ADVANCED

MICRO CONTROLS INC.

Manual #: 940-0S192

E2 Technology ual
an
M
User
 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 2019 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 2019 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 (860) 585-1254 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 (860) 583-1254. 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.

ADVANCED MICRO CONTROLS INC.

 TABLE OF CONTENTS
General Information Reference: SMD34E2 Specifications
Important User Information ..................... 2 (continued)
Standard Warranty ................................... 2 SMD34E2 Connectors ............................. 20
Returns Policy .......................................... 2 Ethernet Connectors ...................... 20
24 Hour Technical Support Number ........ 2 Digital Inputs Connector ............... 21
Power Connector ........................... 21
WEEE Statement ..................................... 2
Torque and Power Curves ........................ 22
About this Manual Power Supply Sizing ................................ 23
Audience .................................................. 7 Regeneration Effects ..................... 24
Applicable Units ...................................... 7 Compatible Connectors and Cordsets ...... 25
Navigating this Manual ............................ 7 Ethernet Connector ....................... 25
Manual Conventions ................................ 8 Digital Input Connector ................ 25
Trademarks and Other Legal Stuff .......... 8 Power Connector ........................... 25
Ethernet Cordset ........................... 25
Revision Record ....................................... 8
Digital Input Cordset .................... 25
Revision History ............................ 8
Power Cordset ............................... 25
Manual Layout ......................................... 9
Reference: Motion Control
Reference: SMD34E2 Specifications
Definitions ................................................ 27
The SMD34E2 Family ............................. 11 Units of Measure ........................... 27
Part Numbering System ................. 12 Motor Position .............................. 27
General Functionality .................... 12 Home Position ............................... 27
Encoder Functionality ................... 13 Count Direction ............................. 27
Network Data Format .................... 13 Starting Speed ............................... 27
Specifications ........................................... 14 Target Position .............................. 28
Indexer Functionality ............................... 15 Relative Coordinates .......... 28
Additional Notes on  Absolute Coordinates ......... 28
Stall Detection ............................. 16 Definition of Acceleration Types ............. 28
Driver Functionality ................................. 16 Linear Acceleration ....................... 28
Idle Current Reduction .................. 17 Triangular S-Curve Accel. ............ 29
Available Discrete Inputs ......................... 17 Trapezoidal S-Curve Accel. .......... 29
Home Input .................................... 17 A Simple Move ........................................ 30
CW Limit Switch or  Controlled and Immediate Stops .............. 31
CCW Limit Switch ...................... 17 Host Control .................................. 31
Start Indexer Move Input ............... 17 Hardware Control ......................... 31
Emergency Stop Input ................... 18 Basic Move Types .................................... 32
Stop Jog or Registration  Relative Move ............................... 32
Move Input .................................. 18 Controlled Stops ................. 32
Capture Encoder Position Input ..... 18 Immediate Stops ................. 32
General Purpose Input ................... 18 Absolute Move .............................. 33
Optional Encoder ..................................... 18 Controlled Stops ................. 33
Incremental Encoder ...................... 18 Immediate Stops ................. 33
Absolute Multi-turn Encoder ......... 18 CW/CCW Jog Move ..................... 34
Status LED’s ............................................ 19 Controlled Stops ................. 34
Module Status (MS) LED .............. 19 Immediate Stops ................. 34
Network Status (NS) LED ............. 20 CW/CCW Registration Move ....... 35
Controlled Stops ................. 36
Immediate Stops ................. 36

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TABLE OF CONTENTS SMD34E2 User’s Manual

Reference: Motion Control Reference: Configuration Mode

(continued) Data Format
Assembled Moves .................................... 36 Modes of Operation .................................. 61
Blend Move ................................... 37 Configuration Mode ...................... 61
Controlled Stops ................. 38 Command Mode ............................ 61
Immediate Stops ................. 38 Power Up Behavior .................................. 61
Dwell Move .................................. 38 Data Format .............................................. 61
Assembled Move Programming ............... 40 Multi-Word Data Format .............. 62
Control Bits – Output Data ........... 40 Command Mode Data Formats ................. 62
Control Bits – Input Data .............. 40
Output Data Format .................................. 63
Programming Routine ................... 40
Configuration Word 0 Format ....... 64
Saving an Assembled 
Configuration Word 1 Format ....... 65
Move in Flash ............................. 40
Notes on Other 
Indexed Moves ......................................... 41 Configuration Words ................... 67
Synchrostep (Virtual Axis) Moves ........... 42 Input Data Format ..................................... 67
Controlling Moves In Progress ................ 43 Configuration Word 0 Format ...... 67
Jog Moves ..................................... 43 Starting Speed Format ................... 67
Registration Moves ....................... 43 Stall Detect Enable ........................ 67
Absolute and Relative Moves ....... 43 Invalid Configurations .............................. 68
Assembled Moves ......................... 43
Reference: Command Mode Data
Reference: Calculating Move  Format
Profiles
Data Format .............................................. 69
Constant Acceleration Equations ............. 45
Command Bits Must Transition ............... 70
Variable Definitions ...................... 45
Total Time Equations .................... 47 Output Data Format .................................. 70
S-Curve Acceleration Equations .............. 48 Command Word 0 .................................... 71
Triangular S-Curve Accel. ............ 48 Command Word 1 .................................... 73
Trapezoidal S-Curve Accel. .......... 50 Command Blocks ..................................... 74
Determining Waveforms  Absolute Move .............................. 74
by Values .................................... 52 Relative Move ............................... 75
Hold Move .................................... 75
Reference: Homing an SMD34E2 Resume Move ................................ 76
Definition of Home Position .................... 55 Immediate Stop ............................. 76
Position Preset .......................................... 55 Find Home CW ............................. 77
CW/CCW Find Home Commands ........... 55 Find Home CCW ........................... 77
Homing Inputs .......................................... 56 Jog CW .......................................... 78
Physical Inputs .............................. 56 Registration Move CW ................. 78
Network Data Input ...................... 56 Synchrostep Moves ....................... 79
Homing Configurations ............................ 56 Jog CCW ....................................... 80
Registration Move CCW ............... 80
Homing Profiles ....................................... 57
Preset Position ............................... 81
Home Input Only Profile .............. 57
Reset Errors ................................... 81
Profile with 
Run Assembled Move ................... 82
Backplane_Proximity_Bit ........... 58
Preset Encoder Position ................. 82
Profile with Overtravel Limit ....... 59
Programming Blocks ................................ 83
Controlling Find Home Commands 
First Block ..................................... 83
In Progress .............................................. 60
Segment Block .............................. 83
Controlled Stops ........................... 60
Immediate Stops ........................... 60

4 ADVANCED MICRO CONTROLS INC.

SMD34E2 User’s Manual TABLE OF CONTENTS

Reference: Command Mode Data Task 2: Set the IP Address and 

Format Protocol
Input Data Format .................................... 84 Determine the Best Method for 
Format of Position Data Values .... 84 Setting the IP Address ............................ 99
Status Word 0 Format .................... 84 Use Factory Default Settings ................... 99
Status Word 1 Format .................... 86 Use the Embedded Web Server ................ 100
Notes on Clearing a Driver Fault ............. 87 Use the AMCI NET 
Configurator Utility ................................ 103
Task 1: Installing the SMD34E2
Location ................................................... 89 Task 3: Implicit Communications
IP64 Rated Units ............................ 89 with an EDS
IP65/67 Rated Units ...................... 89 Obtain the EDS file .................................. 107
Safe Handling Guidelines ........................ 89 Install the EDS file ................................... 107
Prevent Electrostatic Damage ........ 89 Start the EDS Hardware 
Prevent Debris From  Installation Tool .......................... 107
Entering the Unit ......................... 89 Install the EDS File ....................... 108
Remove Power Before Servicing .. 89 Host System Configuration ...................... 110
Operating Temperature Guidelines .......... 90 Add the SMD34E2 to Your Project ......... 110
Mounting .................................................. 90 Configure the SMD34E2 Driver .............. 111
SMD34E2 Outline Drawing .......... 91 General Tab ................................... 111
SMD34E2 Mounting ..................... 91 Connection Tab ............................. 111
Connecting the Load ...................... 91 Configuration Tab ......................... 111
Power Connector ...................................... 92 Buffering the I/O Data ............................. 112
Compatible Connectors  Task 4: Implicit Communications
and Cordsets ................................ 92 Without an EDS
Power Wiring ........................................... 93 Host System Configuration ...................... 113
Digital Input Connector ........................... 93 Add the SMD34E2 ................................... 113
Compatible Connectors  Configure the SMD34E2 .......................... 115
and Cordsets ................................ 94 Buffer I/O Data ........................................ 116
Digital Input Wiring ................................. 94
Cable Shields ................................. 94 Task 5: EtherNet/IP Explicit
Inputs 1 and 2 ................................ 94 Messaging
Input 3 ............................................ 95 Required Message Instructions ................ 117
Network Connectors ................................ 96 Create Four New Data Files. .................... 117
Compatible Connectors  Add the Message Instructions to 
and Cordsets ................................ 96 your Ladder Logic .................................. 118
TIA/EIA-568 Color Codes ............ 96 Troubleshooting ....................................... 121
EtherNet/IP Connections ......................... 97
Task 6: Modbus TCP Configuration
Non-DLR Applications ................. 97
Enable Modbus TCP Protocol .................. 123
DLR Applications .......................... 97
Modbus Addressing ................................. 123
PROFINET Connections ......................... 97
Modbus Table Mapping ................ 123
Non-MRP Applications ................. 97
Host Addressing ............................ 123
MRP Applications ......................... 97
AMCI Modbus TCP Memory Layout ...... 124
Modbus TCP Connections ....................... 97
Supported Number of Connections .......... 124
Supported Modbus Functions .................. 125
Supported Modbus Exceptions ................ 125

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TABLE OF CONTENTS SMD34E2 User’s Manual

Task 7: PROFINET Network 

Configuration
Basic Steps ............................................... 127
Download the GSDML files .................... 127
GSDML File Installation .......................... 127
Configure the PROFINET Network ......... 128
Add the SMD34E2 to the 
PROFINET Network .............................. 128
Set the I/O Configuration ......................... 130
Verify and Download the 
New Configuration ................................. 130
MRP Installations ..................................... 131
Configure the SMD34E2 as an MRC ....... 131
Optional Task A: Configure Your 
Network Interfaces
Firewall Settings ....................................... 133
Disable All Unused Network Interfaces ... 133
Configure Your Network Interface .......... 133
Test Your Network Interface .................... 134

6 ADVANCED MICRO CONTROLS INC.

 ABOUT THIS MANUAL

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 high-
lights the manual’s remaining chapters and their target audience.

Audience
This manual explains the installation and operation of AMCI’s SMD34E2 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 SMD34E2 family.
 “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
contain an even number of pages which allows you to easily print out a single chapter on a duplex (two-sided)
printer.

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ABOUT THIS MANUAL SMD34E2 User Manual

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:

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.
When viewing the PDF version of the manual, clicking on a red cross reference
HTML Reference opens your default web browser to the referenced section of the AMCI website
if you have Internet access.
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, 940-0S192 is the third release of this manual. It was released on January 9th, 2019. It removes
references to “A2” version of the SMD34. The “E2” version incorporates the same functionality of the “A2”
version.

Revision History
940-0S191: August 31st, 2018 - Added PROFINET protocol and built-in webserver
940-0S190: March 21st, 2017 - Initial Release

8 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual ABOUT THIS MANUAL

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, SMD34E2 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.

Section Title Section Description

SMD34E2 Specifications Complete specifications for the SMD34E2 products.
Motion Control Reference information on how the SMD34E2 can be used to con-
trol motion in your application.
Calculating Move Profiles Reference information on calculating detailed move profiles.
Homing an SMD34E2 Reference information on how to set the home position of the
SMD34E2.
Configuration Mode Data Reference information on the format of the network data to and
Format from the SMD34E2 that is used to configure it.
Command Mode Data Reference information on the format of the network data to and
Format from the SMD34E2 that is used to command it.
Task instructions covering how to install an SMD34E2 on a
Installing the SMD34E2 machine. Includes information on mounting, grounding, and wir-
ing specific to the units.
Set the IP Address and Task instructions that covers the options for setting the IP address
Protocol on an SMD34E2.
Implicit Communications Task instructions that cover how to add an SMD34E2 to an 
with an EDS EtherNet/IP host that supports the use of EDS files.
Implicit Communications Task instructions for adding an SMD34E2 to a project as a generic
Without an EDS device. This configuration is for EtherNet/IP hosts that do not sup-
port EDS files while supporting implicit communications.
EtherNet/IP Explicit Task instructions for adding message instructions to you host con-
Messaging troller program that write data to the SMD34E2 through message
instructions.
Modbus TCP Task instructions for communicating with an SMD34E2 using the
Configuration Modbus TCP protocol.
PROFINET Network Task instructions that covers how to add an SMD34E2 to a 
Configuration PROFINET network.
Optional: Instructions for the optional task of configuring network interfaces
Configure Your Network on your computer or laptop.
Interfaces
Manual Sections

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ABOUT THIS MANUAL SMD34E2 User Manual

Notes

10 ADVANCED MICRO CONTROLS INC.

 REFERENCE 1
SMD34E2 SPECIFICATIONS

This manual is designed to get you up and running quickly with an SMD34E2
product from AMCI. As such, it assumes you have some basic knowledge of step-
per systems, such as the resolution you want run your motor at, and the reasons
why you’d want to use Idle Current Reduction and the reasons why you wouldn’t.
If these terms or ideas are new to you, 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.

The SMD34E2 Family

The SMD34E2 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 network. Each SMD34E2
attaches to your Ethernet network and communi-
cates using the EtherNet/IP, Modbus TCP, or
PROFINET protocols.
The SMD23E2 and SMD24E2 units are members
of the growing line of products from AMCI that
incorporate our E2 Technology. E2 Technology
by AMCI is an innovative new multi-protocol
approach to Ethernet distributed I/O.
E2 Technology products are simple and intuitive,
allowing easy transition between multiple com-
mon industrial Ethernet protocols without the
need to physically switch parts. An advanced web
server integrated into all AMCI E2 Technology
devices facilitates simple device configuration
and troubleshooting via web-browser. Further-
more, an impressive array of advanced features
for each supported protocol has been incorporated Figure R1.1 IP64 Rated SMD34E2
into the devices to meet many unique application
requirements.
Each unit has two Ethernet ports which are internally connected through an onboard, two port, 10/100 Mbps
ethernet switch. These ports allow you to wire your network in a “daisy-chain” fashion, which may lower net-
work wiring costs and complexities.
The two ports also allow the units to function as members of a redundant Device Level Ring (DLR) network
when using the EtherNet/IP protocol or as clients in a Media Redundancy Protocol (MRP) network when using
PROFINET.
In DLR environments, the SMD34E2 units act as Beacon-Based Ring Nodes. All units can process beacon
packets at the default rate of every 400 microseconds. Beacon-based nodes can respond faster to network
changes than nodes that only process Announce packets.
Each unit can be ordered with an optional incremental or absolute multi-turn encoder. This encoder gives you
position verification and stall detection functionality. The absolute multi-turn encoder allows you to track
machine position with power removed, eliminating the need to home the machine after cycling power.
All units have a shaft seal and sealed connectors for their Ethernet, I/O, and power connections. These units
carry an IP64 environmental rating. Units can also be ordered sealed with an FDA approved epoxy. These units
carry an IP65/67 rating. These units are protected against low pressure washdown and can be submerged.

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SMD34E2 SPECIFICATIONS SMD34E2 User Manual

The SMD34E2 Family (continued)

Part Numbering System
SMD34E2 – – M12

SEAL TYPE
S = Shaft Seal, IP64 Rating
ENCODER P = Conformal Coated,
‘blank’ = No encoder IP65/67 Rating
A = Absolute Multi-turn Encoder
2,048 counts/turn.
E = Incremental Encoder CONNECTOR TYPE
4,096 counts/turn max. M12 = M12 Connectors
Network: (2) 4 pin Female D-Coded
Digital Inputs: (1) 5 pin Male A-Coded
Power: (1) 4 pin Male S-Coded
Shaft Seal
IP64 Rating
Figure R1.2 Part Numbering System

General Functionality
Each member of the SMD34E2 family has three integrated parts:
 An indexer that accepts commands over an Ethernet connection using the EtherNet/IP or Modbus TCP
protocol
 A 5.4 Arms micro-stepping driver that accepts 24 to 80 Vdc as its input power source
 A high torque size 34 stepper motor (450, 850, or 1,100 oz-in holding torque).
An incremental or absolute multi-turn encoder is also available for applications that require position feedback
or verification.
The availability of the EtherNet/IP, PROFINET, and Modbus TCP protocols makes the SMD34E2 units easy
to integrate into a wide variety of control systems. 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 SMD34E2 unit
 All motion logic is programmed in the host, eliminating the need to learn a separate motion control lan-
guage
 The integral two port Ethernet switch simplifies network cabling
 The DLR interface eliminates single point failures in EtherNet/IP environments
 The elimination of the separate indexer and driver lowers total system cost.
An SMD34E2 is powered by a nominal 24 to 80 Vdc power source, and can accept surge voltages of up to
88 Vdc without damage. The output motor current is fully programmable from 0.1 Arms to 5.4 Arms which
makes the SMD34E2 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 
SMD34E2 to be very similar to these products.
The SMD34E2 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.

12 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual SMD34E2 SPECIFICATIONS

The SMD34E2 Family (continued)

General Functionality (continued)
The SMD34E2 units have three 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 Manual or Registration Move Input
 Start Indexer Move
 Emergency Stop Input
 General Purpose Input
Encoder Functionality
All SMD34E2 units can be ordered with an internal incremental or absolute multi-turnencoder. 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.
 Close the position/velocity loop with the encoder position when following a virtual axis.
The motor position can be preset to the encoder position with a single command. SMD34E2 units with abso-
lute encoders allow you to preset the encoder position and save the resulting offset in Flash memory.
Network Data Format
In order to support any host that communicates with the EtherNet/IP, PROFINET, or Modbus TCP protocols,
the format of the data read from and written to the SMD34E2 while in command mode is completely program-
mable. The format of the network input and output data can be programmed separately.
The smallest data size used by the SMD34E2 is the sixteen bit word, however some parameters and data values
can exceed this size. For these thirty-two bit values, the default data format is referred to as the multi-word for-
mat. The data value is split between the hundreds digit and the thousands digit. For example, a value of 12,345
would have 12 placed in the first (lower addressed) word, and 345 placed in the second (higher addressed)
word. This format greatly simplifies setting parameter values when programming command blocks.
The other data format is a signed thirty-two bit integer format. When using the thirty-two bit format, there is
one additional parameter named Data Endian. Its use is best explained with an example. The value of
123,456 equals 0001:E240 in hexadecimal. When storing and transmitting this data, some host controllers
will store the least significant word (16#E240) in the lower addressed word in their data tables, while others
will store the most significant word (16#0001) stored in the lower addressed word in their data tables. These
controllers expect thirty-two bit values to be returned to them using the same format. Least significant word
first is called little endian, most significant word first is called big endian. Rockwell Automation controllers
use little endian format, while the default Modbus format is big endian.
The range of values when using the multi-word format is -32,768,000 to 32,767,999. When
used in continuous rotation applications, it is possible to overflow these values. When a posi-
tion value overflows, the value of the associated data words will become indeterminate. AMCI
strongly suggests using the signed 32-bit integer format for continuous rotation applications.
EtherNet/IP applications that use an EDS file have the parameters and data values defined as
double integers. In these applications, the data formats should be programmed to the thirty-
two bit integer format and the Data Endian parameter should be set to little endian.

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SMD34E2 SPECIFICATIONS SMD34E2 User Manual

Specifications
Network Interface DCPowerAUX Current
10/100baseT. Two switched ports.  70 mA @ 24Vdc, 40mA @48Vdc
Supports EtherNet/IP, PROFINET, and Modbus
TCP. EtherNet/IP-DLR and PROFINET-MRP Motor Counts per Turn
extensions also supported. Programmable to any value from 200 to 32,767
steps per revolution.
Physical Dimensions
See page 91 Internal Encoder (Optional)
Weight Incremental encoder option supplies 1,024, 2,048,
or 4,096 counts per turn.
SMD34E2-450 (All versions) 4.50 lbs. (2.05 kg.)
SMD34E2-850 (All versions) 7.10 lbs. (3.23 kg.) Absolute encoder option supplies 2,048 counts per
SMD34E2-1100 (All versions) 9.50 lbs. (4.32 kg.) turn, 32 bit max. counts.
All weights are without mating connectors Idle Current Reduction
Maximum Shaft Loads Programmable from 0% to 100% programmed
motor current in 1% increments. Motor current
Radial: 45 lbs. (200N) at end of shaft
is reduced to selected level if there is no motion
Axial: 13.5 lbs. (60N) for 1.5 seconds. Current is restored to full value
Maximum Operating Temperature when motion is started.
203°F /95°C (Note that this is the operating tem- Environmental Specifications
perature of the electronics, not maximum ambi- Input Power ....... 24 to 80 Vdc, surge to 88 Vdc
ent temperature. An Over Temperature fault without damage to unit.
occurs at this point and current is removed from
the motor.) Ambient Operating Temperature
Over Temperature Fault ........... -40° to 122°F (-40° to 50°C)
Over temperature faults are reported in the Net- Storage Temperature
work Input Data.
........... -40° to 185°F (-40° to 85°C)
Inputs
Humidity ........... 0 to 95%, non-condensing
Electrical Characteristics: 
IN1 and IN2: Single ended sinking. IP Rating ........... SMD34*2-*-M12S: IP64
IN3: Differential. SMD34*2-*-M12P: IP65/67
Accept 3.5 to 27Vdc without the need for an  Status LED’s
external current limiting resistor. Optoisolated, See Status LED’s section starting on page 19.
1500 Vac/dc isolation.
Connectors and Cables
Motor Current All mating connectors are available separately
Programmable from 0.1 to 5.4 Arms in 0.1 A steps. 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
Power MS-41 16 AWG max. 0.197 inches Screw Terminals

Cable AMCI Part # Length

Ethernet CNER-5M 5 meter
Digital I/O CNPL-2M 2 meter
Power CNGL-5M 5 meter

14 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual SMD34E2 SPECIFICATIONS

Indexer Functionality
The table below lists the functionality offered by the indexer built into the AMCI SMD34E2 units.

Feature Description

Multiple Network The SMD34E2 units can be configured to communicate with EtherNet/IP, 
Protocols PROFINET, or Modbus TCP protocols. This allows easy setup and 
communication with a wide range of host controllers.
The SMD34E2 units act as Beacon-Based Nodes in Device Level Ring environ-
EtherNet/IP-DLR ments. This functionality results in the fastest response to changes in the redun-
dant network.
PROFINET-MRP SMD34E2 units have Media Redundancy Protocol support, which adds redun-
dancy to the PROFINET protocol.
Programmable Each of the inputs can be programmed as a Home Limit, Over Travel Limit, Cap-
Inputs ture Input, Manual Jog Stop, Start Indexer Move, E-Stop, or a General Purpose
Input.
Programmable Starting Speed, Running Speed, Acceleration, Deceleration, and Accel/Decel
Parameters Types are fully programmable.
Homing Allows you to set the machine to a known position. An SMD34E2 homes to a dis-
crete 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.
Synchrostep Move Allows you to treat the SMD34E2 as a motion axis by constantly updating posi-
tion and velocity data to the unit. Linear and Circular axes are both supported.
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.
Allows you to jog the motor in either direction based on a command from your
Registration Move host controller. When a controlled stop is issued, the move will output a program-
mable number of steps before coming to a stop.
Blend Move Allows you to perform a sequence of relative moves without stopping between
them.
Allows you to perform a sequence of relative moves with a stop between each
Dwell Move 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 held in memory. The move is run when one
of the programmable inputs makes a transition.
Hold Move Allows you to suspend a move, and optionally restart it, without losing your posi-
tion 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 SMD34E2 is purchased with an encoder option, the encoder can be used
to verify motion when a move command is issued.
Table R1.1 Indexer Functionality
If a move is in progress when an Immediate Stop command is issued, the SMD34E2 responds
by shorting the motor’s windings together. This forces any regeneration energy to be dissi-
pated in the windings instead of being reflected back into the power supply. The windings can
be shorted for up to 300 milliseconds. Once the short is removed, the SMD34E2 will set a bit
in the network input data named Stopped, to show that motion is stopped and the unit is ready
to accept your next command.

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Indexer Functionality (continued)

Additional Notes on Stall Detection
When Stall Detection is enabled, the SMD34E2 monitors the encoder for position changes, regardless 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 SMD34E2 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. As described later in this
chapter, there is an auxiliary power pin that powers the electronics of an SMD34E2 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 SMD34E2 cannot sense when power has been removed from
the DCPowerMAIN pin. By enabling stall detection, the SMD34E2 can notify the system if the motor shaft
moves more than forty-five degrees while power is removed from the motor.

Driver Functionality
This table summarizes the features of the stepper motor driver portion of the SMD34E2 units.

Feature Benefits
RMS current control give an SMD34E2 the ability to drive the motor at its
RMS Current Control fully rated power regardless of the programmed steps per turn. There is no
reduction in power when microstepping that may occur with other drivers.
RMS current supplied to the motor can be programmed from 0.1 to 5.4 amps
Programmable in 0.1 amp increments. Reducing the motor current to the minimum needed
Motor Current for your application will significantly reduce the motor’s operating tempera-
ture
Programmable Idle Extends motor life by reducing the motor current when motion is not occur-
Current Reduction ring. This extends the life of the motor by reducing its operating
temperature.
Programmable Allows you to scale your motor count to a real world value. (counts per inch,
Motor Steps/Turn counts per degree, etc.)
This feedback circuitry and algorithm gives the SMD34E2 the ability to
Anti-Resonance Circuitry 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 An SMD34E2 sets a warning bit in the network data when the internal tem-
Detection perature of the unit approaches its safe operating threshold.
Over Temperature Protects your SMD34E2 from damage by removing power from the motor if
Protection the internal temperature of the driver exceeds the safe operating threshold of
203°F/95°C.
Table R1.2 Driver Functionality

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SMD34E2 User Manual SMD34E2 SPECIFICATIONS

Driver Functionality (continued)

Idle Current Reduction
Idle Current Reduction allows you to prolong the life of your motor by reducing its idling temperature. Val-
ues 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. Therefore, the temperature drop in the motor is exponential, not linear. This means that
even a small reduction in the idle current can have a large effect on the temperature of the motor.
Note that the reduction values are “to” values, not “by” values. Setting a motor current to
4Arms and the current reduction to 25% will result in an idle current of 1Apk. (The
SMD34E2 always switches from RMS to peak current control when the motor is idle to pre-
vent motor damage due to excessive heating.)

