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Siko AG25 User Manual

Actuator with profibus interface
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Summary of Contents for Siko AG25

  • Page 1 AG25, AG25 Actuator with interface User manual 305/15...

  • Page 2: Table Of Contents

    4.1.3.2 Arrangement of the limit switches ..............22 Calibration ......................23 External transmission ....................23 Warnings / Errors ..................... 24 Warnings ....................... 24 Errors ........................24 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 2 of 102...
  • Page 3 8.2.1.20 Controller Parameter D ..................46 8.2.1.21 A-Pos ......................46 8.2.1.22 V-Pos ......................46 8.2.1.23 D-Pos ......................47 8.2.1.24 A-Rot ......................47 8.2.1.25 A-Inch ......................47 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 3 of 102...
  • Page 4 8.2.1.65 PCM Velocity 6 ....................63 8.2.1.66 PCM Velocity 7 ....................63 8.2.1.67 PCM Deceleration 1 ..................64 8.2.1.68 PCM Deceleration 2 ..................64 8.2.1.69 PCM Deceleration 3 ..................65 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 4 of 102...
  • Page 5 Overview of parameters ................... 80 Parameters ......................80 9.3.1 Positioning ......................80 9.3.1.1 Target Value ....................80 9.3.1.2 Actual Position ....................80 9.3.1.3 Actual Rotational Speed ................... 80 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 5 of 102...
  • Page 6 Voltage of Output Stage ................... 87 9.3.6.5 Voltage of Battery ................... 87 9.3.6.6 Flag Register ....................87 9.3.6.7 System Status Word ..................88 9.3.6.8 Device Type ....................88 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 6 of 102...
  • Page 7 9.4.9 Factory setting: all parameters ................94 9.4.10 Factory setting: Standard parameter ..............94 9.4.11 Factory setting: Controller parameter ..............94 9.4.12 Acknowledge error ....................95 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 7 of 102...
  • Page 8 Start travel job ....................98 ASCII command structure ..................99 Block diagram ......................100 Web server ......................101 FTP-Server ......................102 Secure Host IP Configuration Protocol (Secure HICP) ..........102 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 8 of 102...

  • Page 9: General Information

     The User manual for actuator commissioning and integration into a Industrial Ethernet network. You can also download these documents at http://www.siko-global.com/p/AG25. Display and controls General Information The drive has various LEDs that indicate the statuses of the drive and of the Ethernet module.

  • Page 10: Ethernet Module Statuses

    Red, flashing 2x IP-address error (no IP-address) Red, flashing 3x Correctable error. The module has been configured but the stored parameters differ from the parameters presently used. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 10 of 102...

  • Page 11: Drive Status

    Operating voltage of the output stage is applied. Red, flashing Actuator is outside the programmed positioning window. Operating voltage of the output stage missing. Operating voltage of control missing. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 11 of 102...

  • Page 12: Controls

    Manual setup mode (corresponding to inching mode 2) can be started by means of the control keys. This enables actuator movement without a superordinate control. Key : Inching mode 2 in e direction Key : Inching mode 2 in i direction AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15...

  • Page 13: Dip Switch

    (eg. station name and IP-address) to parameter setting as made ex factory. Switch Assigment SW1-SW8 Setting of PROFINET station name in format”siko-ag2x-yyy” yyy = set value in decimal format SW9, SW10 No Function PROFINET Station name Station name is allocated via the DCP-protocol "siko-ag2x-001"...

  • Page 14: Digital Inputs And Outputs

    Digital Input 4 Functionality Bit 3 Digital input 4 (PNU 0406h), bit 3 = 0 (PNU 0404h), value = 4 Bit 31 Fig. 3: Examples of digital input configurations AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 14 of 102...

  • Page 15: Example Of Digital Output Configuration

    Digital Outputs Polarity Bit 0 Digital output 1: (PNU 0301h), value = 2 (PNU 0303h), bit 0 = 0 Bit 31 Fig. 4: Example of digital output configuration AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 15 of 102...

  • Page 16: Functional Description

    Velocity V-Pos (PNU 0605h) A-Pos (PNU 0604h) A-Pos D-Pos (PNU 0604h) (PNU 0606h) Start position target position Time Fig. 5: Ramp travel, direct positioning mode AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 16 of 102...

  • Page 17: 4.1.1.1.1 Loop Positioning

    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. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15...

