximity input.
Jog Move Allows you to drive the motor in either direction as long as the command is active.
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 an input bit from your host
controller. When a controlled stop is issued, the move will output a programmable
number of steps before coming to a stop.
Blend Move Allows you to perform a sequence of relative moves without stopping between them.
Dwell Move
Allows you to perform a sequence of relative moves with a stop between each move
that has a programmable length of time. Used to create highly accurate move profiles
that avoid network latency issues.
Indexer Move
Allows you to program a move that is located in the output registers. The move is
run when one of the programmable inputs makes a transition. Note that an Indexer
Move requires a connection to a host controller to program the move.
Hold Move
Allows you to suspend a move, and optionally restart it, without losing your position
value.
Resume Move Allows you to restart a previously held move operation.
Immediate Stop
Allows you to immediately stop all motion if an error condition is detected by your
host controller.
Stall Detection
When an SMD17K is purchased with an encoder option, the encoder can be used to
verify motion when a move command is issued.

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14
Indexer Functionality (continued)
Synchronizing Moves
By default, the SMD17K products use the SyncManager 2 event to control the transfer of data from the Ether-
CAT Slave Controller (ECS) to the microprocessor that controls motion. This allows the SMD17K 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 update 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 SMD17K products. The
SMD17K 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
SMD17K 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 microsec-
onds is caused by the 20 kHz update frequency of the PWM drivers.
For the SMD17K, 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.
Stall Detection with SMD17K Units
Stall Detection is one of the additional features available to you when you order an encoder option on an
SMD17K. When Stall Detection is enabled, the SMD17K monitors the encoder for position changes, regard-
less 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 SMD17K 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 SMD17K can notify the system if the motor shaft moves more than forty-five degrees while power is
removed from the motor. This may occur when the motor must hold a load against gravity or other external
forces affect the load when power is removed.
As described later in this chapter, there is an auxiliary power pin that powers the electronics of an SMD17K
but does not power the motor. The primary use of this feature is to keep the unit on the network while power
is removed from the motor. When using the DCPowerAUX pin, the SMD17K cannot sense when power has
been removed from the DCPowerMAIN pin. Stall detect can be used in these cases as well. If motion is com-
manded and a stall detection event occurs immediately, it is likely that the main power has been removed
from the motor and the SMD17K is running on DCPowerAUX power only.

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Driver Functionality
This table summarizes the features of the stepper motor driver portion of an SMD17K.
Table R1.2 Driver Functionality
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, which results in an exponential, not linear, drop in motor temperature. This means that
even a small reduction in the idle current can have a significant effect on the temperature of the motor.
Note that the reduction values are “to” values, not “by” values. Setting a motor current to
2 Arms and the current reduction to 25% will result in an idle current of 0.5 Apk. (The 
SMD17E always switches from RMS to peak current control when the motor is idle to
prevent motor damage due to excessive heating.)
Available Discrete Inputs
The SMD17K has two discrete, sinking, DC inputs that accept 3.5 to 27 Vdc signals. (5 to 24 Vdc nominal)
How your SMD17K uses these inputs is fully programmable. The active state of each input is also program-
mable. Programming their active states allow them to act as Normally Open (NO) or Normally Closed (NC)
contacts.
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. An
SMD17K 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 SMD17K that will cause the unit to seek this sensor. How the SMD17K actu-
ally finds the Home sensor is described in the Homing an SMD17K chapter starting on page 49.
Feature Benefits
RMS Current Control RMS current control give an SMD17K the ability to drive the motor at its
fully rated power regardless of the programmed steps per turn. There is no
reduction in power when microstepping that may occur with other drivers.
Programmable
Motor Current
RMS current supplied to the motor can be programmed from 0.1 to 2.0
amps in 0.1 amp increments. Reducing the motor current to the minimum
needed for your application will significantly reduce the motors operating
temperature
Programmable Idle
Current Reduction Extends motor life by reducing the motor current when motion is not
occurring. This extends the life of the motor by reducing its operating
temperature.
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 feedback circuitry and algorithm gives the SMD17K the ability to
modify motor current waveforms to compensate for mechanical resonance
in your system. This will give you smooth performance over the entire
speed range of the motor.
Over Temperature
Detection An SMD17K sets a warning bit in the network data when the temperature of the unit approaches its safe operating threshold.
Over Temperature
Protection Protects your SMD17K from damage by removing power from the motor if
the internal temperature of the driver exceeds the safe operating threshold
of 203°F/95°C.

