AMCI SMD23E2 Series User manual

M
ICRO CONTROLS INC.
ADVANCED
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M
a
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SMD23E2 and SMD24E2
Integrated Stepper
Indexer/Driver/Motor
with Integral 2-Port Ethernet Switch
Device Level Ring functionality for EtherNet/IP
Media Redundancy Protocol for PROFINET
Manual #: 940-0S154
E2 TechnologyE2 Technology

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 Statement ..................................... 2
About this Manual
Audience .................................................. 7
Applicable Units ...................................... 7
Navigating this Manual ............................ 7
Manual Conventions ................................ 8
Trademark Notices ................................... 8
Revision Record ....................................... 8
Revision History ............................ 8
Manual Layout ......................................... 9
Reference: SMD23E2 & SMD24E2
Specifications
The SMD23E2 and 
SMD24E2 Families ............................... 11
Part Numbering System ................. 12
General Functionality .................... 12
Encoder Functionality ................... 13
Network Data Format .................... 13
Specifications ........................................... 15
Indexer Functionality ............................... 16
Stall Detection with SMD23E2 
and SMD24E2 Units ................... 17
Driver Functionality ................................. 17
Idle Current Reduction .................. 18
Available Discrete Inputs ......................... 18
Home Input .................................... 18
CW Limit Switch or 
CCW Limit Switch ...................... 18
Start Indexer Move Input ............... 18
Emergency Stop Input ................... 18
Stop Jog or Registration 
Move Input .................................. 19
Capture Encoder Position Input ..... 19
General Purpose Input ................... 19
Optional Encoder ..................................... 19
Incremental Encoder ...................... 19
Absolute Multi-turn Encoder ......... 19
Status LED’s ............................................ 20
Module Status (MS) LED .............. 20
Network Status (NS) LED ............. 21
Reference: SMD23E2 & SMD24E2
Specifications (cont’d)
SMD23E2 and SMD24E2 Connectors ..... 22
Power and Inputs Connector ......... 22
Ethernet Connectors ...................... 22
Torque and Power Curves ........................ 23
Power Supply Sizing ................................ 24
Regeneration Effects ..................... 25
Compatible Connectors and Cordsets ...... 26
Ethernet Connector ....................... 26
Ethernet Cordset ........................... 26
Power and Digital 
Input Connector .......................... 26
Power and Digital Input Cordset .. 26
Reference: Motion Control
Definitions ................................................ 27
Units of Measure ........................... 27
Motor Position .............................. 27
Home Position ............................... 27
Count Direction ............................. 27
Starting Speed ............................... 27
Target Position .............................. 28
Relative Coordinates .......... 28
Absolute Coordinates ......... 28
Definition of Acceleration Types ............. 28
Linear Acceleration ....................... 28
Triangular S-Curve Accel. ............ 29
Trapezoidal S-Curve Accel. .......... 29
A Simple Move ........................................ 30
Controlled and Immediate Stops .............. 31
Host Control .................................. 31
Hardware Control ......................... 31
Basic Move Types .................................... 32
Relative Move ............................... 32
Controlled Stop ................... 32
Immediate Stop ................... 32
Absolute Move .............................. 33
Controlled Stop ................... 33
Immediate Stop ................... 33
CW/CCW Jog Move ..................... 34
Controlled Stop ................... 34
Immediate Stop ................... 34
CW/CCW Registration Move ....... 35
Controlled Stop ................... 36
Immediate Stop ................... 36

