Siko AG25 Bedienungsanleitung

225/18

AG25, AG26

Actuator with interface

User manual

AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 2 of 109

Table of contents

1General Information .................................................................................................. 9

1.1 Documentation ........................................................................................................9

2Displays and operating elements ................................................................................ 9

2.1 General Information..................................................................................................9

2.2 Displays ..................................................................................................................9

2.2.1 Ethernet module statuses .....................................................................................10

2.2.1.1 ERROR LED 1 ...................................................................................................10

2.2.1.2 Link/Activity LED 2, 3 ......................................................................................10

2.2.1.3 RUN LED 4 ......................................................................................................10

2.2.2 Drive status........................................................................................................11

2.2.2.1 Status LED 5 ...................................................................................................11

2.2.2.2 Status LEDs 6, 7 ..............................................................................................11

2.2.2.3 Status LED 8 ...................................................................................................11

2.3 Operating elements.................................................................................................12

2.3.1 Operating keys....................................................................................................12

2.3.2 DIP switch: ........................................................................................................13

3Digital inputs and outputs ....................................................................................... 13

3.1 Examples of digital input configurations ....................................................................14

3.2 Example of digital output configuration.....................................................................15

4Functional description ............................................................................................. 16

4.1 Control of the drive ................................................................................................16

4.1.1 Operating modes.................................................................................................16

4.1.1.1 Positioning mode ............................................................................................16

4.1.1.1.1 Loop positioning..........................................................................................17

4.1.1.2 Inching mode .................................................................................................18

4.1.1.2.1 Inching mode 1 ...........................................................................................18

4.1.1.2.2 Inching mode 2 ...........................................................................................19

4.1.1.3 Rotational speed mode.....................................................................................19

4.1.1.4 Position Control Mode ......................................................................................20

4.1.1.4.1 Examples of configuration of the digital inputs for the PCM ...............................21

4.1.2 Current limiting ..................................................................................................22

4.1.3 Limit switch .......................................................................................................23

4.1.3.1 Example of limit switch configuration.................................................................23

4.1.3.2 Arrangement of the limit switches .....................................................................23

5Calibration.............................................................................................................. 24

6External gear........................................................................................................... 24

7Warnings / Errors..................................................................................................... 25

7.1 Warnings...............................................................................................................25

7.2 Errors....................................................................................................................25

AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 3 of 109

7.2.1 Error codes.........................................................................................................26

8EtherCAT® ............................................................................................................... 27

8.1 Description............................................................................................................27

8.1.1 Cyclic data exchange ...........................................................................................27

8.1.2 Acyclic data exchange .........................................................................................27

8.1.3 Operating modes and synchronization....................................................................27

8.1.4 Emergency Messages............................................................................................27

8.2 Object directory (CANopen over EtherCAT®)................................................................28

8.2.1 Parameter description of manufacturer-specific objects ............................................31

8.2.1.1 Digital Outputs Control.....................................................................................31

8.2.1.2 Control Word...................................................................................................31

8.2.1.2.1 Control word Positioning mode (master slave) .............................................32

8.2.1.2.2 Flow chart: Operating mode: Positioning mode.................................................33

8.2.1.2.3 Control word: Speed mode.............................................................................34

8.2.1.2.4 Flow chart: Speed mode ................................................................................35

8.2.1.3 Target Value ...................................................................................................36

8.2.1.4 Digital Inputs State .........................................................................................36

8.2.1.5 Status Word ....................................................................................................36

8.2.1.5.1 Status word: Positioning mode (slave master)..............................................37

8.2.1.5.2 Status word: Speed mode ..............................................................................38

8.2.1.6 Actual Value ...................................................................................................39