Available Discrete Inputs

The SMD34E2 has a total of three discrete DC inputs that accept 3.5 to 27Vdc signals. (5 to 24Vdc nominal)
How your SMD34E2 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. Two of these inputs are open collector sinking and share their common connection. The third input
is fully differential and can be wired as a sinking or sourcing input.

Home Input
Many applications require that the machine be brought to a known position before normal operation can
begin. This is commonly called “homing” the machine or bringing the machine to its “home” position. An
SMD34E2 allows you to define this starting position in two ways. The first is with a Position Preset com-
mand. 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 SMD34E2 that will cause the unit to seek this sensor. How the
SMD34E2 actually finds the home sensor is described in the reference chapter Homing an SMD34E2 start-
ing on page 55.

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 SMD34E2 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.

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Available Discrete Inputs (continued)

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.
If a move is in progress when this input becomes active, the SMD34E2 responds by shorting
the motor’s windings together. This forces any regeneration energy to be dissipated in the wind-
ings instead of being reflected back into the power supply. The windings will be shorted for up
to 300 milliseconds. Once the short is removed, the SMD34E2 will set a bit in the network
input data to show that motion is stopped and the unit is ready to accept your next command.
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
SMD34E2 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 more of the inputs, you can configure the unused inputs as General
Purpose Inputs. The inputs are not used by the SMD34E2, but their on/off state is reported in the network
data and is available to your host controller.

Optional Encoder
The SMD34E2 can be ordered with an integral encoder. The encoder is typically used for position verifica-
tion and stall detection. When the SMD34E2 is programmed to follow a virtual axis, the encoder position can
be used to close the position loop. 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 SMD34E2 has an
internal thirty-two bit counter associated with the encoder.

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 SMD34E2 uses a
battery backed circuit to count zero crossings while power is removed from the rest of the device. The battery
life is 10 years in the absence of power. The circuit will accurately track position as long as the shaft acceler-
ation is limited to 160,000 degrees/sec2,(444.4 rev/sec2), or less.

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SMD34E2 User Manual SMD34E2 SPECIFICATIONS

Status LED’s
Each SMD34E2 has two status LED’s that show module and net-
work status. As shown in figure R1.3, these LED’s are located on
the rear cover.
POWER PORT 2
Module Status (MS) LED 24 to 80 Vdc
The Module Status LED is a bi-color red/green LED. The state of
the LED depends on the state of the network adapter module. MODULE STATUS

NETWORK STATUS

DIGITAL INPUTS
5 to 24 Vdc PORT 1

Figure R1.3 Rear Cover Status LED’s

LED State EtherNet/IP Definition Modbus TCP Definition PROFINET Definition

Off No Power No Power No power
Initializing: Power up Self-Test
Alternating Communications failure. There is a communications error between the main processor and
Red/Green the ethernet co-processor within the unit. You must cycle power to the SMD17E2 to
attempt to clear this fault.
Initializing: Waiting for valid physical connection to the
Flashing network.
Green Successful write to flash memory. Power must be cycled to the unit before additional 
commands can be written to it.
Steady Green Drive and Network are Drive and Network are Device Name or IP Address
operational. operational. are set.
Initializing: IP Address conflict. Initializing: Device Name or
IP Address are not set.
Flashing Red If the Network Status LED is also flashing, the IP Address or Network Protocol has been
changed. Cycle power to the unit to continue. If the Network Status LED is in any other
state, a write to flash memory has failed. Cycle power to the unit to clear this fault.
Steady Red Overtemperature fault. Remove power from the unit and allow it to cool to clear the fault.
Table R1.3 Module Status LED States

Power Up Behavior
 Blinking Green: The unit will blink the Module Status LED green during initialization.
 Blinking Red: The unit will blink the Module Status LED red three times if there is an error with the
internal absolute encoder.

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Status LED’s (continued)

Network Status (NS) LED
The Network Status LED is a bi-color red/green LED. The state of the LED depends on the protocol the
SMD34E2 is configured to.

LED State EtherNet/IP Definition Modbus TCP Definition PROFINET Definition

No power, duplicate IP
No power or no TCP con- address on the network,
Off No Power nections mismatch in Device Name,
or no connection to IO Con-
troller.
Alternating Power up Self-Test Power up Self-Test Power up Self-Test
Red/Green
Indicates number of connec- On-line, Stop state. A con-
Flashing Ethernet connection, tions with 2 second delay nection with the IO Control-
Green but no CIP connections between group. The ler is established and it is in
SMD17E2 supports up to 5 its STOP state.
concurrent connections.
Valid Ethernet net- Should not occur. LED On-line, Run state. A con-
Steady Green work and CIP connec- should always flash when nection with the IO Control-
tions network is connected. ler is established and it is in
its RUN state.
If the MS LED is
steady green: Network  Not Implimented Not Implimented
Flashing Red Connection Timeout
If the MS LED is blinking green: IP Address or Network Protocol changed: Cycle
power
Steady Red Duplicate IP address on network. Not Implimented.
Table R1.4 Network Status LED States

SMD34E2 Connectors
Ethernet Connectors
Figure R1.4 shows the placement of the connectors on an SMD34E2
unit. Figure R1.5 shows the pinout of the Ethernet connectors when
viewed from the back of the SMD34E2. Each Ethernet port on the
POWER PORT 2
SMD34E2 is an “auto-sense” port that will automatically switch 24 to 80 Vdc
between 10baseT and 100baseT depending on the network equip-
ment it is attached to. Each port also has “auto switch” capability.
This means that a standard cable can be used when connecting the MODULE STATUS

SMD34E2 to any device, including a personal computer.

NETWORK STATUS
Pin 2: +Rx Pin 3: –Tx
DIGITAL INPUTS
5 to 24 Vdc PORT 1
Pin 1: +Tx Pin 4: –Rx

ETHERNET
Ports 1 & 2 Figure R1.4 SMD34E2 Connector Locations
Figure R1.5 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 installed.

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SMD34E2 User Manual SMD34E2 SPECIFICATIONS

SMD34E2 Connectors (continued)

Digital Inputs Connector
All digital inputs are made at the Digital Inputs Connector. This connector is a standard five pin A-coded M12
connector that is rated to IP67 when the mate is properly installed. Figure R1.6 shows the pinout of the con-
nector when viewed from the back of the SMD34E2.

Figure R1.6 M12 Input Connector

Digital Inputs 1 and 2 are single ended, sinking inputs that share a common DC reference. (Pin 3, IN1/2Com)
Input 3 is a differential input, and can be wired as a sinking or sourcing input.
All of the inputs accept a nominal 5 Vdc to 24 Vdc signal without the need of a current limiting resistor.
Additional information on how the digital inputs can be used can be found in the Available Discrete Inputs
section of the chapter, starting on page 17.

Power Connector
Figure R1.7 shows the pinout of the power connector when viewed from the back of the SMD34E2. This con-
nector is a standard four pin S-coded M12 connector.

Figure R1.7 M12 Power Connector

There are two power pins and two DC common 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 SMD34E2, it will also be able
to tell the system if the motor shaft rotated more than forty-five degrees with power removed.
S-coded connectors are typically used in AC applications, while T-coded connectors are typi-
cally used in DC applications. However, T-coded connectors and cordsets are typically limited
to a maximum voltage of 60 Vdc. The SMD34E2 can be run at voltages as high as 80 Vdc, so
the decision was made to use the S-coded connectors. Most S-coded cordsets have three black
wires and a single green/yellow wire. When using such a cable with an SMD34E2, it is
strongly recommended to label the wires by pin number before installing the cordset.

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Torque and Power Curves

Figure R1.8 SMD34E-450 Torque and Power Curves

Figure R1.9 SMD34E-850 Torque and Power Curves

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SMD34E2 User Manual SMD34E2 SPECIFICATIONS

Torque and Power Curves (continued)

Figure R1.10 SMD34E-450 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
power and torque curves on the previous page can be used to determine the maximum power the motor can
generate over its speed range.
Note that the power value that 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.
Therefore, 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 SMD34E2-450 will be running at a maximum of 6 RPS and a 48 Vdc supply will be used.
Based on the power curve in figure R1.8 on the previous page, the combinations will generate a
maximum of 105 Watts. Therefore a 48 Vdc supply with a power range of 160 W to 185 W can
be used in the application.
Example 2: An SMD34E2-850 will be running at a maximum of 20 RPS and a 75 Vdc supply will be used.
Based on the power curve in figure R1.9 on the previous page, the power at this speed is 295 W,
but the maximum power over the entire speed range is 335 W, which occurs at 14 RPS. There-
fore, the 335 Watt value should be used, and the 75 Vdc supply should be able to generate 500 W
to 600 W.

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Power Supply Sizing (continued)

Table R1.5 below shows the suggested power supply sizes based on the maximum power the motor can gen-
erate over its entire speed range.

SMD34E2-450 SMD34E2-850 SMD34E2-1100

Motor 150% 175% Motor 150% 175% Motor 150% 175%

Power Supply Supply Power Supply Supply Power Supply Supply
24 Vdc 90W 135 W 160W 100 W 150 W 175 W 100 W 150 W 175 W
Voltage
Supply

48 Vdc 185 W 275 W 325 W 220 W 330 W 385 W 220 W 330 W 385 W
75 Vdc 290 W 435 W 510 W 335 W 500 W 600 W 315 W 472 W 552 W
Table R1.5 Suggested Power Supply Ratings

Regeneration (Back EMF) Effects

All motors generate electrical energy when the mechanical speed of the rotor is greater than the speed of the
rotating magnetic fields set by the drive. This is known as regeneration, or back EMF. Designers of systems
with a large mass moment of inertia or high deceleration rates must take regeneration effects into account
when selecting power supply components.
The first line of defense against regenerative events is an appropriately sized power supply. The additional
capacitance typically found in a larger supplies can be used to absorb the regenerative energy. If your appli-
cation has high deceleration rates, then a supply that can deliver 175% of peak motor power should be used.
The second line of defense is a regeneration resistor, also known as a braking resistor. Braking resistors, and
their control circuitry, are built into AMCI AC powered drives. They are not included in the SMD products
because of the limited ability to dissipate the heat generated by the resistor. An external braking resistor and
control circuitry can be added to the system. The power switches in the SMD34E2 units can conduct a maxi-
mum of 8 amps, so the sum of the motor current and braking resistor circuit currents must be below this value.
Regeneration events can raise the Vdc supply voltage to an unexpected value. Compo-
nents not rated for this voltage may be damaged.
 Consider using a separate supply for any sensor attached to the SMD34E2 to protect it from regenera-
tion voltages.
 Only use power supplies that will not be damaged by regeneration events.
 Use a braking resistor if necessary.

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SMD34E2 User Manual SMD34E2 SPECIFICATIONS

Compatible Connectors and Cordsets

Many different connectors and cordsets are available on the market, all of which will work with the 
SMD34E2 provided that the manufacturer follows the connector and Ethernet standards. AMCI has reviewed
the following connectors and ethernet cordsets for compatibility with the SMD34E2.

Ethernet Connector

AMCI # Binder # Description

Mating connector for Ethernet Connector. 
MS-28 99-3729-810-04 Male, 4 pin D-coded. Screw terminal connections. 6 to 8 mm dia. cable.
Straight, IP67 rated when properly installed.
Table R1.6 Ethernet Connectors

Digital Input Connector

AMCI # Binder # Description

Mating connector for Digital Input Connector. 
MS-31 99-0436-12-05 Female, 5 pin A-coded. Screw terminal connections. 6 to 8 mm dia. cable.
Straight, IP67 rated when properly installed.
Table R1.7 Compatible Connectors

Power Connector

AMCI # Binder # Description

Mating connector for Power Connector. Female, 4 pin S-coded. 
MS-41 99-0690-58-04 Screw terminal connections. 16AWG conductor, 8 to 10 mm dia. cable.
Right-angle, IP67 rated when properly installed.
Table R1.8 Compatible Connectors

Ethernet Cordset

AMCI Part # Description

4-position, 24 AWG, shielded. EIA/TIA 568B color coded.
CNER-5M Connectors: Straight M12, D-coded, Male to RJ45. Shield attached to both connec-
tors. Cable length: 5 m
Table R1.9 Ethernet Cordset

Digital Input Cordset

AMCI Part # Description

CNPL-2M 5-position, 18 AWG. Connector: Straight M12, A-coded, Female to 2 inch flying
leads, 0.28” stripped. Cable length: 2 m
Table R1.10 Power Cordsets

Power Cordset

AMCI Part # Description

CNGL-5M 4-position, 1.5 mm2 (16 AWG) Connector: Straight M12, S-coded, Female to 
flying leads, 0.28” stripped. Cable length: 5 m
Table R1.11 Power Cordsets

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SMD34E2 SPECIFICATIONS SMD34E2 User Manual

Notes

26 ADVANCED MICRO CONTROLS INC.

 REFERENCE 2
MOTION CONTROL

When a move command is sent to an SMD34E2, the unit calculates the entire pro-
file before starting the move or issuing an error message. This chapter explains
how the profiles are calculated and the different available moves.

Definitions
Units of Measure
Distance: Every distance is measured in steps. When you configure the unit, you will specify the number of
steps you want to complete one rotation of the motor shaft. It is up to you to determine how many steps are
required to travel the appropriate distance in your application.
Speed: All speeds are measured in steps/second. Since the number of steps needed to complete one shaft
rotation is determined by your programming, it is up to you to determine how many steps per second is
required to rotate the motor shaft at your desired speed.
Acceleration: The typical unit of measure for acceleration and deceleration is steps/second/second, or steps/
second2. However, when programming an SMD34E2, all acceleration and deceleration values must be pro-
grammed in the unit of measure of steps/second/millisecond.
 To convert from steps/second2 to steps/second/millisecond, divide the value by 1000. This must be
done when converting from a value used in the equations to a value programmed into an SMD34E2.
 To convert from steps/second/millisecond to steps/second2, multiply the value by 1000. This must be
done when converting from the value programmed into an SMD34E2 to the value used in the equations.

Motor Position
Motor Position is defined in counts, and its limits are based on the data format you choose when configuring
the unit. The default multi-word format limits the Motor Position range from -32,768,000 to +32,767,999. If
you choose the thirty-two bit double integer format, the range is -2,147,483,648 to +2,147,483,647. In con-
tinuous rotation applications, you should choose the double integer format.

Home Position
The Home Position is any position on your machine that you can sense and stop at. There are two ways to
defining the Home Position. The first is using the Preset Position command to set the Motor Position register
to a known value. The second method is using one of the Find Home commands. If you use the unit’s Find
Home commands, the motor position and encoder position registers will automatically be set to zero once the
home position is reached. Defining a Home Position is completely optional. Some applications, such as
those that use the SMD34E2 for speed control, don’t require position data at all.

Count Direction
Clockwise moves will always increase the motor position register reported back to the host. Some of the
moves, such as the Jog Move, have a positive and negative command. A positive command, such as the +Jog
Move command, will result in a clockwise rotation of the shaft.

Starting Speed
The Starting Speed is the speed that most moves will begin and end at. This value is set while configuring the
unit and it has a valid range of 1 to 1,999,999 steps/second. This value is typically used to start the move
above the motor’s low frequency resonances and, in micro-stepping applications, to limit the amount of time
needed for acceleration and deceleration. AMCI does not specify a default value in this manual because it is
very dependent on motor size and attached load.

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Definitions (continued)
Target Position
The Target Position is the position that you want the move to end at. There are two ways to define the Target
Position, with relative coordinates or absolute coordinates.
Relative Coordinates
Relative coordinates define the Target Position as an offset from the present position of the motor. Most
SMD34E2 moves use relative coordinates.
 The range of values for the Target Position when it is treated as an offset is ±8,388,607 counts. Positive
offsets will result in clockwise moves, while negative offsets result in counter-clockwise moves.
 The Motor Position value reported back to the host exceeds ±8,388,607 counts. The only way to move
beyond ±8,388,607 counts is with multiple relative moves or jog commands.
Absolute Coordinates
Absolute coordinates treat the Target Position as an actual position on the machine. Note that you must set
the Home Position on the machine before you can run an Absolute Move. (See Home Position on the previ-
ous page.)
 The range of values for the Target Position when it is treated as an actual position on the machine is
±8,388,607 counts. The move will be clockwise if the Target Position is greater than the Current Posi-
tion and negative if the Target Position is less than the Current Position.
 The Motor Position value reported back to the host exceeds ±8,388,607 counts. However, you cannot
move beyond ±8,388,607 counts with an Absolute Move. The only way to move beyond ±8,388,607
counts is with multiple relative moves or jog commands.

Definition of Acceleration Types

With the exception of Registration Moves, all move commands, including homing commands, allow you to
define the acceleration type used during the move. The SMD34E2 supports three types of accelerations and
decelerations. The type of acceleration used is controlled by the Acceleration Jerk parameter.
Detailed move profile calculations, including the effect of the Acceleration Jerk parameter, can be found in
the reference section, Calculating Move Profiles, starting on page 45.

Linear Acceleration
When the Acceleration Jerk parameter equals zero, the axis accelerates (or decelerates) at a constant rate until
the programmed speed is reached. This offers the fastest acceleration, but consideration must be given to
insure the smoothest transition from rest to the acceleration phase of the move. The smoothest transition
occurs when the configured Starting Speed is equal to the square root of the programmed Linear Accelera-
tion. Note that other values will work correctly, but you may notice a quick change in velocity at the begin-
ning of the acceleration phase.
ACCELERATION

Programmed
Speed
SPEED

t TIME t TIME

Figure R2.1 Linear Acceleration

28 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual MOTION CONTROL

Definition of Acceleration Types (continued)

Triangular S-Curve Acceleration
When the Acceleration Jerk parameter equals one, the axis accelerates (or decelerates) at a constantly chang-
ing rate that is slowest at the beginning and end of the acceleration phase of the move. The Triangular S-
Curve type offers the smoothest acceleration, but it takes twice as long as a Linear Acceleration to achieve the
same velocity.

ACCELERATION
Programmed
Speed
SPEED

2t TIME 2t TIME

Figure R2.2 Triangular S-Curve Acceleration

Trapezoidal S-Curve Acceleration

When the Acceleration Jerk parameter is in the range of 2 to 5,000, Trapezoidal S-Curve acceleration is used.
The Trapezoidal S-Curve acceleration is a good compromise between the speed of Linear acceleration and
the smoothness of Triangular S-Curve acceleration. Like the Triangular S-Curve, this acceleration type
begins and ends the acceleration phase smoothly, but the middle of the acceleration phase is linear. Figure
R2.3 shows a trapezoidal curve when the linear acceleration phase is half of the total acceleration time. With
this setting, the Trapezoidal S-Curve acceleration only requires 33% more time to achieve the same velocity
as a Linear Acceleration.
ACCELERATION
Programmed
Speed
SPEED

4/3t TIME 4/3t TIME

1/4 1/2 1/4 1/4 1/2 1/4

Figure R2.3 Trapezoidal S-Curve Acceleration

An acceleration jerk setting of 2 will result in the smallest amount of constant acceleration during a trapezoi-
dal S-curve acceleration. An acceleration jerk setting of 5000 will result in the largest amount of constant
acceleration during a trapezoidal S-curve acceleration. See S-Curve Acceleration Equations, which starts on
page 48, for a methods of calculating the Acceleration Jerk parameter.

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A Simple Move
As shown in the figure below, a move from A (Current Position) to B (Target Position) consists of several
parts.

SPEED

POSITION
A B
Figure R2.4 A Trapezoidal Profile
1) The move begins at point A, where the motor jumps from rest to the configured Starting Speed. The
motor then accelerates at the programmed Acceleration Value until the speed of the motor reaches the
Programmed Speed. Both the Acceleration Value and the Programmed Speed are programmed when
the move command is sent to the SMD34E2.
2) The motor continues to run at the Programmed Speed until it reaches the point where it must
decelerate before reaching point B.
3) The motor decelerates at the Deceleration Value, which is also programmed by the move command,
until the speed reaches the Starting Speed, which occurs at the Target Position (B). The motor stops
at this point. Note that the acceleration and deceleration values can be different in the move.
Figure R2.4 above shows a Trapezoidal Profile. A Trapezoidal Profile occurs when the Programmed Speed is
reached during the move. This occurs when the number of steps needed to accelerate and decelerate are less
than the total number of steps in the move.
Figure R2.5 below shows a Triangular Profile. A Triangular Profile occurs when the number of steps needed
to accelerate to the Programmed Speed and decelerate from the Programmed Speed are greater than the total
number of steps in the move. In this case, the profile will accelerate as far as it can before it has to decelerate
to reach the Starting Speed at the Target Position. The Programmed Speed is never reached.
SPEED

POSITION
A B
Figure R2.5 A Triangular Profile

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SMD34E2 User Manual MOTION CONTROL

Controlled and Immediate Stops

Once a move is started, there are several ways to stop the move before it comes to an end. These stops are
broken down into two types:
 Controlled Stop: The axis immediately begins decelerating at the move’s programmed deceleration
value until it reaches the configured Starting Speed. The axis stops at this point. The motor position
value is still considered valid after a Controlled Stop and the machine does not need to be homed again
before Absolute Moves can be run.
 Immediate Stop: The axis immediately stops motion regardless of the speed the motor is running at.
Since it is possible for the inertia of the load attached to the motor to pull the motor beyond the stopping
point, the motor position value is considered invalid after an Immediate Stop. The machine must be
homed or the position must be preset before Absolute Moves can be run again.

Host Control
Hold Move Command: This command can be used with some moves to bring the axis to a Controlled Stop.
The move can be resumed and finished, or it can be aborted. Not all moves are affected by this command.
The section Basic Move Types, starting on page 32, describes each move type in detail, including if the move
is affected by this command.
Immediate Stop Command: When this command is issued from the host, the axis will come to an Immedi-
ate Stop. The move cannot be restarted and the machine must be homed again before Absolute Moves can be
run. Note that power is not removed from the motor.

Hardware Control
Stop Jog or Registration Move Input: Triggering this input type 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.
CW Limit and CCW Limit Inputs: In most cases, activating these inputs during a move will bring the axis to
an Immediate Stop. The exceptions are the CW/CCW Find Home commands, the CW/CCW Jog Move com-
mands, and the CW/CCW Registration Move commands. The Find Home commands are explained in the ref-
erence section, Homing an SMD34E2, which starts on page 55. The CW/CCW Jog Move commands are
fully explained on page 34, and the CW/CCW Registration Move commands are fully explained on page 35.
Emergency Stop Input: It is possible to configure an input as an Emergency Stop Input. When an Emer-
gency Stop Input is activated, the axis will come to an Immediate Stop, regardless of the direction of travel.
The move cannot be restarted and the machine must be homed again before Absolute Moves can be run. Note
that power is not removed from the motor.

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Basic Move Types

Relative Move
Relative Moves move an offset number of steps (n)
from the Current Position (A). A trapezoidal profile is

SPEED
shown to the right, but Relative Moves can also gener-
ate triangular profiles. The command’s Target Posi-
tion is the move’s offset. The offset can be in the range POSITION
of ±8,388,607 counts. Positive offsets will result in A A+n
clockwise moves, while negative offsets result in Figure R2.6 Relative Move
counter-clockwise moves.
1) You do not have to preset the position or home the machine before you can use a Relative
Moves. That is, the Position_Invalid status bit can be set.
2) Relative Moves allow you to move your machine without having to calculate absolute posi-
tions. If you are indexing a rotary table, you can preform a relative move of 30° multiple
times without recalculating new target positions in your controller. If you perform the same
action with Absolute Moves, you would have to calculate your 30° position followed by
your 60° position, followed by your 90° position, etc.
Relative Moves can be brought to a Controlled Stop by using the Hold Move Command from your host con-
troller. When the command is accepted, the axis will immediately decelerate at the programmed rate and
stop. When stopped successfully, the SMD34E2 will set a In_Hold_State bit in the input data table. The Rel-
ative Move can be restarted with the Resume Move command from the host controller or the move can be
aborted by starting another move. The Resume Move command allows you to change the move’s Pro-
grammed Speed, Acceleration Value and Type, and the Deceleration Value and Type. The Target Position
cannot be changed with the Resume Move Command.
Controlled Stops
 The move completes without error.
 You toggle the Hold_Move control bit in the Network Output Data. Note that your holding position
will most likely not be the final position you commanded. You can resume a held Relative Move by
using the Resume Move command. The use of the Hold_Move and Resume_Move bits is further
explained in the Controlling Moves In Progress section starting on page 43.
Immediate Stops
 The Immediate Stop bit makes a 01 transition in the Network Output Data.
 An inactive-to-active transition on an input configured as an E-Stop Input.
 A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of
travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be
issued before moves are allowed in that direction again. If the limit that is reached is opposite the direc-
tion of travel, a Reset Errors command does not have to be issued.

32 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual MOTION CONTROL

Basic Move Types (continued)

Absolute Move
Absolute Moves move from the Current Position (A)
to a given position (B). (The SMD34E2 calculates the

SPEED
direction and number of steps needed to move to the
given position and moves that number of steps.) A
trapezoidal profile is shown to the right, but Absolute POSITION
Moves can also generate triangular profiles. The com- A B
mand’s Target Position can be in the range of Figure R2.7 Absolute Move
±8,388,607 counts. The move will be clockwise if the
Target Position is greater than the Current Position and
counter-clockwise if the Target Position is less than
the Current Position.
1) The Home Position of the machine must be set before running an Absolute Move. See the
reference section, Homing an SMD34E2, which starts on page 55, for information on hom-
ing the machine.
2) The Motor Position must be valid before you can use an Absolute Move. The Motor Posi-
tion becomes valid when you preset the position or home the machine.
3) Absolute Moves allow you to move your machine without having to calculate relative posi-
tions. If you are controlling a rotary table, you can drive the table to any angle without hav-
ing to calculate the distance to travel. For example an Absolute Move to 180° will move the
table to the correct position regardless of where the move starts from.
Controlled Stops
 The move completes without error.
 You toggle the Hold_Move control bit in the Network Output Data. Note that your holding position
will most likely not be the final position you commanded. You can resume a held Absolute Move by
using the Resume_Move bit or the move can be aborted by starting another move. The use of the
Hold_Move and Resume_Move bits is explained in the Controlling Moves In Progress section starting
on page 43.
Immediate Stops
 The Immediate Stop bit makes a 01 transition in the Network Input Data.
 An inactive-to-active transition on an input configured as an E-Stop Input.
 A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of
travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be
issued before moves are allowed in that direction again. If the limit that is reached is opposite the direc-
tion of travel, a Reset Errors command does not have to be issued.