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Reference: Motion Control
Assembled Moves .................................... 36
Blend Move ................................... 37
Controlled Stop ................... 38
Immediate Stop ................... 38
Dwell Move .................................. 38
Assembled Move Programming ............... 40
Control Bits – Output Data ........... 40
Control Bits – Input Data .............. 40
Programming Routine ................... 40
Saving an Assembled 
Move in Flash ............................. 40
Indexed Moves ......................................... 41
Synchrostep (Virtual Axis) Moves ........... 42
Controlling Moves In Progress ................ 43
Jog Moves ..................................... 43
Registration Moves ....................... 43
Absolute and Relative Moves ....... 43
Assembled Moves ......................... 43
Reference: Calculating Move 
Profiles
Constant Acceleration Equations ............. 45
Variable Definitions ...................... 45
Total Time Equations .................... 47
S-Curve Acceleration Equations .............. 48
Triangular S-Curve Accel. ............ 48
Trapezoidal S-Curve Accel. .......... 50
Determining Waveforms 
by Values .................................... 52
Reference: Homing an SMD23E2 
or SMD24E2
Definition of Home Position .................... 55
Position Preset .......................................... 55
CW/CCW Find Home Commands ........... 55
Homing Inputs .......................................... 56
Physical Inputs .............................. 56
Network Data Input ...................... 56
Homing Configurations ............................ 56
Homing Profiles ....................................... 57
Home Input Only Profile .............. 57
Profile with 
Backplane_Proximity_Bit ........... 58
Profile with Overtravel Limit ....... 59
Controlling Find Home 
Commands In Progress .......................... 60
Controlled Stop Conditions .......... 60
Immediate Stop Conditions ........... 60
Reference: Configuration Mode
Data Format
Modes of Operation .................................. 61
Configuration Mode ...................... 61
Command Mode ............................ 61
Power Up Behavior .................................. 61
Configuration Mode Data Format ............ 61
Command Mode Data Formats ................. 61
Output Data Format .................................. 63
Configuration Word 0 Format ....... 63
Configuration Word 1 Format ....... 65
Notes on Other 
Configuration Words ................... 66
Input Data Format ..................................... 66
Configuration Word 0 Format ....... 66
Starting Speed Format ................... 66
Stall Detect Enable ........................ 67
Invalid Configurations .............................. 67
Reference: Command Mode Data
Format
Data Format .............................................. 69
Command Bits Must Transition ............... 70
Output Data Format .................................. 70
Command Word 0 .................................... 71
Command Word 1 .................................... 73
Command Blocks ..................................... 74
Absolute Move .............................. 74
Relative Move ............................... 75
Hold Move .................................... 75
Resume Move ................................ 76
Immediate Stop ............................. 76
Find Home CW ............................. 77
Find Home CCW ........................... 77
Jog CW .......................................... 78
Registration Move CW ................. 78
Jog CCW ....................................... 79
Registration Move CCW ............... 79
Synchrostep Moves ....................... 80
Preset Position ............................... 81
Reset Errors ................................... 81
Run Assembled Move ................... 82
Preset Encoder Position ................. 82
Programming Blocks ................................ 83
First Block ..................................... 83
Segment Block .............................. 83

