Siko AG25 User Manual
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Siko AG25 User Manual

Actuator with ethernet/ip interface
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AG25, AG26
Actuator with
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Summary of Contents for Siko AG25

  • Page 1 AG25, AG26 Actuator with interface User manual 225/18...

  • Page 2: Table Of Contents

    4.1.3.2 Arrangement of the limit switches ..............23 Calibration ......................24 External transmission ....................24 Warnings / Errors ..................... 25 Warnings ....................... 25 Errors ........................25 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 2 of 105...
  • Page 3 8.2.1.24 A-Rot ......................49 8.2.1.25 A-Inch ......................49 8.2.1.26 V-Inch ......................50 8.2.1.27 Pos Window ....................50 8.2.1.28 Gear Ratio Numerator ..................50 8.2.1.29 Gear Ratio Denominator ..................51 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 3 of 105...
  • Page 4 8.2.1.69 PCM Deceleration 3 ..................67 8.2.1.70 PCM Deceleration 4 ..................67 8.2.1.71 PCM Deceleration 5 ..................68 8.2.1.72 PCM Deceleration 6 ..................68 8.2.1.73 PCM Deceleration 7 ..................69 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 4 of 105...
  • Page 5 9.1.3 ASCII commands ....................83 9.1.4 Responses ......................83 Overview of parameters ................... 84 Parameters ......................84 9.3.1 Positioning ......................84 9.3.1.1 Target Value ....................84 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 5 of 105...
  • Page 6 Output Stage Temperature ................90 9.3.6.3 Voltage of Control ................... 90 9.3.6.4 Voltage of Output Stage ................... 90 9.3.6.5 Voltage of Battery ................... 91 9.3.6.6 Flag Register ....................91 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 6 of 105...
  • Page 7 Motor stop fast ....................97 9.4.7 Motor stop ......................97 9.4.8 enable motor ...................... 97 9.4.9 Factory setting: all parameters ................98 9.4.10 Factory setting: Standard parameter ..............98 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 7 of 105...
  • Page 8 Start travel job ....................101 ASCII command structure ..................102 Block diagram ......................103 Web server ......................104 FTPsteps-Server ...................... 105 Secure Host IP Configuration Protocol (Secure HICP) ..........105 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 8 of 105...

  • Page 9: General Information

     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/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

    LED state Description No connection, no activity Green Connection (100 Mbit/s) established Green, flashing Activity (100 Mbit/s) Yellow Connection (10 Mbit/s) established Yellow, flashing Activity (10 Mbit/s) AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 10 of 105...

  • Page 11: Network Status Led 4

    LED status is “red” or “red, flashing” due to volatile storage of the setpoint. The setpoint is initialized with the value 0 after switching on. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18...

  • 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18...

  • Page 13: Dip Switch

    If a function was assigned to the digital input, the functions' conditions of the digital inputs can be read in the register Digital Input Functionalities State (instance 1029). AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 13 of 105...

  • Page 14: Examples Of Digital Input Configurations

    Digital Input 4 Functionality Digital input 4 Bit 3 (instance 1028), value = 4 (instance 1030), bit 3 = 0 Bit 31 Fig. 3: Examples of digital input configurations AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 14 of 105...

  • Page 15: Example Of Digital Output Configuration

    Digital Outputs Polarity Bit 0 Digital output 1: (instance 769), value = 2 (instance 771), bit 0 = 0 Bit 31 Fig. 4: Example of digital output configuration AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 15 of 105...

  • Page 16: Functional Description

    Velocity V-Pos (instance 1541) A-Pos (instance 1540) A-Pos D-Pos (instance 1540) (instance 1542) Start position target Time position Fig. 5: Ramp travel, direct positioning mode AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 16 of 105...

  • 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18...

  • 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18...

  • Page 19: Inching Mode 2

    Target speed (set point) Disable operation Disable target value or set point = 0 A-Rot (instance 1543) Time 'Stop' Set point enabled Fig. 8: Ramp speed mode AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 19 of 105...

  • Page 20: Position Control Mode

    The use of the position control mode requires previous configuration of the digital inputs. The desired travel data set can be selected via PCM inputs 1 to 3 in binary addressing. Travel data set 0 does not exist. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod.

  • Page 21: 4.1.1.4.1 Examples Of Configuration Of The Digital Inputs For The Pcm

    PCM Start input. Resetting the PCM Start input during an active positioning process will result in cancellation of the travel job but the drive will continue to be controlled. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18...

  • Page 22: Current Limiting

    Contouring Error Limit parameter (instance 1560): contouring error. 4.1.3 Limit switch Two digital inputs must be configured correspondingly if the limit switch function is to be used AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 22 of 105...

  • Page 23: Example Of Limit Switch Configuration

    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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 23 of 105...

  • Page 24: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 24 of 105...

  • Page 25: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod.

  • Page 26: Error Codes

    0x16 The behavior of the drive when this fault occurs can be set with the parameter configuration, bit 6 (see chapter 8.2.1.99). Table 1: Error codes AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 26 of 105...

  • Page 27: Ethernet/Ip

    8.1.2 Explicit Messages Acyclic exchange of parameter data is via explicit messages (class-3 connection). The parameter values of the individual instances are accessed via class A2h, attribute 5. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 27 of 105...

  • Page 28: Adi Object (Class A2H)

    The maximum admissible parameter value Min. value The minimum admissible parameter value Default value Standard value Access to the parameter values is via Get/Set Attribute Single, Attribute 5. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 28 of 105...