8.2.1.7 LED Functionality ............................................................................................39

8.2.1.8 Service Interface Baud Rate ..............................................................................41

8.2.1.9 Digital Output 1 Functionality ...........................................................................41

8.2.1.10 Digital Output Functionalities State ...................................................................42

8.2.1.11 Digital Outputs Polarity ....................................................................................42

8.2.1.12 Digital Input 1 Functionality .............................................................................43

8.2.1.13 Digital Input 2 Functionality .............................................................................43

8.2.1.14 Digital Input 3 Functionality .............................................................................44

8.2.1.15 Digital Input 4 Functionality .............................................................................44

8.2.1.16 Digital Input Functionalities State .....................................................................45

8.2.1.17 Digital Inputs Polarity......................................................................................46

8.2.1.18 Controller Parameter P .....................................................................................46

8.2.1.19 Controller Parameter I ......................................................................................46

8.2.1.20 Controller Parameter D .....................................................................................47

8.2.1.21 A-Pos.............................................................................................................47

8.2.1.22 V-Pos.............................................................................................................47

8.2.1.23 D-Pos.............................................................................................................48

8.2.1.24 A-Rot.............................................................................................................48

8.2.1.25 A-Inch ...........................................................................................................48

8.2.1.26 V-Inch ...........................................................................................................49

8.2.1.27 Pos Window ....................................................................................................49

8.2.1.28 Gear Ratio Numerator.......................................................................................49

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8.2.1.29 Gear Ratio Denominator....................................................................................50

8.2.1.30 Spindle Pitch ..................................................................................................50

8.2.1.31 Calibration Value .............................................................................................50

8.2.1.32 Software Limit 1..............................................................................................51

8.2.1.33 Software Limit 2..............................................................................................51

8.2.1.34 Delta Inch ......................................................................................................52

8.2.1.35 Sense of Rotation ............................................................................................52

8.2.1.36 Pos Type ........................................................................................................53

8.2.1.37 Operating Mode...............................................................................................53

8.2.1.38 Inching 2 Stop Mode........................................................................................54

8.2.1.39 Inpos Mode ....................................................................................................54

8.2.1.40 Loop Length ...................................................................................................55

8.2.1.41 Contouring Error Limit......................................................................................55

8.2.1.42 Current Limiting ..............................................................................................56

8.2.1.43 Inching 2 Offset..............................................................................................56

8.2.1.44 Inching 2 Acceleration Type..............................................................................57

8.2.1.45 Offset Value....................................................................................................57

8.2.1.46 PCM Position 1................................................................................................58

8.2.1.47 PCM Position 2................................................................................................58

8.2.1.48 PCM Position 3................................................................................................58

8.2.1.49 PCM Position 4................................................................................................59

8.2.1.50 PCM Position 5................................................................................................59

8.2.1.51 PCM Position 6................................................................................................59

8.2.1.52 PCM Position 7................................................................................................60

8.2.1.53 PCM Acceleration 1 ..........................................................................................60

8.2.1.54 PCM Acceleration 2 ..........................................................................................60

8.2.1.55 PCM Acceleration 3 ..........................................................................................61

8.2.1.56 PCM Acceleration 4 ..........................................................................................61

8.2.1.57 PCM Acceleration 5 ..........................................................................................61

8.2.1.58 PCM Acceleration 6 ..........................................................................................62

8.2.1.59 PCM Acceleration 7 ..........................................................................................62

8.2.1.60 PCM Velocity 1 ................................................................................................62

8.2.1.61 PCM Velocity 2 ................................................................................................63

8.2.1.62 PCM Velocity 3 ................................................................................................63

8.2.1.63 PCM Velocity 4 ................................................................................................63

8.2.1.64 PCM Velocity 5 ................................................................................................64

8.2.1.65 PCM Velocity 6 ................................................................................................64

8.2.1.66 PCM Velocity 7 ................................................................................................64