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Basic Move Types (continued)

CW/CCW Jog Move
Jog Moves move in the programmed direction as long as the command is active. Two commands are avail-
able. The CW Jog Move will increase the motor position count while the CCW Jog Move will decrease the
motor position count. These commands are often used to give the operator manual control over the axis.
Jog Moves are also used when you are interested in controlling the speed of the shaft instead of its position.
One such application is driving a conveyor belt. To accommodate these applications, the running speed,
acceleration, and deceleration of the Jog Move can be changed while the move is in progress.
The CW Limit and CCW Limit inputs behave differently for CW/CCW Jog Moves and CW/CCW Registra-
tion Moves than all other move types. Like all moves, activating a limit will bring the move to an Immediate
Stop. Unlike other moves, a Jog or Registration move can be started when an end limit switch is active pro-
vided that the commanded direction is opposite that of the activated switch. For example, a CW Jog Move can
be issued while the CCW limit switch is active. This allows you to move off of an activated end limit switch.
As shown below, a Jog Moves begins at the programmed Starting Speed, accelerates at the programmed rate
to the Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop Condition, the
SMD34E2 will decelerate the motor to the starting speed and stop without losing position. If it is an Immedi-
ate Stop Condition, the motion stops immediately and the position becomes invalid.
It is possible to change the speed of a Jog Move without stopping the motion. The Programmed Speed,
Acceleration, and Deceleration parameters can be changed during a Jog Move. When the Programmed Speed
is changed, the motor will accelerate or decelerate to the new Programmed Speed using the new accelerate/
decelerate parameter values. If you write a Programmed Speed to the unit that is less than the starting speed,
the Jog Move will continue at the previously programmed speed.
SPEED

POSITION

Change in Change in Controlled

Parameters Parameters Stop Condition

Figure R2.8 Jog Move

Controlled Stops
 The Jog Move Command bit is reset to “0”.
 An inactive-to-active transition on an input configured as a Stop Jog or Registration Move Input.
 You toggle the Hold_Move control bit in the Network Output Data. The use of the Hold_Move and
Resume_Move bits is explained in the Controlling Moves In Progress section starting on page 43.
Immediate Stops
 The Immediate_Stop bit makes a 01 transition in the Network Input Data.
 A inactive-to-active transition on an input configured as an E-Stop Input.
 A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of
travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be
issued before moves are allowed in that direction again. If the limit that is reached is opposite the direc-
tion of travel, a Reset Errors command does not have to be issued.
Note that it is possible to start a move while a CW or CCW Limit Switch is active as long as
the direction of travel is opposite that of the activated Limit Switch. For example, it is possi-
ble to start a CW Jog Move while the CCW Limit Switch is active.

34 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual MOTION CONTROL

Basic Move Types (continued)

CW/CCW Registration Move
Similar to a Jog Move, a Registration Move will travel in the programmed direction as long as the command
is active. CW Registration Moves increase the motor position count while the CCW Registration Moves
decrease the motor position count. When the command terminates under Controlled Stop conditions, the
SMD34E2 will output a programmed number of steps as part of bringing the move to a stop. Note that all
position values programmed with a Registration Move are relative values, not absolute machine positions.
Controlled
Stop Condition
SPEED

POSITION

Figure R2.9 Registration Move

If the Programmed Number of Steps are less than the number of steps needed to bring the axis
to a stop based on the Programmed Speed and Deceleration values set with the command, the
SMD34E2 will decelerate at the programmed Deceleration value until it has output the Pro-
grammed Number of Steps and then stop the move without further deceleration.
An additional feature of the Registration Moves is the ability to program the driver to ignore the Controlled
Stop conditions until a minimum number of steps have occurred. This value is programmed through the Min-
imum Registration Move Distance parameter, which is set when you command the Registration Move. The
figure below shows how the Minimum Registration Move Distance parameter affects when the Stop Condi-
tion is applied to the move. As shown in the second diagram, Controlled Stop conditions are level triggered,
not edge triggered. If a Controlled Stop Condition occurs before the Minimum Registration Move Distance is
reached and stays active, the move will begin its controlled stop once the Minimum Registration Move Dis-
tance is reached.
Controlled
Stop Condition
SPEED

POSITION

Controlled
Stop Condition
SPEED

POSITION

Figure R2.10 Min. Registration Move Distance

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Basic Move Types (continued)

CW/CCW Registration Move (continued)
Controlled Stops
 The Registration Move Command bit is reset to “0”.
 A positive transition on an input configured as a Stop Jog or Registration Move Input.
Starting a Registration Move with a Stop Jog or Registration Move Input in its active
state will result in a move of (Minimum Registration Distance + Programmed Number
of Steps).
 You toggle the Hold_Move control bit in the Network Output Data. The SMD34E2 responds by using
the programmed Deceleration value to bring the move to a stop, without using the value of the Pro-
grammed Number of Steps parameter. A Registration Move does not go into the Hold State if the
Hold_Move control bit is used to stop the move and it cannot be restarted with the Resume Move com-
mand.
Immediate Stops
 The Immediate_Stop bit makes a 01 transition in the Network Input Data.
 An inactive-to-active transition on an input configured as an E-Stop Input.
 A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of
travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be
issued before moves are allowed in that direction again. If the limit that is reached is opposite the direc-
tion of travel, a Reset Errors command does not have to be issued.
Note that it is possible to start a move while a CW or CCW Limit Switch is active as long as
the direction of travel is opposite that of the activated Limit Switch. For example, it is possi-
ble to start a CW Registration Move while the CCW Limit Switch is active.

Assembled Moves
All of the moves explained so far must be run individually to their completion or must be stopped before
another move can begin. The SMD34E2 also gives you the ability to pre-assemble more complex profiles
from a series of relative moves that are then run with a single command. Each Assembled Move can consist
of 2 to 16 segments. Assembled Moves are programmed through a hand shaking protocol that uses the input
and output registers assigned to the unit. The protocol is fully described in the Assembled Move Program-
ming section on page 40.
Two types of Assembled Moves exist in an SMD34E2:
 Blend Move - A Blend Move gives you the ability to string multiple relative moves together and run all
of them sequentially without stopping the shaft between moves. A Blend Move can be run in either
direction, and the direction is set when the command is issued. The direction of motion cannot be
reversed with a Blend Move.
 Dwell Move - A Dwell Move gives you the ability to string multiple relative moves together, and the
SMD34E2 will stop between each move for a programed Dwell Time. Because motion stops between
each segment, a Dwell Move allows you to reverse direction during the move.

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SMD34E2 User Manual MOTION CONTROL

Assembled Moves (continued)

Blend Move
Each Relative Move defines a segment of the Blend Move. The following restrictions apply when program-
ming Blend Moves.
1) Each segment of the Blend Move must be written to the SMD34E2 before the move can be initiated.
 The SMD34E2 supports Blend Moves with up to sixteen segments.
2) Each segment is programmed as a relative move. Blend Moves cannot be programmed with absolute
coordinates.
3) All segments run in the same direction. The sign of the target position is ignored and only the
magnitude of the target position is used. The move’s direction is controlled by the bit pattern used to
start the move. If you want to reverse direction during your move, consider using the Dwell Move
which is explained starting on page 38.
4) The Programmed Speed of each segment must be greater than or equal to the Starting Speed.
5) The Programmed Speed can be the same between segments. This allows you to chain two segments
together.
6) For all segments except for the last one, the programmed position defines the end of the segment. For
the last segment, the programmed position defines the end of the move.
7) Once you enter a segment, that segment’s programmed acceleration and deceleration values are used
to change the speed of the motor.
8) The blend segment must be long enough for the acceleration or deceleration portions of the segment
to occur. If the segment is not long enough, the motor speed will jump to the speed of the next
segment without acceleration or deceleration.
The figure below shows a three segment Blend Move that is run twice. It is first run in the clockwise direc-
tion, and then in the counter-clockwise direction.
The deceleration value programmed with segment 3 is used twice in the segment. Once to
decelerate from the Programmed Speed of segment 2 and once again to decelerate at the end of
the move.

CW

a2 d3
a1 d3

d3 a1

d3 a2

CCW

Figure R2.11 Blend Move

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Assembled Moves (continued)

Blend Move (continued)
1) You do not have to preset the position or home the machine before you can use a Blend
Move. Because the Blend Move is based on Relative Moves, it can be run from any location.
2) The Blend Move is stored in the internal memory of the SMD34E2 and can be run multiple
times once it is written to the unit. The Blend Move data stays in memory until power is
removed, the unit is sent new Configuration Data, or a new Blend or Dwell Move is written to
the unit. As described in Saving an Assembled Move in Flash on page 40, it is also possible
to save a Blend Move to flash memory. This move is restored on power up and can be run as
soon as you configure the SMD34E2 and enter Command Mode.
3) There are two control bits used to specify which direction the Blend Move is run in. This
gives you the ability to run the Blend Move in either direction.
Controlled Stops
 The move completes without error.
 You toggle the Hold_Move control bit in the Network Output Data. When this occurs, the SMD34E2
decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the
move. Note that your final position will most likely not be the one you commanded. A Blend Move
that is brought to a controlled stop with the Hold_Move bit cannot be restarted. The use of the
Hold_Move bit is explained in the Controlling Moves In Progress section starting on page 43.
Immediate Stops
 The Immediate_Stop bit makes a 01 transition in the Network Input Data.
 A positive transition on an input configured as an E-Stop Input.
 A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of
travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be
issued before moves are allowed in that direction again. If the limit that is reached is opposite the direc-
tion of travel, a Reset Errors command does not have to be issued.

Dwell Move
A Dwell Move gives you the ability to string multiple relative moves together and run all of them sequentially
with a single start condition. Like a Blend Move, a Dwell Move is programmed into an SMD34E2 as a series of
relative moves before the move is started.
Unlike a Blend Move, the motor is stopped between each segment of the Dwell Move for a programed Dwell
Time. The Dwell Time is programmed as part of the command that starts the move. The Dwell Time is the
same for all segments. Because the motor is stopped between segments, the motor direction can be reversed
during the move. The sign of the target position for the segment determines the direction of motion for that seg-
ment. Positive segments will result in clockwise shaft rotation while a negative segment will result in a counter-
clockwise shaft rotation.

38 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual MOTION CONTROL

Assembled Moves (continued)

Dwell Move (continued)
The following figure shows a drilling profile that enters the part in stages and reverses direction during the drill-
ing operation so chips can be relieved from the bit. You could accomplish this Dwell Move with a series of six
relative moves that are sent down to the SMD34E2 sequentially. The two advantages of a Dwell Move in this
case are that the SMD34E2 will be more accurate with the Dwell Time then you can be in your control program,
and Dwell Moves simplify your program’s logic.

CW
Segment 1 Segment 3 Segment 5
SPEED

POSITION

Segment 2 Segment 4

CCW Segment 6
Figure R2.12 Dwell Move
1) You do not have to preset the position or home the machine before you using a Dwell Move.
Because the Dwell Move is based on Relative Moves, it can be run from any location.
2) The Dwell Move is stored in the internal memory of the SMD34E2 and can be run multiple
times once it is written to the unit. The Dwell Move data stays in memory until power is
removed, the unit is sent new Configuration Data, or a new Blend or Dwell Move is written to
the SDM34E2. As described in Saving an Assembled Move in Flash on page 40, it is also
possible to save a Dwell Move to flash memory. This move is restored on power up and can
be run as soon as you configure your SMD34E2 and enter Command Mode.

Controlled Stops
 The move completes without error.
 You toggle the Hold_Move control bit in the Network Output Data. When this occurs, the SDM34E2
decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the
move. Note that your final position will most likely not be the one you commanded. A Dwell Move
that is brought to a controlled stop with the Hold_Move bit cannot be restarted.

Immediate Stops
 The Immediate_Stop bit makes a 01 transition in the Network Input Data.
 A positive transition on an input configured as an E-Stop Input.
 A CW or CWW Limit Switch is reached. If the limit that is reached is the same as the direction of
travel, for example, hitting the CW limit while running a CW move, a Reset Errors command must be
issued before moves are allowed in that direction again. If the limit that is reached is opposite the direc-
tion of travel, a Reset Errors command does not have to be issued.

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MOTION CONTROL SMD34E2 User Manual

Assembled Move Programming

All of the segments in a Blend or Dwell Move must be written to the SMD34E2 before the move can be run.
Segment programming is controlled with two bits in the Network Output Data and two bits in the Network
Input Data. Blend and Dwell Moves are programmed in exactly the same way. When you start the move, a
bit in the command data determines which type of Assembled Move is run. In the case of a Blend Move, the
sign of each segment’s Target Position is ignored and all segments are run in the same direction. In the case
of a Dwell Move, the sign of each segment’s Target Position determines the direction of the segment. For
Dwell Moves, the Dwell Time is sent to the SMD34E2 as part of the command.

Control Bits – Output Data

 Program_Assembled bit – A 01 transition on this bit tells the SMD34E2 that you want to program a
Blend or Dwell Move Profile. The SMD34E2 will respond by setting the In_Assembled_Mode bit in
the Network Input Data. At the beginning of the programming cycle, the SMD34E2 will also set the
Waiting_For_Assembled_Segment bit to signify that it is ready for the first segment.
 Read_Assembled_Data bit – A 01 transition on this bit tells the SMD34E2 that the data for the next
segment is available in the remaining data words.

Control Bits – Input Data

 In_Assembled_Mode bit – The SMD34E2 sets this bit to tell you that it is ready to accept segment
programming data in the remaining output data words. The actual transfer of segment data is controlled
by the Waiting_For_Assembled_Segment and Read_Assembled_Data bits.
 Waiting_For_Assembled_Segment bit – A 01 transition on this bit from the SMD34E2 is the signal
to the host that the SMD34E2 is ready to accept the data for the next segment.

Programming Routine
1) The host sets the Program_Assembled bit in the Network Output Data.
2) The SMD34E2 responds by setting both the In_Assembled_Mode and
Waiting_For_Assembled_Segment bits in the Network Input Data.
3) When the host detects that the Waiting_For_Assembled_Segment bit is set, it writes the data for the
first segment in the Network Output Data and sets the Read_Assembled_Data bit.
4) The SMD34E2 checks the data, and when finished, resets the Waiting_For_Assembled_Segment bit.
If an error is detected, it also sets the Command_Error bit.
5) When the host detects that the Waiting_For_Assembled_Segment bit is reset, it resets the
Read_Assembled_Data bit.
6) The SMD34E2 detects that the Read_Assembled_Data bit is reset, and sets the
Waiting_For_Assembled_Segment bit to signal that it is ready to accept data for the next segment.
7) Steps 3 to 6 are repeated for the remaining segments until the entire move profile has been entered.
The maximum number of segments per profile is sixteen.
8) After the last segment has been transferred, the host exits Assembled Move Programming Mode by
resetting the Program_Assembled bit.
9) The SMD34E2 resets the In_Assembled_Mode and the Waiting_For_Assembled_Segment bits.
Saving an Assembled Move in Flash
The SMD34E2 also contains the Save_Assembled_to_Flash bit that allows you to store the Assembled Move in
flash memory. This allows you to run the Assembled Move right after power up, without having to go through
a programming sequence first. To use this bit, you follow the above programming routine with the
Save_Assembled_to_Flash bit set. When you reach step 9 in the sequence, the SMD34E2 responds by resetting
the In_Assembled_Mode and Transmit Blend Move Segments bits as usual and then it will flash the Status LED.
If the LED is flashing green, the write to flash memory was successful. If it flashes red, then there was an error
in writing the data. In either case, power must be cycled to the SMD34E2 before you can continue. With a limit
of 10,000 write cycles, the design decision that requires you to cycle power to the SMD34E2 was made to pre-
vent an application from damaging the module by continuously writing to it.

40 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual MOTION CONTROL

Indexed Moves
All of the moves that have been explained in the chapter up to this point can be started by a transition on one
of the inputs instead of a command from the network. If the Indexed Move bit is set when the command is
issued, the SMD34E2 will not run the move until the configured input makes an inactive-to-active transition.
This allows you to run time critical moves that cannot be reliably started from the network because of mes-
saging time delays.
 The input must be configured as a Start Indexed Move Input.
 The move begins with an inactive-to-active transition on the input. Note that an active-to-inactive tran-
sition on the input will not stop the move.
 The move command must stay in the Network Output Data while performing an Indexed Move. The
move will not occur if you reset the command word before the input triggers the move.
 The move can be run multiple times as long as the move command data remains unchanged in the Net-
work Output Data. The move will run on every inactive-to-active transition on the physical input if a
move is not currently in progress. Once a move is triggered, the Start Indexed Move Input is ignored by
the SMD34E2 until the triggered move is finished.
 As stated above, a move can be run multiple times as long at the move command data remains
unchanged. If you wish to program a second move and run it as an Indexed Move type, then you must
have a 01 transition on the move command bit before the new parameters are accepted. The easiest
way to accomplish this is by writing a value of 16#0000 to the command word between issuing move
commands.
 A Jog Move that is started as an Indexed Move will come to a controlled stop when the command bit in
the Network Output Data is reset to zero.
 It is possible to perform an indexed Registration Move by configuring two inputs for their respective
functions. The first input, configured as a Start Indexed Move Input, starts the move and the second,
configured as a Stop Jog or Registration Move Input causes the registration function to occur.
 You cannot issue a Hold Command with the Indexed Bit set and have the Hold Command trigger on the
inactive-to-active transition of a physical input. Hold Commands are always acted upon as soon as they
are accepted from the Network Output Data.
 You cannot issue an Immediate Stop Command with the Indexed Bit set and have the Immediate Stop
Command trigger on the inactive-to-active transition of a physical input. Immediate Stop Commands
are always acted upon as soon as they are accepted from the Network Output Data. If you need this
functionality, consider programming the physical input as an E-Stop Input.
 You cannot issue a Clear Error Command with the Indexed Bit set and have the Clear Error Command
trigger on the inactive-to-active transition of a physical input. Clear Error Commands are always acted
upon as soon as they are accepted from the Network Output Data.

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MOTION CONTROL SMD34E2 User Manual

Synchrostep (Virtual Axis) Moves

On controllers that support motion axis programming, such as the Rockwell Automation ControlLogix plat-
forms, the SMD34E2 can be tied to the motion axis, with the host controller periodically sending position and
velocity data to the unit as part of the axis update. The loop is closed by the SMD34E2 by controlling the
velocity of the motor. Both linear and circular axes are supported.
Linear and Circular Synchrostep Moves have the following parameters and characteristics:
 Position and Velocity are programmed as 32 bit double integer values.
 The loop can be closed with respect to the internal motor position.
 The loop can be closed with respect to the encoder position on units that have the encoder option.
 A proportional constant is available to control the sharpness of the control.
AMCI suggests a value of 1 or 2 when using the motor position to control the loop.
AMCI suggests a value between 10 and 50 when using the encoder position to control the loop.
 A network delay value that can be used to offset some of the network delays incurred when communi-
cating with the SMD34E2. Programmed in milliseconds, using this value is optional and defaults to
zero. If used, a good starting point is the update time of the connection in milliseconds. The range of
this parameter is 0 to 20.
Circular Synchrostep Moves have one additional parameter. This parameter is often called the “Position
Unwind” value, and it defines the point at which the position rolls over and returns to zero. On the SMD34E2
units, this parameter has a range of 21 to 65,535.
When using the SMD34E2 as an axis follower, it is best to run the virtual axis as a high prior-
ity event driven periodic task.
When using the SMD34E2 as an axis follower, it is best to configure the unit to have a starting
speed of 1. This will reduce jitter in the motor position at slow speeds or when the position is
near its target.
When using the SMD34E2 as an axis follower, the programmed acceleration and deceleration
values determine the response time of the internal closed loop algorithm. A suggested starting
value for the Acceleration and Deceleration Parameters is Motor Resolution / 10.
When using the SMD34E2 as a linear axis follower, use caution in systems that always rotate
in the same direction. If the position value overflows, it will switch from the maximum posi-
tive value to the maximum negative value and unpredictable motion may occur.
A sample program that demonstrates virtual axis programming on the ControlLogix platform is available on
the AMCI website at https://www.amci.com/industrial-automation-support/sample-programs/. It can be
found in the Stepper Motor Control section of that page. The sample includes the setup required to run the
axis as a high priority event driven periodic task. If you are using a different host controller that supports
motion axis programming, feel free to contact AMCI technical support for assistance in programming your
controller.
Blended Moves offer you similar functionality to linear motion axes when the move profile is well defined
before the move begins. Consider using this functionality for simple linear profiles. A Blend Move is pro-
grammed into the SMD34E2 before it is run and the unit precisely controls position and velocity throughout
the entire move. Additional information on Blend Move functionality can be found starting on page 37.

42 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual MOTION CONTROL

Controlling Moves In Progress

Each SMD34E2 has the ability to place a running move on hold and later resume the move if an error did not
occur while the move was in its Hold state. One potential application for this feature is bringing a move to a
controlled stop when your controller senses an end-of-stock condition. The move can be put in its Hold state
until the stock is replenished and then the move can be resumed.
Note that you do not have to resume a move once it has been placed in its Hold state. You can place a move
in its Hold state to prematurely end the move with a controlled stop and issue a new move of any type from
the stopped position.
The figure below shows a profile of a move that is placed in its Hold state and later resumed.

Move
Complete
SPEED

POSITION
Position Held for a length of time.
Move resumes when Resume Bit activates.
Figure R2.13 Hold/Resume a Move Profile

Jog Moves
Jog Moves can be placed in a Hold state and resumed if error conditions, such as programming errors, have
not occurred. New Acceleration, Deceleration, and Programmed Speed parameters can be written to the
SMD34E2 while a Jog Move is in its hold state. If these parameters are accepted without error, the move can
be resumed and it will use the new parameter values.

Registration Moves
Registration Moves can be brought to a controlled stop with the Hold bit, but they cannot be restarted.

Absolute and Relative Moves

Absolute and Relative Moves can be placed in a Hold state and resumed if error conditions, such as program-
ming errors, have not occurred. New Acceleration, Deceleration, and Programmed Speed parameters can be
written to the SMD34E2 while these moves are in their hold states. If the parameters are accepted without
error, the move can be resumed and it will use the new parameter values. Note that a change to the Target
Position is ignored.

Assembled Moves
A Blend or Dwell Move can be placed in a Hold state but cannot be resumed. This give you the ability to pre-
maturely end an Assembled Move with a controlled stop. The Assembled Move is not erased from memory
and can be run again without having to reprogram it.

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Notes

44 ADVANCED MICRO CONTROLS INC.

 REFERENCE 3
CALCULATING MOVE PROFILES

This reference was added because some of our customers must program very
precise profiles. Understanding this section is not necessary before program-
ming the SMD34E2 and it can be considered optional. Two different approaches
are presented here. The constant acceleration example takes given parameters
and calculates the resulting profile. The variable acceleration example starts with
a desired speed profile and calculates the required parameters

The equations in this appendix use a unit of measure of steps/second/second (steps/second2) for acceleration
and deceleration. However, when programming the SMD34E2, all acceleration and deceleration values must
be programmed in the unit of measure of steps/second/millisecond.
 To convert from steps/second2 to steps/second/millisecond, divide the value by 1000. This must be
done when converting from a value used in the equations to a value programmed into the SMD34E2.
 To convert from steps/second/millisecond to steps/second2, multiply the value by 1000. This must be
done when converting from the value programmed into the SMD34E2 to the value used in the equa-
tions.

Constant Acceleration Equations

When you choose to use constant accelerations, the speed of the move will increase linearly towards the Pro-
grammed Speed. This is the fastest form of acceleration, resulting in the fastest move between two points at
its programmed speed. For the smoothest transition from the starting speed, the starting speed should be
equal to the square root of the acceleration in steps/sec2. For example, if the choose acceleration is 20,000
steps/sec2, the smoothest transition occurs when the starting speed is 141. (1412  20,000)
ACCELERATION

Programmed
Speed
SPEED

t TIME t TIME

Figure R3.1 Constant Acceleration Curves

Variable Definitions
The following variables are used in these equations:
 VS = Configured Starting Speed of the move
 VP = Programmed Speed of the move
SPEED

 a = Acceleration value. Must be in the units of steps/second2

 d = Deceleration value. Must be in the units of steps/second2
 TA or TD = Time needed to complete the acceleration or 
deceleration phase of the move TIME
 DA or DD = Number of Steps needed to complete the acceleration Ta
or deceleration phase of the move

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CALCULATING MOVE PROFILES SMD34E2 User Manual

Constant Acceleration Equations (continued)

Figure R3.1 gives the equations to calculate Time, Distance, and Acceleration values for a constant accelera-
tion move.

TA or TD DA or DD a
Acceleration Type (Time to Accelerate (Distance to Accelerate (Average
or Decelerate) or Decelerate) Acceleration)
Linear TA = (VP – VS)/a DA = TA*(VP + VS)/2 a = (VP2 – VS2)/2DA
Table R3.1 Acceleration Equations
If the sum of the DA and DD values of the move is less than the total number of steps in the move, your move
will have a Trapezoidal profile.
If the sum of the DA and DD values of the move is equal to the total number of steps in the move, your move
will have a Triangular profile and your move will reach the Programmed Speed before it begins to decelerate.
If the sum of the DA and DD values of the move is greater than the total number of steps in the move, your
move will have a Triangular profile and it will not reach the Programmed Speed before it begins to decelerate.
As an example, lets assume the values in table R3.2 for a move profile.