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
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SMD23E2 and SMD24E2 User Manual TABLE OF CONTENTS
5
Reference: Command Mode Data
Format (continued)
Input Data Format .................................... 84
Format of Position Data Values .... 84
Status Word 0 Format .................... 84
Status Word 1 Format .................... 86
Notes on Clearing a Driver Fault ............. 87
Reference: Configuring Network 
Interfaces
Firewall Settings ...................................... 89
Disable All Unused Network Interfaces .. 89
Configure Your Network Interface .......... 89
Test Your Network Interface ................... 90
Task: Installing the SMD23E2 or
SMD24E2
Location 91
IP50 Rated Units ............................ 91
IP64 Rated Units ............................ 91
IP65/67 Rated Units ...................... 91
Safe Handling Guidelines ........................ 91
Prevent Electrostatic Damage ........ 91
Prevent Debris From Entering ....... 92
Remove Power Before Servicing .. 92
Operating Temperature Guidelines .......... 92
Mounting .................................................. 92
SMD23/4E2-M12 Mounting ......... 92
SMD23/4E2-M12S Mounting ....... 92
SMD23/4E2-M12P Mounting ....... 93
SMD23E2 Outline Drawing .......... 93
SMD24E2 Outline Drawing .......... 94
Connecting the Load ...................... 94
Power and Input Connector ..................... 95
Compatible Connectors 
and Cordsets ................................ 95
Power Wiring ........................................... 96
MS-31 Connector .......................... 96
CNPL-2M and 
CMPL-5M Cables ....................... 96
Extending Power Leads ................. 96
Main Power Wiring Only .............. 96
Auxiliary Power, Single Supply .... 97
Auxiliary Power, Dual Supply ...... 97
Input Wiring ............................................. 97
Cable Shields ................................. 98
Sinking Sensors Require a 
Pull Up Resistor .......................... 98
Task: Installing the SMD23E2 or
SMD24E2
Network Connectors ................................. 98
Compatible Connectors 
and Cordsets ............................... 99
TIA/EIA-568 Color Codes ............ 99
EtherNet/IP Connections .......................... 99
Non-DLR Applications ................. 99
DLR Applications ......................... 99
PROFINET Connections .......................... 100
Non-MRP Applications ................ 100
MRP Applications ......................... 100
Modbus TCP Connections ....................... 100
Task: Set the IP Address and 
Protocol
Determine the Best Method for 
Setting the IP Address ............................ 101
Use Factory Default Settings ................... 101
Use the Embedded Web Server ................ 102
Use the AMCI NET 
Configurator Utility ................................ 105
Task: Implicit Communications 
With an EDS
Obtain the EDS file .................................. 109
Install the EDS file ................................... 109
Start the EDS Hardware 
Installation Tool .......................... 109
Install the EDS File ....................... 110
Host System Configuration ...................... 112
Add the SMD23E2 or SMD24E2 
to Your Project ....................................... 112
Configure the SMD23E2 or 
SMD24E2 Driver ................................... 113
General Tab ................................... 113
Connection Tab ............................. 113
Configuration Tab ......................... 113
Buffering the I/O Data ............................. 114
Task: Implicit Communications
Without an EDS
Host System Configuration ...................... 115
Add the SMD23E2 or SMD24E2 ............ 115
Configure the SMD23E2 or 
SMD24E2 ............................................... 118
Buffer I/O Data ........................................ 118

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Task: EtherNet/IP Explicit 
Messaging
Required Message Instructions ................ 119
Create Four New Data Files. .................... 119
Add the Message Instructions to 
your Ladder Logic .................................. 120
Troubleshooting ....................................... 123
Task: Modbus TCP Configuration
Enable Modbus TCP Protocol .................. 125
Modbus Addressing .................................. 125
Modbus Table Mapping ................ 125
Host Addressing ............................ 125
AMCI Modbus TCP Memory Layout ...... 126
Supported Number of Connections .......... 126
Supported Modbus Functions ................... 127
Supported Modbus Exceptions ................. 127
Task: PROFINET Network 
Configuration
Basic Steps ............................................... 129
Download the GSDML files .................... 129
GSDML File Installation .......................... 129
Configure the PROFINET Network ......... 129
Add the SMD23E2 or SMD24E2 
to the PROFINET Network .................... 130
Set the I/O Configuration ......................... 132
Verify and Download the 
New Configuration ................................. 132
MRP Installations ..................................... 133
Configure the SMD23E2 or 
SMD24E2 as an MRC ............................ 133

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ABOUT THIS MANUAL
Audience
This manual explains the installation and operation of AMCI’s SMD23E2 and SMD24E2 Integrated Stepper
Indexer/Driver/Motors. 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 SMD23E2 and SMD24E2 families.
“E2” units released prior to January, 2019, support the EtherNet/IP and Modbus TCP protocols. They
are factory configured for the EtherNet/IP protocol.
“E2” units that were released on or after January 1st, 2019, support the EtherNet/IP, Modbus TCP, and
PROFINET protocols, These units are factory configured for the EtherNet/IP protocol.
The serial numbers for all SMD units are date coded and follows the format ‘MMYYnnnn’. ‘MMYY’ is the
month and year of manufacturer and ‘nnnn’ is a sequential number that resets every month.
Each unit contains a two port Ethernet switch, which simplifies network wiring. When the EtherNet/IP proto-
col is used, the unit can act as a node in a Device Level Ring (DLR). When PROFINET is enabled, the unit
supports the Media Redundancy Protocol (MRP) and can be incorporated in PROFINET installations that use
a redundant ring topology.
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.
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.