8.2.1.67 PCM Deceleration 1 ..........................................................................................65

8.2.1.68 PCM Deceleration 2 ..........................................................................................65

8.2.1.69 PCM Deceleration 3 ..........................................................................................66

8.2.1.70 PCM Deceleration 4 ..........................................................................................66

8.2.1.71 PCM Deceleration 5 ..........................................................................................67

8.2.1.72 PCM Deceleration 6 ..........................................................................................67

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8.2.1.73 PCM Deceleration 7 ..........................................................................................68

8.2.1.74 Output Stage Temperature ................................................................................68

8.2.1.75 Voltage of Control ...........................................................................................68

8.2.1.76 Voltage of Output Stage ...................................................................................69

8.2.1.77 Voltage of Battery ...........................................................................................69

8.2.1.78 Motor Current..................................................................................................69

8.2.1.79 Actual Position ...............................................................................................69

8.2.1.80 Actual Rotational Speed ...................................................................................70

8.2.1.81 Serial Number .................................................................................................70

8.2.1.82 Production Date ..............................................................................................70

8.2.1.83 SW Motor Controller .........................................................................................70

8.2.1.84 Gear Reduction................................................................................................71

8.2.1.85 System Status Word .........................................................................................71

8.2.1.86 Encoder Resolution ..........................................................................................73

8.2.1.87 Device ID .......................................................................................................73

8.2.1.88 Number of Errors .............................................................................................74

8.2.1.89 Error Number 1................................................................................................74

8.2.1.90 Error Number 2................................................................................................74

8.2.1.91 Error Number 3................................................................................................74

8.2.1.92 Error Number 4................................................................................................75

8.2.1.93 Error Number 5................................................................................................75

8.2.1.94 Error Number 6................................................................................................75

8.2.1.95 Error Number 7................................................................................................75

8.2.1.96 Error Number 8................................................................................................76

8.2.1.97 Error Number 9................................................................................................76

8.2.1.98 Error Number 10 ..............................................................................................76

8.2.1.99 Configuration..................................................................................................77

8.2.1.100 S-Command ....................................................................................................77

8.2.2 Standard objects parameter description..................................................................78

8.2.2.1 Device Type ....................................................................................................78

8.2.2.2 Error Register..................................................................................................78

8.2.2.3 Pre-defined error field......................................................................................78

8.2.2.4 Manufacturer Device Name................................................................................79

8.2.2.5 Manufacturer Hardware Version..........................................................................79

8.2.2.6 Manufacturer Software Version ..........................................................................79

8.2.2.7 Restore default parameters ...............................................................................79

8.2.2.8 Identity Object ...............................................................................................80

8.2.2.9 Receive PDO Mapping.......................................................................................81

8.2.2.10 Transmit PDO Mapping .....................................................................................82

8.2.2.11 Sync Manager Communication Type ....................................................................82

8.2.2.12 Sync Manager Rx PDO assign .............................................................................83

8.2.2.13 Sync Manager Tx PDO assign .............................................................................84

8.2.2.14 SM output parameters ......................................................................................84

8.2.2.15 SM input parameters ........................................................................................86

AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 6 of 109

9Service protocol....................................................................................................... 88

9.1 General Information................................................................................................88

9.1.1 Communication...................................................................................................88

9.1.2 Settings.............................................................................................................88

9.1.3 ASCII commands.................................................................................................88

9.1.4 Responses..........................................................................................................88

9.2 Overview of parameters ...........................................................................................88

9.3 Parameters ............................................................................................................89

9.3.1 Positioning ........................................................................................................89

9.3.1.1 Target Value ...................................................................................................89

9.3.1.2 Actual Position ...............................................................................................89

9.3.1.3 Actual Rotational Speed ...................................................................................89

9.3.1.4 Calibration Value .............................................................................................89

9.3.1.5 Loop Length ...................................................................................................90

9.3.1.6 Offset Value....................................................................................................90

9.3.1.7 Pos Type ........................................................................................................90

9.3.1.8 Pos Window ....................................................................................................90

9.3.1.9 Sense of Rotation ............................................................................................90

9.3.1.10 Spindle Pitch ..................................................................................................91

