Siko AG06 Bedienungsanleitung

055/18

AG06

Actuator with CANopen interface

User manual

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 2 of 114

Table of contents

1General Information .................................................................................................. 6

1.1 Documentation ........................................................................................................6

2Block Diagram ........................................................................................................... 6

3Display and Control Keys............................................................................................ 7

3.1 General ...................................................................................................................7

3.2 LCD display..............................................................................................................7

3.3 LED displays ............................................................................................................7

4Functional Description ............................................................................................... 8

4.1 Control of the drive ..................................................................................................8

4.1.1 Value input ..........................................................................................................8

4.1.2 Value selection .....................................................................................................8

4.1.3 Operating modes...................................................................................................8

4.1.3.1 Positioning mode ..............................................................................................8

4.1.3.1.1 Loop positioning............................................................................................9

4.1.3.2 Inching operation............................................................................................10

4.1.3.2.1 Inching mode 1 ...........................................................................................10

4.1.3.2.2 Inching mode2 ............................................................................................10

4.1.3.3 Rotational speed mode.....................................................................................10

4.1.4 Current limiting ..................................................................................................11

4.2 Manual control (stand-alone operation).....................................................................12

4.2.1 Start inching mode 2...........................................................................................12

4.2.2 Specifying the set point and starting the travel order...............................................12

4.2.2.1 Example: Starting positioning order to position 500 .............................................12

4.2.2.2 Example: Starting positioning order to position -500............................................12

4.3 Menu selection.......................................................................................................14

4.3.1 Changeable parameters ........................................................................................15

4.3.1.1 Bus parameters ...............................................................................................15

4.3.1.2 Positioning.....................................................................................................16

4.3.1.3 Actuator.........................................................................................................17

4.3.1.4 Limiting values ...............................................................................................17

4.3.1.5 Visualization...................................................................................................18

4.3.1.6 Options..........................................................................................................19

4.3.1.7 Controller parameters.......................................................................................21

4.3.2 Readable parameters ...........................................................................................21

4.3.3 Error memory......................................................................................................22

5Calibration.............................................................................................................. 22

6External gear........................................................................................................... 23

7Warnings / Errors..................................................................................................... 23

7.1 Warnings...............................................................................................................23

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 3 of 114

7.2 Errors....................................................................................................................24

7.2.1 Error codes.........................................................................................................24

7.3 Input errors ...........................................................................................................25

8Parameter description.............................................................................................. 25

9Communication via CAN bus ..................................................................................... 33

9.1 General remarks......................................................................................................33

9.1.1 Interface ...........................................................................................................33

9.2 System Status Word ................................................................................................34

9.2.1 Meaning of the bits.............................................................................................34

9.3 CANopen protocol...................................................................................................36

9.3.1 Telegram setup ...................................................................................................36

9.3.2 Network management (NMT).................................................................................37

9.3.2.1 State Diagramm...............................................................................................37

9.3.2.2 NMT Status 'INITIALISATION' .............................................................................37

9.3.2.3 NMT Status 'PRE-OPERATIONAL'..........................................................................37

9.3.2.4 NMT Status 'OPERATIONAL' ................................................................................38

9.3.2.5 NMT Status 'STOPPED' .......................................................................................38

9.3.2.6 Switching between communication states ...........................................................38

9.3.3 SYNC-Objekt .......................................................................................................38

9.3.4 Process Data Objects (PDOs) .................................................................................39

9.3.5 Transmit-PDOs ....................................................................................................39

9.3.5.1 1st Transmit PDO (TPDO1)..................................................................................39

9.3.5.2 3rd Transmit PDO (TPDO3)..................................................................................39

9.3.5.3 4th Transmit PDO (TPDO4) .................................................................................40

9.3.5.4 Transfer types of the Transmit PDOs ...................................................................40

9.3.6 Receive-PDOs......................................................................................................41

9.3.6.1 1st Receive PDO (RPDO1)...................................................................................41

9.3.6.2 3rd Receive PDO (RPDO3)...................................................................................41

9.3.6.3 4th Receive PDO (RPDO4)...................................................................................42

9.3.6.4 Transfer types of the Receive PDOs.....................................................................42

9.3.7 Service Data Objects (SDOs)..................................................................................43

9.3.7.1 Error code ......................................................................................................44