ABOUT THIS MANUAL SMD23E2 and SMD24E2 User Manual
ADVANCED MICRO CONTROLS INC.
8
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:
Manual Conventions
Trademark Notices
The AMCI logo is a trademark of Advanced Micro Controls Inc. “CIP” is a trademark of Open DeviceNet
Vendor Association, Inc. “EtherNet/IP” is a trademark of ControlNet International, Ltd. under license by
Open DeviceNet Vendor Association, Inc. “PROFINET” is a registered trademark of PROFIBUS & PROFI-
NET International (PI). “Adobe” and “Acrobat” are registered trademarks of Adobe Systems Incorporated.
All other trademarks contained herein are the property of their respective holders.
Revision Record
This manual, 940-0S154, is the fifth release of this manual. It was released June 26h, 2020. It changes the
description of the CNPL cables, reorders some content, and add Synchrostep programming bits to the com-
mand data formats description.
Revision History
940-0S153 Fourth Release. January 10th, 2019.
940-0S152 Third Release. August 30th, 2018.
940-0S151 Second Release. February 23rd, 2018.
940-0S150 Initial Release. June 30th, 2015.
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.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
SMD23E2 and SMD24E2 User Manual ABOUT THIS MANUAL
9
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, SMD23E2 & SMD24E2 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
SMD23E2 & SMD24E2
Specifications 11 Complete specifications for the SMD23E2 and SMD24E2  product lines.
Motion Control 27 Reference information on how the SMD23E2 or SMD24E2 can
be used to control motion in your application.
Calculating Move Profiles 45 Reference information on calculating detailed move profiles.
Homing an SMD23E2
or SMD24E2 55 Reference information on how to set the home position of the
SMD23E2 or SMD24E2.
Configuration Mode Data
Format 61 Reference information on the format of the network data to and
from the SMD23E2 or SMD24E2 that is used to configure it.
Command Mode Data
Format 69 Reference information on the format of the network data to and
from the SMD23E2 or SMD24E2 that is used to command it.
Configuring Network
Interfaces 89 Basic instructions for the task of configuring network interfaces
on your computer or laptop.
Installing the SMD23E2
or SMD24E2 91 Task instructions covering how to install an SMD23E2 or
SMD24E2 on 
a machine. Includes information on mounting, grounding, and
wiring specific to the units.
Set the IP Address and
Protocol 101 Task instructions that covers the options for setting the IP
address on an SMD23E2 or SMD24E2.
Implicit Communications
with an EDS 109 Task instructions that cover how to add an SMD23E2 or
SMD24E2 to an EtherNet/IP host that supports the use of EDS
files.
Implicit Communications
Without an EDS 115 Task instructions for adding an SMD23E2 or SMD24E2 to a
project as a generic device. This configuration is for EtherNet/IP
hosts that do not support EDS files while supporting implicit
communications.
EtherNet/IP Explicit
Messaging 119 Task instructions for adding message instructions to you host
controller program that read and write data to the SMD23E2 or
SMD24E2 through message instructions.
Modbus TCP
Configuration 125 Task instructions for communicating with an SMD23E2 or
SMD24E2 using the Modbus TCP protocol.
PROFINET Network
Configuration 129 Task instructions that covers how to add an SMD23E2 or
SMD24E2 to a PROFINET network.

ABOUT THIS MANUAL SMD23E2 and SMD24E2 User Manual
ADVANCED MICRO CONTROLS INC.
10
Notes