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Siko AG06 User Manual

Actuator with canopen interface
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AG06
Actuator with CANopen interface
User manual
055/18

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Summary of Contents for Siko AG06

  • Page 1 AG06 Actuator with CANopen interface User manual 055/18...

  • Page 2: Table Of Contents

    Controller parameters ..................21 4.3.2 Readable parameters ................... 21 4.3.3 Error memory ...................... 22 Calibration ......................22 External gear ......................23 Warnings / Errors ..................... 23 Warnings ....................... 23 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 2 of 114...
  • Page 3 9.3.11 Node Guarding ....................49 State Machine ......................50 Status word ......................52 Control word ......................54 Flowchart of the Profile Position Mode (positioning mode) ........... 56 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 3 of 114...
  • Page 4 9.13.2.31 2001 : Manufacturer Offset ................94 9.13.2.32 2100 : CAN baud rate ..................94 9.13.2.33 2101 : Node-ID ....................95 9.13.2.34 2102 : Gear reduction ..................95 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 4 of 114...
  • Page 5 9.13.2.63 607D : Software Position Limit ................ 112 9.13.2.64 607E : Polarity ....................113 9.13.2.65 6091 : Gear Ratio ..................113 9.13.2.66 60FF : Target Velocity ..................114 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 5 of 114...

  • Page 6: 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/ag06. Block Diagram Bus electronics...

  • Page 7: Display And Control Keys

    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 NMT state: 'STOPPED' Table 1: LED displays AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 7 of 114...

  • Page 8: Functional Description

    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. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...

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

  • Page 10: Inching Operation

    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. AG06 Date: 07.02.2018 Art. No. 85674 Mod.

  • Page 11: Current Limiting

    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. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...

  • Page 12: 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. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...
  • Page 13  Press the key 11 times for setting the arithmetical sign.  Value -500 will be displayed.  Confirm by pressing the key to start positioning.  AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 13 of 114...

  • Page 14: Menu Selection

     parameters  Only readable see menu parameters  only readable parameters  Error memory see menu  error memory  Fig. 6: Menu selection AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 14 of 114...

  • Page 15: Changeable Parameters

    : 250 kbit/s  : 125 kbit/s  : 50 kbit/s  : 20 kbit/s (see chapter 8: Parameter description Parameter no. Table 3: Bus parameter menu AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 15 of 114...

  • Page 16: Positioning

    (see chapter 8: Parameter description Parameter no. Loop length  Value range: 0 – 30000  (see chapter 8: Parameter description Parameter no. Table 4: Positioning menu AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 16 of 114...

  • Page 17: Actuator

    Value range: -19999 … 99999  (see chapter 8: Parameter description Parameter no. Limit 2  Value range: -19999 … 99999  (see chapter 8: Parameter description Parameter no. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 17 of 114...

  • Page 18: Visualization

    Parameter no. Decimal places  Selection:   : 0.0  : 0.00  : 0.000  : 0.0000  (see chapter 8: Parameter description Parameter no. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 18 of 114...

  • Page 19: Options

    (see chapter 8: Parameter description Parameter no. Operating mode  Selection:  : Positioning mode  : Rotational speed mode  (see chapter 8: Parameter description Parameter no. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 19 of 114...
  • Page 20 : Set controller parameters to default  : Set display parameters to default  : Set bus parameters to default  : Calibration  : Delete error memory Table 8: Options menu AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 20 of 114...

  • Page 21: Controller Parameters

    Motor rated power  Encoder resolution  Display controller software version  Motor controller software version  Serial number  Production date  Table 10: Readable parameters menu AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 21 of 114...

  • Page 22: Error Memory

    Parameter no.14) will result in the adoption of such value as the absolute position for the actuator.  Offset value (see chapter 8: Parameter description Parameter no. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 22 of 114...

  • Page 23: External Gear

    Warnings do not influence the operation of the positioning drive. Warnings disappear after removing the cause. Possible warnings:  Battery voltage for absolute encoder is below limit  exchange battery within the next 6 months.  Current limiting active. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 23 of 114...

  • Page 24: Errors

    FF 03 Bus Off status  FF 0F Queue 3 overrun  FF 10 Queue 4 overrun  81 10 CAN overrun  Table 12: Error codes AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 24 of 114...

