AMCI Integrated Motion Devices with CIP Sync Owner’s Manual
- September 16, 2024
- AMCI
Table of Contents
- AMCI Integrated Motion Devices with CIP Sync
- Specifications
- Step 1: Enabling Time Synchronization
- Step 2: Scanner Module Configuration
- Step 3: Create an Event Driven Task
- Step 4: Add GSV Instruction
- FAQs
- Class Name: TimeSynchronize
- Read User Manual Online (PDF format)
- Download This Manual (PDF format)
AMCI Integrated Motion Devices with CIP Sync
Specifications
- Model Numbers: SD4840E2, SD17060E2, SD31045E2, SMD17E2, SMD23E2, SMD24E2, SMD34E2, SV160E2, SV400E2
- Network Firmware Version: 1.37 and later
- Feature: CIP Sync for synchronized motion
Step 1: Enabling Time Synchronization
To use CIP Sync, enable Time Synchronization in the host controller:
- Select the Date/Time tab.
- Check the Enable Time Synchronization field.
Step 2: Scanner Module Configuration
If using a separate Ethernet scanner module:
- On the General Tab, click Change.
- Select Time Sync and Motion from the Time Sync Connection dropdown.
- Click OK and Apply.
Step 3: Create an Event Driven Task
To closely follow the master axis:
- Right-click on the desired task and select Properties.
- Set Type to Event and Trigger to Motion Group Execution.
- Specify the motion axis in the Tag field.
Step 4: Add GSV Instruction
Add a GSV instruction to your logic:
- Class Name: TimeSynchronize
- Attribute Name: CurrentTimeNanoseconds
- Destination: Array of two DINT registers
FAQs
Using AMCI Motion Add-On Instructions with CIP Sync.
Devices
Beginning in September 2024, with network firmware version 1.37, AMC I’s
networked integrated motor drivers now include the ability to use CIP Sync to
more closely and quietly follow a master axis. This document describes how to
use the AMCI Motion Axis Add-On Instructions with CIP Sync to follow a master
axis. These Add Instructions will work with the following AMCI-integrated
motion devices, including,
- SD4840E2
- SD17060E2
- SD31045E2
- SMD17E2
- SMD23E2
- SMD24E2
- SMD34E2
- SV160E2
- SV400E2
step 1: Enabling the host controller for Time Synchronization
The first step in using CIP Sync is to Enable Time Synchronization in the host
controller. Depending on the system being used, this may be located in the
controller properties, the network properties, or the scanner module’s
properties. As shown in the following image, select the Date/Time tab and then
place a checkmark in the Enable Time Synchronization field.
Step 2: Scanner Module Configuration
Perform this step only if a separate Ethernet scanner module, as opposed to a
built-in Ethernet Port, is being used. On the General Tab of the Ethernet
scanner module, click on the Change button.
Click on the down arrow next to Time Sync Connection and select Time Sync and Motion. Click on the OK button to accept this change.
Back on the General tab, click on Apply.
Step 3: Create a Task
While not required, the AMCI motion device will more closely follow the master
axis if the supporting logic, including the AMCI AOIs, is in an Event Driven
Task, where the trigger for the task is Motion Group Execution. To create an
Event Driven Task, right-click on the desired task in the project tree and
select Properties.
Click on the Configuration tab and select the Type to be “Event” and the Trigger to be “Motion Group Execution. The Tag field will be the motion axis that is being followed.
Step 4: Add the GSV (Get System Value) instruction The final step in using the AMCI motion devices with CIP Sync is to add a GSV instruction to your logic. As shown in the following image.
Class Name: TimeSynchronize
Attribute Name: CurrentTimeNanoseconds
Destination: An array consisting of two DINT registers The GSV instruction
should be located in an unconditional rung in the Event Driven Task created in
Step 2 above.
AMCI_MA_SD_SMD_Linear Follower with CIP SYNC
AMCI_MA_SD_SMD_Circular_Follower with CIP SYNC
These AOIs will only work with the SD and SMD motion devices. The SV motion
devices have their follower AOIs.
Parameter|
---|---
Axis_Input_Data| Input data from AMCI motion device. Uses the
AMCI_Motion_Axis_Input_Data User Defined Data Type.
Axis_Output_Data| Output data from the AOI to the AMCI motion device. Uses the
AMCI_Motion_Axis_Output_Data User Defined Data Type.
Current_System_Time| The first word of the two DINT word arrays of the current
time in nanoseconds is read by a GSV instruction.
Master_Axis_Position| REAL DATA TYPE position directly from the motion axis.
Master_Axis_Velocity| REAL DATA TYPE velocity directly from the motion axis.
Acceleration & Deceleration
| An actual value or an INT DATA TYPE. Larger acceleration and deceleration values will cause the motion device to more quickly
react changes in the source position and velocity values.
Proportional_Coefficient| A value of 1 or 2 is recommended.