SMD34E2
Name Value Parameter Values
Acceleration (a) 20,000 steps/sec2 20
Deceleration (d) 25,000 steps/sec2 25
Starting Speed (VS) 141 steps/sec 141
Programmed Speed (VP) 100,000 steps/sec 100,000
Table R3.2 Sample Values
From figure R3.1:
Time to accelerate: TA = (VP – VS)/a = (100,000 - 141)/20,000 = 4.993 seconds
Time to decelerate: TD = (VP – VS)/d = (100,000 - 141)/25,000 = 3.994 seconds
Distance to Accelerate: DA = TA*(VP + VS)/2 = 4.993 * (100,000 + 141)/2 = 250,002 steps
Distance to Decelerate: DD = TD*(VP + VS)/2 = 3.994 * (100,000 + 141)/2 = 199,982 steps
Total Distance needed to accelerate and decelerate: 250,002 + 199,982 = 449,984 steps
If a move with the above acceleration, deceleration, starting speed, and programmed speed has a length
greater than 449,984 steps, the SMD34E2 will generate a Trapezoidal profile. If the move is equal to 449,984
steps, the SMD34E2 will generate a Triangular profile and the unit will output one pulse at the programmed
speed. If the move is less than 449,984 steps, the SMD34E2 will generate a Triangular profile and the pro-
grammed speed will not be reached.
In the case of a Triangular profile where the programmed speed is not reached, it is fairly easy to calculate the
maximum speed (VM) attained during the move. Because the move is always accelerating or decelerating,
the total distance traveled is equal to the sum of DA and DD.
DA = TA*(VM + VS)/2 and TA = (VM – VS)/a. By substitution:
DA = (VM – VS)/a * (VM + VS)/2 = (VM2 – VS2)/2a. By the same method,
DD = (VM2 – VS2)/2d.
Therefore, total distance traveled =
DA + DD = (VM2 – VS2)/2a + (VM2 – VS2)/2d.
In the case where the acceleration and deceleration values are equal, this formula reduces to:
DA + DD = (VM2 – VS2)/a

46 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual CALCULATING MOVE PROFILES

Constant Acceleration Equations (continued)

Continuing the example from table R3.2, assume a total travel distance of 300,000 steps.
2 2 2 2
VM – VS VM – VS
D A + D D = -------------------
- + --------------------
2a 2d
2 2 2 2
V M – 141 V M – 141
300,000 steps = ------------------------
- + ------------------------
-
2  20,000  2  25,000 
2 2
V M – 20,000 V M – 20,000
300,000 steps = -----------------------------
- + ------------------------------
40,000 50,000
2 2
5  V M – 20,000 4  V M – 20,000
300,000 steps = ---  ------------------------------ + ---  ------------------------------
5  40,000  4  50,000 
2 2
5V M – 100,000 4V M – 80,000
300,000 steps = -----------------------------------
- + ---------------------------------
200,000 200,000
2
300,000 (200,000) = 9V M – 180,000
6
60,000.18  10 2
-------------------------------------- = V M
9
V M = 81,650 steps/sec

Once you have calculated the maximum speed, you can substitute this value into the time and distance formu-
las in table R3.1 to calculate time spent and distance traveled while accelerating and decelerating.

Total Time Equations

For Trapezoidal Profiles you must first determine the number of counts that you are running at the Pro-
grammed Speed. This value, (DP below), is equal to your DA and DD values subtracted from your total
travel. You can then calculate your total profile time, (TT below), from the second equation.
DP = (Total Number of Steps) – (DA + DD)
TT = TA + TD + DP/VP
For Triangular Profiles, the total time of travel is simply:
TT = TA + TD

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S-Curve Acceleration Equations

When the Acceleration Jerk parameter value is in the range of 1 to 5,000, the SMD34E2 uses this value to
smoothly change the acceleration value applied during the move. In this case, the speed of the move does not
increase linearly, but exponentially, resulting in an “S” shaped curve. This limits mechanical shocks to the
system as the load accelerates. Just as constant acceleration will result in a trapezoidal or triangular speed
profile, the Acceleration Jerk parameter will result in a trapezoidal or triangular acceleration phase.
In order to keep the Acceleration Jerk parameter value that is programmed into the SMD34E2 below sixteen
bits, the Acceleration Jerk parameter programmed into the driver does not have units of steps/sec3. The
Acceleration Jerk parameter equals ({100 * jerk in steps/sec3} / acceleration in steps/sec2). This translates to
the jerk property in steps/sec3 equalling ({Acceleration Jerk parameter/100} * acceleration in steps/sec2).
With the range of values for the Acceleration Jerk parameter being 1 to 5,000, the jerk value ranges from
0.01a to 50a where “a” is the acceleration value in steps/sec2. For example, if the acceleration is pro-
grammed to 20,000 steps/sec2, then the value of the jerk property used by the unit can be programmed to be
between 200 steps/sec3 (0.01*20,000) and 1,000,000 steps/sec3 (50*20,000). This statement applies to the
Deceleration Parameter as well. If the Acceleration and Deceleration parameters are different, the calculated
jerk values will also differ.
When using variable accelerations, the starting speed does not have to be equal to the square root of the pro-
grammed acceleration value. Variable acceleration provides smooth transitions at the beginning and end of
the acceleration phase.

Triangular S-Curve Acceleration

Figure R3.2 shows the speed profile of a move during its acceleration phase. The figure shows the desired tri-
angular S-curve acceleration in red along with the equivalent constant acceleration in blue. The equivalent
constant acceleration is equal to the change in speed divided by the time it takes to achieve this change in
speed. This is the value that would have to be used if the Jerk parameter was left at zero and we will use this
information to calculate the S-curve acceleration and the value of the Jerk Parameter.
Programmed
Speed s = Programmed Speed – Starting Speed
Constant
Acceleration SMD34E2
Speed

s speed acceleration Acceleration 100j

Triangular S-Curve Acceleration = jerk = Jerk Parameter(J) =
time time a
Acceleration s a
a= j= Ja
Starting t t j=
Speed Time 100
t=0 t
Figure R3.2 Move Profile Example

as Triangular S-Curve
Speed is equal to acceleration multiplied by the time it is applied.
This is shown graphically in figure R3.3 as the area of the blue
Acceleration

Acceleration
rectangle. In order for the Triangular S-curve acceleration to
Constant reach the same speed in the same amount of time, the area of the
ac Acceleration triangle must equal the area of the square. Area of a triangle is one
half of the base length multiplied by the height. Therefore:
as t
Time a c t = ------- Area of rectangle = Area of triangle
t/2 t 2
Figure R3.3 Triangular Acceleration a s = 2a c

This means that a triangular S-curve acceleration profile requires

twice the programmed maximum acceleration as a constant accel-
eration profile to achieve the same speed in the same amount of
time.

48 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual CALCULATING MOVE PROFILES

S-Curve Acceleration Equations (continued)

Triangular S-Curve Acceleration (continued)
The value of the Acceleration Jerk parameter can now be easily calculated.
a
j = -------s- j = a  t
t2
2a
j = --------s
t
Ja 2a  j = --------
Ja 
--------s- = --------s -
100 t  100
Ja s t = 200a s
200
J = --------- Acceleration Jerk parameter = 200 / acceleration time
t

This value represents the ideal Acceleration Jerk parameter value for a triangular S-curve acceleration. Set-
ting the value lower than this will result in a longer acceleration period, while setting the value above this will
result in a trapezoidal S-curve acceleration.

When as = ac
The above examples assume that you can increase the programmed acceleration value to keep the accelera-
tion time the same. If your constant acceleration value is the maximum your system will allow, then using 
S-curve accelerations will lengthen the time needed to accelerate to your desired speed.
In the case of Triangular S-curve accelerations where the Acceleration Jerk parameter is optimized at 200/t,
the value of “t” must be twice that of the acceleration period when constant acceleration is used. For exam-
ple, assume a equivalent constant acceleration of 20,000 steps/sec2 that is applied for 2.0 seconds. If the
acceleration value must remain at 20,000 steps/sec2, then the acceleration phase will take 4.0 seconds and the
Acceleration Jerk parameter should be set to 50 (200/4.0)

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S-Curve Acceleration Equations (continued)

Trapezoidal S-Curve Acceleration
Figure R3.4 shows the speed profile of a move during its acceleration phase. The figure shows the desired
trapezoidal S-curve acceleration in red along with the equivalent constant acceleration in blue. The equiva-
lent constant acceleration is equal to the change in speed divided by the time it takes to achieve the change in
speed. This is the value that would have to be used if the Acceleration Jerk parameter was left at zero and we
will use this information to calculate the S-curve acceleration and the value of the Acceleration Jerk Parame-
ter.

Programmed
Speed S = Programmed Speed – Starting Speed
Constant
Acceleration SMD34E2
Speed

s speed acceleration Acceleration 100j

Acceleration = jerk = Jerk Parameter(J) =
Trapezoidal S-curve time time a
Acceleration s a
a= j= Ja
Starting t t j=
Speed Time 100
t=0 t
Figure R3.4 Move Profile Example

In this example, the period of constant acceleration is 50% of the acceleration phase.
Trapezoidal S-Curve Deceleration Speed is equal to acceleration multiplied by the time it is applied.
Acceleration

This is shown graphically in figure R3.5 as the area of the blue

as Constant rectangle. In order for the Trapezoidal S-curve acceleration to
ac Deceleration reach the same speed in the same amount of time, the area of the
polygon must equal the area of the rectangle.
as t as t
Time - + ------- = a c t Area of polygon = Area of rectangle
------
t/2 t 2 4
t/4 3t/4 2a s t a s t
Figure R3.5 Trapezoidal Acceleration - + ------- = a c t
---------
4 4
3a s t
- = ac t
---------
4
4
a s = --- a c
3

This means that a trapezoidal S-curve acceleration profile that is has a period of constant acceleration equal to
half of the total phase time, requires its programmed acceleration value to be 4/3 that of the constant acceler-
ation value used to achieve the same speed in the same amount of time.

50 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual CALCULATING MOVE PROFILES

S-Curve Acceleration Equations (continued)

Trapezoidal S-Curve Acceleration (continued)
The value of the Acceleration Jerk parameter can now be easily calculated.
a
j = -------s- j = a  t
t4
4a
j = --------s
t
Ja 4a  j = --------
Ja-
--------s- = --------s
100 t  100
Ja s t = 400a s
400
J = --------- Acceleration Jerk Parameter = 400 / acceleration time
t

This value represents the ideal Acceleration Jerk parameter value for a trapezoidal S-curve acceleration with
a constant acceleration for half of the phase. Setting the value lower than this will result in a shorter constant
period, while setting the value greater than this will result in a longer constant period.
Another example of a trapezoidal S-curve acceleration is when the linear acceleration occurs for one third of
the time. In this case, the programmed acceleration must be the constant acceleration value multiplied by 3/2
and the Acceleration Jerk parameter must be set to 300/t.

When as = ac
The above examples assume that you can increase the programmed acceleration value to keep the time of the
acceleration phase the same. If your constant acceleration value is the maximum your system will allow, then
using S-curve accelerations will lengthen the time needed to accelerate to your desired speed.
In the case of trapezoidal S-curve accelerations, calculating the percentage increase in time is shown in figure
R3.6. The time added to the acceleration phase is equal to the time spent increasing the acceleration during
the phase. As shown in the figure, when the Trapezoidal S-curve is programmed to spend 50% of its time at
the programmed acceleration value, the time spent in the acceleration phase will be 133.33% of the time spent
if a constant acceleration were used.
Trapezoidal S-Curve Acceleration ac(t) = ac(.5n +.5t) + ac(.25n + .25t)
Constant
Acceleration ac(t) = ac((.5n +.5t) + (.25n + .25t))
ac = as t = .75n +.75t
0.25t = .75n
t = 3n
Time
0.25n + 0.25t t t+n t/3 = n t+n = t + t/3 = 4/3t = 1.3333t

Figure R3.6 Trapezoidal S-curve Time Increase Example

In this case the value of the Acceleration Jerk parameter should be based on the new, longer time. For exam-
ple, assume an equivalent constant acceleration of 15,000 steps/sec2 that is applied for 2.0 seconds. If the
acceleration value must remain at 15,000 steps/sec2, then the acceleration phase will take 2.667 seconds
(2.01.333) and the Acceleration Jerk parameter should be set to 150 (400/2.667)
Similarly, if the Trapezoidal S-curve acceleration is to spend 33.3% of its time at constant acceleration, and
the programmed acceleration value cannot be increased, the time spent accelerating will increase by 50% and
the Acceleration Jerk parameter should be adjusted accordingly.

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S-Curve Acceleration Equations (continued)

Determining Waveforms by Values
If your programmed acceleration and deceleration values are the same, then your move’s acceleration and
decelerations will be identical. If these two programmed values are different, use the above methods to deter-
mine the Acceleration Jerk parameter for either the move’s acceleration or deceleration phases and use the
following calculations to determine the shape of the other phase.
Two examples are given below. Both assume a change in speed between the Starting Speed and Programmed
Speed of 30,000 steps/sec and an acceleration of 58,000 steps/sec2. The first example uses an Acceleration
Jerk parameter value of 20 and the second a value of 400.
Triangular or Trapezoidal S-curve accelerations are always symmetrical. We’ll use this fact to calculate the
profile up to one-half of the change in speed. At that point, doubling the time and distance will yield the total
time and distance traveled.

Example 1, Jerk = 20

S m = 30,000
steps/sec- = 15,000 steps/sec
-------------------------------------- S m = midpoint of change in speed
2
J = Acceleration Jerk parameter
100j Ja-
J = -----------  j = -------- j = physical jerk property
a 100
a f = calculated final acceleration
20  58,000 steps/sec² 
j = ----------------------------------------------------
100
j = 11,600 steps/sec³
1 2 1 2
Just as displacement = --- at , Speed = --- jt
2 2
2
11,600 steps/sec³  t 
15,000 steps/sec = --------------------------------------------------
2
2 15,000 steps/sec
t = ---------------------------------------
5,800 stesp/sec³
t = 1.608 seconds
Just as speed = at, acceleration = jt
a f = 11,600 steps/sec³  1.608 sec 
a f = 18,655 steps/sec²

Because af is less than or equal to the programmed acceleration of 58,000 steps/sec2, the resulting accelera-
tion is a Triangular S-curve. Total time to accelerate is twice the value calculated above, or 3.216 seconds.

52 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual CALCULATING MOVE PROFILES

S-Curve Acceleration Equations (continued)

Determining Waveforms by Values (continued)
Example 2, Jerk = 400
S m = 30,000 steps/sec
--------------------------------------- = 15,000 steps/sec S m = midpoint of change in speed
2
J = Acceleration Jerk parameter
100j Ja
J = -----------  j = --------- j = physical jerk property
a 100
a f = calculated final acceleration
400  58,000 steps/sec² 
j = -------------------------------------------------------
100
j = 232,000 steps/sec³
1 2 1 2
Just as displacement = --- at , speed = --- jt
2 2
2
232,000 steps/sec³  t 
15,000 steps/sec = -----------------------------------------------------
2
2 15,000 steps/sec
t = --------------------------------------------
116,000 steps/sec³
t = 0.3596 seconds
Just as speed = at, acceleration = jt
a f = 232,000 steps/sec³  0.3596 sec 
a f = 83,427 steps/sec²

Because af is greater than the programmed acceleration of 58,000 steps/sec2, the resulting acceleration is a
trapezoidal S-curve. As shown in figure R3.7, two additional calculations must be made. The first is the time
(t1) it takes to jerk to the programmed acceleration value. The second is the time (t2) it takes to accelerate to
half of the required change in speed (Sm).
af
232,000 steps/sec³  t 1  = 58,000 steps/sec² jt = a
Acceleration

t 1 = 0.25 seconds ap
1 2
Determine speed at t 1 : Speed = --- jt
2
2
232,000 steps/sec³  0.25 
S 1 = -------------------------------------------------------------
- Time
2 t1 t2
S 1 = 7,250 steps/sec

Determine remaining change in speed and required time

based on programmed acceleration
S 2 = S m – S 1 =  15,000 – 7,250  steps/sec Figure R3.7 Calculating Trapezoidal S-Curve

S 2 = 7,750 steps/sec
S2 = ac  t2   t2 = S2  ac
7,750 steps/sec
t 2 = -----------------------------------------
58,000 steps/sec²
t 2 = 0.1336 seconds

The time for this acceleration phase is 2(t1 + t2), which equals 2(0.2500 sec + 0.1336 sec) or 0.7672 seconds.
Time spent in the constant acceleration period is (2(0.1336))/0.7672) or 34.8% of the entire phase.

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Notes

54 ADVANCED MICRO CONTROLS INC.

 REFERENCE 4
HOMING AN SMD34E2

This chapter explains the various ways of homing an SMD34E2. Inputs used to
home the unit are introduced and diagrams that show how the unit responds to a
homing command are given.

Definition of Home Position

The Home Position is any position on your machine that you can sense and stop at. Once at the Home Posi-
tion, the motor position register of a Networked Driver must be set to an appropriate value. If you use the
unit’s CW/CCW Find Home commands, the motor position register will automatically be set to zero once the
home position is reached. The Encoder Position register will also be reset to zero if the encoder is available
and enabled.
Defining a Home Position is completely optional. Some applications, such as those that use a
Networked Driver for speed control, don’t require position data at all.
With the exception of Absolute Moves, an SMD34E2 can still perform all of its move commands if the Home
Position is not defined.

Position Preset
One of the ways to define the Home Position is to issue the Preset Position command over the network. On
units with integral encoders, both the motor position and the encoder position can be preset separately, and
the motor position can also be preset to the encoder position. The motor and encoder position values can be
preset anywhere in the range of –8,388,607 to +8,388,607.
When presetting the motor position to the encoder position, the programmed Steps per Turn
and Counts per Turn parameter values are used to scale the encoder position before the motor
position is set to it. For example, assume that the Encoder Counts per Turn is programmed to
4,096, and the Motor Steps per Turn is programmed to 2,000. If the encoder position is 4,096
when the preset command is issued, the motor position will be set to 2,000.

CW/CCW Find Home Commands

The other choice is to use the driver’s Find Home commands to order the SMD34E2 to find the Home Posi-
tion based on sensors brought into the unit. The CW Find Home command begins searching by rotating the
motor shaft in the clockwise direction and ends when the home sensor triggers while the SMD34E2 is rotat-
ing in the clockwise direction at the starting speed. The CCW Find Home command operates in the same
way but starts and ends with motion in the counter-clockwise direction.

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Homing Inputs
Up to three physical DC inputs can be used when homing the driver. A Backplane Proximity bit is available
in the network output data that can be used to control when the home input is acted upon. This is typically
used in applications where the home input is triggered multiple times in a machine cycle, and the system
needs to control which trigger is acted upon.

Physical Inputs
 Home Input: This input is used to define the actual home position of the machine.
 CW Limit Switch Input: This input is used to prevent overtravel in the clockwise direction.
 CCW Limit Switch Input: This input is used to prevent overtravel in the counter-clockwise direction.

Network Data Input

 Backplane_Proximity_Bit: An SMD34E2 can be configured to ignore changes on the physical hom-
ing input until the Backplane_Proximity_Bit makes a 01 transition. The SMD34E2 will home on the
next inactive-to-active change on the physical input once this transition occurs. You must program
your host to control the state of this bit.
This bit is not activate by default, and must be activated when you configure the SMD34E2
before is can be used. If you decide to activate this bit when you configure the unit and then
never set it to a “1”, the SMD34E2 will never act on the physical Home Input.

Homing Configurations
A SMD34E2 must have one of its DC inputs configured as the home input before one of the CW/CCW Find
Home commands can be issued.
1) You do not have to configure and use CW or CCW Limits. If you choose to configure the
module this way, then the SMD34E2 has no way to automatically prevent over travel during
a homing operation. In linear applications, you must prevent over travel by some external
means, or ensure that the homing command is issued in the direction that will result in
reaching the homing input directly.
2) You can use a bit in the Network Output Data (the Backplane_Proximity_Bit) as a home
proximity input. Using this bit is completely optional and prevents the Home Input from
being acted upon until the Backplane_Proximity_Bit makes a 01 transition.

56 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual HOMING AN SMD34E2

Homing Profiles
The CW Find Home command is used in all of these examples. The CCW Find Home com-
mand will generate the same profiles in the opposite direction.

Home Input Only Profile

Figure R4.1 below shows the move profile generated by a CW Find Home command when you use the Home
Input without the Backplane_Proximity_Bit.

(CW)
Home Limit
Switch
SPEED

POSITION

(CCW)

Figure R4.1 Home Input Profile

1) Acceleration from the configured Starting Speed to the Programmed Speed
2) Run at the Programmed Speed until the Home Input activates
3) Deceleration to the Starting Speed and stop, followed by a two second delay.
4) Acceleration to the Programmed Speed opposite to the requested direction.
5) Run opposite the requested direction until the Home Input transitions from Active to Inactive
6) Deceleration to the Starting Speed and stop, followed by a two second delay.
7) Return to the Home Input at the configured Starting Speed. Stop when the Home Input transitions
from inactive to active.
If the Home Input is active when the command is issued, the move profile begins at step 5
above.

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Homing Profiles (continued)

Profile with Backplane_Proximity_Bit
Figure R4.2 below shows the move profile generated by a CW Find Home command when you use the Home
Input with Backplane_Proximity_Bit.
(CW) Home
Home Proximity Bit Home Input
Input Active
SPEED

POSITION

(CCW)
Figure R4.2 Homing with Proximity
1) Acceleration from the configured Starting Speed to the Programmed Speed
2) Run at the Programmed Speed
3) Ignores the Home Input because Backplane_Proximity_Bit has not made a 01 transition.
4) Deceleration towards the Starting Speed when the Backplane_Proximity_Bit transitions from 0 to 1.
The axis will stop as soon as the Home Input becomes active.
5) The Starting Speed is the minimum speed the profile will run at. If the axis decelerates to the Starting
Speed before reaching the Home Input, it will continue at this speed.
Figure R4.2 shows the Backplane_Proximity_Bit staying active until the SMD34E2 reaches
its home position. This is valid, but does not have to occur. As stated in step 4, the SMD34E2
starts to hunt for the home position as soon as the Backplane_Proximity_Bit makes a 01
transition

58 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual HOMING AN SMD34E2

Homing Profiles (continued)

Profile with Overtravel Limit
Figure R4.3 below shows the move profile generated by a CW Find Home command when you use:
 CW Overtravel Limit
 Home Input without the Backplane_Proximity_Bit
The profile is generated when you encounter an overtravel limit in the direction of travel. (In this example,
hitting the CW limit while traveling in the CW direction.)
The SMD34E2 will stop and issue a Home Invalid error to your host if you activate the over-
travel limit associated with travel in the opposite direction. i.e. Activating the CCW limit dur-
ing a CW Find Home command. This can occur if the overtravel limits are not wired to the
SMD34E2 correctly, or if both overtravel limits are activated while the unit is trying to find the
home position.

(CW) Home CW
Limit Overtravel
Switch Limit
SPEED

POSITION

(CCW)
Figure R4.3 Profile with Overtravel Limit
1) Acceleration from the configured Starting Speed to the Programmed Speed
2) Run at the Programmed Speed
3) Hit CW Limit and immediately stop, followed by a two second delay.
4) Acceleration to the Programmed Speed opposite to the requested direction.
5) Run opposite the requested direction until the Home Input transitions from Active to Inactive
6) Deceleration to the Starting Speed and stop, followed by a two second delay.
7) Return to the Home Input at the configured Starting Speed. Stop when the Home Input transitions
from Inactive to Active.
If the overtravel limit is active when the Find Home Command is issued, the profile will begin
at step 4.

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Controlling Find Home Commands In Progress

Controlled Stops
 The move completes without error.
 You toggle the Hold_Move control bit in the Network Output Data. This will abort the command and
the axis will decelerate at the programmed rate until it reaches the Starting Speed. At this point, the
motor will stop. Note that Find Home commands cannot be restarted once held.

Immediate Stops
 The Immediate Stop bit makes a 01 transition in the Network Input Data.
 An inactive-to-active transition on an input configured as an E-Stop Input.
 The overtravel limit associated with travel in the opposite direction is activated. i.e. Activating the
CCW limit during a CW Find Home command. This can occur if the overtravel limits are not wired to
the SMD34E2 correctly, or if both overtravel limits are activated while the unit is trying to find the
home position.

60 ADVANCED MICRO CONTROLS INC.

 REFERENCE 5
CONFIGURATION MODE DATA FORMAT

This chapter covers the formats of the Network Output Data used to configure
the SMD34E2 as well as the formats of the Network Input Data that contains the
responses from the device.

Modes of Operation
An SMD3E2 has two operating modes, Configuration Mode and Command Mode. You switch between
these modes by changing the state of a single bit in the Network Output Data.

Configuration Mode
Configuration Mode gives you the ability to select the proper configuration for your application without hav-
ing to set any switches. The ladder logic needed to configure a unit is included in the sample programs avail-
able from AMCI. This method simplifies change over if the unit ever needs to be replaced.
A valid configuration can be saved to the unit’s Flash memory and the SMD34E2 will use this as a default
configuration on every power up. If you use this method, you can still write down a new configuration to the
unit at any time. The new configuration is stored in RAM and is lost on power down unless you issue a com-
mand to store the new configuration in Flash.

Command Mode
This mode gives you the ability to program and execute stepper moves, and reset errors when they occur. An
SMD34E2 will always power up in this mode. The command data formats are described in the following
chapter.

Power Up Behavior
An SMD34E2 will always power up in Command Mode. The SMD34E2 will use its stored configuration data
to configure the unit. The SMD34E2 will then check for valid network command data and will only enable
the motor driver section if the Enable_Driver bit is set.
 If using EtherNet/IP with an EDS file, the SMD34E2 is sent configuration data when it connects to the
network. This data is used to configure the unit. (This data is used in place of any configuration that
may be stored in flash memory.) The SMD34E2 will then check for valid network command data and
will only enable the motor driver section if the Enable_Driver bit is set.

Data Format
An SMD34E2 requires twenty bytes of Output Data as well as twenty bytes of Input Data. In EtherNet/IP
applications that use an EDS file, these 20 bytes will be a mixture of single and double integers. In 
EtherNet/IP applications that do not use an EDS file, the SMD34E2 is added to the network as a generic
device. In this case the data is represented as ten 16-bit (single) integers. This ten word format is also used in
Modbus TCP applications.

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Data Format (continued)

Multi-Word Data Format
Sixteen bit integers support a range of values from -32,768 to 32,767 or 0 to 65,535. The Starting Speed
parameter, which is programmed as part of the configuration data, can exceed this range. In applications that
do not use an EDS file, this parameter is transmitted in two separate words. The table below shows how val-
ues are split. Note that negative values are written as negative numbers in both words.

Value First Word Second Word

12 0 12
12,345 12 345
Table R5.1 Multi-Word Format Examples
EtherNet/IP applications that use an EDS file specify the Starting Speed in the configuration
registers that were created when the SMD34E2 was added to the project. The EDS file creates
a double precision integer for the Starting Speed parameter and it is programmed as a thirty-
two bit integer. The multi-word format shown above is not used.

Command Mode Data Formats

When issuing commands to the SMD34E2, there are several parameters that are larger than sixteen bits.
These parameters are:
 Target Position
 Programmed Speed
 Stopping Distance
 Minimum Registration Move Distance
 Position Preset Value
 Encoder Preset Value
Likewise, when reading data back from an SMD34E2 while it is in Command Mode, there are values that are
larger than sixteen bits. These data values are:
 Motor Position
 Encoder Position
 Captured Encoder Position
By default, these thirty-two bit parameters and data values are written to and read from the SMD34E2 using
the multi-word format described above. When configuring the SMD34E2, it is possible to program it to use a
32-bit double integer format instead of the custom format shown above.
There are two separate programming bits. The Binary_Output_Format Bit, controls the format of the pro-
grammable parameters written to the SMD34E2 when issuing commands. The Binary_Input_Format Bit,
controls the format of the data values written to the host controller by the SMD34E2.
EtherNet/IP applications that use an EDS file have the parameters and data values listed above
defined as double integers. In these applications, the Binary_Output_Format Bit, and the
Binary_Input_Format Bit must both be set to “1” so that the data is transferred as thirty-two
bit integers.
When using the signed thirty-two bit format, there is an additional parameter named Data Endian. Host con-
trollers that use the EtherNet/IP protocol typically use little endian format, while controllers that use the Mod-
bus protocol typically use the big endian format.