  • Page 18: Inching Mode

    The following conditions must be met for enabling the start of inching modes 1 and 2:  Supply voltage of the output stage is applied.  Operation enabled  Drive stands still AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15...

  • Page 19: Inching Mode 2

    The following conditions must be met for enabling the start of the rotational speed mode:  Supply voltage of the output stage is applied.  Operation enabled  Drive stands still AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15...

  • Page 20: Position Control Mode

    PNU 0403h, value = 10 Digital Inputs Polarity Digital Input 4 Functionality Bit 10 Digital input 4 PNU 0404h, value = 11 PNU 0406h, bit 3 = 0 Bit 31 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 20 of 102...

  • Page 21: Current Limiting

    The actuator changes to the error status if the contouring error exceeds the contouring error limit defined by the Contouring Error Limit parameter (PNU 0618h): contouring error. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 21 of 102...

  • Page 22: Limit Switch

    The arrangement of the limit switches is independent of the configured sense of rotation according to the following pattern: limit switch 2: limit switch 1: Fig. 11: Arrangement of the limit switches AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 22 of 102...

  • Page 23: Calibration

    Input of an odd transmission reduction value is possible according to the following example: Transmission reduction = 3.78 Parameter Gear Ratio Numerator = 378 Parameter Gear Ratio Denominator = 100 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 23 of 102...

  • Page 24: Warnings / Errors

    The error messages are entered in the error memory in the order of their detection. The last 10 error messages are displayed when the error memory is full. The cause of error can be tracked down with the help of the error codes. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod.

  • Page 25: Error Codes

    Ethernet module in the ERROR status while travel job is active  internal error Ethernet module in the EXCEPTION status  internal error, power-on reset necessary Table 1: Error codes AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 25 of 102...

  • Page 26: Profinet Io

    The actuator’s PROFINET interface supports diagnosis alarms in case of a device error. For displaying diagnosis information, the USI, User Structure Identifier 8000h is used for channel diagnosis. The error codes are converted into the ChannelErrorType according to the following table. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15...

  • Page 27: Control Lines When Iops = Bad

    Response of outputs to disconnect All output data are set to zero. 8.1.7 Response of outputs to a network All output data are set to zero. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 27 of 102...

  • Page 28: Overview Of Parameters

    Software Limit 2 0611h Delta Inch 0612h Sense of Rotation 0613h Pos Type 0614h Operating Mode 0615h Inching 2 Stop Mode 0616h Inpos Mode 0617h Loop Length AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 28 of 102...
  • Page 29 Voltage of Control 0A03h Voltage of Output Stage 0A04h Voltage of Battery 0A05h Motor Current 0A06h Actual Position 0A07h Actual Rotational Speed 0A08h Serial Number 0A09h Production Date AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 29 of 102...

  • Page 30: Parameter Description

    Description Digital output 1 1 … 7 Reserved, always 0 8.2.1.2 Control Word 0002h Description Control word Access rw (Component of process data) Data type Unsigned16 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 30 of 102...

  • Page 31: Control Word: Positioning Mode (Master  Slave)

    Reserved, always 0 Bit 10 0 = absolute positioning Relative positioning 1 = relative positioning Bit 11 … 15 Reserved, always 0 Table 2: Positioning mode control word AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 31 of 102...

  • Page 32: 8.2.1.2.2 Flow Chart: Operating Mode: Positioning Mode

    Intermediate stop Continue positioning CW.3 = 1 CW.3 = 0 Intermediate stop active SW = 0000 x101 01x0 0011 Fig. 13: Flow chart of PROFINET positioning mode AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 32 of 102...

  • Page 33: 8.2.1.2.3 Control Word Operating Mode: Speed Mode

    Positive flank acknowledges an error Acknowledge error Afterwards, the actuator changes to the switch-lock state. Bit 6 … 15 Reserved, always 0 Table 3: Control word speed mode AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 33 of 102...

  • Page 34: 8.2.1.2.4 Flow Chart: Speed Mode

    CW = 0000 0000 0001 0111 Setpoint enabled Change setpoint SW = 0000 x101 01xx 0001 Disable setpoint CW.4 = 0 Fig. 14: Flow chart of PROFINET speed mode AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 34 of 102...

  • Page 35: Target Value

    State of digital input 3 State of digital input 4 8.2.1.5 Status Word 0102h Description Status word Access ro (component of process data) Data type Unsigned16 Default EEPROM AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 35 of 102...