  • Page 25: Input Errors

    - pos 1 - 100 Acceleration in the positioning mode: values in % 100 % correspond to: Gear 188:1  1.06 rps Gear 368:1  0.54 rps AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 25 of 114...
  • Page 26 ü - 1 - 10000 Denominator gear ratio: denomina- a gear factor can be programmed here when a gear is used. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 26 of 114...
  • Page 27 'limit 1' is equal 'limit 2'. Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded! Operating mode: Speed mode: irrelevant AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 27 of 114...
  • Page 28 -: travelling to the set point occurs always in negative direction to compensate for spindle play Notice! Loop positioning in positioning mode only. Operating mode: Speed mode: irrelevant AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 28 of 114...
  • Page 29 Operating mode: Positioning mode: Spindle pitch = 0: Values refer to increments Spindle pitch > 0: values refer to travel distance in 1/100 mm Operating mode: Speed mode: irrelevant AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 29 of 114...
  • Page 30 4 = 250 kbit/s 5 = 125 kbit/s 6 = 50 kbit/s 7 = 20 kbit/s Parameter changes become active only after cold start or software reset. reserved reserved reserved AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 30 of 114...
  • Page 31 0 = On 1 = Inverted 2 = Off Display 0 - 1 Display: orientation Display orientation 0 = 0° 1 = rotated by 180° reserved reserved AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 31 of 114...
  • Page 32 Motor controller software version version motor controller Display controller software version Software Read only version display controller Number of Read only Number of errors in the error memory errors AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 32 of 114...

  • Page 33: Communication Via Can Bus

    1 Mbit/s, 800 kbit/s, 500 kbit/s, 250 kbit/s, 125 kbit/s, 50 kbit/s, 20 kbit/s Termination of the CAN bus line: If the actuator is at the end of the bus, the CAN bus connection must be terminated by a defined bus terminator. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...

  • Page 34: System Status Word

    Actual position is below the programmed limiting value. Travelling is possible only in positive direction in inching mode. Actual position is above the programmed limiting value. Operating mode: Speed mode: irrelevant AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...
  • Page 35 The actuator switches the contouring error fault. Remedy: reduce programmed speed! No contouring error  actual speed corresponds to target speed. Table 15: System Status Word AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 35 of 114...

  • Page 36: Canopen Protocol

    Fig. 8: Telegram setup For a detailed description of the telegram please refer to the comprehensive CAN literature. For simplification, only identifier and data field will be dealt with in the subsequent telegram descriptions. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...

  • Page 37: Network Management (Nmt)

    'SWITCH ON DISABLED' state (see chapter 9.4: State Machine) and the motor enabled. PDO parameters can be changed in this state only! AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 37 of 114...

  • Page 38: Nmt Status 'Operational

    The synchronization telegram (SYNC), a CAN message with high priority, which contains no user data serves for this purpose. The identifier of the Sync object can be set via object 1005 (see chapter 9.13.2: Description objects). AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 38 of 114...

  • Page 39: Process Data Objects (Pdos)

    The COB-ID of the third Transmit PDO is programmed to 380 + Node-ID by default. The communication parameters are set via the object 1802 Transmit PDO parameter). AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 39 of 114...

  • Page 40: Th Transmit Pdo (Tpdo4)

    A PDO is transfmitted with every change of a mapped object and in a time-controlled way. The Event Timer can be deactivated. Time-Triggered: Sub-index 2 (transfer type) = 255 The PDOs are transferred time-triggered. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...

  • Page 41: Receive-Pdos

    Synchronous transfer type (value 0) can be set to enable synchronous start of more than one drive. The data of the RPDO3 is processed only after receipt of the next SYNC telegram in this case (see chapter 9.3.3: SYNC-Objekt). AG06 Date: 07.02.2018 Art. No. 85674 Mod.

  • Page 42: Th Receive Pdo (Rpdo4)

    Synchronous: Sub-index 2 (transfer type) = 0 ... 240 In the synchronous transfer type, the Receive PDOs are processed only after receipt of a SYNC telegram. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 42 of 114...

  • Page 43: Service Data Objects (Sdos)

    (4 data byte) Read Response response to the request (2 data byte) Read Response response to the request (1 data byte) Error Response error message Table 24: Command codes AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 43 of 114...

