Siko AG05 User Manual
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Siko AG05 User Manual

Actuator with rs485/sikonetz5 interface
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AG05
Actuator with RS485/SIKONETZ5 interface
User manual
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Summary of Contents for Siko AG05

  • Page 1 AG05 Actuator with RS485/SIKONETZ5 interface User manual 139/16...

  • Page 2: Table Of Contents

    Controller parameters ..................19 4.3.2 Readable parameters ................... 19 4.3.3 Error memory ...................... 20 Calibration ......................21 External gear ......................21 Warnings / Errors ..................... 22 Warnings ....................... 22 AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 2 of 64...
  • Page 3 10.8.6 Flow chart: Operating mode: Speed mode ............... 56 10.9 Parameterization via SIKONETZ5 ................56 10.9.1 Example: Read parameter ..................63 10.9.2 Example: Write parameter ..................64 AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 3 of 64...

  • Page 4: General Information

     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/ag05. Block Diagram RS485...

  • Page 5: Display And Control Keys

    Supply voltage of the output stage is missing. Actuator is within the programmed position window. LED2 orange Active bus operation No bus operation Table 1: LED displays AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 5 of 64...

  • Page 6: Functional Description

    SIKONETZ5 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. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16...

  • Page 7: 4.1.3.1.1 Loop Positioning

    The actuator drives beyond the target position by the loop length; afterwards, the set point is approached in positive direction. Positioning: loop + Loop length Positioning in positive Positioning in negative direction direction Set point Fig. 4: Positioning Loop+ AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 7 of 64...

  • Page 8: 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. AG05 Date: 15.06.2016 Art. No. 85677 Mod.

  • Page 9: Rotational Speed Mode

    The actual motor current cannot be stated by measuring the supply current. With cycled output stages, the supply current does not correspond to the motor current. The actual motor current can be read out via the interface or indicated on the display. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16...

  • Page 10: Manual Control (Stand-Alone Operation)

     Operating mode: Positioning mode  Key functions: enabled For negative values to be entered, set first the value and only afterwards the arithmetical sign. The value 0 cannot be entered. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16...
  • Page 11  Press the key 11 times for setting the arithmetical sign.  Value -500 will be displayed.  Confirm by pressing the key to start positioning.  AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 11 of 64...

  • Page 12: Menu Selection

     parameters  Only readable see menu parameters  only readable parameters  Error memory see menu  error memory  Fig. 6: Menu selection AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 12 of 64...

  • Page 13: Changeable Parameters

    : 19200 baud  (see chapter 8: Parameter description Parameter no. Protocol  Selection:  : SIKONETZ5  : Service protocol  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 13 of 64...

  • Page 14: Positioning

    Sense of rotation  Selection:  : i sense of rotation (cw)  : e sense of rotation (ccw)  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 14 of 64...

  • Page 15: Actuator

    (see chapter 8: Parameter description Parameter no. Denominator gear ratio  Value range: 1 - 10000  (see chapter 8: Parameter description Parameter no. Table 5: Actuator menu AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 15 of 64...

  • Page 16: Limiting Values

    Parameter description Parameter no. Red LED 1 function  Selection:  : Indication of the operating status  : Off  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 16 of 64...
  • Page 17 Parameter description Parameter no. Display test  Selection:  : no display test  : Start display test, pressing the key stops display test. Table 7: Visualization menu AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 17 of 64...

  • Page 18: Options

    Value range: 10 - 100  (see chapter 8: Parameter description Parameter no. PIN change  Value range: 0 - 99999  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 18 of 64...

  • Page 19: Controller Parameters

    Table 9: Controller parameters menu 4.3.2 Readable parameters Menu   Parameter Description Current output stage temperature  Current control voltage  Current output stage voltage  Current battery voltage  AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 19 of 64...

  • Page 20: Error Memory

    Parameter no. xxxxx Error 8   (see chapter 8: Parameter description Parameter no. xxxxx Error 9   (see chapter 8: Parameter description Parameter no. xxxxx AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 20 of 64...

  • Page 21: Calibration

     Parameter 'ü – numerator': 5  Parameter 'ü – denominator': 1 external gear unit 1 revolution 5 revolution Gear output internal drive Fig. 7: External gear AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 21 of 64...

  • Page 22: Warnings / Errors

    Low battery voltage  0x07 Low control electronics voltage  0x08 Excess control electronics voltage  0x09 Excess power electronics voltage  0x0A Output stage excess temperature  AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 22 of 64...