62 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual CONFIGURATION MODE DATA FORMAT

Command Mode Data Formats (continued)

Examples of the formats are given below.

32 bit Signed Integer 32 bit Signed Integer

Multi-Word Format Little Endian Format Big Endian Format
(EtherNet/IP) (Modbus TCP specification)

Value First Word Second Word First Word Second Word First Word Second Word
12 0 12 16#000C 16#0000 16#0000 16#000C
-12 0 -12 16#FFF4 16#FFFF 16#FFFF 16#FFF4
1,234,567 1,234 567 16#D687 16#0012 16#0012 16#D687
-7,654,321 -7,654 -321 16#344F 16#FF8B 16#FF8B 16#344F
Table R5.2 Position Data Format Examples
When using the Modbus-TCP protocol, the host controller should use “signed 16-bit integer”
as the data type when using the multi-word format.
The range of values when using the multi-word format is -32,768,000 to 32,767,999. When
used in continuous rotation applications, such as control of a conveyor belt, it is possible to
overflow these values. When any of the three position values overflow, the value of the asso-
ciated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit
integer format for continuous rotation applications.

Output Data Format

The correct format for the Network Output Data when the SMD34E2 is in Configuration Mode is shown
below. EtherNet/IP and Modbus TCP addresses are shown.

EtherNet/IP Modbus TCP

Configuration Data Range
Word Register
0 1024 Configuration Word 0 See below
1 1025 Configuration Word 1 See below
2 1026 Starting Speed: Upper Word Combined value between 1 and
3 1027 Starting Speed: Lower Word 1,999,999 steps/sec.
4 1028 Motor Steps/Turn 200 to 32,767
5 1029 Reserved Set to zero
Set to 1,024, 2,048, or 4,096 for
6 1030 Encoder _Resolution incremental encoder.
Set to 2,048 for absolute encoder.
7 1031 Idle Current Percentage 0 to 100%
8 1032 Motor Current (X10) 1 to 54,
Represents 0.1 to 5.4 Arms
9 1033 Reserved Set to zero
Table R5.3 Network Output Data Format: Configuration Mode

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Output Data Format (continued)

Configuration Word 0 Format
Configuration Word 0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

En_Stall
Dis_AR

Use_Enc
MODE
RESERVED: Bit must equal zero.
Figure R5.1 Configuration Mode: Control Word Format
Bit 15: Mode – “1” for Configuration Mode Programming, “0” for Command Mode Programming.
Bit 14: Disable_Antiresonance – “1” disables the antiresonance feature. “0” enables the anti-resonance
feature of the SDM34E2. The Anti-resonance feature will provide smoother operation in most
cases. If you are still experiencing resonance problems with this feature enabled, disable this feature
and test the machine again.
Bit 12: Reserved – Must equal zero.
Bit 13: Enable_Stall_Detection – “0” disables motor stall detection. “1” enables motor stall detection.
Only valid on SMD34E2 units with built in encoders. The Use_Encoder bit, which is bit 10 of this
word, must be also be set to “1”. You must also program the Encoder_Resolution parameter in con-
figuration word 6.
Bit 11: Use_Backplane_Proximity – “0” when the Backplane_Proximity_Bit is not used when homing the
SDM34E2. “1” when the Backplane_Proximity_Bit is used when homing the SMD34E2. Note that
this bit is not the Backplane_Proximity_Bit, but enables or disables its operation. Do not use the
Backplane_Proximity_Bit if you only want to home to a Home Limit Switch. (Leave this bit equal to
“0”.) If you enable this bit and then never turn on the Backplane_Proximity_Bit, the SMD34E2 will
ignore all transitions of the home limit switch and you will not be able to home the SMD34E2.
Bit 10: Use_Encoder – “0” when the built-in encoder is not used. “1” to enable the built-in absolute or
quadrature encoder. Only valid with the SMD34E2 units that have the built-in encoder. You must
also program the Encoder_Resolution parameter in configuration word 6.
Bit 9: Reserved – Must equal zero.
Bits 8-6: Input 3 Function – See the table on the following page.
Bits 5-3: Input 2 Function – See the table on the following page.
Bits 2-0: Input 1 Function – See the table on the following page.

64 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual CONFIGURATION MODE DATA FORMAT

Output Data Format (continued)

Configuration Word 0 Format (continued)

Bits

8 7 6

5 4 3

2 1 0 Function Available On
The input is not used in any of the functions of the
0 0 0 General Purpose Input SMD34E2, but it’s status is reported in the Network Data.
This allows the input to be used as a discrete DC input to
the host controller.
0 0 1 CW Limit Input defines the mechanical end point for CW motion.
0 1 0 CCW Limit Input defines the mechanical end point for CCW motion.
0 1 1 Start Indexed Move Starts the move that is currently located in the output reg-
isters.
When the encoder is enabled on an SMD34E2, the
Start Indexed Move / encoder position value is captured whenever this input
0 1 1 Capture Encoder Value transitions. An inactive-to-active state transition will also
trigger an Indexed Move if one is pending in the
SMD34E2.
Stop Jog or
1 0 0 Registration Move Brings a Jog or Registration Move to a controlled stop.
Stop Jog or
Registration Move When the encoder is enabled on an SMD34E2, the
1 0 0 & encoder position value is captured when the input triggers
a controlled stop to a Jog or Registration move.
Capture Encoder Value
1 0 1 Emergency Stop All motion is immediately stopped when this input makes
an inactive-to-active transition.
1 1 0 Home Used to define the home position of the machine.
1 1 1 Invalid Combination This bit combination is reserved.
Table R5.4 Configuration Data: Input Function Selections
When using an encoder, you must set bit 10, the Use_Encoder bit. You must also program the
Encoder_Resolution parameter in configuration word 6.

Configuration Word 1 Format

Configuration Word 1
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
ReadConfig
SaveConfig

DataEndian
BinOutFrmt
BinInFrmt
0/1

RESERVED: Bit must equal zero.

Figure R5.2 Configuration Mode: Config Word Format
Bit 15: Reserved – State ignored.
Bits 14 - 12: Reserved – Must equal zero.

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Output Data Format (continued)

Configuration Word 1 Format (continued)
Bit 11: Read_Present_Configuration – If this bit is set when you enter Configuration Mode, the SMD34E2
responds by placing the present configuration data in the Network Input Data. You cannot write new
configuration data to the unit while this bit is set. The format of the Configuration Data is given in
the Input Data Format section of this chapter, starting on page 67.
Bit 10: Save_Present_Configuration – An SMD34E2 will store its configuration data to flash memory
when this bit makes a 01 transition. The validity of the configuration data is checked before being
written. If the data is not correct, the transition on this bit is ignored. If the write to flash completes
successfully, the SMD34E2 will write 16#AAAA into the last word of the Network Input Data and
the Module Status LED will start flashing green. If the write is unsuccessful, the SMD34E2 will
write 16#EEEE into the last word of the Network Input Data and the Module Status LED will start
flashing red. Once the SMD34E2 issues its response to the Save_Present_Configuration command, it
stops responding to commands and you must cycle power to the unit. This design decision prevents
the SMD34E2 from responding to constant save commands from the host controller.
1) This feature was added to support users whose host controllers have very limited function-
ality. Consider the consequences of using this feature. Adding the code necessary to write
down the configuration to an SMD34E2 on power up or network connection is fairly
straight forward on most PLC based hosts. Adding this code allows you to easily change
the configuration in the host and easily configure a new drive if you ever need to swap one
out on the machine. Sample code from AMCI includes this functionality.
2) The endurance of the flash memory is a minimum of 10,000 write cycles.
3) If using the EDS file to configure the SMD34E2, the configuration data must be entered on
the Configuration tab when setting the properties of the driver. This configuration data is
written to the driver whenever the network connection is established and the SMD34E2 will
use this data instead of the configuration data stored in flash memory.
Bit 9: Binary_Input_Format – Set to “0” to have the Motor Position, Encoder Position, and Trapped
Encoder Position reported in the multi-word format. Set to “1” to have the Motor Position, Encoder
Position, and Trapped Encoder Position reported in signed 32-bit integer format. When this parame-
ter is set to “1”, the Data_Endian parameter in bit 7 sets the word order of the 32-bit value. See Posi-
tion Data Format Examples found on page 63 for examples of the different formats.
Bit 8: Binary_Output_Format – Set to “0” to program the multi-word parameters in the multi-word for-
mat. Set to “1” to program the multi-word parameters in signed 32-bit integer format. When this
parameter is set to “1”, the Data_Endian parameter in bit 7 sets the word order of the 32-bit value.
See Position Data Format Examples found on page 63 for examples of the different formats.
Bit 7: Data_Endian – Only used when bits 8 and/or 9 above are set to “1”, set to “0” to the 32-bit values in
little endian format. Set to “1” to program the 32-bit values in big endian format. EtherNet/IP appli-
cations should reset this bit to “0” and Modbus applications should start with this bit set to “1”. See
Position Data Format Examples found on page 63 for examples of the different formats.
Bits 6 - 3: Reserved – Must equal zero.
Bit 2: IN3_Active_Level – Determines the active state of Input 3. Set to “0” if your sensor has Normally
Closed (NC) contacts and the input is active when there is no current flow through it. Set to “1” if
your sensor has Normally Open (NO) contacts and current flows through the input when it is active.
Bit 1: IN2_Active_Level – Determines the active state of Input 2. Set to “0” if your sensor has Normally
Closed (NC) contacts and the input is active when there is no current flow through it. Set to “1” if
your sensor has Normally Open (NO) contacts and current flows through the input when it is active.
Bit 0: IN1_Active_Level – Determines the active state of Input 1. Set to “0” if your sensor has Normally
Closed (NC) contacts and the input is active when there is no current flow through it. Set to “1” if
your sensor has Normally Open (NO) contacts and current flows through the input when it is active.

66 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual CONFIGURATION MODE DATA FORMAT

Output Data Format (continued)

Configuration Word 1 Format (continued)
If you are not using the input, sets its Active_Level bit to “1”. The input will always report as
inactive in the network data.

Notes on Other Configuration Words

 Information on the Multi-Word Data Format used when programming the Starting Speed can be found
on page 62.
 Changes to the Idle Current only take effect at the end of the first move after re-configuration.

Input Data Format

The format for the Network Input Data when an SMD34E2 is in Configuration Mode is shown below.
EtherNet/IP and Modbus TCP addresses are both shown.

EtherNet/IP Modbus TCP

Configuration Data
Word Register
0 0 Mirror of Output Configuration Word 0
1 1 Mirror of Output Configuration Word 1
2 2 Mirror of Starting Speed: Upper Word
3 3 Mirror of Starting Speed: Lower Word
4 4 Mirror of Motor Steps/Turn
5 5 0000
6 6 Mirror of Encoder_Resolution
7 7 Mirror of Idle Current Percentage
8 8 Mirror of Motor Current (X10)
0000 or
9 9 Status message when writing
Configuration data to flash memory.
Table R5.5 Network Input Data Format: Configuration Mode

Configuration Word 0 Format (Word 0)

When the Configuration data is valid and accepted, this word mirrors the value of the Configuration Word 0
written to the SMD34E2. When the data written to it is invalid, the unit remains in Command Mode and sets
the Configuration Error bit in the first word written back to the host controller. The format of this word is
explained in the Status Word 0 Format section starting on page 84.

Starting Speed Format

When not using the EDS file, the format of the Starting Speed parameter is always the Multi-Word Data For-
mat as described on page 62.

Stall Detect Enable

When in Configuration Mode, bit 13 of word 0 is set to “1” when stall detection is enabled. When in Com-
mand Mode, bit 13 of word 0 is set to “1” when there is a configuration error. When using the state of bit 13
of word 0 in your logic, always include the state of bit 15 of word 0 to assure that you are only acting on the
bit based on the mode of the SMD34E2.

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Invalid Configurations
The following configurations are invalid:
1) Setting any of the reserved bits in the configuration words.
2) Setting any parameter to a value outside of its valid range. This includes setting the Lower Word of
the Starting Speed to a value greater than 999.
3) You configure two or more inputs to have the same function, such as two CW Limit Switches. (An
error does not occur if both are configured as General Purpose Inputs.)
4) Setting the Stall Detection Enable Bit without configuring the SMD34E2 to use its built in encoder.
5) Setting the Input Configuration bits for any input to “111”. See table R5.4 on page 65 for more
information.

68 ADVANCED MICRO CONTROLS INC.

 REFERENCE 6
COMMAND MODE DATA FORMAT

This chapter covers the formats of the Network Output Data used to command the
SMD34E2 and the formats of the Network Input Data that contains the responses
from the device. An SMD34E2 requires twenty bytes of Output Data as well as
twenty bytes for Input Data.

Data Format
An SMD34E2 requires twenty bytes of Output Data as well as twenty bytes of Input Data. In EtherNet/IP
applications that use an EDS file, these 20 bytes will be a mixture of single and double integers. In 
EtherNet/IP applications that do not use an EDS file, the SMD34E2 is added to the network as a generic
device. In this case the data is represented as ten 16-bit (single) integers. This ten word format is also used in
Modbus TCP applications.
Sixteen bit integers support a range of values from -32,768 to 32,767 or 0 to 65,535. When issuing com-
mands to the SMD34E2, there are several parameters that are larger than sixteen bits. These parameters are:
 Target Position
 Programmed Speed
 Stopping Distance
 Minimum Registration Move Distance
 Position Preset Value
 Encoder Preset Value
Likewise, when reading data back from an SMD34E2 while it is in Command Mode, there are values that are
larger than sixteen bits. These data values are:
 Motor Position
 Encoder Position
 Captured Encoder Position
By default, these thirty-two bit parameters and data values are written to and read from the SMD34E2 using
the multi-word format described below. When configuring the SMD34E2, it is possible to program it to use a
32-bit double integer format instead of the custom format shown above.
There are three configuration bits that control the data format when the SMD34E2 is in command mode. The
Binary_Output_Format Bit, controls the format of the programmable parameters written to the SMD34E2
when issuing commands. The Binary_Input_Format Bit, controls the format of the data values written to the
host controller by the SMD34E2. When either of these parameters are set to their 32-bit signed integer format
settings, the Data_Endian bit determines if the 32-bit values are stored and transmitted least significant bits
first or most significant bits first. Examples of the formats are given below.

32 bit Signed Integer 32 bit Signed Integer

Multi-Word Format Little Endian Format Big Endian Format
(EtherNet/IP) (Modbus TCP specification)

Value First Word Second Word First Word Second Word First Word Second Word
12 0 12 16#000C 16#0000 16#0000 16#000C
-12 0 -12 16#FFF4 16#FFFF 16#FFFF 16#FFF4
1,234,567 1,234 567 16#D687 16#0012 16#0012 16#D687
-7,654,321 -7,654 -321 16#344F 16#FF8B 16#FF8B 16#344F
Table R6.1 Position Data Format Examples

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Data Format (continued)

EtherNet/IP applications that use an EDS file have the parameters and data values listed above
defined as double integers. In these applications, the Binary_Output_Format Bit, and the
Binary_Input_Format Bit must both be set to “1” and the Data_Endian Bit must be reset to
“0” so the data is transferred as thirty-two bit signed integers in little endian format.
When using the Modbus-TCP protocol, use “signed 16-bit integer” as the data type when
using the multi-word format.
The range of values when using the multi-word format is -32,768,000 to 32,767,999. When
used in continuous rotation applications, such as control of a conveyor belt, it is possible to
overflow these values. When any of the three position values overflow, the value of the asso-
ciated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit
integer format for continuous rotation applications.

Command Bits Must Transition

Commands are only accepted when the command bit makes a 01 transition. The
easiest way to do this is to write a value of zero into the Command Word 0 before
writing the next command.

This condition also applies when switching from Configuration Mode to Command Mode. If a bit is set in
Configuration Word 0 while in Configuration Mode and you switch to Command Mode with the same bit set,
the command will not occur because the bit must transition between writes to the unit.
The command bits are split between 2 sixteen bit words, Command Word 0 and Command Word 1. Only one
bit in Command Word 0 can make a 01 transition at a time.

Output Data Format

The following table shows the format of the output network data words when writing command data to the
SMD34E2. EtherNet/IP and Modbus TCP address are both shown.
EtherNet/IP Modbus/TCP
Function
Word Register
0 1024 Command Word 0
1 1025 Command Word 1
2 1026
3 1027
4 1028 Command Parameters
5 1029
Word meaning depends
6 1030 on the command set
7 1031 to the SMD34E2
8 1032
9 1033
Figure R6.1 Command Data Format

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SMD34E2 User Manual COMMAND MODE DATA FORMAT

Command Word 0
Command Word 0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

Home_CCW
RSet_Err
Prst_Enc

Prst_Pos
Run_AMov

Home_CW

Hold_Mv
Rd_AData
Prg_Assm

Jog_CCW

Resm_Mv
Jog_CW
MODE

I-Stop
Figure R6.2 Command Word 0 Format
Bit 15: Mode_Select – “1” for Configuration Mode Programming “0” for Command Mode Programming.
Bit 14: Preset_Encoder – When this bit makes a 01 transition, the SMD34E2 will preset the Encoder
Position to the value stored in Output Words 2 and 3.
Bit 13: Run_Assembled_Move – When this bit makes a 01 transition, the SMD34E2 will run the Assem-
bled Move already stored in memory.
 Assembled_Move_Type – Command Word 1, Bit 9: This bit determines the type of move
that is run. When this bit equals “0”, a Blend Move is run. When this bit equals “1”, a Dwell
Move is run. When starting a Dwell Move, the Dwell Time is programmed in word 9 of the
Command Data. The value is programmed in milliseconds and can range from 0 to 65,536.
 Reverse_Blend_Direction – Command Word 1, Bit 4: This bit is used to determine the direc-
tion that the Blend Move will be run in. When this bit equals “0”, the Blend Move runs in the
clockwise direction. When this bit equals “1”, the Blend Move is run in the counter-clockwise
direction.
Bits 12 & 11: Program_Assembled & Read_Assembled_Data – These bits are used to program the seg-
ments of an Assembled Move before the move can be run. Their use is explained in the Assembled
Move Programming section of this manual starting on page 40.
Bit 10: Reset_Errors – When this bit makes a 01 transition, the SMD34E2 will clear all existing com-
mand errors and reset the Move_Complete bit in the Network Input Data. This bit does not clear a
configuration error or the Position_Invalid status bit.
Bit 9: Preset_Position – When this bit makes a 01 transition, the SMD34E2 will preset the Motor Posi-
tion. The value depends on the state of the Preset_To_Encoder bit (Command Word 1, bit 13). If the
Preset_To_Encoder bit equals “0”, the Motor Position is preset to the value stored in Output Words 2
and 3. If the Preset_To_Encoder bit equals “1”, the Motor Position is set to:

Motor Programmed Steps per Turn

Motor Position = Encoder Position  -------------------------------------------------------------------------------------------
Encoder Programmed Pulses per Turn

In either case, the Move_Complete and Position_Invalid bits in the Network Input Data are reset to
“0”.
Bit 8: Jog_CCW – When this bit makes a 01 transition, the SMD34E2 will run a Jog Move in the coun-
ter-clockwise direction. The full explanation of a CW/CCW Jog Move can be found starting on
page 34.
 Registration_Move – Command Word 1, Bit 7: When this bit equals “0”, and a Jog Move
command is issued, it will run as a standard Jog Move. When this bit equals “1” and a 
Jog Move command is issued, the move will run as a Registration Move.
 Synchrostep Mode – Command Word 1, Bits 12 and 14: If either of these bits equal “1” when
the Registration_Move bit equals “0”, the SMD34E2 will enter its Synchrostep Mode when the
Jog Move bit makes a 01 transition.

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Command Word 0 (continued)

Bit 7: Jog_CW – When this bit makes a 01 transition, the SMD34E2 will run a Jog Move in the clock-
wise direction. The full explanation of a CW/CCW Jog Move can be found starting on page 34.
 Registration_Move – Command Word 1, Bit 7: When this bit equals “0”, and a Jog Move
command is issued, it will run as a standard Jog Move. When this bit equals “1” and a 
Jog Move command is issued, the move will run as a Registration Move.
 Synchrostep Mode – Command Word 1, Bits 12 and 14: If either of these bits equal “1” when
the Registration_Move bit equals “0”, the SMD34E2 will enter its Synchrostep Mode when the
Jog Move bit makes a 01 transition.
Bit 6: Find_Home_CCW – When this bit makes a 01 transition, the SMD34E2 will attempt to move to
the Home Limit Switch in the counter-clockwise direction. A full explanation of homing can be
found in the Homing an SMD34E2 reference chapter starting on page 55.
Bit 5: Find_Home_CW – When this bit makes a 01 transition, the SMD34E2 will attempt to move to the
Home Limit Switch in the clockwise direction. A full explanation of homing can be found in the
Homing an SMD34E2 reference chapter starting on page 55.
Bit 4: Immediate_Stop – When this bit makes a 01 transition, the SMD34E2 will stop all motion with-
out deceleration. The Motor Position value will become invalid if this bit is set during a move. Set-
ting this bit when a move is not in progress will not cause the Motor Position to become invalid.
When this command is issued, the SMD34E2 internally shorts the motor windings together to
dissipate any regeneration energy in the motor instead of sending it back through the power
supply. The motor windings are shorted for a maximum of 300 milliseconds. Once the short is
released on the windings, the SMD34E2 reestablishes current through the windings and sets
the Stopped bit (Word 0, bit 3) in the network input data.
Bit 3: Resume_Move – When this bit makes a 01 transition, the SMD34E2 will resume a move that you
previously placed in a hold state. Use of the Resume_Move and Hold_Move bits can be found in the
Controlling Moves In Progress section of this manual starting on page 43. Note that a move in its
hold state need not be resumed. The move is automatically cancelled if another move is started in its
place.
Bit 2: Hold_Move – When this bit makes a 01 transition, the SMD34E2 will place a move in its hold
state. The move will decelerate to its programmed Starting Speed and stop. The move can be com-
pleted by using the Resume_Move bit. Use of the Hold_Move and Resume_Move bits can be found
in the Controlling Moves In Progress section of this manual starting on page 43.
Bit 1: Relative_Move – When this bit makes a 01 transition, the SMD34E2 will perform a Relative
Move using the data in the rest of the Command Data. The full explanation of a Relative Move can
be found starting on page 32.
Bit 0: Absolute_Move – When this bit makes a 01 transition, the SMD34E2 will perform an Absolute
Move using the data in the rest of the Command Data. The full explanation of an Absolute Move can
be found starting on page 33.

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SMD34E2 User Manual COMMAND MODE DATA FORMAT

Command Word 1
Command Word 1
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

Save_to_Flash
Preset_to_Enc

Motor_Current
V_Enc_Follow

V_Pos_Follow

Rev_BlendDir
AsMv_Type
Index_Cmd
Reg_Move
En_Driver
Figure R6.3 Command Word 1 Format
Bit 15: Enable_Driver – “0” to disable the motor current, “1” to enable motor current. A valid configura-
tion must be written to the SMD34E2 before the driver can be enabled.
If the motor is disabled for any reason, the SMD34E2 internally shorts the motor windings
together to dissipate any regeneration energy in the motor instead of sending it back through
the power supply. The motor windings are shorted for 300 milliseconds. Consequently, if the
motor is disabled for any reason, you must wait 300 milliseconds before the motor and be re-
enabled.
Bit 14: Virtual_Encoder_Follower – When using the SMD34E2 as an axis follower (Synchrostep Mode),
set this bit to ‘1’ to close the position loop with respect to the encoder position. This bit is only avail-
able when the unit is configured to use encoder feedback. This bit must equal ‘0’ if the
Virtual_Position_Follower bit, bit 12 of this word, is set to ‘1’.
Bit 13: Preset_to_Encoder – Only used when the Preset Motor Position bit (Command Word 0, Bit 9) is
set to “1”. If this bit equals “0” when the Preset Motor Position bit equals “1”, the Motor Position is
set to the value contained in words 2 and 3 of the command block. If this bit equals “1” when the
Preset Motor Position bit equals “1”, the Motor Position is set to:

Motor Programmed Steps per Turn

Motor Position = Encoder Position  -------------------------------------------------------------------------------------------
Encoder Programmed Pulses per Turn

In either case, the Move_Complete bit in the Network Input Data is reset to “0”.
Bit 12: Virtual_Position_Follower – When using the SMD34E2 as an axis follower (Synchrostep Mode),
set this bit to ‘1’ to close the position loop with respect to the motor position. This bit must equal ‘0’
if the Virtual_Encoder_Follower bit, bit 14 of this word, is set to ‘1’.
Bit 11: Backplane_Proximity_Bit – When the SMD34E2 is configured to use the Backplace_Proximity_
Bit, the unit will ignore the state of the Home Input as long as this bit equals “0”. This bit must equal
“1” before a transition on the Home Input can be used to home the machine. Further information on
using the Backplace_Proximity_Bit can be found in the Profile with Backplane_Proximity_Bit sec-
tion found on page 58.
Bit 10: Reserved – Must equal “0”.
Bit 9: Assembled_Move_Type – When this bit equals “0”, a Blend Move is started when the Run Assem-
bled Move bit, (Command Word 1, Bit 13) makes a 01 transition. When this bit equals “1”, a
Dwell Move is started on the transition. The direction of a Blend Move is controlled by the
Reverse_Blend_Direction bit, (Command Word 1, Bit 4). In a Dwell Move, the Dwell Time
between segments is programmed in Word 9 of the command data.
Bit 8: Indexed_Command – If this bit is set when a move command is issued, the SMD34E2 will not run
the move immediately, but will instead wait for an inactive-to-active transition on an input config-
ured as a Start Indexer Move input. The move command data, including this bit, must remain in the
Network Output Registers while performing an Indexed Move.