9.3.2 Actuator ............................................................................................................91

9.3.2.1 A-Pos.............................................................................................................91

9.3.2.2 V-Pos.............................................................................................................91

9.3.2.3 D-Pos.............................................................................................................91

9.3.2.4 A-Rot.............................................................................................................91

9.3.2.5 A-Inch ...........................................................................................................91

9.3.2.6 V-Inch ...........................................................................................................92

9.3.2.7 Gear Ratio Denominator....................................................................................92

9.3.2.8 Gear Ratio Numerator.......................................................................................92

9.3.3 Limiting values...................................................................................................92

9.3.3.1 Software Limit 1..............................................................................................92

9.3.3.2 Software Limit 2..............................................................................................92

9.3.3.3 Current Limiting ..............................................................................................92

9.3.3.4 Contouring Error Limit......................................................................................93

9.3.4 Options .............................................................................................................93

9.3.4.1 Operating Mode...............................................................................................93

9.3.4.2 Inpos Mode ....................................................................................................93

9.3.4.3 Delta Inch ......................................................................................................93

9.3.4.4 Inching 2 Acceleration Type..............................................................................93

9.3.4.5 Inching 2 Offset..............................................................................................93

9.3.4.6 Inching 2 Stop Mode........................................................................................94

9.3.4.7 LED Functionality ............................................................................................94

9.3.4.8 Service Interface Baud Rate ..............................................................................94

9.3.4.9 Configuration..................................................................................................94

9.3.5 Controller parameters ..........................................................................................94

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9.3.5.1 Controller Parameter P .....................................................................................94

9.3.5.2 Controller Parameter I ......................................................................................94

9.3.5.3 Controller Parameter D .....................................................................................95

9.3.6 Device information..............................................................................................95

9.3.6.1 Motor Current..................................................................................................95

9.3.6.2 Output Stage Temperature ................................................................................95

9.3.6.3 Voltage of Control ...........................................................................................95

9.3.6.4 Voltage of Output Stage ...................................................................................95

9.3.6.5 Voltage of Battery ...........................................................................................95

9.3.6.6 Flag Register...................................................................................................96

9.3.6.7 System Status Word .........................................................................................96

9.3.6.8 Device Type ....................................................................................................96

9.3.6.9 Gear Reduction................................................................................................96

9.3.6.10 Motor Type .....................................................................................................96

9.3.6.11 Network Type ..................................................................................................97

9.3.6.12 Production Date ..............................................................................................97

9.3.6.13 Serial Number .................................................................................................97

9.3.6.14 SW Ethernet Module.........................................................................................97

9.3.6.15 SW Motor Controller .........................................................................................97

9.3.7 Digital input/output............................................................................................97

9.3.7.1 Digital Input 1 Functionality .............................................................................97

9.3.7.2 Digital Input 2 Functionality .............................................................................98

9.3.7.3 Digital Input 3 Functionality .............................................................................98

9.3.7.4 Digital Input 4 Functionality .............................................................................98

9.3.7.5 Digital Input Functionalities State .....................................................................98

9.3.7.6 Digital Inputs Polarity......................................................................................98

9.3.7.7 Digital Inputs State .........................................................................................98

9.3.7.8 Digital Output 1 Functionality ...........................................................................99

9.3.7.9 Digital Outputs Control.....................................................................................99

9.3.7.10 Digital Output Functionalities State ...................................................................99

9.3.7.11 Digital Outputs Polarity ....................................................................................99

9.3.8 Error memory......................................................................................................99

9.3.8.1 Number of Errors .............................................................................................99

9.3.8.2 Error Number 1................................................................................................99

9.3.8.3 Error Number 2.............................................................................................. 100

9.3.8.4 Error Number 3.............................................................................................. 100

9.3.8.5 Error Number 4.............................................................................................. 100

9.3.8.6 Error Number 5.............................................................................................. 100

9.3.8.7 Error Number 6.............................................................................................. 100

9.3.8.8 Error Number 7.............................................................................................. 100

9.3.8.9 Error Number 8.............................................................................................. 101

9.3.8.10 Error Number 9.............................................................................................. 101

