AMCI SV160E2 User manual

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ICRO CONTROLS INC.
ADVANCED
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Manual #: 940-0S252
E2 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.

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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
Trademarks and Other Legal Stuff .......... 8
Revision Record ....................................... 8
Revision History ............................ 8
Manual Layout ......................................... 9
Reference: SV160E2 Specifications
E2 Product Family ................................... 11
The SV160E2 Family .............................. 11
General Functionality ................... 11
Safe Torque Off Functionality ....... 12
Network Data Format .................... 12
Specifications ........................................... 13
Indexer Functionality ............................... 14
Driver Functionality ................................. 14
Servo Control ........................................... 15
Absolute Encoder ..................................... 16
Stall Detection .......................................... 16
Available Discrete Inputs ......................... 16
Home Input .................................... 16
CW Limit Switch or 
CCW Limit Switch ...................... 16
Start Indexed Move Input .............. 17
Emergency Stop Input ................... 17
Stop Jog or 
Registration Move Input .............. 17
Capture Encoder Position Input ..... 17
General Purpose Input ................... 17
Enabling the Driver .................................. 17
STO Option .............................................. 18
Basic Functionality ........................ 18
Additional Functionality ................ 18
Reference: SV160E2 Specifications 
(continued)
Status LED’s ............................................ 19
Drive Status LED .......................... 19
Module Status (MS) LED ............. 19
Network Status (NS) LED ............ 20
SV160E2 Connectors ............................... 20
Ethernet Connectors ...................... 20
Digital Inputs Connector ............... 21
Power Connector ........................... 21
Torque and Power Curves ........................ 22
Power Supply Sizing ................................ 22
Regeneration (Back EMF) Effects ........... 23
Compatible Connectors and Cordsets ...... 24
Ethernet Connector ....................... 24
Input Connector ............................ 24
Power Connector ........................... 24
Ethernet Cordset ........................... 24
Input Cordset ................................. 24
Power Cordset ............................... 24
Reference: Motion Control
Definitions ................................................ 25
Units of Measure ........................... 25
Profile Position ............................. 25
Encoder Position ........................... 25
Continuous Torque ....................... 25
Peak Torque .................................. 25
Home Position ............................... 26
Count Direction ............................. 26
Target Position .............................. 26
Relative Coordinates .......... 26
Absolute Coordinates ......... 26
Immediate Stop Deceleration ........ 26
A Simple Move ........................................ 27
Controlled and Immediate Stops .............. 28
Host Control .................................. 28
Hardware Control ......................... 28
Basic Move Types .................................... 29
Relative Move ............................... 29
Controlled Stops ................. 29
Immediate Stops ................. 29
Absolute Move .............................. 30
Controlled Stops ................. 30
Immediate Stops ................. 30