  • Page 36: Status Word: Positioning Mode (Slave  Master)

    Current limiting 1 = current limiting active Motor current exceeds the value set under parameter Current Limiting (PNU 0619h) Table 4: Status word of positioning mode AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 36 of 102...

  • Page 37: 8.2.1.5.2 Status Word: Speed Mode

    Current limiting 1 = current limiting active Motor current exceeds the value set under parameter Current Limiting (PNU 0619h) Table 5: Status word of speed mode AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 37 of 102...

  • Page 38: Actual Value

    Functionality of the system LEDs Access Data type Unsigned8 Default EEPROM Value range 0 … 1 Description, see chapter Table 6: Functionality of the system LEDs AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 38 of 102...
  • Page 39 Digital input 4 inactive Red, Active error flashing LED8 Green Digital input 4 active: Operating voltage of control missing Table 6: Functionality of the system LEDs AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 39 of 102...

  • Page 40: Service Interface Baud Rate

    The output is switched active in case of fault. Inpos The state of bit Inpos in the status word defines the state of the digital output. Output on The output is switched on permanently. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 40 of 102...

  • Page 41: Digital Output Functionalities State

    0 … 15 Value of the assigned bits: 0 = positive logics (high-active) 1 = negative logics (low-active) Description Digital output 1 polarity 1 … 15 Not assigned AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 41 of 102...

  • Page 42: Digital Input 1 Functionality

    Inching operation 2 negative direction Calibrate Acknowledge error Inching mode 1 PCM Start PCM input 1 PCM input 2 PCM input 3 Table 7: Configuration of digital inputs AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 42 of 102...

  • Page 43: Digital Input 2 Functionality

    The functional state can be read from the Digital Input Functionalities State register. 0404h Description input 4 functionality Access Data type Unsigned8 Default EEPROM Value range 0 … 11 Description, see Table 7: Configuration of digital inputs. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 43 of 102...

  • Page 44: Digital Input Functionalities State

    Inching mode 1 PCM Start PCM input 1 PCM input 2 PCM input 3 11 … 31 Not assigned Table 8: States of the digital inputs AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 44 of 102...

  • Page 45: Digital Inputs Polarity

    Controller Parameter I This setting applies to all operating modes. 0602h Description I gain of controller Access Data type Interger16 Default EEPROM Value range 0 … 500 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 45 of 102...

  • Page 46: Controller Parameter D

    Value range Transmission 66:1  max. 75 rpm Transmission 98:1  max. 50 rpm Transmission 188:1  max. 30 rpm Transmission 368:1  max. 15 rpm AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 46 of 102...

  • Page 47: D-Pos

    1 … 100 % 100 % correspond to: Transmission 66:1  3.04 rps² Transmission 98:1  2.05 rps² Transmission 188:1  1.06 rps² Transmission 368:1  0.54 rps² AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 47 of 102...

  • Page 48: V-Inch

    060Bh Description Numerator transmission ratio Access Data type Interger16 Default EEPROM Value range 1 … 10000 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 48 of 102...

  • Page 49: Gear Ratio Denominator

    S command. Position value = 0 + calibration value + offset value 060Eh Description Calibration value Access Data type Interger32 Default EEPROM Value range -999999 … 999999 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 49 of 102...

  • Page 50: Software Limit 1

    (travel range), traveling will only be possible in inching mode in the direction of the travel range. 0610h Description Limit 2 Access Data type Interger32 Default -19999 EEPROM Value range -9999999 … 9999999 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 50 of 102...

  • Page 51: Delta Inch

    Description Sense of rotation Access Data type Unsigned8 Default EEPROM Value range 0 = i sense of rotation (cw): 1 = e sense of rotation (ccw) AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 51 of 102...

  • Page 52: Pos Type

    2 = loop - 8.2.1.37 Operating Mode 0614h Description Operating mode Access Data type Unsigned8 Default EEPROM Value range 0 = positioning mode 1 = speed mode AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 52 of 102...

  • Page 53: Inching 2 Stop Mode

    Irrelevant Positioning mode: Value Description Permanent positioning regulation to setpoint. Positioning control Off and short circuit of the motor windings Positioning control Off and drive enable AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 53 of 102...