  • Page 23: Input Errors

    Error caused by device status  Input disabled due to ongoing EEPROM write access  Input disabled due to active travelling job  Programming lock activated  AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 23 of 64...

  • Page 24: Parameter Description

    Gear 98:1  2.05 rps v - inch Maximum speed in inching mode 1/2: Description values in rpm column Gear66:1  1 – 75 rpm Gear98:1  1 – 50 rpm AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 24 of 64...
  • Page 25 Changes to the calibration value are adopted for calculation of the position value via S command only after calibration. Position value = 0 + calibration value + offset value AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 25 of 64...
  • Page 26  negative travelling direction Spindle pitch = 0: Values refer to increments Spindle pitch > 0: Information refers to travel distance in 1/100 mm AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 26 of 64...
  • Page 27 (parameters 15/16) Operating mode: Speed mode: indicates the target rotational speed in rpm Value range: Gear 66:1  max. ±75 rpm Gear 98:1  max. ±50 rpm AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 27 of 64...
  • Page 28 10 - 100 Inching operation 2: Offset The inching speed in Inching operation 2 can be influenced via this parameter Values in percentage of parameter no. 9. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 28 of 64...
  • Page 29 Mode: Time monitoring "disabled=0" is only admissible for test purposes. Enable time monitoring after leaving the test mode. 1-20 = Bus Timeout values in x100 ms Service protocol: no function AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 29 of 64...
  • Page 30 Display: divisor Divisor by which the display accuracy is reduced compared with the measurement resolution. 0 = 1 1 = 10 2 = 100 3 = 1000 AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 30 of 64...
  • Page 31 Output stage voltage: output Values in 1/10 V stage Battery voltage: Voltage of Read only battery Values in 1/100 V Motor Read only Motor current: current Values in mA AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 31 of 64...
  • Page 32 0 = The display divisor will be applied to the application interface's target and actual positions and to the display. 1 = The display divisor will be applied to the display only. Table 13: Parameter description AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 32 of 64...

  • Page 33: Service Protocol

    This user manual is valid with Motor controller firmware version V1.11! The PC sends a letter and additional parameters if required (ASCII). Subsequently, the AG05 sends a reply with a concluding <CR>. Parameters: 19200 / 57600 / 115200 baud, no parity, 8 data bits, 1 stop bit, no handshake...
  • Page 34 - Actual position within limits (only positioning mode) Bit 12 Battery voltage: Battery voltage <2.6 V Battery voltage OK Bit 13 Current limiting: Current limiting active. Current limiting not active. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 34 of 64...

  • Page 35: Service Protocol Commands List

    = 3: Battery voltage [1/100 V] (see chapter 8:  Parameter description Parameter no. yy = 4: Motor current [mA] (see chapter 8: Parameter  description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 35 of 64...
  • Page 36 = 00: Controller parameter P (see chapter 8:  Parameter description Parameter no. yy = 01: Controller parameter I (see chapter 8:  Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 36 of 64...
  • Page 37 (see chapter 8: Parameter description Parameter no. yy = 18: Contouring error limit (see chapter 8:  Parameter description Parameter no. yy = 19: reserved yy = 20: reserved AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 37 of 64...
  • Page 38 Parameter no. yy = 31: Display divisor 0 = 1 1 = 10 2 = 100 3 = 1000  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 38 of 64...
  • Page 39 Parameter no. yy = 42: Temporary key function enable 0 = Access as defined under Key function enable 1 = Access inverted as defined under Key function enable AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 39 of 64...
  • Page 40 = 13: Enter spindle pitch in 1/100 mm (see chapter  Parameter description Parameter no. yy = 14: Node address (see chapter 8: Parameter  description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 40 of 64...
  • Page 41 = 34: reserved yy = 35: reserved yy = 36: LED 2 orange 0 = Off 1 = On  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 41 of 64...
  • Page 42 = 01 Error 1 (see chapter 8: Parameter description  Parameter no. 62) yy = 02 Error 2 (see chapter 8: Parameter description  Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 42 of 64...
  • Page 43 Motor brakes with programmed deceleration. Motor remains in control state! Notice! If a contouring error is pending at the time of the 'O' command, the motor will be enabled. ">" Enable motor AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 43 of 64...
  • Page 44 AG05 x=11105: delete primary error memory ">" Enter sense of rotation y = 0: i sense of rotation (cw) y = 1: e sense of rotation (ccw) ...

  • Page 45: Error Number Encoding

    Lower software limit exceeded Set point entered exceeds limiting value Error EEPROM write access active Set point < range limit Set point > range limit Table 17: Error number encoding AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 45 of 64...