9.3.8 Example: Parameterization ...................................................................................44

9.3.8.1 Example: Read parameter..................................................................................44

9.3.8.2 Example: Write parameter .................................................................................45

9.3.9 Emergency Object (EMCY).....................................................................................46

9.3.9.1 Error Code ......................................................................................................46

9.3.10 Heartbeat protocol ..............................................................................................48

9.3.11 Node Guarding....................................................................................................49

9.4 State Machine ........................................................................................................50

9.5 Status word ...........................................................................................................52

9.6 Control word..........................................................................................................54

9.7 Flowchart of the Profile Position Mode (positioning mode)...........................................56

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9.8 Flowchart of the Profile Velocity Mode operation mode (velocity mode) .........................57

9.9 Examples...............................................................................................................58

9.9.1 Example of the Profile Position Mode (positioning mode) .........................................58

9.9.2 Example of the Profile Velocity Mode (velocity mode)...............................................58

9.10 Overview of CANopen identifiers ...............................................................................59

9.11 Setting the CAN baud rate .......................................................................................59

9.12 EDS file.................................................................................................................60

9.13 Directory of objects ................................................................................................60

9.13.1 Overview of objects .............................................................................................60

9.13.2 Description of objects..........................................................................................63

9.13.2.1 1000h: Device Type ..........................................................................................63

9.13.2.2 1001h: Error Register........................................................................................64

9.13.2.3 1002h: Manufacturer Status Register...................................................................64

9.13.2.4 1003h: Pre-defined Error Field............................................................................65

9.13.2.5 1005h: COB-ID Sync Message .............................................................................65

9.13.2.6 1008h: Manufacturer Device Name ......................................................................66

9.13.2.7 100Ah: Manufacturer Software Version ................................................................66

9.13.2.8 100Ch: Guard Time ...........................................................................................67

9.13.2.9 100Dh: Life Time Factor ....................................................................................67

9.13.2.10 1011h: Restore Default Parameters .....................................................................67

9.13.2.11 1014h: COB-ID Emergency Message.....................................................................69

9.13.2.12 1017h: Producer Heartbeat Time.........................................................................70

9.13.2.13 1018h: Identity Object......................................................................................70

9.13.2.14 1200h: Server SDO Parameter .............................................................................72

9.13.2.15 1400h: 1st Receive PDO Parameter.......................................................................73

9.13.2.16 1401h: 2nd Receive PDO Parameter ......................................................................75

9.13.2.17 1402h: 3rd Receive PDO Parameter.......................................................................76

9.13.2.18 1403h: 4th Receive PDO Parameter ......................................................................78

9.13.2.19 1600h: 1st Receive PDO Mapping Parameter ..........................................................80

9.13.2.20 1601h: 2nd Receive PDO Mapping Parameter .........................................................80

9.13.2.21 1602h: 3rd Receive PDO Mapping Parameter ..........................................................81

9.13.2.22 1603h: 4th Receive PDO Mapping Parameter..........................................................82

9.13.2.23 1800h: 1st Transmit PDO Parameter .....................................................................83

9.13.2.24 1801h: 2nd Transmit PDO Parameter.....................................................................85

9.13.2.25 1802h: 3rd Transmit PDO Parameter .....................................................................86

9.13.2.26 1803h: 4th Transmit PDO Parameter .....................................................................88

9.13.2.27 1A00h: 1st Transmit PDO Mapping Parameter ........................................................91

9.13.2.28 1A01h: 2nd Transmit PDO Mapping Parameter........................................................91

9.13.2.29 1A02h: 3rd Transmit PDO Mapping Parameter ........................................................92

9.13.2.30 1A03h: 4th Transmit PDO Mapping Parameter ........................................................93

9.13.2.31 2001h: Manufacturer Offset ...............................................................................94

9.13.2.32 2100h: CAN baud rate .......................................................................................94

9.13.2.33 2101h: Node-ID ...............................................................................................95

9.13.2.34 2102h: Gear reduction ......................................................................................95

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9.13.2.35 2400h: Display and Operation Parameter Set ........................................................95

9.13.2.36 2410h: Motor Parameter Set ..............................................................................99