  • Page 44: Error Code

    The actuator has device address 5 and the calibration value is to be read out! Calculation of the identifier: Identifier of the parameter channel to the actuator = 600 + device address = 1536 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 44 of 114...

  • Page 45: Example: Write Parameter

    Response of the actuator in the case of error-free execution: Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 45 of 114...

  • Page 46: Emergency Object (Emcy)

    The state machine was set to the 'Fault' state. Fault is deposited in the fault buffer. Power Overvoltage The state machine was set to the 'Fault' state. Fault is deposited in the fault buffer. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 46 of 114...
  • Page 47 Fault is deposited in the fault buffer. Manufacturer specific Checksum Host The state machine was set to the 'Fault' state. Fault is deposited in the fault buffer. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 47 of 114...

  • Page 48: Heartbeat Protocol

    NMT status. The actuator sends the heartbeat telegram independently, without request via RTR frame. The actuator is a heartbeat producer, it does not receive nor process heartbeat protocols. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...

  • Page 49: Node Guarding

    The response of the actuator to the RTR frame of the master consists of one byte of user data. Identifier Byte 1 11 Bit Bit 7: Toggle Bit Bit 6 ... 0: Status Table 29: Node-Guarding Telegram AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 49 of 114...

  • Page 50: State Machine

    Status word). Fault Start Not Ready to Switch On Switch On Disabled Ready to Switch On Switched On Operation Quick Stop Enable Active Fig. 10: State machine AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 50 of 114...
  • Page 51  State change 9: OPERATION ENABLE  SWITCH ON DISABLED 'Disable Voltage' command by master.  State change 10: SWITCHED ON  SWITCH ON DISABLED 'Disable Voltage' command by master. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 51 of 114...

  • Page 52: Status Word

    - no fault present - no active travel job - Supply voltage of the output stage is applied AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 52 of 114...
  • Page 53 Not Ready to Switch On Switch On Disabled Ready to Switch On Switched On Operation Enabled Quick Stop Activ Fault Table 32: Low byte status word States of the state machine AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 53 of 114...

  • Page 54: Control Word

    Key enable can be controlled via Bit 11 in the OPERATION ENABLED state: 0 = Key enable as defined by object 2400 sub-index 08 1 = Key enable inverted as defined by object 2400 sub-index reserved AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 54 of 114...
  • Page 55 Table 35: Low Byte Control word PDOs are anabled in the NMT status Operational only. Travel commands are enabled in the Operation Enabled state of the state machine. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 55 of 114...

  • Page 56: Flowchart Of The Profile Position Mode (Positioning Mode)

    CW = 0000 0001 000x 1111 CW = 0000 0000 000x 1111 Intermediate stop active SW = 010x 0x10 0011 0111 Fig. 11: Flowchart of the Profile Position Mode (positioning mode) AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 56 of 114...

  • Page 57: Flowchart Of The Profile Velocity Mode Operation Mode (Velocity Mode)

    Velocity Mode activ Change target value SW = 0000 0x10 0011 0111 CW = 0000 0000 0000 1111 Fig. 12: Flowchart of the Profile Velocity Mode (velocity mode) AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 57 of 114...

  • Page 58: Examples

    0x505 0x0F 0x00 0x05 0x00 0x00 0x00 RPDO4: Change of velocity to +5 rev/min 0x205 0x0F 0x01 RPDO1: Stop drive movement AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 58 of 114...

  • Page 59: Overview Of Canopen Identifiers

    Table 38: Overview of identifiers 9.11 Setting the CAN baud rate The CAN baud rate is entered via Object 2100 (CAN baud rate). The baud rate is factory-set to 500 kbit/s. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 59 of 114...

  • Page 60: Eds File

    Restoration of factory-set states of the changeable Parameters parameters and calibration of the actuator (see chapter 5: Calibration). 1014 COB-ID Emergency Setting of the COB ID of the Emergency object. Message AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 60 of 114...
  • Page 61 Contains the objects mapped on the TPDO3 (see chapter Mapping 9.3.5.2: 3rd Transmit PDO (TPDO3)). Parameter 1A03 Transmit PDO Contains the objects mapped on the TPDO4 (see chapter Mapping 9.3.5.3: 4th Transmit PDO (TPDO4)). Parameter AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 61 of 114...
  • Page 62 Contains the status word of the state machine for drives. 6060 Modes of Setting of the operation mode: Profile Position Mode / Operation Profile Velocity Mode. 6061 Modes of Operating mode set. Operation Display AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 62 of 114...