Conversion_Constant (Circular Follower Only)
| The data from a circular motion axis has units of revolutions and revolutions / second. However, the AMCI Motion Device requires that the position and velocity have units of counts and counts/sec. The AOI performs this conversion by multiplying both the position and velocity from the motion axis by the Conversion Constant parameter before sending them to the AMCI Motion Controller.
This field is typically but does not have to be, set to the master axis’ Conversion Constant. The Conversion Constant can be a
fractional number. A negative Conversion Constant will cause the motor to turn in the opposite direction from the master axis.
Position_Unwind (Circular Follower Only)
| Must be set to the Unwind Value of the motion axis and defines the point at which the position data will transition from its maximum to its minimum value. The Position Unwind Value MUST BE IN
THE RANGE OF 21 TO 65535.
RPI_Time_in_ms
| The RPI time used when the AMCI Motion Device was added to the network. Used by the AOI to control how long the Preset Command is sent to the Motion Device before motion begins. A
value of zero will cause the AOI to assume that the default RPI of 8ms is being used.
| Enumerations | Set When….. | Reset When ….. |
|---|---|---|
| EN (Enable) | Rung is true | Rung is false |
| DN (Done) | The command is sent to the motion device | Rung is false |
| ER (Error) | There is an Input, Command, or Configuration Error | Rung is false |
IP (In Process)
| The follower command is active, even if the master
motion axis position and velocity are not changing.
| ****
Rung goes false
AMCI_MA_SV_Linear Follower with CIP SYNC
AMCI_MA_SV_Circular_Follower with CIP SYNC
These AOIs will only work with the SVXXXE2 motion devices. The SD and SMD
motion devices have their follower AOIs.
Parameter|
---|---
Axis_Input_Data| Input data from AMCI motion device. Uses the
AMCI_Motion_Axis_Input_Data User Defined Data Type.
Axis_Output_Data| Output data from the AOI to the AMCI motion device. Uses the
AMCI_Motion_Axis_Output_Data User Defined Data Type.
Current_System_Time| The first word of the two DINT word arrays of the current
time in nanoseconds is read by a GSV instruction.
Master_Axis_Position| REAL DATA TYPE position directly from the motion axis.
Master_Axis_Velocity| REAL DATA TYPE velocity directly from the motion axis.
Master_Axis_Acceleration| REAL DATA TYPE acceleration directly from the motion
axis.
Ramp Acceleration
| An actual value or INT value is used to transition from no motion to
motion. Once motion is occurring, the follower acceleration will be used. Range of 0 to 15,999.
Deceleration| An actual value or INT value is used to transition from motion to no motion. Range of 0 to 15,999.
Conversion_Constant (Circular Follower Only)
| An actual value or a REAL data type register. The value in this field is multiplied by the Position, Velocity, and Acceleration from the master axis before being sent to the servo and scales the supplied data to the servo motor counts per turn. This field is typically, but does not have to be, set to the master axis’
Conversion Constant.
Position_Unwind (Circular Follower Only)| An actual value or a DINT TYPE register. This parameter defines
the point at which the position data will transition from its maximum to its minimum value.
Parameter|
---|---
Axis_Input_Data| Input data from AMCI motion device. Uses the
AMCI_Motion_Axis_Input_Data User Defined Data Type.
Axis_Output_Data| Output data from the AOI to the AMCI motion device. Uses the
AMCI_Motion_Axis_Output_Data User Defined Data Type.
Current_System_Time| The first word of the two DINT word arrays of the current
time in nanoseconds is read by a GSV instruction.
Master_Axis_Position| REAL DATA TYPE position directly from the motion axis.
Master_Axis_Velocity| REAL DATA TYPE velocity directly from the motion axis.
Master_Axis_Acceleration| REAL DATA TYPE acceleration directly from the motion
axis.
Ramp Acceleration
| An actual value or INT value is used to transition from no motion to
motion. Once motion is occurring, the follower acceleration will be used. Range of 0 to 15,999.
Deceleration| An actual value or INT value is used to transition from motion to no motion. Range of 0 to 15,999.
Conversion_Constant (Circular Follower Only)
| An actual value or a REAL data type register. The value in this field is multiplied by the Position, Velocity, and Acceleration from the master axis before being sent to the servo and scales the supplied data to the servo motor counts per turn. This field is typically, but does not have to be, set to the master axis’
Conversion Constant.
Position_Unwind (Circular Follower Only)| An actual value or a DINT TYPE register. This parameter defines
the point at which the position data will transition from its maximum to its minimum value.
The following logic shows all of the elements required to use an AMCI motion device in a follower system with CIP Sync.
The logic on this and the following page shows how a single master axis can be used to control multiple AMCI motion devices.
File: FAQ_Using_AMCI_Motion_AOIs_with_cipsync.docx Date: 8/15/2024
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