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ADVANCED MICRO CONTROLS INC.
4
Reference: Motion Control 
(continued)
CW/CCW Jog Move ..................... 31
Controlled Stops ................. 31
Immediate Stops ................. 31
CW/CCW Registration Move ....... 32
Controlled Stops ................. 33
Immediate Stops ................. 33
Indexed Moves ......................................... 34
Axis Follower Moves ............................... 35
Controlling Moves In Progress ................ 36
Jog Moves ..................................... 36
Registration Moves ....................... 36
Absolute and Relative Moves ....... 36
Disabling the Motor ................................. 36
Reference: Move Profile 
Calculations
Constant Acceleration Equations ............. 37
Variable Definitions ...................... 37
Total Time Equations .................... 39
Reference: Homing an SV160E2
Definition of Home Position .................... 41
Definition of Homing Speed .................... 41
Position Preset .......................................... 41
CW/CCW Find Home Commands ........... 41
Homing Inputs .......................................... 41
Homing Configurations ............................ 41
Homing Profiles ....................................... 42
Home Input Only Profile .............. 42
Profile with Overtravel Limit ....... 43
Controlling Find Home 
Commands In Progress .......................... 44
Controlled Stops ........................... 44
Immediate Stops ........................... 44
Reference: Configuration Mode
Data Format
Modes of Operation .................................. 45
Configuration Mode ...................... 45
Command Mode ........................... 45
Power Up Behavior .................................. 45
Data Format .............................................. 45
Command Mode Data Formats ................ 46
Output Data Format .................................. 47
Configuration Word 0 Format ...... 47
Reference: Configuration Mode
Data Format (cont’d)
Read Data Blocks ..................................... 49
Extended Drive Status ................... 49
Remaining Read Data Blocks ....... 49
Write Data Blocks .................................... 50
Block 1: Data Config Block .......... 50
Block 2: I/O Config Block ............ 50
Block 3: Motor Config Block ....... 51
Block 5: Velocity Control 
Loop Config Block ...................... 52
Block 6: Position Control 
Loop Config Block ...................... 53
Block 15: Save Config To 
Flash Block ................................. 53
Input Data Format ..................................... 54
Config Mode Input Word 0 ........... 54
Config Mode Input Word 1 ........... 55
Invalid Configurations .............................. 55
Reference: Command Mode Data
Format
Command Bits Must Transition ............... 57
Data Format .............................................. 57
Output Data Format .................................. 57
Command Word 0 .................................... 58
Command Word 1 .................................... 59
Command Blocks ..................................... 60
Absolute Move .............................. 60
Relative Move ............................... 61
Hold Move .................................... 61
Resume Move ................................ 62
Immediate Stop ............................. 62
Find Home CW ............................. 63
Find Home CCW ........................... 63
Jog CW .......................................... 64
Registration Move CW ................. 64
Axis Follower Moves .................... 65
Jog CCW ....................................... 66
Registration Move CCW ............... 66
Preset Position ............................... 67
Reset Errors ................................... 67
Enable Driver or 
Preset On Enable ......................... 68
Disable Driver ............................... 68
Input Data Format ..................................... 69
Status Word 0 Format ................... 69
Status Word 1 Format ................... 70
Notes on Clearing a Driver Fault .............. 72

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Tel: [phone] Fax: [phone] http://www.amci.com
SV160E2 User Manual TABLE OF CONTENTS
5
Reference: Braking Resistor 
Calculations
Overvoltage Threshold Parameter ........... 73
Required Information ............................... 73
Determine System Inertia ........................ 74
Determine the Deceleration Rate ............. 74
Determine Peak Braking Power ............... 74
Determine Minimum Braking 
Resistor Value ........................................ 75
Determine Maximum Braking 
Resistor Value ........................................ 75
Determine Average Power Rating ........... 75
Determining the Braking Resistor ........... 76
Reference: Configuring Network 
Interfaces
Firewall Settings ...................................... 77
Disable All Unused Network Interfaces .. 77
Configure Your Network Interface .......... 77
Test Your Network Interface ................... 78
Task 1: Installing the SV160E2
Location ................................................... 79
Safe Handling Guidelines ........................ 79
Prevent Electrostatic Damage ........ 79
Prevent Debris From 
Entering the Unit ......................... 79
Remove Power Before Servicing .. 79
Operating Temperature Guidelines .......... 79
Mounting .................................................. 79
SV160E2 Outline Drawing ............ 80
SV160E2 Mounting ....................... 80
Connecting the Load ...................... 80
Power Connector ...................................... 81
Compatible Connectors 
and Cordsets ................................ 81
Power Wiring ........................................... 82
Input Connector ....................................... 82
Compatible Connectors 
and Cordsets ................................ 83
CNFL-5M Color Code and 
Shield Wire .................................. 83
Cable Shields ................................. 83
DC Input Wiring ...................................... 84
Sinking Sensors Require a 
Pull Up Resistor .......................... 84
STO Input Wiring .................................... 85
Extending the STO Cabling ........... 85
Task 1: Installing the SV160E2 
(continued)
Network Connectors ................................. 86
Compatible Connectors 
and Cordsets ............................... 86
TIA/EIA-568 Color Codes ............ 86
EtherNet/IP Connections .......................... 87
Non-DLR Applications ................. 87
DLR Applications ......................... 87
PROFINET Connections .......................... 87
Non-MRP Applications ................ 87
MRP Applications ......................... 87
Modbus TCP Connections ....................... 87
Task 2: Set the IP Address and 
Protocol
Determine the Best Method for 
Setting the IP Address 89
Use Factory Default Settings ................... 89
Use the Embedded Web Server ................ 90
Use the AMCI NET 
Configurator Utility ................................ 93
Task 3: Implicit Communications
with an EDS
Obtain the EDS file .................................. 97
Install the EDS file ................................... 97
Start the EDS Hardware 
Installation Tool .......................... 97
Install the EDS File ....................... 98
Host System Configuration ...................... 100
Add the SV160E2 to Your Project ........... 100
SV160E2 Properties Setup ....................... 101
General Tab ................................... 101
Connection Tab ............................. 101
Configuration Tab ......................... 101
Buffering the I/O Data ............................. 102
Task 4: EtherNet/IP Explicit 
Messaging
Required Message Instructions ................ 103
Create Four New Data Files ..................... 103
Add the Message Instructions to 
your Ladder Logic .................................. 104
Troubleshooting ....................................... 107