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Command Word 1 (continued)

Bit 7: Registration_Move – When this bit equals “0”, and a Jog Move command is issued, it will run as a
standard Jog Move. When this bit equals “1” and a Jog Move command is issued, the move will run
as a Registration Move.
Bit 6: Reserved – Must equal “0”.
Bit 5: Save_to_Flash - This bit can be used to save a programmed Assembled Move to flash memory or to
store the absolute encoder position offset to flash. (The absolute encoder position offset is generated
by the Encoder Preset command.)
 When using this bit to save the programmed Assembled Move to flash memory, this bit must be
set when the Program_Assembled bit (Command Word 0, bit 12) makes a 1  0 transition at the
end of the programming cycle. The SMD34E2 responds by flashing the Status LED when the
writing is complete. If the LED is flashing green, the write to flash memory was successful. If it
flashes red, then there was an error in writing the data. In either case, power must be cycled to
the SMD34E2 before you can continue. This design decision is to protect the flash memory from
constant write commands. The flash memory has a minimum of 10,000 write cycles.
 When using this bit to save the calculated absolute encoder offset value to flash memory, this bit
must be set when the Preset Encoder command is issued. (Bit 14 of Command Word 0 is set to
“1”, see page 71.) If the offset is stored without error, the unit will respond by setting the
Acknowledge bit. (Bit 13 of Status Word 1 Format, see page page 86.)
Bit 4: Reverse_Blend_Direction – When you command a Blend Move to run, this bit determines the direc-
tion of rotation. Set to “0” for a clockwise Blend Move, ‘1’ for a counter-clockwise Blend Move.
Bits 3-2: Reserved – Must equal “0”.
Bit 1: Motor Current – If reset to “0” when a move command is issued, the motor current will be the value
specified when the SMD34E2 was configured. Set to “1” to program the motor current to the value
in word 8 of the command block. Motor current can set as a separate command or as part of a move
command.
Bit 0: Reserved – Must equal “0”.

Command Blocks
The following section lists the output data format for the sixteen different commands.

Absolute Move

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0001
1 1025 Command Word 1 See pg. 73
2 1026 Abs. Target Position: Upper Word Combined value between
Steps –8,388,608 and +8,388,607
3 1027 Abs. Target Position: Lower Word
4 1028 Programmed Speed: Upper Word Combined value between
Steps/Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Motor Current 0.1 amps 0 to 54. Ignored if bit 1 of
Command Word 1 is not set.
9 1033 Acceleration Jerk 0 to 5000
Table R6.2 Absolute Move Command Block

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SMD34E2 User Manual COMMAND MODE DATA FORMAT

Command Blocks (continued)

Relative Move

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0002
1 1025 Command Word 1 See pg. 73
2 1026 Rel. Target Position: Upper Word Combined value between
Steps –8,388,608 and +8,388,607
3 1027 Rel. Target Position: Lower Word
4 1028 Programmed Speed: Upper Word Combined value between
Steps/Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Motor Current 0.1 amps 0 to 54. Ignored if bit 1 of
Command Word 1 is not set.
9 1033 Acceleration Jerk 0 to 5000
Table R6.3 Relative Move Command Block

Hold Move

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0004
1 1025 Command Word 1 See pg. 73
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Unused See Note Below
5 1029 Unused See Note Below
6 1030 Unused See Note Below
7 1031 Unused See Note Below
8 1032 Unused See Note Below
9 1033 Unused See Note Below
Table R6.4 Hold Move Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.

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Command Blocks (continued)

Resume Move

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0008
1 1025 Command Word 1 See pg. 73
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Programmed Speed: Upper Word Combined value between
Steps/Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Motor Current 0.1 amps 0 to 54. Ignored if bit 1 of
Command Word 1 is not set.
9 1033 Acceleration Jerk 0 to 5000
Table R6.5 Resume Move Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command. This is typically the case when resuming a move, the words are listed as “Unused” to high-
light that the target position of a held move cannot be changed when the move is resumed.

Immediate Stop

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0010
1 1025 Command Word 1 See pg. 73
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Unused See Note Below
5 1029 Unused See Note Below
6 1030 Unused See Note Below
7 1031 Unused See Note Below
8 1032 Unused See Note Below
9 1033 Unused See Note Below
Table R6.6 Immediate Stop Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.

76 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual COMMAND MODE DATA FORMAT

Command Blocks (continued)

Find Home CW

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0020
1 1025 Command Word 1 See pg. 73
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Programmed Speed: Upper Word Combined value between
Steps/Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Motor Current 0.1 amps 0 to 54. Ignored if bit 1 of
Command Word 1 is not set.
9 1033 Acceleration Jerk 0 to 5000
Table R6.7 Find Home CW Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.

Find Home CCW

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0040
1 1025 Command Word 1 See pg. 73
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Programmed Speed: Upper Word Combined value between
Steps/Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Motor Current 0.1 amps 0 to 54. Ignored if bit 1 of
Command Word 1 is not set.
9 1033 Acceleration Jerk 0 to 5000
Table R6.8 Find Home CCW Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.

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Command Blocks (continued)

Jog CW

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0080
1 1025 Command Word 1 See pg. 73
Bits 7 & 6 must equal “00”
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Programmed Speed: Upper Word Combined value between
Steps/Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Motor Current 0.1 amps 0 to 54. Ignored if bit 1 of
Command Word 1 is not set.
9 1033 Acceleration Jerk 0 to 5000
Table R6.9 Jog Move CW Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.

Registration Move CW

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0080
1 1025 Command Word 1 See pg. 73
Bits 7 & 6 must equal “10”
2 1026 Stopping Distance: Upper Word Combined value between
Steps 0 and +8,388,607
3 1027 Stopping Distance: Lower Word
4 1028 Programmed Speed: Upper Word Steps per Combined value between
Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Min. Reg. Move Distance:
Upper Word Combined value between
Steps 0 and +8,388,607
9 1033 Min. Reg. Move Distance:
Lower Word
Table R6.10 Registration Move CW Command Block

78 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual COMMAND MODE DATA FORMAT

Command Blocks (continued)

Synchrostep (Virtual Axis Follower) Moves
The Synchrostep requires a controller with the capacity for motion axis programming. The following is table
is offered as a trouble shooting aid if you need to decode the data being sent to the SMD34E2.

EtherNet/IP Modbus TCP

Function Units Range
Word Register
0 1024 Command Word 0 16#0080 or 16#0100
See pg. 73
1 1025 Command Word 1 Bit 14 or 12 must equal “1”
and the other “0”. Bit 7 must
equal “0”
2 1026 Lower 16 bits of 32 bit Position Signed 32 bit double integer
Steps value
3 1027 Upper 16 bits of 32 bit Position
4 1028 Lower 16 bits of 32 bit Velocity Steps per Signed 32 bit double integer
5 1029 Upper 16 bits of 32 bit Velocity Second value
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Proportional Coefficient 1 to 50
9 1033 Network Delay OR 0 to 20 OR
Position Unwind 21 to 65,535
Table R6.11 Axis Follower Move Command Block
The type of move is controlled by the value in word 9. If the value is between 0 and 20, it is
considered the network delay value and the move is considered to be on a linear axis. If the
value is greater than 20, it is considered to be the Position Unwind value and the move is con-
sidered to be on a circular axis. Note that word 9 is considered to be an unsigned integer. In
systems that only support signed integers, the values of 32,768 through 65,535 will appear as
-32,768 through -1.
A sample program that demonstrates virtual axis programming on ControlLogix is available on the AMCI
website at https://www.amci.com/industrial-automation-support/sample-programs/. It can be found in the
Stepper Motor Control section of that page. If you are using a different host controller that supports motion
axis programming, feel free to contact AMCI technical support for assistance in programming your controller.

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Command Blocks (continued)

Jog CCW

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0100
1 1025 Command Word 1 See pg. 73
Bits 7 & 6 must equal “00”
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Programmed Speed: Upper Word Combined value between
Steps/Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Motor Current 0.1 amps 0 to 54. Ignored if bit 1 of
Command Word 1 is not set.
9 1033 Acceleration Jerk 0 to 5000
Table R6.12 Jog CCW Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.

Registration Move CCW

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0100
1 1025 Command Word 1 See pg. 73
Bits 7 & 6 must equal “10”
2 1026 Stopping Distance: Upper Word Combined value between
Steps 0 and +8,388,607
3 1027 Stopping Distance: Lower Word
4 1028 Programmed Speed: Upper Word Steps per Combined value between
Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Min. Reg. Move Distance:
Upper Word Combined value between
Steps 0 and +8,388,607
9 1033 Min. Reg. Move Distance:
Lower Word
Table R6.13 Registration Move CCW Command Block

80 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual COMMAND MODE DATA FORMAT

Command Blocks (continued)

Preset Position

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0200
1 1025 Command Word 1 See pg. 73
2 1026 Position Preset Value: Upper
Word Combined value between
Steps –8,388,608 and +8,388,607
3 1027 Position Preset Value: Lower
Word
4 1028 Unused See Note Below
5 1029 Unused See Note Below
6 1030 Unused See Note Below
7 1031 Unused See Note Below
8 1032 Unused See Note Below
9 1033 Unused See Note Below
Table R6.14 Preset Position Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.
Presetting the position resets the Position_Invalid and Move_Complete status bits in the Network Input Data.

Reset Errors

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0400
See pg. 73
1 1025 Command Word 1 Set bit 10 to clear
motor faults
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Unused See Note Below
5 1029 Unused See Note Below
6 1030 Unused See Note Below
7 1031 Unused See Note Below
8 1032 Unused See Note Below
9 1033 Unused See Note Below
Table R6.15 Reset Errors Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.
Resetting errors will also reset the Move_Complete status bit in the Network Input Data. Resetting errors will
not reset the Position_Invalid or Configuration_Error bits.

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Command Blocks (continued)

Run Assembled Move

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#2000
See pg. 73
Blend Move: Bit 9 = “0”
1 1025 Command Word 1 Dwell Move: Bit 9 = “1”
Reverse_Blend_Direction
is set by Bit 4.
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Unused See Note Below
5 1029 Unused See Note Below
6 1030 Unused See Note Below
7 1031 Unused See Note Below
8 1032 Unused See Note Below
9 1033 Unused with Blend Move milliseconds 0 to 65,535
Dwell Time with Dwell Move
Table R6.16 Run Assembled Move Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.

Preset Encoder Position

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#4000
1 1025 Command Word 1 See pg. 73
2 1026 Encoder Preset Value:
Upper Word Combined value between
Steps –8,388,608 and +8,388,607
3 1027 Encoder Preset Value:
Lower Word
4 1028 Unused See Note Below
5 1029 Unused See Note Below
6 1030 Unused See Note Below
7 1031 Unused See Note Below
8 1032 Unused See Note Below
9 1033 Unused See Note Below
Table R6.17 Preset Encoder Position Command Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.

82 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual COMMAND MODE DATA FORMAT

Programming Blocks
The following blocks are used to program an Assembled Move. Both of the move types, Blend Move, and
Dwell Move, are programmed exactly the same way. The bit configuration used when starting the move
determines which type of Assembled Move is run.
First Block
EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#0800
1 1025 Command Word 1 See pg. 73
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Unused See Note Below
5 1029 Unused See Note Below
6 1030 Unused See Note Below
7 1031 Unused See Note Below
8 1032 Unused See Note Below
9 1033 Unused See Note Below
Table R6.18 Assembled Move First Programming Block
Unused words are ignored by the SMD34E2 and can be any value, including parameter values from the previ-
ous command.
Once the first block is transmitted, theSMD34E2 responds by setting bits 8 and 9 in Status Word 0. (See Status
Word 0 Format starting on page 84.) Once these are set, you can then start transmitting Segment Blocks.

Segment Block

EtherNet/IP Modbus/TCP
Function Units Range
Word Register
0 1024 Command Word 0 16#1800
1 1025 Command Word 1 See pg. 73
2 1026 Rel. Target Position: Upper Word Combined value between
Steps –8,388,608 and +8,388,607
3 1027 Rel. Target Position: Lower Word
4 1028 Programmed Speed: Upper Word Combined value between
Steps/Second the Configured Starting
5 1029 Programmed Speed: Lower Word Speed and 2,999,999
6 1030 Acceleration Steps/ms/sec 1 to 5000
7 1031 Deceleration Steps/ms/sec 1 to 5000
8 1032 Reserved Must equal zero for compat-
ibility with future releases.
9 1033 Acceleration Jerk 0 to 5000
Table R6.19 Assembled Move Segment Programming Block
Note that each Segment Block starts with bits 11 and 12 in Command Word 0 set to “1” (16#1800). When the
SMD34E2 sees bit 12 of Command Word 0 set, it will accept the block and reset bit 9 in Status Word 0. When
your program sees this bit reset, it must respond by resetting bit 12 of Command Word 0. The SMD34E2 will
respond to this by setting bit 9 in Status Word 0 and the next Segment Block can be written to the Networked
Driver. You can write a maximum of sixteen Segment Blocks for each Assembled Move.

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COMMAND MODE DATA FORMAT SMD34E2 User Manual

Input Data Format

The correct format for the Network Input Data when the SMD34E2 is in Command Mode is shown below.

EtherNet/IP Modbus/TCP
Command Mode Input Data
Word Register
0 0 Status Word 0
1 1 Status Word 1
2 2 Motor Position: Upper Word
3 3 Motor Position: Lower Word
4 4 Encoder Position: Upper Word
5 5 Encoder Position: Lower Word
6 6 Trapped Encoder Position: Upper Word
7 7 Trapped Encoder Position: Lower Word
8 8 Programmed Motor Current (X10)
9 9 Value of Acceleration Jerk Parameter
Table R6.20 Network Input Data Format: Command Mode

Format of Position Data Values

The format of the Motor Position, Encoder Position, and Trapped Encoder Position values is controlled by the
Binary_Input_Format bit in the configuration data written to the Networked Driver. (See Configuration
Word 1 Format, bit 9 starting on page 65.) When the Binary_Input_Format bit equals “0”, the position val-
ues are reported with the bottom three digits of the value in the lower word (000 - 999) and the remaining 
digits in the upper word. See Data Format on page 69 for an explanation of this format. When the
Binary_Input_Format bit equals “1”, the position values are reported as 32-bit signed integers, with the 
location of the least significant bit determined by the Binary_Endian bit in the Configuration data.
The range of values when using the multi-word format is -32,768,000 to 32,767,999. When
used in continuous rotation applications, such as control of a conveyor belt, it is possible to
overflow these values. When any of the three position values overflow, the value of the asso-
ciated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit
integer format for continuous rotation applications.

Status Word 0 Format

Status Word 0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
In_Assy_Mode
Command_Err

Wait_AssySeg

In_Hold_State
Moving_CCW
Decelerating
Accelerating

Moving_CW
Module_OK

Move_Cmp
Mode_Flag

Config_Err

At_Home
Input_Err

Stopped

Figure R6.4 Command Mode: Status Word 0 Format

Bit 15: Mode_Flag – Set to “1” if in Configuration Mode, and set to “0” if in Command Mode.
Bit 14: Module_OK – “1” when the SMD34E2 is operating without a fault, “0” when an internal fault con-
dition exists.

84 ADVANCED MICRO CONTROLS INC.

SMD34E2 User Manual COMMAND MODE DATA FORMAT

Input Data Format (continued)

Status Word 0 Format (continued)
Bit 13: Configuration_Error – “1” on power up before a valid configuration has been written to the
SMD34E2 or after any invalid configuration has been written to the unit. “0” when the SMD34E2
has a valid configuration in memory.
When in Command Mode, bit 13 of word 0 is set to “1” when there is a configuration error.
When in Configuration Mode, bit 13 of word 0 is set to “1” when stall detection is enabled.
When using the state of bit 13 of word 0 in your logic, always include the state of bit 15 of
word 0 to assure that you are only acting on the bit when in the proper mode.
Bit 12: Command_Error – “1” when an invalid command has been written to the SMD34E2. This bit can
only be reset by the Reset_Errors bit, Command Word 0, Bit 10.
Bit 11: Input_Error – “1” when:
Emergency Stop input has been activated
Either of the End Limit Switches activates during any move operation except for homing
Starting a Jog Move in the same direction as an active End Limit Switch
If the opposite End Limit Switch is reached during a homing operation.
This bit is reset by a Reset Errors command. The format of the command is given on page 81.
Bit 10: Position_Invalid – “1” when:
A configuration is written to the SMD34E2
The motor position has not been preset or the machine has not been homed
The network connection has been lost and re-established
An Immediate or Emergency Stop has occurred
An End Limit Switch has been reached
A motor stall has been detected.
Absolute moves cannot be performed while the position is invalid.
Bit 9: Waiting_For_Assembled_Segment – The SMD34E2 sets this bit to tell the host that it is ready to
accept the data for the next segment of your assembled move profile. Its use is explained in the
Assembled Move Programming section of this manual starting on page 40.
Bit 8: In_Assembled_Mode – The SMD34E2 sets this bit to signal the host that it is ready to accept
assembled move profile programming data. Its use is explained in the Assembled Move Program-
ming section of this manual starting on page 40.
Bit 7: Move_Complete – Set to “1” when the present Absolute, Relative, Jog, Registration, or Assembled
Move command completes without error. This bit is reset to “0” when the next move command is
written to the SMD34E2, when the position is preset, or a Reset Errors command is issued to the
unit. This bit is also set along with the Command_Error bit (Bit 12 of this word), when any Jog
Move or Registration Move parameters are outside of their valid ranges. This bit is not set on a com-
mand error for any other type of command. Finally, this bit is not set at the end of a homing opera-
tion.
Bit 6: Decelerating – Set to “1” when the present move is decelerating. Set to “0” at all other times.
Bit 5: Accelerating – Set to “1” when the present move is accelerating. Set to “0” at all other times.

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Input Data Format (continued)

Status Word 0 Format (continued)
Bit 4: At_Home – Set to “1” when a homing command has completed successfully, “0” at all other times.
Bit 3: Stopped – Set to “1” when the motor is not in motion. Note that this is stopped for any reason, not
just a completed move. For example, an Immediate Stop command during a move will set this bit to
“1”, but the Move_Complete Bit, (bit 7 above) will not be set.
Bit 2: In_Hold_State – Set to “1” when a move command has been successfully brought into a Hold State.
Hold States are explained is the Controlling Moves In Progress section starting on page 22.
Bit 1: Moving_CCW – Set to “1” when the motor is rotating in a counter-clockwise direction.
Bit 0: Moving_CW – Set to “1” when the motor is rotating in a clockwise direction.

Status Word 1 Format

Status Word 1
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Limit_Condition
Drive_Enabled
Stall_Detected

Connect_Lost
Heartbeat_Bit
Abs_Enc_Err

Driver_Fault

Temp_90°C
PLC_In_PRG

IN3_Active
IN2_Active
IN1_Active
Cmd_Ack

0 0

Figure R6.5 Command Mode: Status Word 1 Format

Bit 15: Drive_Is_Enabled – Set to “1” when the motor driver section of the Networked Driver is enabled
and current is available to the motor. Set to “0” when the motor driver section is disabled. If this bit
is set to “1”, the motor current remains present when an E-Stop input is active. Motor current is
removed if there is a Driver_Fault (Bit 7 below) regardless of the state of this bit. Motor current is
also removed if the motor is idle and Idle Current Reduction is programmed to its To 0% setting.
Bit 14: Stall_Detected – Set to “1” when a motor stall has been detected.
Bit 13: Command_Acknowledge – Normally “0”. This bit is set to “1” when one of the following com-
mands completes successfully:
 Preset Position
 Preset Encoder Position
 Reset Errors
This bit resets to “0” when the command bit is reset to “0” by the host controller.
Bit 12: Absolute Encoder Error – Only available on units with the absolute encoder, this bit is set to “1”
under the following conditions:
 The shaft was subject to acceleration in excess of 160,000°/sec2 (444.4 rev/sec2) while power
was removed from the unit
 The internal battery is fully discharged or damaged
 The unit itself is damaged
If this bit is set, cycle power to the unit. If the bit remains set, contact AMCI technical support for
assistance.
Bit 11: Heartbeat_Bit – This bit will change state approximately every 500 milliseconds. Monitor this bit
to verify that the unit and network connection are operating correctly. Note that this bit is only avail-
able while the Networked Driver is in Command Mode.

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SMD34E2 User Manual COMMAND MODE DATA FORMAT

Input Data Format (continued)

Status Word 1 Format (continued)
Bit 10: Limit_Condition – This bit is set if an End Limit Switch is reached during a move. This bit will be
reset when the Limit Switch changes from its active to inactive state, or when a Reset Errors Com-
mand is issued.
Bit 9: Invalid_Jog_Change – Set during a Jog Move if parameters are changed to invalid values. Param-
eters that can be changed during a Jog Move are Programmed Speed, Acceleration, and Decelera-
tion.
Bit 8: Reserved – Will always equal zero.
Bit 7: Driver_Fault – If the driver section of the SMD34E2 is enabled, this bit will be a “1” during a Over-
temperature Fault or when the unit is only powered by the Auxiliary Power Input. Even though the
driver is enabled, it will not supply current to the motor until the motor’s temperature decreases to a
safe value or power is applied to the Main Power Input. At this point the fault will clear itself.
Bit 6: Connection_Was_Lost – If the physical network connection is lost at any time, this bit will be set
when the connection is re-established. The Input_Error bit will also be set. Note that this bit is not
set if the communication loss is on the protocol level, not the physical level.
Bit 5: PLC_in_PROG_Mode – On ControlLogix and CompactLogix platforms, this bit will equal “1”
when the PLC is in Program mode and “0” when in Run mode. This bit will always equal “0” on all
other platforms.
Bit 4: Temperature_Above_90°C – This bit is set to “1” when the processor internal temperature exceeds
90°C. At this point, the heatsink temperature is typically near 83°C. If this bit trips often and you
want to lower the operating temperature of the unit, consider changing how the device is mounted, or
installing a fan to force additional airflow over the device.
Bit 3: Reserved – Will always equal zero.
Bit 2: IN3_Active – “1” when Input 3 is in its active state. The active state of the input is programmed as
explained in the Configuration Word 1 Format section starting on page 65.
Bit 1: IN2_Active – “1” when Input 2 is in its active state. The active state of the input is programmed as
explained in the Configuration Word 1 Format section starting on page 65.
Bit 0: IN1_Active – “1” when Input 1 is in its active state. The active state of the input is programmed as
explained in the Configuration Word 1 Format section starting on page 65.

Notes on Clearing a Driver Fault

A Driver Fault occurs when there is an over temperature condition or when power is removed from the Main
Power Input. When a Driver Fault occurs, the SMD34E2 sets bit 7 of the Status Word 1 word in the Network
Input Data. Even though the driver is enabled, it will not supply current to the motor until the motor’s temper-
ature decreases to a safe value or power is applied to the Main Power Input. At this point the fault will clear
itself.

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Notes

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 TASK 1
INSTALLING THE SMD34E2
1.1 Location
1.1.1 IP64 Rated Units (SMD34E2-M12S)
SMD34E2 units that are IP64 rated are suitable for use in an industrial environment that meet the following
criteria:
 Conductive pollution occurs, or dry, non-conductive pollution occurs which becomes conductive due to
condensation is to be expected
 Transient voltages are controlled and do not exceed the impulse voltage capability of the product’s insu-
lation.
These criteria are equivalent to the Pollution Degree 3 and Over Voltage Category II designations of the
International Electrotechnical Commission (IEC).

1.1.2 IP65/67 Rated Units (SMD34E2-M12P)

SMD34E2 units that are IP67 rated are suitable for use in an industrial environment that meet the following
criteria:
 Continuous conductivity occurs due to conductive dust, rain, or other wet conditions.
 Transient voltages are controlled and do not exceed the impulse voltage capability of the product’s insu-
lation.
These criteria are equivalent to the Pollution Degree 4 and Over Voltage Category II designations of the
International Electrotechnical Commission (IEC).

1.2 Safe Handling Guidelines

1.2.1 Prevent Electrostatic Damage
Electrostatic discharge can damage the SMD34E2. Follow these guidelines when han-
dling the unit.
1) Touch a grounded object to discharge static potential before handling the unit.
2) Work in a static-safe environment whenever possible.
3) Wear an approved wrist-strap grounding device.
4) Do not touch the pins of the network connectors or I/O connector.
5) Do not disassemble the unit
6) Store the unit in its shipping box when it is not in use.

1.2.2 Prevent Debris From Entering the Unit

While mounting devices, be sure that all debris (metal chips, wire strands, tapping liq-
uids, etc.) is prevented from falling into the unit, specifically into the M12 connectors.
Debris may cause damage to the unit or unintended machine operation with possible
personal injury.

1.2.3 Remove Power Before Servicing

Remove power before removing or installing any SMD34E2 units in a hazardous envi-
ronment.

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INSTALLING THE SMD34E2 SMD34E2 User Manual

1.3 Operating Temperature Guidelines

Due to the onboard electronics, the maximum operating temperature of the SMD34E2 is limited to 203°F/
95°C. The motor by itself has a maximum operating temperature of 266°F/130°C. Depending on the operat-
ing current setting, move profiles, idle time, and the idle current reduction setting, it is possible to exceed
these temperatures in a thermally isolated environment. As explained in the mounting section, mounting the
SMD34E2 to a large metal heatsink is the best way to limit the operating temperature of the device. Operat-
ing temperature should be monitored during system startup to verify that the maximum motor temperature
remains below its 203°F/95°C specification. SMD34E2 devices have an onboard thermistor that monitors the
temperature of the electronics and will remove motor current if their operating temperature this limit. These
ovetemperature faults are also reported in the Network Input Data.

1.4 Mounting
All AMCI motors have flanges on the front of the motor for mounting. This flange also acts as a heatsink, so
motors should be mounted on a large, unpainted metal surface. Mounting a motor in this fashion will allow a
significant amount of heat to be dissipated away from the motor, which will increase the unit’s life by reduc-
ing its operating temperature. If you cannot mount the motor on a large metal surface, you may need to install
a fan to force cooling air over the SMD34E2.
Motors should be mounted using the heaviest hardware possible. AMCI motors can produce high torques and
accelerations that may weaken and shear inadequate mounting hardware.
1) The motor case must be grounded for proper operation. This is usually accomplished
through its mounting hardware. If you suspect a problem with your installation, such as
mounting the motor to a painted surface, then run a bonding wire from the motor to a solid
earth ground point near it. A Use a minimum #8 gauge stranded wire or 1/2” wire braid as
the grounding wire
2) Do not disassemble any stepper motor. A significant reduction in motor performance will
result.