  • Page 54: Loop Length

    The maximum admissible contouring error is indicated as increments. 0618h Description Contouring error limit Access Data type Interger16 Default EEPROM Value range 1 … 30000 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 54 of 102...

  • Page 55: Current Limiting

    Values are entered in percentage of parameter V-Inch, PNU 1545 061Ah Description Inching 2 Offset Access Data type Unsigned8 Default EEPROM Value range 10 … 100 % AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 55 of 102...

  • Page 56: Inching 2 Acceleration Type

    The following equation is applied in case of calibration: Position value = 0 + calibration value + offset value 061Ch Description Offset value Access Data type Interger32 Default EEPROM Value range -999999 … 999999 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 56 of 102...

  • Page 57: Pcm Position 1

    Spindle pitch > 0: values refer to travel distance as 1/100 mm 0924h Description Positioning mode via digital inputs: Position 3 Access Data type Interger32 Default EEPROM Value range Interger32 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 57 of 102...

  • Page 58: Pcm Position 4

    Spindle pitch > 0: values refer to travel distance as 1/100 mm 0927h Description Positioning mode via digital inputs: Position 6 Access Data type Interger32 Default EEPROM Value range Interger32 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 58 of 102...

  • Page 59: Pcm Position 7

    1 … 100 % 100 % correspond to: Transmission 66:1  3.04 rps² Transmission 98:1  2.05 rps² Transmission 188:1  1.06 rps² Transmission 368:1  0.54 rps² AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 59 of 102...

  • Page 60: Pcm Acceleration 3

    1 … 100 % 100 % correspond to: Transmission 66:1  3.04 rps² Transmission 98:1  2.05 rps² Transmission 188:1  1.06 rps² Transmission 368:1  0.54 rps² AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 60 of 102...

  • Page 61: Pcm Acceleration 6

    Value range Transmission 66:1  max. 75 rpm Transmission 98:1  max. 50 rpm Transmission 188:1  max. 30 rpm Transmission 368:1  max. 15 rpm AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 61 of 102...

  • Page 62: Pcm Velocity 2

    Value range Transmission 66:1  max. 75 rpm Transmission 98:1  max. 50 rpm Transmission 188:1  max. 30 rpm Transmission 368:1  max. 15 rpm AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 62 of 102...

  • Page 63: Pcm Velocity 5

    Value range Transmission 66:1  max. 75 rpm Transmission 98:1  max. 50 rpm Transmission 188:1  max. 30 rpm Transmission 368:1  max. 15 rpm AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 63 of 102...

  • Page 64: Pcm Deceleration 1

    101 % = the delay is determined by the PCM Acceleration 2 parameter. 100 % correspond to: Transmission 66:1  3.04 rps² Transmission 98:1  2.05 rps² Transmission 188:1  1.06 rps² Transmission 368:1  0.54 rps² AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 64 of 102...

  • Page 65: Pcm Deceleration 3

    101 % = the delay is determined by the PCM Acceleration 4 parameter. 100 % correspond to: Transmission 66:1  3.04 rps² Transmission 98:1  2.05 rps² Transmission 188:1  1.06 rps² Transmission 368:1  0.54 rps² AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 65 of 102...

  • Page 66: Pcm Deceleration 5

    101 % = the delay is determined by the PCM Acceleration 6 parameter. 100 % correspond to: Transmission 66:1  3.04 rps² Transmission 98:1  2.05 rps² Transmission 188:1  1.06 rps² Transmission 368:1  0.54 rps² AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 66 of 102...

  • Page 67: Pcm Deceleration 7

    1/10 °C Access Data type Interger16 Default EEPROM 8.2.1.75 Voltage of Control 0A02h Description Operating voltage of control Unit 1/10 V Access Data type Interger16 Default EEPROM AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 67 of 102...

  • Page 68: Voltage Of Output Stage

    EEPROM 8.2.1.79 Actual Position 0A06h Description Current position Unit Spindle pitch = 0: Increments Spindle pitch > 0: 1/100 mm Access Sata type Interger32 Default EEPROM AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 68 of 102...

  • Page 69: Actual Rotational Speed

    Production date Unit DDMMYYYY Access Data type Interger32 Default EEPROM 8.2.1.83 SW Motor Controller 0A0Ah Description Motor Controller software version Unit Access Data type Interger32 Default EEPROM AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 69 of 102...