  • Page 63: Description Of Objects

    Default 00000192 EEPROM Format description: Bit 31 - 24 Manufacturer-specific (not used) Bit 23 - 16 drive type (not used) Bit 15 - 0 device profile number AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 63 of 114...

  • Page 64: 1001 : Error Register

    Access read-only PDO mapping Data type Unsigned32 Default EEPROM Format description: Bit 31 - 16 not used Bit 15 - 0 see chapter 9.2: System Status Word AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 64 of 114...

  • Page 65: Pre-Defined Error Field

    The SYNC message is sent to all network participants (broadcast object). Sub-index Description COB-ID SYNC message (recordable in the "Pre-Operational" state) Access read-write PDO mapping Data type Unsigned32 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 65 of 114...

  • Page 66: Manufacturer Device Name

    = ' G ' (ASCII character, ISO 8859) Bit 23 - 16 = ' 0 ' (ASCII character, ISO 8859) Bit 31 - 24 = ' 6 ' (ASCII character, ISO 8859) Device name = AG06 9.13.2.7 100A : Manufacturer Software Version Object 100A indicates the software version of the controller firmware.

  • Page 67: Guard Time

    : set only standard parameters to default values Sub-index 05 : set only control parameters to default values Sub-index 06 : calibrate the actuator Sub-index 07 : set only display parameter to default AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 67 of 114...
  • Page 68 Access read-write (recordable in the "Pre-Operational" and "Operational" states, cannot be written with active travel job) PDO mapping Data type Unsigned32 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 68 of 114...

  • Page 69: Cob-Id Emergency Message

    (see chapter 9.3.9: Emergency Object (EMCY)). Sub-index Description COB-ID der Emergency-Message Access read-write (recordable in the "Pre-Operational" state) PDO mapping Data type Unsigned32 Default + Node-ID EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 69 of 114...

  • Page 70: Producer Heartbeat Time

    : Identity Object The Vendor ID of the manufacturer is indicated via object 1018 Sub-index Description Number of subindexes Access read-only PDO mapping Data type Unsigned8 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 70 of 114...
  • Page 71 Default EEPROM Vendor-ID: The Vendor ID is assigned by the CAN user organization CiA e. V. (CAN in Automation). Vendor ID '195 ' has been assigned to the company SIKO GmbH. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...

  • Page 72: Server Sdo Parameter

    Bit 6 - 0 7 bit Node ID of the identifier Data description: The default DSO cannot be changed (according to the CiA DS-301 Predefined Connection Set). AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 72 of 114...

  • Page 73: St Receive Pdo Parameter

    (recordable in the "Pre-Operational" state) PDO mapping Data type Unsigned8 Default EEPROM Sub-index Description Inhibit Time (no function: Compatibility entry) Access read PDO mapping Data type Unsigned16 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 73 of 114...
  • Page 74 RPDO1 since otherwise the functioning of the state machine would no longer be ensured. Changing PDO parameters: PDO parameters can be changed in the NMT status 'PRE-OPERATIONAL' only. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18...

  • Page 75: Nd Receive Pdo Parameter

    Transfer type (no function: Compatibility entry) Access read-only PDO mapping Data type Unsigned8 Default EEPROM Sub-index Description Inhibit Time (no function: Compatibility entry) Access read-only PDO mapping Data type Unsigned16 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 75 of 114...

  • Page 76: Rd Receive Pdo Parameter

    Sub-index Description Transfer type (see chapter 9.3.6.4: Transfer types of the Receive PDOs) Access read-write (recordable in the "Pre-Operational" state) PDO mapping Data type Unsigned8 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 76 of 114...
  • Page 77 RPDO1 is immediately processed PDO mapping: See object 1602 receive PDO mapping parameter). Processing of PDOs: Receive PDOs are processed in the NMT status 'OPERATIONAL' only. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 77 of 114...

  • Page 78: 1403 Receive Pdo Parameter

    (recordable in the "Pre-Operational" state) PDO mapping Data type Unsigned8 Default EEPROM Sub-index Description Inhibit Time (no function: Compatibility entry) Access read PDO mapping Data type Unsigned16 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 78 of 114...
  • Page 79 Processing of PDOs: Receive PDOs are processed in the NMT status 'OPERATIONAL' only. Changing PDO parameters: PDO parameters can be changed in the NMT status 'PRE-OPERATIONAL' only. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 79 of 114...