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SMD34E2 User Manual INSTALLING THE SMD34E2

1.4 Mounting (continued)

1.4.1 SMD34E2 Outline Drawing
0.006"
(0.15)
A
(mm)
0.0012" 1.46" ±0.02" (37.0 ±0.5)
 0.003" (0.031)
A 0.33" ±0.02" (8.5 ±0.5)
1.37"  (0.075)
1.50" (38.1) 0.059" ±0.01" 2.9" (74)
(34.8)
(1.50 ±0.25)
Reference

2.00"
(50.8)
max
3.37" ±0.02"

2.74" ±0.01"

S
(69.6 ±0.25)
(85.5 ±0.5)

S
A
1.00" (25)
Effective Length

1.37" SHAFT SEAL

(34.8) 0.31" ±0.02" (8.0 ±0.5)
Reference
2.74" ±0.01" 4: 0.22" ±0.008"
(69.6 ±0.25) LENGTH ±0.05" (LENGTH ±1.3)
(4:  5.6 ±0.2)
3.37" ±0.02"
(85.5 ±0.5)
SECTION S – S (2X Scale)
AMCI Motor Length
SMD34E2-450(E,A)-M12(S,P) 4.63" (117.6)
+ 0.000
SMD34E2-850(E,A)-M12(S,P) 5.83" (148.1) ( )
– 0.018
SMD34E2-1100(E,A)-M12(S,P) 7.03" (178.6)

Rear View 0.512" ±0.006"

(13 ±0.15)

POWER PORT 2
24 to 80 Vdc

Pin 2: +Rx Pin 3: –Tx

MODULE STATUS

NETWORK STATUS
Pin 1: +Tx Pin 4: –Rx

DIGITAL INPUTS
ETHERNET
5 to 24 Vdc PORT 1 Ports 1 & 2

Figure T1.1 SMD34E2 Outline Drawing

1.4.2 SMD34E2 Mounting

The SMD34E2-M12S is not water tight. Its IP64 rating makes it acceptable for use in dusty environments,
environments with condensation, and environments where the unit may be exposed to splashing water.
SMD34E2-M12S units should be mounted in such a way that condensation and liquids will naturally drain
off of the unit instead of pooling on the motor laminations. SMD34E2-M12P units are IP65/67 rated. They
are water tight and can be exposed to low pressure / low volume water sprays.

1.4.3 Connecting the Load

Care must be exercised when connecting your load to the stepper motor. Even small shaft misalignments can
cause large loading effects on the bearings of the motor and load. The use of a flexible coupler is strongly
recommended whenever possible.
 Maximum radial load is 45 lbs. (200N) at the end of the shaft.
 Maximum axial load is 13.5 lbs. (60N)

Internal encoders are mounted on the end of the motor shaft that is internal to the unit. Exces-
sive axial load may cause encoder mis-alignment and damage to the unit. This type of damage
is not covered under warranty.

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1.5 Power Connector

Figure T1.2 shows the power connector pinout when viewed from the back of the SMD34E2. The connector is
a male, four pin, S-coded, M12 connector that is IP67 rated when its mate is properly installed.

Figure T1.2 M12 Ethernet Connector Pinout

There are two power pins and two DC common pins. DCPowerMAIN powers both the control electronics and
the motor. DCPowerAUX powers only the control electronics and encoder. 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 SMD34E2, the unit will set
the Stall_Detected bit (Status Word 1, bit 14) if the motor shaft rotated more than forty-five
degrees with power removed.
S-coded connectors are typically used in AC applications, while T-coded connectors are typi-
cally used in DC applications. However, T-coded connectors and cordsets are typically limited
to a maximum voltage of 60 Vdc. The SMD34E2 can be run at voltages as high as 80 Vdc, so
the decision was made to use the S-coded connectors. Most S-coded cordsets have three black
wires and a single green/yellow wire. When using such a cable with an SMD34E2, it is
strongly recommended to label the wires by pin number before installing the cordset.

1.5.1 Compatible Connectors and Cordsets

Many different connectors and cordsets are available on the market, all of which will work with the
SMD34E2 provided that the manufacturer follows the connector and Ethernet standards. AMCI offers the
following mating connector and cordsets that mate with the power connector.

AMCI # Description
Mating connector for Power Connector. Female, 4 pin, S-coded. 
MS-41 Screw terminal connections. 16AWG conductor, 8 to 10 mm dia. cable.
Right-angle, IP67 rated when properly installed.
4-position, 1.5 mm2 (16 AWG) wire. 
CNGL-5M Connector: Straight M12, S-coded, Female to flying leads, 0.28” stripped.
Cable length: 5 m
Table T1.1 Compatible Power Connectors and Cordsets

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SMD34E2 User Manual INSTALLING THE SMD34E2

1.6 Power Wiring

The SMD34E2 accepts 24 to 80 Vdc as its input power. AMCI strongly suggests using 16 AWG wire for the
power connections. The MS-41 connector will accept up to 16 gauge wire and the CNGL-5M cordset is built
with 16 gauge wire.
Do not apply 120 Vac to any pins of the SMD34E2. If this occurs, the unit will be dam-
aged and you will void the unit’s warranty.
Figure T1.3 below shows how to wire power to the SMD34E2 units. When designing your own cable that
uses an MS-41 connector, connections only have to be made to pin 1, DCPowerMAIN, and either of the DC
Common pins, numbered 3 and 4. The figure below shows how to wire a CNGL-5M cable to a power supply
with the optional connections when using an MS-41 highlighted.

+24 Vdc to +80 Vdc

Power Supply

Power Control +24 Vdc to +80 Vdc

Circuit
Power Supply

† Optional connection when using MS-41 mating connector. Suggested connection when
using CNGL-5M cordset.
Figure T1.3 M12 Power Wiring
When using the DCPowerAUX pin, the SMD34E2 will report a Driver_Fault when power is
removed from the DCPowerMAIN pin.

1.7 Digital Input Connector

All digital inputs are made at the Digital Input Connector. This connector is a standard five pin A-coded M12
connector that is rated to IP67 when the mate is properly installed. Figure T1.4 shows the pinout for the Digi-
tal Input Connector when viewed from the back of the unit.

Figure T1.4 Digital Input Connector

Digital Inputs 1 and 2 are single ended, sinking inputs that share a common DC reference. (Pin 3, IN1/2Com)
Input 3 is a differential input, and can be wired as a sinking or sourcing input.
All of the inputs accept a nominal 5 Vdc to 24 Vdc signal without the need of a current limiting resistor.
Additional information on how the digital inputs can be used can be found in the Available Discrete Inputs
section, starting on page 17.

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1.7 Digital Input Connector (continued)

1.7.1 Compatible Connectors and Cordsets
Many different connectors and cordsets are available on the market, all of which will work with the 
SMD3E2 provided that the manufacturer follows the A-coded M12 standards. The following connector and
cordset is available from AMCI.

AMCI # Description
Mating connector for Digital Input Connector. 
MS-31 Female, 5 pin A-coded. Screw terminal connections. 6 to 8 mm dia. cable.
Straight, IP67 rated when properly installed.
5-position, 18 AWG.
CNPL-2M Connector: Straight M12, A-coded, Female to 2 inch flying leads, 0.28” stripped.
Cable length: 2 m
Table T1.2 Compatible Digital Input Connectors and Cordsets

1.8 Digital Input Wiring

1.8.1 Cable Shields
Because they are low power signals, cabling from the sensor to the SMD34E2 should be done using a twisted
pair cable with an overall shield. The shield should be grounded at the end when the signal is generated,
which is the sensor end. If this is not practical, the shield should be grounded to the same ground bus as the
SMD34E2.

1.8.2 Inputs 1 and 2

Inputs 1 and 2 are single ended inputs that share the DC Common return
Input
pin. They accept 3.5 to 27 Vdc without the need for an external current lim- Input 1 Optocoupler
iting resistor. If using 48 Vdc sensors, a 5 kilohm resistor that is wired in
series with the input pin is required. Figure T1.6 below shows how to wire
discrete DC sourcing and sinking sensors to inputs 1 and 2 of the Input
SMD34E2. Colors in parentheses are the appropriate wire color of the Input 2 Optocoupler
CNPL-5M cable.
+ DC Common
PNP (WHT or BLK)
Input1 or Input2 + 5 to
Out
Sourcing Figure T1.5 Schematic - Inputs 1 & 2
Sensor – (BLU) DC Common 24 Vdc

1.9.1
1.9.2.1
RPULLUP
+
NPN (WHT or BLK)
Input1 or Input2 + 5 to
Out
Sinking
Sensor –
(BLU) DC Common 24 Vdc

1.9.1

Figure T1.6 Wiring - Inputs 1 & 2

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SMD34E2 User Manual INSTALLING THE SMD34E2

1.8 Input Wiring (continued)

1.8.2.1 Sinking Sensors Require a Pull Up Resistor
Sinking output sensors require an external pull up resistor because inputs 1 and 2 of the SMD34E2 units also
sink current. Table T1.1 below shows the values of pull up resistors that will allow the unit’s input to activate
along with the current that the sensor must be able to sink when it is active.

Input Pull Up Sensor Current

Voltage Resistor When Active
5 Vdc 300 ohm 16.7 mA
12 Vdc 1.4 kilohm 8.6 mA
24 Vdc 3.8 kilohm 6.3 mA
Table T1.3 Pull Up Resistor Values for DC Inputs
The logical states of the sensor and SMD34E2 input will be reversed. The SMD34E2 input is off when the
sensor is active. You can set the logic state of the input when you configure the unit.

1.8.3 Input 3
Input 3 is a differential input that can be wired to sinking or sourcing sen-
sors without requiring a pull up or pull down resistor. It accepts 3.5 to 27 Input
Input 3+ Optocoupler
Vdc without the need for an external current limiting resistor. If using a 48
Vdc sensor, a 5 kilohm resistor that is wired in series with the input pin is
required. Figure T1.8 below shows how to wire a discrete DC sourcing and
sinking sensor to input 3 of the SMD34E2. Colors in parentheses are the Input 3-
appropriate wire color of the CNPL-5M cable.
Figure T1.7 Schematic - Inputs 1 & 2
+
PNP (BRN)
IN3+ + 5 to
Out
Sourcing
Sensor – (GRY) IN3- 24 Vdc

1.9.1

(BRN)
+
NPN IN3+ + 5 to
Out
Sinking
Sensor – (GRY) IN3- 24 Vdc

1.9.1

Figure T1.8 Wiring - Input 3

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1.9 Network Connectors

Figure T1.9 shows the Ethernet connector pinout when viewed from the back of the SMD34E2. The Ethernet
ports on the units are “auto-sense” ports that will automatically switch between 10baseT and 100baseT depend-
ing on the network equipment they are attached to. The ports also have “auto switch” capability. This means
that a standard cable can be used when connecting the SMD34E2 to any device, including a personal computer.

Pin 2: +Rx Pin 3: –Tx

Pin 1: +Tx Pin 4: –Rx

ETHERNET
Ports 1 & 2
Figure T1.9 M12 Ethernet Connector Pinout
The connector is a standard female four pin D-coded M12 connector that is rated to IP67 when the mate is
properly attached.
The SMD34E2 units have two ethernet ports. In non-DLR applications, either port can be used to attach the
SMD34E2 unit to the network.

1.9.1 Compatible Connectors and Cordsets

Many different connectors and cordsets are available on the market, all of which will work with the
SMD34E2 provided that the manufacturer follows the connector and Ethernet standards. AMCI offers the
following mating connector and cordsets that mate with the Ethernet port connectors.

AMCI # Description
Mating connector for Ethernet port connector. 
MS-28 Screw terminal connections. 6 to 8 mm dia. cable.
Straight, IP67 rated when properly installed.
Molded cordset for Ethernet connector. 5 meters in length.
CNER-5M Straight M12 4 pin D-coded to RJ-45 connector. Wired to TIA/EIA-
568B. 
IP67 rated when properly installed.
Table T1.4 Compatible Ethernet Connectors and Cordsets

1.9.2 TIA/EIA-568 Color Codes

There are two color codes in common use when wiring Ethernet connections with twisted pairs. Either one of
these standards is acceptable. The CNER-5M cable available from AMCI follows the 568B standard. Note
that accidently reversing the Tx/Rx pairs will not affect the operation of the SMD34E2. The SMD34E2 has
an “auto-switch” port that will automatically adjust for swapped pairs.

Signal 568A Color 568B Color

+Transmit (+Tx) White/Green Tracer White/Orange tracer
–Transmit (–Tx) Solid Green Solid Orange
+Receive (+Rx) White/Orange Tracer White/Green Tracer
–Receive (–Rx) Solid Orange Solid Green
Table T1.5 TIA/EIA Color Codes

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SMD34E2 User Manual INSTALLING THE SMD34E2

1.10 EtherNet/IP Connections

1.10.1 Non-DLR Applications
The SMD34E2 unit has two Ethernet ports with a built-in Ethernet switch connecting the two. In non-DLR
applications, either port can be used to attach the unit to the network. The remaining port can be used to
extend the network to another device if this would reduce wiring costs.

1.10.2 DLR Applications

In Device Level Ring applications, the SMD34E2 unit functions as Beacon-Based Ring Nodes. In these
applications, both ports are used when wiring the ring, daisy chaining from one unit in the ring to the next.

1.11 PROFINET Connections

1.11.1 Non-MRP Applications
The SMD34E2 unit has two Ethernet ports with a built-in Ethernet switch connecting the two. In non-MRP
applications, either port can be used to attach the unit to the network. Also, both ports can be used in non-
MRP applications. For example, if two units are located some distance from your controller, then you need
only run one cable from your controller to the first unit. The second unit can then be attached to the first with
a short cable. There is no need to run two cables from your controller.

1.11.2 MRP Applications

In Media Redundancy Protocol applications, the SMD34E2 unit functions as a Media Redundancy Client
(MRC). In these applications, both ports are used when wiring the ring, daisy chaining from one unit in the
ring to the next.

1.12 Modbus TCP Connections

The SMD34E2 unit has two Ethernet ports with a built-in Ethernet switch connecting the two. Either port can
be used to attach the unit to the network. The remaining port can be used to extend the network to another
device if this would reduce wiring costs.

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Notes

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 TASK 2
SET THE IP ADDRESS AND PROTOCOL

This section is intended for the engineer or technician responsible for setting the
IP address of an AMCI SMD34E2.

2.1 Determine the Best Method for Setting the IP Address

There are three methods for setting the IP address on an SMD34E2. Table T2.1 below outlines the available
methods and when you can use them.

Method Restrictions Section

Use Factory Default 1) The machine must use 192.168.0.xxx subnet.
Settings 2.2a
2) The 192.168.0.50 address must be available.
No restrictions on use. This is the preferred method.
Use the Embedded The internal webserver can be used to set the
Web Server SMD34E2 to any IPv4 address. The IP address and 2.2b
protocol will be stored in nonvolatile memory and
used on subsequent power-ups.
Unit must be initially configured for EtherNet/IP.
Use the AMCI NET The software can be used to set the SMD34E2 to
Configurator Utility any IPv4 address and protocol. The IP address and 2.2c
protocol choice will be stored in nonvolatile mem-
ory and used on subsequent power-ups.
Table T2.1 Methods for Setting the IP Address
There is a MAC address label on each SMD34E2 which has a writable surface. There is room
on the label for writing the programmed IP address of the unit. It is a best practice to use this
label to document the IP address of the unit in case it is ever repurposed.
When using EtherNet/IP, the SMD34E2 units also supports the DHCP protocol. You will need
an EtherNet/IP DHCP server, such as the one available from Rockwell Automation, in order to
use this protocol. The AMCI Net Configurator utility offers the same functionality and should
be used unless your company policy prevents you from installing third party utilities.

2.2a Use Factory Default Settings

The factory default address for the SMD34E2 unit is 192.168.0.50 with a subnet mask of 255.255.255.0. The
easiest way to verify this address is with the ping command as described in steps A.3 and A.4 of the Optional
Task Configure Your Network Interfaces which starts on page 133.
If the driver does not respond to this address then it may take some effort to determine the correct address.
There is a label on the driver that lists the MAC address of the device. There is space on the label for noting
the IP address of the device if it is changed. If the address was not documented, a program called Wireshark
(https://www.wireshark.org/) can be used to determine the address of the driver.

Task Complete

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2.2b Use the Embedded Web Server

PREREQUISITE: You must know the present IP address of the SMD34E2. The factory default address is
192.168.0.50.
PREREQUISITE: Task 1.6: Power Wiring found on page 93. You must be able to power the SMD34E2.
PREREQUISITE: Tasks: 1.9 and 1.10, 1.11, or 1.12, starting on page 96. You must attach your SMD34E2
to your computer.
PREREQUISITE: Optional Task A: Configure Your Network Interfaces. (page 133) The network inter-
faces on your computer must be on the same subnet before you can communicate with an SMD34E2.

2.2b.1 Disconnect the SMD34E2 from the host controller and cycle power to the unit
This ensures that the unit does not have any open connections to the host controller.

2.2b.2 Start your web browser and connect to the SMD34E2

The internal HTML pages should work with any browser. Once your web browser is running, enter the pres-
ent IP address of the SMD34E2 into the address bar. The default address is 192.168.0.50. The unit will
respond with the following page.

Figure T2.1 SMD34E2 Information Webpage

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SMD34E2 User Manual SET THE IP ADDRESS AND PROTOCOL

2.2b Use the Embedded Web Server (continued)

2.2b.3 Network Setup Page
1) Click on the [Network Setup] button to switch to the Network Setup page shown below. This page shows
the current IP address settings, as well as the configured protocol.

Figure T2.2 SMD34E2 Network Setup Web Page

2) Enter your desired values into the IP Address, Subnet Mask, and Default Gateway fields.
The Default Gateway setting is not optional! It must be set to a valid address on the chosen
subnet. Because the Default Gateway is often not used in device level networks, if you do not
have a required value for it, AMCI suggests setting the Default Gateway to the IP address of
your host controller.
3) If need be, click on the proper radio button to select the required protocol.
4) Click on the [Write Configuration] button to write the new configuration to the unit. If there are any errors
with the data, the unit will display a warning message instead of accepting the new values.

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2.2b Use the Embedded Web Server (continued)

2.2b.3 Network Setup Page (continued)
5) If the values are accepted, the following pages will be displayed while the data is being written to the unit.
Wait for the pop up window to appear before cycling power to the SMD34E2. Cycling power
before this window appears may corrupt the non-volatile memory of the unit. The SMD34E2
unit will also flash its Network Status LED red to indicate that power must be cycled.

CHANGES TO

ONCE THE WRITE

IS COMPLETED

Figure T2.3 Write Configuration to Flash Memory Pages

6) Once instructed to, cycle power to the unit. You can now enter the new IP address into the address bar of
your web browser to reconnect with the SMD34E2.

Task Complete

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SMD34E2 User Manual SET THE IP ADDRESS AND PROTOCOL

2.2c Use the AMCI NET Configurator Utility

PREREQUISITE: The unit must be configured for the EtherNet/IP protocol. EtherNet/IP is the communica-
tions protocol used by the AMCI NET Configurator utility. Once connected to the unit, you can select any IP
address and protocol supported by the device.
PREREQUISITE: You must know the present IP address. The factory default address is 192.168.0.50.
PREREQUISITE: Task 1.6: Power Wiring found on page 93. You must be able to power the SMD34E2.
PREREQUISITE: Tasks: 1.9 and 1.10, 1.11, or 1.12, starting on page 96. You must attach your SMD34E2
to your computer.
PREREQUISITE: Optional Task A: Configure Your Network Interfaces. (page 133) The network inter-
faces on your computer must be on the same subnet before you can communicate with the unit.

2.2c.1 Download the AMCI Net Configurator Utility

The AMCI Net Configurator utility is available on our website, www.amci.com. The latest version available
should be used. It can be found in our Support section under Software. The program exists as a ZIP file, and at
the time of this writing, the link was “AMCI Configuration software for all networked products...”.

2.2c.2 Install the AMCI Net Configurator Utility

Once downloaded, simply extract the program from the ZIP file and run the program to install the AMCI Net
Configurator utility on your computer. The software installs as most products do, giving you the option to
change the file locations before installing the utility. Once the install is complete, a link to the utility is avail-
able on the Start Menu.
The install process only copies the utility to the designated location and creates links to the Start Menu. No
changes are made to your registry settings.

2.2c.3 Verify that Your Host Controller is Disconnected from the SMD34E2
EtherNet/IP is not a multi-master protocol. There can be only one bus master on the network at a time. In
order to program the SMD34E2, the AMCI Net Configurator utility must act as a bus master. Therefore,
physically disconnect your host controller from the SMD34E2 before starting the Net Configurator utility.

2.2c.4 Apply or Cycle Power to the SMD34E2

Cycling power to the SMD34E2 will reset any connections it may have with the host controller.

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2.2c Use the AMCI Net Configurator Utility (continued)

2.2c.5 Start the AMCI Net Configurator Utility
Double click on the utility’s icon. A welcome screen similar to the one in figure T2.4 below will appear.

Figure T2.4 Net Configurator Welcome Screen

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SMD34E2 User Manual SET THE IP ADDRESS AND PROTOCOL

2.2c Use the AMCI Net Configurator Utility (continued)

2.2c.6 Press the [SCAN] button and Connect to the SMD34E2
Pressing the [Scan] button will open the window shown in figure T2.5. The SMD34E2 will appear in the scan
list only if the unit and your network interface are on the same subnet. Optionally, you can press the [Manual
Connect] button and enter the IP address of the unit.

Figure T2.5 Scan for SMD34E2

If scanning for the SMD34E2, click on the IP Address of the unit and click on the [Connect] button. The Net
Configurator utility will connect to the unit.

2.2c.7 Click on the "Allow IP..." Checkbox to Access the IP Settings

Figure T2.6 below shows the screen that results when you are connected to the SMD34E2. In order to change
the IP Address of the unit, you must first click on the checkbox next to the text “Allow IP configuration
changes. You will need to restart the device.” Once the checkbox is selected, the [Set IP Address] and proto-
col select buttons will be enabled.

Figure T2.6 Enable IP Address Changes

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2.2c Use the AMCI Net Configurator Utility (continued)

2.2c.8 Set the IP Address, Subnet Mask, and Default Gateway
Enter your desired values into the IP Address, Subnet Mask, and Default Gateway fields.
The Default Gateway setting is not optional! In order to comply with the ODVA specification,
it must be set to a valid address on the chosen subnet. Because the Default Gateway is often
not used in device level networks, if you do not have a required value for it, AMCI suggests
setting the Default Gateway to the IP address of your host controller.

2.2c.9 Set the Communications Protocol

The factory default protocol for the SMD34E2 is EtherNet/IP. In order to use the Modbus TCP or PROFINET
protocols, simply click on the appropriate button.

2.2c.10 Write the New IP Address to the SMD34E2

Click on the [Set IP Address] button. If there is an error in the settings, the utility will tell you what is wrong.
Once they are all correct, the utility will write the new IP address settings to the unit. These settings are auto-
matically saved to nonvolatile memory.

2.2c.11 Remove Power from the SMD34E2

The new IP address will not be used until power to the unit has been cycled.

Task Complete

106 ADVANCED MICRO CONTROLS INC.

 TASK 3 (EtherNet/IP Option)
IMPLICIT COMMUNICATIONS WITH AN EDS

Many EtherNet/IP platforms support the use of EDS files to simplify the addition
and configuration of devices. This chapter covers the installation and use of the
EDS file for systems that are programmed with Rockwell Automation Studio 5000
version 20 and above. Other systems will follow a similar pattern. Consult your
controller’s documentation if you need additional information.
Note: Use of an EDS file is completely optional. The SMD34E2 can always be
added to a system as a generic module. If you are using RSLogix 5000 version 19
and below, or RSLogix 500, adding the unit as a generic module is the only option
available.
Using the EDS file simplifies configuration and adds named tags for all input and
output data.

3.1 Obtain the EDS file

All AMCI EDS files are located on our website at the following address:
 http://www.amci.com/industrial-automation-support/configuration-files/
Simply download the ZIP file and extract it to its own directory. The ZIP file contains the EDS text file and a
custom icon file for the device.

3.2 Install the EDS file

3.2.1 Start the EDS Hardware Installation Tool
1) Once Studio 5000 is running, in the menu bar select Tools  EDS Hardware Installation Tool. This will open
the EDS Wizard.

Figure T3.1 Opening the EDS Wizard

2) Click on [Next >] to advance to the Options screen.

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3.2 Install the EDS file (continued)

3.2.2 Install the EDS File
1) On the Options screen, select the Register an EDS file(s) radio button and press [Next >].

Figure T3.2 EDS Options Screen

2) The registration screen will open. Select the Register a single file radio button.

Figure T3.3 EDS Registration Screen

3) Click on the [Browse...] button and browse to the folder that contains the extracted EDS file you
downloaded from the AMCI website. Select the EDS file and click on the [Open] button to return to the
registration screen. Click on the [Next >] button to advance to the EDS file test screen.

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SMD34E2 User Manual IMPLICIT COMMUNICATIONS WITH AN EDS

3.2 Install the EDS file (continued)

3.2.2 Install the EDS File (continued)
4) Once at the EDS File Installation Test Results screen, expand the tree as needed to view the results of the
installation test for the EDS file. You should see a green check mark next to the file name indicating that
the EDS file is correct.

Figure T3.4 EDS Test Screen

5) Press on the [Next >] button to advance to the Change Graphic Image screen. This screen gives you the ability
to change the icon associated with the device.

Figure T3.5 Change ECS Icon Screen

6) Click on the [Change icon...] button. In the window that opens, click on [Browse...] and browse to the folder
that contains the extracted EDS and icon files you downloaded from the AMCI website.
7) Select the icon file (*.ico) associated with the device. Click on the [Open] button and then on [OK] to return
to the Change Graphic Image screen.
8) Click on the [Next...] button to advance to the completion screen. The Completion screen tells you that you
have successfully completed the wizard.
9) Click on the [Finish] button to exit the EDS wizard.

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3.3 Host System Configuration

Studio 5000 is used to configure both the ControlLogix and CompactLogix platforms. When using these
platforms, you have the option of using a separate Ethernet Bridge module or an Ethernet port built into the
processor.
If the Ethernet port is built into processor, the only step you have to take before adding an AMCI SMD34E2 is to
create a new project with the correct processor or modify an existing project. Once this is done, the Ethernet port
will automatically appear in the Project Tree. If you are using an Ethernet bridge module, you will have to add it
to the I/O Configuration tree before adding the unit to your project.
Refer to your Rockwell Automation documentation if you need instructions for configuring the ethernet port.

3.4 Add the SMD34E2 to Your Project

You can add an AMCI SMD34E2 to the project once the Ethernet port (built-in or bridge module) is configured.
As shown in figure T3.6 below, the Ethernet port will be listed under the I/O Configuration tree.
1) Right click on the Ethernet port and then click on “New Module...” in the pop-up menu.

Figure T3.6 Adding an AMCI Ethernet Driver

2) In the resulting Select Module Type screen, select “Advanced Micro Controls In. (AMCI)” in the Vendor
Filters. This will limit the results to catalog numbers from AMCI.
3) Select “SMD34E2” in the resulting list.
4) Click on the [Create] button to create the module.
5) Click on [Close] if necessary to close the Select Module Type screen.