  • Page 70: Gear Reduction

    PROFINET IO 8.2.1.84 Gear Reduction 0A0Bh Description Transmission ratio reduction Unit Access Data type Interger16 Default EEPROM AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 70 of 102...

  • Page 71: System Status Word

    Actual position is above the programmed limiting value. Traveling is possible only in negative direction in inching mode. ‘0‘ Actual position is below the programmed limiting value. ‘0‘ Positioning mode: Irrelevant AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 71 of 102...
  • Page 72 The actuator switches the contouring error fault. Remedy: reduce programmed speed! ‘0‘ No contouring error  actual speed corresponds with required speed. Table 9: System Status Word AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 72 of 102...

  • Page 73: Encoder Resolution

    0A0Dh Description Encoder resolution Unit Increments per revolution of the output shaft Access Data type Interger16 Default EEPROM 8.2.1.87 Device ID 1 = AG25 2 = AG26 0A0Eh Description Device identification Unit Access Data type Unsigned8 Default EEPROM 8.2.1.88 Number of Errors...

  • Page 74: Error Number 2

    0B05h Description Error 4 Unit Access Data type Unsigned8 Default EEPROM 8.2.1.93 Error Number 5 0B06h Description Error 5 Unit Access Data type Unsigned8 Default EEPROM AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 74 of 102...

  • Page 75: Error Number 6

    0B09h Description Error 8 Unit Access Data type Unsigned8 Default EEPROM 8.2.1.97 Error Number 9 0B0Ah Description Error 9 Unit Access Data type Unsigned8 Default EEPROM AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 75 of 102...

  • Page 76: Error Number 10

    PROFINET IO 8.2.1.98 Error Number 10 0B0Bh Description Error 10 Unit Access Data type Unsigned8 Default EEPROM AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 76 of 102...

  • Page 77: Configuration

    1 = yes Changes will take effect after a reset. PROFINET diagnostics alarms 0 = no (factory setting) 1 = yes 6 … 15 Reserved, always 0 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 77 of 102...

  • Page 78: 8.2.1.100 S-Command

    Data type Unsigned8 Default EEPROM Value Description All parameters to default Only standard parameters to default Controller parameters to default Reset error Calibrate Delete error memory AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 78 of 102...

  • Page 79: Service Protocol

    Except for a few cases, the actuator responds to ASCII commands with a terminating string (ASCII-character ">" + Carriage Return "<CR>" The responses to read commands contain return values in addition. Length and format of the response are defined unchangeably. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod.

  • Page 80: Overview Of Parameters

    Binary format see chapter 8.2.1.79 Actual Position 9.3.1.3 Actual Rotational Speed Read command see chapter 9.8 ASCII command structure Write command read-only Description see chapter 8.2.1.80 Actual Rotational Speed AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 80 of 102...

  • Page 81: Calibration Value

    = 2: positioning with loop negative 9.3.1.8 Pos Window Read command see chapter 9.8 ASCII command structure Write command H09xxxxx Description see chapter 8.2.1.27 Pos Window AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 81 of 102...

  • Page 82: Sense Of Rotation

    Write command H04xxxxx Description see chapter 8.2.1.22 V-Pos 9.3.2.3 D-Pos Read command see chapter 9.8 ASCII command structure Write command H44xxxxx Description see chapter 8.2.1.23 D-Pos AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 82 of 102...

  • Page 83: A-Rot

    8.2.1.28 Gear Ratio Numerator 9.3.3 Limiting values 9.3.3.1 Software Limit 1 Read command see chapter 9.8 ASCII command structure Write command F1±xxxxxxx Description see chapter 8.2.1.32 Software Limit 1 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 83 of 102...

  • Page 84: Software Limit 2

    Description see chapter 8.2.1.39 Inpos Mode 9.3.4.3 Delta Inch Read command see chapter 9.8 ASCII command structure Write command F4±xxxxxxx Description see chapter 8.2.1.34 Delta Inch AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 84 of 102...

  • Page 85: Inching 2 Acceleration Type

    Description see chapter 8.2.1.8 Service Interface Baud rate 9.3.4.9 Configuration Read command see chapter 9.8 ASCII command structure Write command H61xxxxx Description see chapter 8.2.1.99 Configuration AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 85 of 102...

  • Page 86: Controller Parameter

    8.2.1.78 Motor Current 9.3.6.2 Output Stage Temperature Read command see chapter 9.8 ASCII command structure Write command read-only Description see chapter 8.2.1.74Output Stage Temperature AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 86 of 102...