9.13.2.37 2412h: Spindle Pitch ...................................................................................... 102

9.13.2.38 2413h: Pos Type............................................................................................. 102

9.13.2.39 2415h: Delta Jog............................................................................................ 103

9.13.2.40 2416h: Stop Mode Inching Mode 2.................................................................... 103

9.13.2.41 2417h: Inpos Mode......................................................................................... 103

9.13.2.42 2418h: Loop Length ....................................................................................... 104

9.13.2.43 2419h: Contouring Error Limit.......................................................................... 104

9.13.2.44 241Ah: Contouring Error.................................................................................. 104

9.13.2.45 241Bh: Power Supply Voltage........................................................................... 105

9.13.2.46 241Ch: Output Stage Temperature..................................................................... 105

9.13.2.47 241Eh: Motor Current...................................................................................... 106

9.13.2.48 2421h: Motor Current Limit.............................................................................. 106

9.13.2.49 2423h: Battery Voltage ................................................................................... 106

9.13.2.50 2450h: Inching 2 Offset .................................................................................. 107

9.13.2.51 2451h: Type of acceleration Inching mode 2 ...................................................... 107

9.13.2.52 2500h: Production Date .................................................................................. 107

9.13.2.53 2501h: Display Software Version....................................................................... 108

9.13.2.54 6040h: Control word ....................................................................................... 108

9.13.2.55 6041h: Status word ........................................................................................ 109

9.13.2.56 6060h: Modes of Operation.............................................................................. 109

9.13.2.57 6061h: Modes of Operation Display ................................................................... 110

9.13.2.58 6064h: Position Actual Value ........................................................................... 110

9.13.2.59 6067h: Position Window.................................................................................. 111

9.13.2.60 606Ch: Velocity Actual Value............................................................................ 111

9.13.2.61 607Ah: Target Position ................................................................................... 111

9.13.2.62 607Ch: Calibration Value ................................................................................. 112

9.13.2.63 607Dh: Software Position Limit ........................................................................ 112

9.13.2.64 607Eh: Polarity .............................................................................................. 113

9.13.2.65 6091h: Gear Ratio .......................................................................................... 113

9.13.2.66 60FFh: Target Velocity .................................................................................... 114

General Information

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 6 of 114

1General Information

This user manual is valid with firmware version PC 2.04 or higher!

1.1 Documentation

The following documents are associated with this document:

The data sheet describes the technical data, the dimensions, the pin assignment, the

accessories and the order key.

The installation instructions describe the mechanical and electrical installation with all

safety-relevant conditions and the associated technical specifications.

The User manual for actuator commissioning and integration into a fieldbus system.

You can also download these documents at http://www.siko-global.com/p/ag06.

2Block Diagram

Fig. 1: Block diagram

Inverse-

polarity

protection

Mains

adapter

Control

Output stage

Motor

Encoder

Gear

Bus electronics

+UB

control

CAN

+UB

output

stage

Inverse-

polarity

protection

Verpol-

schutz

Battery

Display and Control Keys

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 7 of 114

3Display and Control Keys

3.1 General

The actuator has a two-line display with special characters and three control keys. The keys

serve for actuator parameterization and control. Two LEDs (1, 2) inform about the actuator's

operating state.

Fig. 2: Control elements

3.2 LCD display

With supply voltage applied to the control, the actual value is displayed in the first line and

the set point value with factory settings in the second line.

The value displayed in the 2nd line can be adjusted via parameters.

3.3 LED displays

LED

Colour

State

Description

LED1

green

Actuator is within the programmed position window.

Supply voltage of the output stage is applied.

blinking

Actuator is within the programmed position window.

Supply voltage of the output stage is missing.

off

Actuator is outside the programmed position window.

red

Actuator is outside the programmed position window.

Supply voltage of the output stage is applied.

blinking

Actuator is outside the programmed position window.

Supply voltage of the output stage is missing.

off

Actuator is within the programmed position window.