  • Page 80: St Receive Pdo Mapping Parameter

    Sub-index Description Number of mapped application objects in RPDO 2 Access read-only PDO mapping Data type Unsigned8 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 80 of 114...

  • Page 81: Rd Receive Pdo Mapping Parameter

    The object cannot be changed (static mapping). Mapped objects:  Object 6040 (control word) in bytes 0 and 1.  Object 607A (target position) in bytes 2 to 5. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 81 of 114...

  • Page 82: Th Receive Pdo Mapping Parameter

    The object cannot be changed (static mapping). Mapped objects:  Object 6040 (control word) in bytes 0 and 1.  Object 60FF (target velocity) in bytes 2 to 5. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 82 of 114...

  • Page 83: St Transmit Pdo Parameter

    Data type Unsigned8 Default EEPROM Sub-index Description Inhibit Time Access read-write (recordable in the "Pre-Operational" state) PDO mapping Unit x 100 µs Data type Unsigned16 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 83 of 114...
  • Page 84 A send-inhibit time is specified by the 'Inhibit Time' parameter (only for transmitt type 254). Resolution is a multiple of 100 µs. The actual send-inhibit time is inaccurate and can deviate from the set value by several milliseconds. AG06 Date: 07.02.2018 Art. No. 85674 Mod.

  • Page 85: Nd Transmit Pdo Parameter

    COB-ID Access read-only PDO mapping Data type Unsigned32 Default EEPROM Sub-index Description Transmission type (no function: Compatibility entry) Access read-only PDO mapping Data type Unsigned8 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 85 of 114...

  • Page 86: Rd Transmit Pdo Parameter

    PDO mapping Data type Unsigned8 Default EEPROM Sub-index Description COB-ID Access read-write (recordable in the "Pre-Operational" state) PDO mapping Data type Unsigned32 Default + Node-ID EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 86 of 114...
  • Page 87 29=1, bit 28 ... 11 of the 29-bit identifier Bit 10 - 7 4 bit function code of the identifier Bit 6 - 0 7 bit Node-ID of the identifier AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 87 of 114...

  • Page 88: Th Transmit Pdo Parameter

    The communication parameters of the fourth Transmit PDO (TPDO4) are set via object 1803 Sub-index Description largest sub-index supported Access read-only PDO mapping Data type Unsigned8 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 88 of 114...
  • Page 89 (recordable in the "Pre-Operational" state) PDO mapping Unit milliseconds Data type Unsigned16 Default EEPROM Value range 0 ... 65535 The service is switched off by writing the value 0. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 89 of 114...
  • Page 90 Processing of PDOs: Transmit PDOs are transferred in the NMT status 'OPERATIONAL' only. Changing PDO parameters: PDO parameters can be changed in the NMT status 'PRE-OPERATIONAL' only. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 90 of 114...

  • Page 91: 1A00 Transmit Pdo Mapping Parameter

    Sub-index Description Number of mapped application objects in TPDO 2 Access read-only PDO mapping Data type Unsigned8 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 91 of 114...
  • Page 92 The object cannot be changed (static mapping). Mapped objects:  Object 6041 (status word) in bytes 0 and 1.  Object 6064 (position actual value) in bytes 2 to 5. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 92 of 114...
  • Page 93 The object cannot be changed (static mapping). Mapped objects:  Object 6041 (status word) in bytes 0 and 1.  Object 606C (velocity actual value) in bytes 2 to 5. AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 93 of 114...

  • Page 94: Manufacturer Offset

    800 kbit/s Value = 3: 500 kbit/s Value = 4: 250 kbit/s Value = 5: 125 kbit/s Value = 6: 50 kbit/s Value = 7: 20 kbit/s AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 94 of 114...