  • Page 87: Voltage Of Control

    ‘01’ = loop + ‘10’ = loop – Bit 3: not assigned Bit 4: Operating mode: ‘0’ = positioning mode ‘1’ = speed mode Bit 5+6+7: not assigned AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 87 of 102...

  • Page 88: Gear Reduction

    8.2.1.85 System Status Word 9.3.6.8 Device Type Read command see chapter 9.8 ASCII command structure Write command read-only Description Response format: "AG25 >" 9.3.6.9 Gear Reduction Read command see chapter 9.8 ASCII command structure Write command read-only Description Response format: "98...

  • Page 89: Serial Number

    8.2.1.13 Digital Input 2 Functionality 9.3.7.3 Digital Input 3 Functionality Read command see chapter 9.8 ASCII command structure Write command H51xxxxx Description see chapter 8.2.1.14 Digital Input 3 Functionality AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 89 of 102...

  • Page 90: Digital Input 4 Functionality

    8.2.1.9 Digital Output 1 Functionality 9.3.7.9 Digital Outputs Control Read command see chapter 9.8 ASCII command structure Write command H60xxxxx Description see chapter 8.2.1.1 Digital Outputs Control AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 90 of 102...

  • Page 91: Digital Output Functionalities State

    8.2.1.90 Error Number 2 9.3.8.4 Error Number 3 Read command see chapter 9.8 ASCII command structure Write command read-only Description see chapter 8.2.1.91 Error Number 3 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 91 of 102...

  • Page 92: Error Number 4

    8.2.1.96 Error Number 8 9.3.8.10 Error Number 9 Read command see chapter 9.8 ASCII command structure Write command read-only Description see chapter 8.2.1.97 Error Number 9 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 92 of 102...

  • Page 93: Error Number 10

    (only in positioning mode). 9.4.5 Cancel current travel job in positioning mode Command I (49 see chapter 9.8 ASCII command structure Description Motor remains in control state AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 93 of 102...

  • Page 94: Motor Stop Fast

    Reset only standard parameters to factory settings 9.4.11 Factory setting: Controller parameter Command S11102 see chapter 9.8 ASCII command structure Description Reset only controller parameters to factory settings AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 94 of 102...

  • Page 95: Acknowledge Error

    9.8 ASCII command structure Description Deleting of the error mermory 9.4.15 Software Reset Command see chapter 9.8 ASCII command structure Description Execute software reset AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 95 of 102...

  • Page 96: Flow Charts

    SW = x1xx 10x0 0001 0000 Intermediate stop continue positioning ‘N‘ or ‘O‘ command ‘M‘ command Intermediate stop active SW = x10x 00x0 0000 0000 Fig. 16: Flowchart positioning mode SIKONETZ5 AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 96 of 102...

  • Page 97: Flow Chart: Operating Mode: Speed Mode

    Target speed enabled ‘F0‘ command SW = 01xx x000 000x x000 Stop travel job ‘N‘ or ‘O‘ command Fig. 17: Flow chart speed mode service protocol AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 97 of 102...

  • Page 98: Error Number Encoding

    Write command: F0+0000500 (10 characters) Reply: ><CR> (2 characters) Read command: E0 (2 characters) Reply: +0000500><CR> (10 characters) 9.7.2 Start travel job Command M (1 character) Reply: ><CR> (2 characters) AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 98 of 102...

  • Page 99: Ascii Command Structure

    = code write > Sense of rotation x = decimal value Uxxxx read bbbb Read parameter (4-byte) bbbb = binary value in the Big-Endian format AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 99 of 102...

  • Page 100: Block Diagram

    Ethernet Ethernet module Digital I Control reverse Power polarity pack Control protection reverse Encoder Output stage Motor polarity Output protection stage Battery Fig. 18: Block diagram AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 100 of 102...

  • Page 101: Web Server

    Below, the parameter menu is shown. The process data is within the red mark. The web server can be activated or deactivated via the parameter Configuration (PNU 0B21h). With factory settings, the web server is activated. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 101 of 102...

  • Page 102: Ftp-Server

    IP address, subnet mask and DHCP via the network. The protocol can be activated or deactivated via the parameter Configuration(PNU 0B21h). With factory settings, the protocol is activated. AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod.

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