LED2

orange

blinking 2.5 Hz

NMT state: 'PRE-OPERATIONAL'

NMT state: 'OPERATIONAL'

blinking pulse-

duty factor 1:5

off

NMT state: 'STOPPED'

Table 1: LED displays

LED2

LED1

LCD display

Keys

Functional Description

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 8 of 114

4Functional Description

4.1 Control of the drive

The drive can be controlled manually (stand-alone) and completely parameterized via the

keys. In bus operation you can disable drive control via the keys.

4.1.1 Value input

Enter values via the key and the key. Confirm entered values by pressing the key.

- Decimal place selection key

- Value input key

With value input via the keys, the display range is limited to -19999 …

99999. When entering values beyond this range via CAN interface, ""

will be displayed when you select the parameter.

4.1.2 Value selection

For some parameters you can select values from a list. Direct value input is not possible.

You can select a value from the list via the key. Confirm the value by pressing the key.

4.1.3 Operating modes

The following operating modes are distinguished: positioning mode and speed mode. In the

positioning mode there is the additional option of travelling in the inching mode.

4.1.3.1 Positioning mode

In the positioning mode, positioning to the specified set point is executed by means of a

ramp function (see Fig. 3), calculated on the basis of the actual position as well as the

programmed controller parameters P (proportional factor), I (integral factor), D (differential

factor), acceleration and speed.

Upon activation of the travel order, the actuator accelerates to the specified speed with the

acceleration programmed. The value of deceleration to the set point is defined by the

parameter 'a-Pos' as well.

If the actual position is within the programmed window, this will be signalled by LED1, in the

system status word and in the CAN status word. You can define the behaviour of the actuator

upon reaching the programmed window.

Changing controller parameters during a positioning process does not influence the current

positioning operation.

Functional Description

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 9 of 114

Fig. 3: Ramp travel, direct positioning mode

4.1.3.1.1 Loop positioning

If the actuator is operated on a spindle or an additional gear, the spindle or external gear

backlash can be compensated by means of loop positioning. In this case, travelling to the

target value is always from the same direction. This direction of approach can be defined.

Example:

The direction from which every target position shall be driven to is positive.

Case 1 new position is greater than actual position:

Direct travel to the target position

Case 2 new position is smaller than actual position:

The actuator drives beyond the target position by the loop length; afterwards, the set

point is approached in positive direction.

Fig. 4: Positioning Loop+

Start position

Target position

Time

Speed

(Parameter no. 5)

Acceleration = deceleration

(Parameter no. 4)

Positioning: loop +

Set point

Positioning in positive

direction

Positioning in negative

direction

Loop length

Functional Description

AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 10 of 114

4.1.3.2 Inching operation

Inching operation is enabled in the 'positioning mode' only. You can program via parameters

acceleration as well as speed in the inching mode.

There is no compensation for spindle play (loop positioning) in this

operating mode.

4.1.3.2.1 Inching mode 1

The drive travels once from the current actual position by the position 'Delta Tipp' depending

on the mathematical sign of the value entered.

'Delta Tipp' <0: negative travel direction

'Delta Tipp' >0: positive travel direction

If the 'Spindle pitch' parameter is programmed to zero, then the travelling

way occurs by increments. If 'Spindle pitch' is unequal zero, then the

information of the 'Delta Tipp' parameter refers to the travel distance in

1/100 mm.

Reaching of the target position will be signalled accordingly.

The following conditions must be met for enabling the start of inching modes 1 and 2:

The actuator must not be switched to error

No active travel job

Supply voltage of the output stage is applied

If the actual position is outside the programmed limiting values, then

travelling from this position in the respective direction is possible by means

of inching mode 1 or 2!

4.1.3.2.2 Inching mode2

The actuator travels from the current position as long as the relevant command is active. You

can influence the inching speed via two parameters and it will be calculated in the actuator

as illustrated in the example below:

v - Tipp (Parameter no. 9) = 10 rpm (can only be changed in the idle state)

Offset inching 2 (Parameter no. 30) = 85 % (can be changed during inching operation)

The resulting inching speed in this example will be:

Inching speed = v - Tipp * Offset inching 2 = 10 rpm * 85 % = 9 rpm

The results are always rounded to integers. The minimum speed is 1 rpm.

4.1.3.3 Rotational speed mode

With the set point enabled, the actuator when in the rotational speed mode accelerates to the

target speed and maintains this speed until the set point is disabled or a different target

speed specified.

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