  • Page 46: Flow Chart: Operating Mode: Positioning Mode

    Intermediate stop Continue positioning command 'N' oder 'O' command 'M' Intermediate stop active SW = x10x 00x0 0000 0000 Fig. 8: Flow chart positioning mode service protocol AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 46 of 64...

  • Page 47: Flow Chart: Operating Mode: Speed Mode

    Broadcast commands are an exception, they remain always unanswered by the slave. The protocol is optimized for cyclical data exchange. The relevant data such as set point and actual value can be transferred between master and slave by a single telegram exchange. AG05 Date: 15.06.2016 Art. No. 85677 Mod.

  • Page 48: Telegram Setup

    10.3.4 Control word Control word (CW) master to slave. 10.3.5 Status word Status word (SW) slave to master. 10.3.6 Data Range for data exchange. Size: 4 bytes. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 48 of 64...

  • Page 49: Check Sum

    7 byte 8 byte 9 byte 10 byte Command Node ID Parameter Data Check address Code2 Code1 0x01 0x01 0xFD 0x00 0x21 0x00 0x00 0x02 0x82 0x5C AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 49 of 64...

  • Page 50: Sikonetz5 Error Codes

    If timeout occurs during an active travel job, this will result in the Timeout error, i. e. the current travel job is cancelled. Thus, a broken cable can be detected for instance and the actuator set into a defined state. AG05 Date: 15.06.2016 Art. No. 85677 Mod.

  • Page 51: Locking The Programming Mode

    If the travel job is not completed yet it will be cancelled. 1 = inching operation 1 As soon as this bit is set, the actuator travels the distance specified in parameter Delta Tipp. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16...

  • Page 52: Status Word: Positioning Mode (Slave  Master)

    1 = acknowledgement acknowledgement The bit is set after the travel job was adopted. If bit 4 is reset in the control word, this bit will be reset as well. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 52 of 64...

  • Page 53: Flow Chart: Positioning Mode

    SW = 000x x101 01x1 0001 Intermediate stop Continue positioning CW.3 = 0 CW.3 = 1 Intermediate stop active SW = 0000 x101 01x0 0011 Fig. 10: Flow chart positioning mode SIKONETZ5 AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 53 of 64...

  • Page 54: Control Word Operating Mode: Speed Mode

    Actuator travels / 1 = actuator travels stands still Bit 5 0 = Actuator is outside the position window Inpos 1 = Actuator is inside the position window AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 54 of 64...
  • Page 55 0 = current limiting inactive Current limiting 1 = current limiting active Motor current exceeds the value set under parameter 0x2C. Table 22: Status word speed mode SIKONETZ5 AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 55 of 64...

  • Page 56: Flow Chart: Operating Mode: Speed Mode

    Access rw = read write ro = read only wo = write only AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 56 of 64...
  • Page 57 Parameter no. 0x08 LED 1 red Unsigned8 0 = LED 1 red Off 1 = LED 1 red On  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 57 of 64...
  • Page 58 Gear 98:1  value range: 1 – 50  (see chapter 8: Parameter description Parameter no. 0x15 a - rot Unsigned8 Value range 1 – 100  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 58 of 64...
  • Page 59 Inpos mode Unsigned8 0 = position control 1 = short circuit of the motor windings 2 = motor activated  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 59 of 64...
  • Page 60  (see chapter 8: Parameter description application Parameter no. 0x60 Output stage Integer16 Temperature values in 1/10 °C temperature  (see chapter 8: Parameter description Parameter no. AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 60 of 64...
  • Page 61 Motor current ro Integer16 Current values in mA  (see chapter 8: Parameter description Parameter no. 0x65 Device code Unsigned8 0 = AG05 0x66 Display Unsigned16 Version number controller e. g. 103 corresponds to V1.03 software  (see chapter 8:...
  • Page 62 4 = display parameters to default 5 = bus parameters to default 6 = reset error 7 = calibration 8 = delete error memory 9 = software reset AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 62 of 64...

  • Page 63: Example: Read Parameter

    With read commands the data range shall be set to value 0. Read command: 0x00 Node ID: 0x01 Parameter address: 0x29 Limit1 Data: 0x00 00 00 00 AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 63 of 64...

  • Page 64: Example: Write Parameter

    7 byte 8 byte 9 byte 10 byte Command Node ID Parameter Data Check / reply address 0x01 0x01 0x14 0x00 0x01 0x00 0x00 0x00 0x0F 0x1A AG05 Date: 15.06.2016 Art. No. 85677 Mod. status 139/16 Page 64 of 64...

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