Figure T3.7 Selecting the Networked Driver

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SMD34E2 User Manual IMPLICIT COMMUNICATIONS WITH AN EDS

3.5 Configure the SMD34E2 Driver

If you are continuing from step 3.4, the resulting New Module screen is used to configure the network con-
nection between the SMD34E2 and your controller. If you need to open the screen to perform this task at a
later time, right click on the SMD34E2 in the project tree and then select “Properties” from the drop-down
menu
Tabs that are not listed in the steps below are filled with reasonable defaults by the EDS file.

3.5.1 General Tab

The Name, Description, and IP address of the device must be specified here. The [Change...] button allows
you to change the Module Definition if needed.

3.5.2 Connection Tab

The default RPI time is eight milliseconds. This value can be changed in this tab.

3.5.3 Configuration Tab

The Configuration tab is used to define the configuration data that is written down to the SDM34E2 when the
device connects to the network. You can also click on the [Apply] button to write down the configuration data
to the SMD34E2 at any time.

Figure T3.8 Networked Driver Configuration with EDS File

The EDS file defines tags that are used to configure the SMD34E2. These tags follow the format of the Con-
figuration Data given in reference chapter 6, Configuration Mode Data Format, starting on page 61.
Bits 8 and 9 of Configuration Word 1, Binary_Output_Format and Binary_Input_Format,
should both be set to “1” when using and EDS setup so that command and response data is
sent as 32-bit binary values.
Using the [Apply] button to write configuration data to the SMD34E2 with disable the motor
current. A 01 transition on the Enable_Driver bit is required to re-enable the motor. Note
that you must wait a minimum of 300 milliseconds before re-enabling the motor. See Com-
mand Word 1 on page 71 for an explanation of the Enable_Driver bit.

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3.5 Configure the SMD34E2 Driver (continued)

3.5.3 Configuration Tab (continued)
When using the EDS file, the Starting Speed is transmitted as a double integer value. The
parameter does not use the multi-word format outlined in Configuration Mode Data Format
reference chapter.

3.6 Buffering the I/O Data

Input and output data is transferred asynchronously to the program scan. These data tags should be buffered
with Synchronous Copy File instructions to guarantee stable input data during the program scan and guaran-
tee that complete command data is delivered to the device.

Figure T3.9 Buffer I/O Data

 When copying input data, the data can be converted from byte to integer format by specifying an integer
array as the destination for the instruction. The array must contain at least ten integer elements. The
length of the copy should be ten.
The format of the output and input data is covered in the Configuration Mode Data Format and Command
Mode Data Format reference chapters, starting on pages 61 and 69 respectively.

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 TASK 4 (EtherNet/IP Option)
IMPLICIT COMMUNICATIONS WITHOUT AN EDS

An AMCI SMD34E2 requires a host controller to issue configuration and motion

commands to it. This chapter tells you how to configure implicit connections in
EtherNet/IP systems that do not use EDS files. If you instead wish to use explicit
messaging, refer to the next chapter for information on using message instruc-
tions.
Rockwell Automation’s RSLogix 5000 version 20 software is used for the example
installation in this chapter.

4.1 Host System Configuration

RSLogix 5000 is used to configure both the ControlLogix and CompactLogix platforms. When using these plat-
forms, you have the option of using a separate Ethernet Bridge module or an Ethernet port built into the processor.
If the Ethernet port is built into processor, the only step you have to take before adding the SMD34E2 is to create
a new project with the correct processor or modify an existing project. Once this is done, the Ethernet port will
automatically appear in the Project Tree. If you are using an Ethernet bridge module, you will have to add it to the
I/O Configuration tree before adding the driver to your project.
Refer to your Rockwell Automation documentation if you need instructions for configuring the ethernet port.

4.2 Add the SMD34E2

You can add the SMD34E2 to the project once the Ethernet port (built-in or bridge module) is configured.
1) Right click on the Ethernet port and then click on “New Module...” in the pop-up menu.

Figure T4.1 Adding an AMCI SMD34E2

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4.2 Add the SMD34E2 (continued)

2) In the resulting Select Module Type screen, type “generic” into the filter as shown in figure T4.2. This will
limit the results in the Catalog Number list.
3) Select the Catalog Number “ETHERNET-MODULE” in the list.
4) Click on the [Create] button to create the module.
5) Click on [Close] if necessary to close the Select Module Type screen.

Figure T4.2 Selecting a Generic Device

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SMD34E2 User Manual IMPLICIT COMMUNICATIONS WITHOUT EDS

4.2 Add the SMD34E2 (continued)

6) Set the following parameters in the Module Properties window. All parameters not listed here are optional.
Figure T4.3 shows a completed screen.

Figure T4.3 Configuration Screen - Generic Device

 Name: A descriptive name for the SMD34E2
 Comm Format: Data - INT
The Comm Format defaults to Data - DINT. The SMD34E2 will not be able to commu-
nicate with the host controller if this format is not changed when the device is added to
the system. Once added, the Comm Format cannot be changed. The device must be
deleted and again added to the project if the Comm Format is incorrect.
 IP Address: Must be the address you set for the SMD34E2. Refer to the Set the IP Address and Pro-
tocol task chapter starting on page 99 for information on setting the IP Address of the unit.
 Input: Assembly Instance = 100, Size = 10 words.
 Output: Assembly Instance = 150, Size = 10 words.
 Configuration: Assembly Instance = 110, Size = 0
7) Verify that the “Open Module Properties” check box is selected and click on [OK]. The Module Properties
window will open. You can set the RPI time as required for your system in this window. The minimum
RPI time for an SMD34E2 is 3 milliseconds. When done, click on [OK] to complete the setup.

Error Code 16#0109

The PLC will generate an Error Code 16#0109 when the Comm Format parameter is not changed from its
default of “Data-DINT” to “Data-INT”. This is the most common cause of communication failures with the
SD17060E.

4.3 Configure the SMD34E2

The device will join the EtherNet/IP network as soon as the request is made to it. If the SMD34E2 has a con-
figuration stored in flash memory, it is used to configure the unit on power up. You can also configure the unit
at anytime and store this new configuration to flash. Configuration is accomplished by writing a block of data
to the device that is formatted according to the specifications in the Configuration Mode Data Format, refer-
ence chapter, which starts on page 61.
It is possible to store configuration data in the flash memory of the SMD34E2 and this configuration will be
used on power up to configure the device. However, writing the configuration data to the driver on power up
may simplify system maintenance if the device ever has to be swapped out.

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4.4 Buffer I/O Data

Input and output data is transferred asynchronously to the program scan. These data tags should be buffered
with Synchronous Copy File instructions to guarantee stable input data during the program scan and guaran-
tee that complete command data is delivered to the device.

Figure T4.4 Buffer I/O Data

 When copying input data, the data can be converted from byte to integer format by specifying an integer
array as the destination for the instruction. The array must contain at least ten integer elements. The
length of the copy should be ten.
The format of the output and input data is covered in the Configuration Mode Data Format and Command
Mode Data Format reference chapters, starting on pages 61 and 69 respectively.

116 ADVANCED MICRO CONTROLS INC.

 TASK 5 (EtherNet/IP Option)
ETHERNET/IP EXPLICIT MESSAGING

All controllers that support EtherNet/IP support explicit messaging. When using
explicit messaging, Message Instructions must be added to your program to com-
municate with the SMD34E2. Explicit messaging can be use on platforms that
also support implicit messaging.
Rockwell Automation controllers which are programmed with the RSLogix 500
software only support explicit messaging. A MicroLogix 1100 will be used as an
example in this chapter.

5.1 Required Message Instructions

Two instructions are required to transfer data between the PLC and the SMD34E2. One instruction reads data
from the unit and the other writes data to it. The following table gives the required attributes for the instruc-
tions.

Read Instruction Write Instruction

Service Type Read Assembly Write Assembly
Service Code E (hex) 10 (hex)
Class 4 (hex) 4 (hex)
Instance 100 (decimal) 150 (decimal)
Attribute 3 (hex) 3 (hex)
Length 20 bytes 20 bytes
Table T5.1 Message Instruction Attributes
Only RSLogix 500 version 8.0 or above can be used to configure Message Instructions to
communicate with an EtherNet/IP device.

5.2 Create Four New Data Files.

 An Integer file to contain the data from the SMD34E2. This file must be at least 10 words in
length.
 An Integer file to contain the data sent to the SMD34E2. This file must be at least 10 words in
length.
 A Message (MG) data file. This file must have at least two elements, one to control the Read
Operation and one to control the Write Operation.
 An Extended Routing Information (RIX) data file. This file is used to store information used by
the Message Instructions. This file must have at least two elements, one for the Read Operation
and one for the Write Operation.

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5.3 Add the Message Instructions to your Ladder Logic

The following rungs show how you can alternately read data from and write data to your SMD34E2.

Figure T5.1 Message Instruction Example

1) Double click on Setup Screen text inside the Message Instruction. The following window will open.
Note that this is the default window and its appearance will change considerably as you progress
through these steps.

Figure T5.2 Message Instruction Setup Screen

2) Double click in the Channel field, click on the , select “1 (Integral)”, and press Enter.
3) Double click in the Communication Command field, click on the , select “CIP Generic” and press
Enter.
4) If the Message Instruction is being used to read data from the SMD34E2, enter the integer file where
the data will be placed in the Data Table Address (Received) field and press enter.
5) If the Message Instruction is being used to write data to the SMD34E2, enter the integer file where
the source data will be located in the Data Table Address (Send) field and press Enter.
6) Enter “20” as the number of bytes needed in either the Size In Bytes (Receive) or Size In Bytes (Send)
fields. The SMD34E2 requires 20 bytes for both Receive and Send.
7) Enter a RIX address in the Extended Routing Info field. Please note that each Message Instruction
must have its own RIX address.

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SMD34E2 User Manual ETHERNET/IP EXPLICIT MESSAGING

5.3 Add the Message Instructions to your Ladder Logic (continued)

8) Double click in the Service field and select “Read Assembly” for a Message Instruction that is being
used to read data from the SMD34E2, or “Write Assemble” for a Message Instruction that is being
used to send data to the SMD34E2, and press Enter.
9) For Read operations, the Service Code field will change to “E” (hex). For Write operations, the Ser-
vice Code field will change to “10” (hex). For both read and write operations, the Class field will
change to “4” (hex), and the Attribute field will change to “3” (hex).
10)For Read operations, enter a value of 100 decimal (64 hex) in the Instance field. 
For Write operations, enter a value of 150 decimal (96 hex) in the Instance field.
The figure below show a typical configuration for Message Instructions being used to read data from the
SMD34E2. Please note that the Data Table Address (Receive) field may be different in your application.

Figure T5.3 Read Message Instruction Setup Screen

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5.3 Add the Message Instructions to your Ladder Logic (continued)

The figure below show a typical configuration for Message Instructions being used to write data to the
SMD34E2. Please note that the Data Table Address (Send) field may be different in your application.

Figure T5.4 Write Message Instruction Setup Screen

Click on the MultiHop tab on the top of the window. As shown in figure T5.5, enter the IP address of the 
SMD34E2 and press Enter.

Figure T5.5 Message Instruction MultiHop Settings

After you are finished adding both the read and write message instructions to your program, save and down-
load the program to the PLC.

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SMD34E2 User Manual ETHERNET/IP EXPLICIT MESSAGING

5.4 Troubleshooting
If you are unable to communicate with the SMD34E2, the problem may be that the Ethernet port of your
MicroLogix 1100 has not been configured. To check this:
1) Double click on Channel Configuration in the Project Tree and then select the Channel 1 tab. The
following window will open.

Figure T5.6 MicroLogix Ethernet Configuration Screen

2) Enter the IP address and Subnet Mask of your MicroLogix 1100, (not the address of the SMD34E2)
and click on [Apply]. The Ethernet Port should now be working.
AMCI is aware of an issue with the RIX data type in version 10 of RSLogix 500. If you are
experiencing communications errors and are running version 10, please contact Rockwell
Automation for support.

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Notes

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 TASK 6 (Modbus TCP Option)
MODBUS TCP CONFIGURATION

An AMCI SMD34E2 that has been configured for the Modbus TCP protocol
requires a host controller to issue configuration data and motion commands to
the unit. This chapter tell you how the I/O words used by an AMCI SMD34E2 are
mapped to the Modbus I/O registers.

6.1 Enable Modbus TCP Protocol

The AMCI Net Configurator utility can be used to change the communications protocol used by the
SMD34E2. This is typically done while setting the IP address. Specifically, follow the steps in section 2.2c,
Use the AMCI NET Configurator Utility which starts on page 103.

6.2 Modbus Addressing

The register addresses used in this manual are the Modbus logical reference numbers†, which are unsigned
integers starting at zero. This is often called zero based addressing. In this scheme, the first register is given
an address of zero. This is the actual addressing scheme used in the Modbus packets.
Another common addressing scheme is one based or data model addressing. In this scheme, the register’s
number is used as its address, so the first register, Register 1 in the data model, has an address of 1.

6.2.1 Modbus Table Mapping

The Discrete Input and Input Register tables in the Modbus data model map to the same physical memory
locations in the SMD34E2 units.
 These registers hold data that is reported from the driver to the host controller. This data is typically
command responses and status data.
 Addresses for these registers and inputs start at 0 in zero based addressing.
As examples:
 Discrete Input 0 is the same memory location as bit 0 of the first Input Register.
 Register address 3, the fourth register, contains Discrete Inputs 48 through 63.
The Coil and Holding Register tables in the Modbus data model map to the same physical memory locations
in the SMD34E2 units.
 These registers hold data that is from the host controller to the unit. This data is typically commands.
 Addresses for these registers start at 1024 in zero based addressing. Coil addresses start at 16,384 in
zero based addressing (1024*16).
As examples:
 Coil 16384 is the same memory location as bit 0 of the first Holding Register.
 Register address 1025, the address of the second Holding Register, contains Discrete Inputs 16,400
through 16,415 in zero based addressing.

6.2.2 Host Addressing

Your host controller may not use these basic addressing schemes for communicating over a Modbus connec-
tion. For example, Modicon controllers use addresses starting at 30000 for Input Registers and addresses
starting at 40000 for Holding Registers. GE hosts internally use their %R memory for Holding Registers and
%AI memory for Input Registers.
If this is the case, you will define a mapping between your host controller’s addressing scheme and the zero
based Modbus TCP addresses when you add the SMD34E2 to your host controller. Refer to your host con-
troller’s documentation for information on how to accomplish this.

† MODBUS Application Protocol Specification V1.1b3, section 4.3: MODBUS Data model. www.modbus.org

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6.3 AMCI Modbus TCP Memory Layout

The SMD34E2 has a starting Input Register address of 0 and a starting Output Register address of 1024.
Input Registers hold the data from the driver while Output Registers hold the data to be written to the unit.
Figure T6.1 shows how an SMD34E2 is mapped to the Modbus data reference. The complete specification
for the Modbus protocol can be downloaded at http://www.modbus.org/specs.php.

15 Register 0 0
Mapped as:
Network Input
Discrete Inputs
Data
Holding Registers
Input Registers
159 Register 9 144

LSB and MSB

Numbers

Not Implemented

16,399 Register 1024 16,384

Network Output Mapped as:
Data Coils
Holding Registers
16,543 Register 1033 16,528

Figure T6.1 Modbus Data Reference Map

6.4 Supported Number of Connections

All SMD34E2 units support six concurrent connections. When connections exist, the Network Status (NS)
LED on the back of the unit will flash green. The number of blinks indicate the number of active connections.
There is a two second break between groups of flashes.

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SMD34E2 User Manual MODBUS TCP CONFIGURATION

6.5 Supported Modbus Functions

Function SMD34E2
Function Name Addressing method
Code Register
1 Read Coils OUTPUT Bit: Addresses starting at 16,384
2 Read Discrete Inputs INPUT Bit: Addresses starting at 0
Word: Out Regs. Starting at 1024
3 Read Holding Registers OUTPUT & INPUT In Regs. Starting at 0
4 Read Input Registers INPUT Word: Addresses starting at 0.
5 Write Single Coil OUTPUT Bit: Addresses starting at 16,384
6 Write Single Register OUTPUT Word: Addresses starting at 1024
15 Write Multiple Coils OUTPUT Bit: Addresses starting at 16,384
16 Write Multiple Registers OUTPUT Word: Addresses starting at 1024
22 Mask Write Register OUTPUT Word: Addresses starting at 1024
Word: Out Regs. Starting at 1024
23 Read/Write Registers INPUT/OUTPUT In Regs. Starting at 0
Table T6.1 Supported Modbus Functions
Table T6.1 above lists all of the Modbus functions supported by an SMD34E2. AMCI supports all of these
functions so that you can control the unit as you see fit. However, if you are looking for the easiest way to
interface with your unit, then you only need to use the Read/Write Registers function, which is function code
23.
Each SMD34E2 buffers the data that is sent to it over the network. If you use the Read/Write
Registers function to write configuration data to the unit, then the data read with that command
will not contain the response to the new configuration data. The response to the new data will
be sent with the next data read.

6.6 Supported Modbus Exceptions

Code Name Description
01 Illegal function The SMD34E2 does not support the function code in the query
02 Illegal data address The data address received in the query is outside the initialized memory area
03 Illegal data value The data in the request is illegal
Table T6.2 Supported Modbus Exceptions

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Notes

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 TASK 7 (PROFINET Option)
PROFINET NETWORK CONFIGURATION

This chapter outlines the steps commonly needed to get an SMD34E2 communi-
cating with the PROFINET master. A Siemens SIMATIC S7-1212C controller is
used as an example.

Basic Steps
Configuring a PROFINET host requires a few basic steps.
1) Download the ZIP archive that contains the GSDML files for the SMD34E2 from the
www.amci.com website.
2) Install the GSDML file into the configuration software for your host controller.
3) Add the SMD34E2 to the PROFINET Network.
4) Set the I/O word addresses used to communicate with the unit.

7.1 Download the GSDML files

The GSDML files are available on the AMCI website on the http://www.amci.com/industrial-automation-
support/configuration-files/ web page. The file is a ZIP archive that has to be extracted to a folder on your
computer. Extracting the ZIP file will leave you with multiple files. One is the GSDML file and the others are
icon files for the various devices.

7.2 GSDML File Installation

1) Open or create a new project that
will include the SMD34E2 and
open the Project View of the
project.
2) In the menu, select Options ->
Manage general station
description files(GSD).
3) In the window that opens, click on
the [...] button and navigate to the
folder that contains the extracted
GSDML file you downloaded from
the AMCI website. Once at the
folder, click on the [OK] button.
4) Click on the check box next to the
name of the GSD file and click on
the [Install] button. The system will Figure T7.1 GSD File Installation
install the GSD file.
5) Click the [Close] button and wait
for the software to finish installing
the file and updating the Hardware
Catalog.

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PROFINET NETWORK CONFIGURATION SMD34E2 User Manual

7.3 Configure the PROFINET Network

A CPU must be added to the project and the PROFINET network must be configured before a Networked
Stepper Driver can be added to the system.
Refer to Siemens documentation for information on configuring the PROFINET network to suit your applica-
tion.

7.4 Add the SMD34E2 to the PROFINET Network

1) With the project open in Project View, double click on “Device & Networks” in the project tree.
2) If need be, click on the “Hardware Catalog” vertical tab to open the Hardware Catalog.
3) You can search for “SMD34”, or browse to the SMD34x2 icon by clicking through Other field devices +>
PROFINET IO +> IO +> Advanced Micro Controls Inc. +> AMCI_Products +> AMCI_Drives. Drag
and drop the appropriate icon onto the PROFINET network.
4) Drag the green square on the SMD34x2 icon onto the PROFINET network line to connect the device to the
network.

Figure T7.2 Networked Driver Added to PROFINET Network

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SMD34E2 User Manual PROFINET NETWORK CONFIGURATION

7.4 Add the SMD34E2 to the PROFINET Network (continued)

5) Right click on the SMD34x2 icon and select “Properties” from the pop up menu. The Inspector window
will open at the bottom of the screen. Under the “General” tab, select the “General” heading. You can
rename the SMD34E2 by changing the Name: field.
6) Under the “PROFINET interface [x1]” heading, select “Ethernet addresses”. Under the IP protocol
section, set the desired IP address and subnet mask for the SMD34E2.

Figure T7.3 Networked Driver IP Addressing

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PROFINET NETWORK CONFIGURATION SMD34E2 User Manual

7.5 Set the I/O Configuration

The SMD34E2 units require 10 Input Words (20 Input Bytes) and 10 Output Words (20 Output Bytes). All
required Input and Output Bytes are defined by the GSDML file and divided into suitable modules. These set-
tings are shown in the Table T7.1.

Input / Output Bytes of an Input / Output Modules of an

SMD34E2 SMD34E2
20 Input Bytes Input Module - Slot 1: 20 bytes
20 Output Bytes Output Module - Slot 2: 20 bytes
Table T7.1 PROFINET I/O Configuration
1) With the SMD34x2 icon selected on the PROFINET bus, click on the “Device view” tab. The view in the
Hardware Catalog will change. Expand the Module tree to show both the Input and Output modules.
2) To map the I/O bytes to the CPU, double click on the “20 bytes IN” and “20 bytes OUT” icons in the
Hardware Catalog. The system will automatically assign the next I and Q addresses to the data table.

Figure T7.4 I/O Byte Mapping

7.6 Verify and Download the New Configuration

1) Continue by adding any remaining devices to your PROFINET network.
2) Compile and download the project to the CPU.

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MRP Installations
At this point, the SMD34E2 is configured and ready to use. If you are using the unit in a redundant, ring
based, network that uses the Media Redundancy Protocol (MRP), continue with the following instructions.

Media Redundancy Protocol (MRP) installations require that the SMD34E2 be

installed in a ring topology. In these applications, both Ethernet ports are used
when wiring the ring, daisy chaining from one unit in the ring to the next. The
steps below covers typical software configuration that must also be completed.

7.7 Configure the SMD34E2 as an MRC

The SMD34E2 functions as a Media Redundancy Client (MRC) in an MRP network.
1) Switch to Topology view and drag the additional connections between the appropriate ports.
2) Click on the SMD34x2 icon to select it. In the Inspector window, select Advanced options +> Media
redundancy. Use the “MRP domain:” drop down menu to select the appropriate domain. Use the “Media
redundancy role:” drop down menu to select “Client”.
3) Continuing in the Inspector window, select Advanced options +> Port 1 +> Port interconnection. Under
“Partner port:”, the partner port you assigned to the port when you drew the topology is shown. If you do
not know which port will be the partner port in the actual installation, you can use the drop down menu to
select “Any partner”.
4) If need be, repeat step 3 for Port 2 of the SMD34E2.

Figure T7.5 MRP Topology and Client settings

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PROFINET NETWORK CONFIGURATION SMD34E2 User Manual

7.7 Configure the SMD34E2 as an MRC (continued)

5) Continue configuring the rest of the devices on the network before compiling the project and downloading
it to the CPU.

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 OPTIONAL TASK A
CONFIGURE YOUR NETWORK INTERFACES
A.1 Firewall Settings
Firewalls are hardware devices or software that prevent unwanted network connections from occurring. Fire-
wall software is present in Windows XP and above and it may prevent your computer from communicating
with the SMD34E2. Configuring your firewall to allow communication with the SMD34E2 is beyond the
scope of this manual.
AMCI strongly suggests temporarily disabling any firewall software while using the Net Configurator utility.
You should enable the firewall once you have finished using the utility.

A.2 Disable All Unused Network Interfaces

Routing and default gateway setting on your computer can interfere with the proper operation of the Net Con-
figurator software. The Net Configurator software uses broadcast packets to locate devices on the network,
and sometimes these packets are sent out through the default gateway instead of the interface attached to the
AMCI product. The easiest way to avoid this problem is to temporarily disable all network interfaces that are
not attached to the stepper driver.
This includes all wireless interfaces as well as all Bluetooth interfaces.

A.3 Configure Your Network Interface

Before you can communicate with the SMD34E2, your network interface must be on the same subnet as the
driver.
The rest of this procedure assumes you are using the 192.168.0.xxx subnet. If you are not, you
will have to adjust the given network addresses accordingly.
The easiest way to check the current settings for your NIC is with the ‘ipconfig’ command.
 For Windows 7, click on the [Start] button, and type “cmd” in the “Search programs and files” text box.
Press [Enter] on the keyboard.
 For Windows 8 and 10, press the [Win+X] keys and select “Command Prompt” from the resulting
popup. There is no need to run the command prompt as the administrator, so do not select “Command
Prompt (Admin)”.
A DOS like terminal will open. Type in ‘ipconfig’, press [Enter] on the keyboard and the computer will
return the present Address, Subnet Mask, and Default Gateway for all of your network interfaces. If your
present address is 192.168.0.xxx, where ‘xxx’ does not equal 50, and your subnet mask is 255.255.255.0, then
you are ready to configure your SMD34E2. Figure A.1 shows the output of an ipconfig command that shows
the “Local Area Connection 2” interface on the 192.168.0.xxx subnet.

Figure A.1 ipconfig Command

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CONFIGURE YOUR NETWORK INTERFACES SMD34E2 User Manual

A.3 Configure Your Network Interface (continued)

If your present address in not in the 192.168.0.xxx range, type in ‘ncpa.cpl’ at the command prompt and hit
[Enter] on the keyboard.
 In Windows 7, this open the Network Connections window. Double click on the appropriate interface.
In the window that opens, select “Internet Protocol Version 4 (TCP/IP v4)” from the list and then click
on the [Properties] button.
 In Windows 8 and 10, this open the Network Connections window. Double click on the appropriate
interface. In the window that opens, select “Internet Protocol Version 4 (TCP/IP v4)” from the list and
then click on the [Properties] button.
Set the address and subnet mask to appropriate values. (192.168.0.1 and 255.255.255.0 will work for an
SMD34E2 that has factory default settings.) The default gateway and DNS server settings can be ignored.

A.4 Test Your Network Interface

Going back to the terminal you opened in the last step, type in ‘ping aaa.bbb.ccc.ddd’ where
‘aaa.bbb.ccc.ddd’ in the IP address of the SMD34E2. The computer will ping the unit and the message
“Reply from aaa.bbb.ccc.ddd: bytes=32 time<10ms TTL=128” should appear four times.
If the message “Request timed out.” or “Destination host unreachable” appears, then one of four things has
occurred:
 You set a new IP address, but have not yet cycled power to the SMD34E2
 You did not enter the correct address in the ping command.
 The IP address of the SMD34E2 is not set correctly.
 The SMD34E2 and the computer are not on the same subnet.

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Notes

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 ADVANCED MICRO CONTROLS INC.

LEADERS IN ADVANCED CONTROL PRODUCTS

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