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ADVANCED MICRO CONTROLS INC.
16
Available Discrete Inputs (continued)
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 jog 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 an SMD17K to run critically timed moves that cannot be reliably started from the network due to data
transfer lags.
If the unit was ordered with the encoder option, and one of the discrete DC inputs is programmed as a Start
Indexer Move Input, then the encoder position data will be captured whenever the DC input makes a transi-
tion. An inactive-to-active state transition on the DC input will also trigger an Indexer Move if one is pend-
ing.
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. Any type of move,
including a Jog or Registration Move, cannot 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 Move 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 this
way, all other moves ignore this input.
If the unit was order with an integral encoder, the encoder position data will be captured when the DC input
makes an inactive-to-active transition if it is configured as a Stop Jog or Registration Move Input. 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 a DC input, 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, an
SMD17K can be configured to capture the encoder position value on a transition of a discrete DC input.
General Purpose Input
If your application does not require one or both of the inputs, you can configure the unused inputs as General
Purpose Inputs. The inputs are not used by the SMD17K, but their on/off state is reported in the network data
and is available to your host controller.

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Optional Encoder
The SMD17K can be ordered with an integral encoder. The encoder can be used for position verification and
stall detection. Additionally, an input can be configured to capture the encoder value when the input makes an
inactive to active transition. This captured value is written to the host controller. Two encoder options are
available:
Incremental Encoder
The incremental encoder can be programmed to 1,024, 2,048, or 4,096 counts per turn. The SMD17K has an
internal thirty-two bit counter associated with the encoder. The incremental encoder are primarily used for
position verification and stall detection.
Absolute Multi-turn Encoder
The absolute encoder has a fixed resolution of 2,048 counts per turn. The absolute encoder is a multi-turn
device that encodes a total of 221 turns, yielding a full thirty-two bits of position resolution. The absolute
encoder can be used for position verification and stall detection, but its primary advantage is that it eliminates
the need to home the axis after cycling power to the drive.
Like many intelligent absolute encoders on the market today, the absolute encoder in the SMD17K uses 
a battery backed circuit to count zero crossings while power is removed from the rest of the device. The 
circuit will accurately track position as long as the shaft acceleration is limited to 160,000 degrees/sec2,
(444.4 rev/sec2), or less. Battery life is a minimum of 10 years in the absence of power. The battery cannot 
be replaced in the field.
Status LED’s
Each SMD17K has two status LED’s that shows the status of the functional
status of the device. As shown in figure R1.3, these LEDs are located on the
rear cover. They are named “RUN” and “ERR”. Two additional LEDs are
located on the near cover between the two network connectors. These two
LEDs are the LINK/ACT LEDs for the Ethernet ports. They are on when there
is a physical connection between the device and the previous or next device in
the network. They blink when data is being transmitted over the network.
Run LED
The green RUN LED indicates the logical state of the device.
Table R1.3 Module RUN 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.
Figure R1.3 SMD17K
Status LED’s
OUT
POWER & INPUTS
ERR
RUN
IN
Power: 24 to 48 Vdc

SMD17K SPECIFICATIONS SMD17K User Manual
ADVANCED MICRO CONTROLS INC.
18
Status LED’s (continued)
Error LED
The ERR LED location houses a red/green LED. The red LED indicates an error state in the EtherCAT 
protocol. The green LED indicates the operational state of the SMD17K itself. Both LEDs can be on 
simultaneously.
Table R1.4 Red ERR LED States
Table R1.5 Green ERR LED States
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 Distributed
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 SMD17K
has switched to the Safe-Op state.
Slow Blink
(1 Hz) All other issues, such as cable disconnect. The SMD17K has
switched to the Safe-Op state.
Green LED State Description
Solid Green Device in the EtherCAT Init state
Very Slow Blink Green‡
(0.5 Hz) Driver Fault (Overtemperature fault, etc.)
Slow Blink Green‡
(1 Hz) Unsuccessful write to flash memory
Fast Blink Green‡
(4 Hz) Successful write to flash memory