TABLE OF CONTENTS SV160E2 User Manual
ADVANCED MICRO CONTROLS INC.
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Task 5: Modbus TCP Configuration
Enable Modbus TCP Protocol .................. 109
Modbus Addressing .................................. 109
Modbus Table Mapping ........................... 109
Host Addressing ....................................... 109
AMCI Modbus TCP Memory Layout ...... 110
Supported Number of Connections .......... 110
Supported Modbus Functions ................... 111
Supported Modbus Exceptions ................. 111
Task 6: PROFINET Network 
Configuration
Basic Steps ............................................... 113
Download the GSDML files .................... 113
GSDML File Installation .......................... 113
Configure the PROFINET Network ......... 113
Add the SV160E2 to the 
PROFINET Network .............................. 114
Configure the SV160E2 ........................... 116
Set the I/O Configuration ......................... 117
Set the SV160E2 Device Name ............... 118
Verify and Download the 
New Configuration ................................. 118
MRP Installations ..................................... 119
Configure the SV160E2 as an MRC ........ 119

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 AMCI’s SV160E2 Integrated Servo Motors. It is writ-
ten for the engineer responsible for incorporating these products into a design as well as the engineer or tech-
nician responsible for their actual installation.
Applicable Units
This manual applies to all of the units in the SV160E2 family. Each unit contains a two port Ethernet switch,
which simplifies network wiring. When the EtherNet/IP protocol 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 SV160E2 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
Trademarks and Other Legal Stuff
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, 940-0S252 is the third release of this manual. It was released on April 13th, 2020. It improves
information throughout the manual on the Safe Torque Off (STO) option and adds clarifications to several
areas.
Revision History
940-0S251: September 10th, 2019 - Improved Virtual Axis Move information. Updates torque curve draw-
ing
940-0S250: August 23rd, 2019 - Initial Release
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
SV160E2 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 Servo Motor products from AMCI, this manual contains the
information you need to determine if these products are the right products for your application. The first
chapter, SV160E2 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 Servo Motor product from AMCI, then the rest of the man-
ual is written for you. To simplify installation and configuration, the rest of the manual is broken down
into references and tasks. Using an Integrated Servo 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
Num. Section Description
SV160E2 Specifications 11 Complete specifications for the SV160E2 products.
Motion Control 25 Reference information on how the SV160E2 can be used to control
motion in your application.
Move Profile Calculations 37 Reference information on calculating detailed move profiles.
Homing an SV160E2 41 Reference information on how to set the home position of the
SV160E2.
Configuration Mode Data
Format 45 Reference information on the format of the network data to and
from the SV160E2 that is used to configure it.
Command Mode Data
Format 57 Reference information on the format of the network data to and
from the SV160E2 that is used to command it.
Braking Resistor
Calculations 73 Calculations required to size the braking resistor for proper power
dissipation during deceleration.
Configuring Network
Interfaces 77 Basic instructions for the task of configuring network interfaces on
your computer or laptop.
Installing the SV160E2 79 Task instructions covering how to install an SV160E2 on a
machine. Includes information on mounting, grounding, and wir-
ing specific to the units.
Set the IP Address and
Protocol 89 Task instructions that covers the options for setting the IP address
and protocol on an SV160E2.
Implicit Communications
with an EDS 97 Task instructions that cover how to add an SV160E2 to an  EtherNet/IP host that supports the use of EDS files.
EtherNet/IP Explicit
Messaging 103 Task instructions for adding message instructions to you host con-
troller program that write data to the SV160E2 through message
instructions.
Modbus TCP
Configuration 109 Task instructions for communicating with an SV160E2 using the
Modbus TCP protocol.
PROFINET Network
Configuration 113 Task instructions that covers how to add an SV160E2 to a  PROFINET network.

ABOUT THIS MANUAL SV160E2 User Manual
ADVANCED MICRO CONTROLS INC.
10
Notes