  • Page 95: Node-Id

    : Display and Operation Parameter Set The object 2400 contains all adjustable parameters regarding display and operation. Sub-index Description largest sub-index supported Access read-only PDO mapping Data type Unsigned8 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 95 of 114...
  • Page 96 Display orientation (see chapter 8: Parameter description Parameter no. Access read-write (recordable in the "Pre-Operational" and "Operational" states) PDO mapping Data type Unsigned8 Default EEPROM Value range 0 ... 1 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 96 of 114...
  • Page 97 Key function enable (see chapter 8: Parameter description Parameter no. Access read-write (recordable in the "Pre-Operational" and "Operational" states) PDO mapping Data type Unsigned8 Default EEPROM Value range 0 … 1 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 97 of 114...
  • Page 98 LED 1 green (see chapter 8: Parameter description Parameter no. Access read-write (recordable in the "Pre-Operational" and "Operational" states) PDO mapping Data type Unsigned8 Default EEPROM Value range 0 … 1 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 98 of 114...

  • Page 99: Motor Parameter Set

    (recordable in the "Pre-Operational" and "Operational" states, cannot be written with active travel job) PDO mapping Data type Unsigned16 Default EEPROM Value range 0 ... 500 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 99 of 114...
  • Page 100 PDO mapping Data type Unsigned8 Default EEPROM Value range Gear 188:1  1 – 30 rpm Gear 368:1  1 – 15 rpm AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 100 of 114...
  • Page 101 PDO mapping Data type Unsigned8 Default EEPROM Value range Gear 188:1  1 – 30 rpm Gear 368:1  1 – 15 rpm AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 101 of 114...

  • Page 102: Spindle Pitch

    PDO mapping Data type Unsigned32 Default EEPROM Value range 0 ... 2 Data description: Value = 0: direct Value = 1: loop + Value = 2: loop – AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 102 of 114...

  • Page 103: Delta Jog

    (recordable in the "Pre-Operational" and "Operational" states, cannot be written with active travel job) PDO mapping Data type Unsigned8 Default EEPROM Value range 0 ... 2 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 103 of 114...

  • Page 104: Loop Length

    : Contouring Error The current contouring error can be read via object 241A Sub-index Description Current contouring error Access read-only PDO mapping Data type Integer16 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 104 of 114...

  • Page 105: 241B : Power Supply Voltage

    Sub-index Description  Output stage temperature (see chapter 8: Parameter description Parameter no. Access read-only PDO mapping Data type Integer16 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 105 of 114...

  • Page 106: Motor Current

    Object 2423 contains the current battery voltage. Sub-index Description  Battery voltage (see chapter 8: Parameter description Parameter no. Access read-only PDO mapping Data type Integer16 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 106 of 114...

  • Page 107: Inching 2 Offset

    (see chapter 8: Parameter  description Parameter no. Access read-only PDO mapping Data type Unsigned32 Default EEPROM Format description (example): 15 07 20 09 = 15.07.2009 = DDMMJJJJ AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 107 of 114...

  • Page 108: Display Software Version

    Unsigned16 Default EEPROM Format description: See chapter 9.6: Control word PDO mapping: The control word is mapped on the three Receive PDOs (see objects 1600 – 1603 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 108 of 114...

  • Page 109: Status Word

    Data type Integer8 Default EEPROM Value range 1 … 2 Data description: Value = 1: Profile Position Mode (positioning mode) Value = 2: Profile Velocity Mode (velocity mode) AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 109 of 114...

  • Page 110: Modes Of Operation Display

    PDO mapping: The absolute position value and the status word of the state machine are mapped on the Transmit PDO3, see object 1A02 Transmit PDO mapping parameter). AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 110 of 114...

  • Page 111: Position Window

    Access read-write (recordable in the "Pre-Operational" and "Operational" states, cannot be written with active travel job) PDO mapping Data type Integer32 Default EEPROM Value range ±9999999 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 111 of 114...

  • Page 112: 607C : Calibration Value

    Access read-write (recordable in the "Pre-Operational" and "Operational" states, cannot be written with active travel job) PDO mapping Data type Integer32 Default -19999 EEPROM Value range ±9999999 AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 112 of 114...

  • Page 113: Polarity

    9.13.2.65 6091 : Gear Ratio A gear ratio can be programmed via object 6091 Sub-index Description Number of subindexes Access read-only PDO mapping Data type Unsigned8 Default EEPROM AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 113 of 114...

  • Page 114: 60Ff : Target Velocity

    Gear 368:1  ±15 rpm PDO mapping: The target velocity and the control word of the state machine are mapped on the Receive PDO4, see object 1603 Receive PDO mapping parameter). AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 114 of 114...

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