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
Tel: [phone] Fax: [phone] http://www.amci.com 3
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

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
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

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com 7
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.