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SMD17K Connectors
Input Connector
As shown in figure R1.4, the Input Connector is located on the back of the
unit near its center. All digital input and power supply connections are
made at this connector. The connector is a standard five pin A-coded M12
connector that is rated to IP67 when the mate is properly attached. Figure
R1.5 shows the pinout of the connector when viewed from the back of the
SMD17K.
Digital inputs are single ended and referenced to the DC Common pin.
(Sinking inputs.)
There are two power pins. DCPowerMAIN powers both the control electronics and the motor. DCPowerAUX
powers only the control electronics. Using the DCPowerAUX pin is optional. If your application requires you
to cut power to your motor under some conditions, using the DCPowerAUX pin allows you to cut power to
your motor without losing your network connection.
If the unit was ordered with an encoder, the DCPowerAUX pin will also maintain power to the
encoder. If the motor shaft is rotated while motor power is removed, the encoder position will
update. (The motor position will not update.) Once power is restored to the motor, a Preset
Position command can be issued to restore the correct motor position without having to go
through a homing sequence. If Stall Detection is enabled on the SMD17K, it will also be able
to tell the system if the motor shaft rotated more than forty-five degrees with power removed.
Ethernet Connectors
Figure R1.4 also show the placement of the sealed Ethernet Connector(s), while figure R1.6 shows the con-
nector pinout when viewed from the back of the SMD17K. The Ethernet port on the SMD17K is an “auto-
sense” port that will automatically switch between 10baseT and 100baseT depending on the network equip-
ment it is attached to. The port also has “auto switch” capability. This means that a standard cable can be used
when connecting the SMD17K to any device, including a personal computer.
Figure R1.6 Ethernet Connector Pinout
The connector is a standard four pin D-coded female M12 connector that is rated to IP67 when the mate is
properly attached.
Figure R1.4 SMD17K
Connector Locations
OUT
POWER & INPUTS
ERR
RUN
IN
Power: 24 to 48 Vdc
Figure R1.5 M12 Input Connector
Pin 1: +Tx
Pin 2: +Rx
Pin 4: –Rx
Pin 3: –Tx
ETHERNET
“IN” and “OUT”

SMD17K SPECIFICATIONS SMD17K User Manual
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20
Torque and Power Curves
Figure R1.7 SMD17K-80 Torque and Power Curves
Power Supply Sizing
The power supply can be sized based on the power the motor must generate during its operation. As a general
guideline, your supply should be able to produce 150% to 175% of the power the motor can produce. The pre-
vious power and torque curves can be used to determine the maximum power the motor can generate over its
speed range.
Note that the power value you should use is the maximum power value over the range of speeds that the motor
will be operated at. The power generated by the motor decreases towards the end of its usable speed. There-
fore, the power generated at your machine’s operating point may be less than the maximum the motor can
generate at a lower speed.
Example 1:An SMD17K-80 will be running at a maximum of 12 RPS and a 24 Vdc supply will be used.
Based on the power curve in figure R1.7 on page 20, the combinations will generate a maximum
of 29 Watts. Therefore a 24 Vdc supply with a power range of 44 W to 51 W can be used in the
application.
Example 2:An SMD17K-80 will be running at a maximum of 24 RPS and a 48 Vdc supply will be used.
Based on the power curve in figure R1.7 above, the power at this speed is 55 W, but the maxi-
mum power over the entire speed range is 58 W, which occurs at 21 RPS. Therefore, the 58 Watt
value should be used, and the 48 Vdc supply should be able to generate 87 W to 102 W.
1) SMD17K units have an additional pin that supplies power to the control electronics and
encoder only. This allows you to remove power from the motor without losing the network
connection.
2) Note that the unit is not powered from two isolated sources. There is only a single common
in the system, and the electronics and motor sections are not electrically isolated.