This zip file contains a Twincat sample solution that can be used with all of AMCIs SD and SMD EtherCAT motion control products.     

This solution also contains custom Function Blocks that can be used to send most commands to the AMCI motion device.    

This zip file also contains a custom DUT (Data Unit Type) that creates named variables for the input and output words common for all of AMCIs integrated motion products.  

This zip file also contains the ESI files for all of AMCIs integrated motion products.  These files must be copied or moved into the appropriate Twincat system directory before the scan function will be able to detect the SD or SMD device on the EtherCAT network.   


The Visualization Profile used in this project is Build 4022.10. If you do not have Build 4022.10 installed on your computer, you will see an error message when you open this project and you must change the Visualization Profile. Any later build should be compatible with this project. 

Follow these steps to change the Visualization Profile: (You will not need to follow steps 1 and 2 if the properties tab is already open.)
1) In the Solution Explorer, right click on 'AMCI_SD_SMD_sample -> PLC -> AMCI_SD_SMD_Sample -> AMCI_SD_SMD_Sample Project' and select "Properties" from the pop-up menu.
2) In the pane that opens, select 'Visualization Profile' on the left hand side. 
3) In the 'Specific Profile:' drop down menu the text will be "TwinCAT 3.1 Build 4022.10 (Not installed)". Click on the drop down menu and select any later build that is installed on your system.


Before running the project, you must select the network interface card (NIC) installed on your computer. Use the following steps to select the correct NIC:
1) In the Solution Explorer, double click on 'AMCI_SD_SMD_sample -> I/O -> Devices -> Device 2 (EtherCAT)' icon.
2) In the pane that opens, select the 'Adapter' tab.
3) Click on the [Search...] button. The 'Device Found At' window will open.
4) In the 'Device Found At' window, select the appropriate NIC for your computer and click [OK] to close the window. The information in the 'Adapter' tab should now match the information for the NIC in your computer.