9.3.8.11 Error Number 10 ............................................................................................ 101

9.4 Commands........................................................................................................... 101

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9.4.1 Start travel job ................................................................................................. 101

9.4.2 Start of inching mode 1 ..................................................................................... 101

9.4.3 Start inching mode 2 positive travel direction....................................................... 101

9.4.4 Start inching mode 2 negative travel direction...................................................... 102

9.4.5 Cancel current travel job in positioning mode ....................................................... 102

9.4.6 Motor stop fast................................................................................................. 102

9.4.7 Motor stop ....................................................................................................... 102

9.4.8 Enable motor.................................................................................................... 102

9.4.9 Factory setting: all parameters............................................................................ 102

9.4.10 Factory setting: Standard parameter .................................................................... 103

9.4.11 Factory setting: Controller parameters.................................................................. 103

9.4.12 Acknowledge error............................................................................................. 103

9.4.13 Calibrate.......................................................................................................... 103

9.4.14 Delete error memory .......................................................................................... 103

9.4.15 Software Reset.................................................................................................. 103

9.5 Flow charts.......................................................................................................... 104

9.5.1 Flow chart: Positioning mode.............................................................................. 104

9.5.2 Flow chart: Speed mode ..................................................................................... 105

9.6 Error number encoding .......................................................................................... 106

9.7 Examples............................................................................................................. 107

9.7.1 Write and read setpoint +500.............................................................................. 107

9.7.2 Start travel job ................................................................................................. 107

9.8 ASCII command structure ...................................................................................... 107

10 Block diagram ........................................................................................................109

General Information

AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 9 of 109

1General Information

1.1 Documentation

The following documents are associated with this product:

Product data sheet; describes the technical data, the dimensions, the pin assignment, the

accessories and the order key.

Installation instructions, describe the mechanical and electrical installation with all safety-

relevant conditions and the associated technical specifications.

User manual describing the migration of the actuator into an Industrial Ethernet network

and its commissioning.

These documents can also be found at http://www.siko-global.com/de-de/service-downloads.

“EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff

Automation GmbH, Deutschland”

2Displays and operating elements

2.1 General Information

The drive has various LEDs that indicate the statuses of the drive and of the Ethernet module.

The operating elements are located below the cover.

2.2 Displays

Fig. 1: Displays

Displays and operating elements

AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 10 of 109

2.2.1 Ethernet module statuses

The , , , LEDs inform about the status of the Ethernet module. The Ethernet module

LEDs’ functions are permanently defined and cannot be changed.

LED

Description

ERROR LED

Link/Activity LED OUT

Link/Activity LED IN

RUN LED

2.2.1.1 ERROR LED 1

This LED indicates EtherCAT® communication errors.

LED state

Description

Off

No error or no operating voltage

Red, flashing

Invalid configuration

Red, flashing 1x

Unrequested status change

Red, flashing 2x

Sync manager watchdog timeout

Red

Ethernet module in the EXCEPTION status

Red, flickering

Boot error detected

2.2.1.2 Link/Activity LED 2, 3

These LEDs indicate EtherCAT® connection status and activity.

LED state

Description

Off

No connection or no operating voltage

Green

Connection detected, no activity

Green,

flickering

Connection detected, activity

2.2.1.3 RUN LED 4

This LED indicates the EtherCAT® communication status.

LED state

Description

Off

EtherCAT® in the INIT state or no operating voltage

Green

EtherCAT® in the OPERATIONAL state

Green, flashing

EtherCAT® in the PRE-OPERATIONAL state

Green, flashing

EtherCAT® in the SAFE-OPERATIONAL state

Green, flashing

EtherCAT® in the BOOT state

Red

Fatal error

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