  • Page 29: Overview Of Parameters

    Software Limit 2 1553 Delta Inch 1554 Sense of Rotation 1555 Pos Type 1556 Operating Mode 1557 Inching 2 Stop Mode 1558 Inpos Mode 1559 Loop Length AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 29 of 105...
  • Page 30 Voltage of Control 2563 Voltage of Output Stage 2564 Voltage of Battery 2565 Motor Current 2566 Actual Position 2567 Actual Rotational Speed 2568 Serial Number 2569 Production Date AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 30 of 105...
  • Page 31 2822 Error Number 5 2823 Error Number 6 2824 Error Number 7 2825 Error Number 8 2826 Error Number 9 2827 Error Number 10 3073 S-Command AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 31 of 105...

  • Page 32: Parameter Description

    Reserved, always 0 8.2.1.2 Control Word Instance 2 dec /2 hex Description Control word Access Get/Set (Component of process data) Data type UINT Default EEPROM Value range UINT AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 32 of 105...

  • Page 33: Control Word: Positioning Mode (Master  Slave)

    1 = relative positioning Bit 11 … 14 Reserved, always 0 Bit 15 Positive edge calibrates the drive (see chapter 5). Calibration Table 2: Positioning mode control word AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 33 of 105...

  • Page 34: 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 EtherNet/IP™ positioning mode AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 34 of 105...

  • Page 35: 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 SIKONETZ5 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 35 of 105...

  • Page 36: 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 EtherNet/IP™ speed mode AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 36 of 105...

  • Page 37: Target Value

    State of digital input 4 8.2.1.5 Status Word Instance 258 dec /102 hex Description Status word Access Get (component of process data) Data type UINT Default EEPROM AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 37 of 105...

  • Page 38: Status Word: Positioning Mode (Slave  Master)

    The bit is set when the calibration has been performed successfully. If bit 15 is reset in the control parameter, this bit is also reset. Table 4: Status word of positioning mode AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18...

  • Page 39: 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 (instance 1561d). Table 5: Status word of speed mode AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 39 of 105...

  • Page 40: Actual Value

    Functionality of the system LEDs Access Get/Set Data type USINT Default EEPROM Value range 0 … 1 Description, see chapter Table 6: Functionality of the system LEDs AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 40 of 105...
  • Page 41 Digital input 4 inactive Red, flashing Active error LED8 Green Digital input 4 active: Operating voltage of control missing Table 6: Functionality of the system LEDs AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 41 of 105...

  • Page 42: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 42 of 105...

  • Page 43: 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 … 7 Not assigned AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 43 of 105...

  • Page 44: Digital Input 1 Functionality

    1026 dec /402 hex Description Input 2 functionality Access Get/Set Data type USINT Default EEPROM Value range 0 … 11 Description, see Table 7: Configuration of digital inputs. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 44 of 105...

  • Page 45: Digital Input 3 Functionality

    1028 dec /404 hex Description input 4 functionality Access Get/Set Data type USINT Default EEPROM Value range 0 … 11 Description, see Table 7: Configuration of digital inputs. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 45 of 105...

  • Page 46: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 46 of 105...

  • Page 47: Digital Inputs Polarity

    This setting applies to all operating modes. Instance 1538 dec /602 hex Description I gain of controller Access Get/Set Data type Default EEPROM Value range 0 … 500 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 47 of 105...

  • Page 48: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 48 of 105...

  • Page 49: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 49 of 105...

  • Page 50: V-Inch

    Instance 1547 dec / 60B hex Description Numerator transmission ratio Access Get/Set Data type Default EEPROM Value range 1 … 10000 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 50 of 105...

  • Page 51: Gear Ratio Denominator

    Position value = 0 + calibration value + offset value Instance 1550 dec / 60E hex Description Calibration value Access Get/Set Data type DINT Default EEPROM Value range -999999 … 999999 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 51 of 105...

  • Page 52: Software Limit 1

    (travel range), traveling will only be possible in inching mode in the direction of the travel range. Instance 1552 dec /610 hex Description Limit 2 Access Get/Set Data type DINT Default -19999 EEPROM Value range -9999999 … 9999999 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 52 of 105...

  • Page 53: Delta Inch

    Sense of rotation Access Get/Set Data type USINT Default EEPROM Value range 0 = i sense of rotation (cw): 1 = e sense of rotation (ccw) AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 53 of 105...

  • Page 54: Pos Type

    Operating Mode Instance 1556 dec /614 hex Description Operating mode Access Get/Set Data type USINT Default EEPROM Value range 0 = positioning mode 1 = speed mode AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 54 of 105...

  • Page 55: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 55 of 105...

  • Page 56: Loop Length

    The maximum admissible contouring error is indicated as steps. Instance 1560 dec /618 hex Description Contouring error limit Access Get/Set Data type Default EEPROM Value range 1 … 30000 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 56 of 105...

  • Page 57: Current Limiting

    Values are entered in percentage of parameter V-Inch, instance 1545 Instance 1562 dec / 61A hex Description Inching 2 Offset Access Get/Set Data type USINT Default EEPROM Value range 10 … 100 % AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 57 of 105...

  • Page 58: Inching 2 Acceleration Type

    Position value = 0 + calibration value + offset value Instance 1564 dec / 61C hex Description Offset value Access Get/Set Data type DINT Default EEPROM Value range -999999 … 999999 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 58 of 105...

  • Page 59: Pcm Position 1

    Spindle pitch > 0: values refer to travel distance as 1/100 mm Instance 2340 dec /924 hex Description Positioning mode via digital inputs: Position 3 Access Get/Set Data type DINT Default EEPROM Value range DINT AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 59 of 105...

  • Page 60: Pcm Position 4

    Spindle pitch > 0: values refer to travel distance as 1/100 mm Instance 2343 dec /927 hex Description Positioning mode via digital inputs: Position 6 Access Get/Set Data type DINT Default EEPROM Value range DINT AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 60 of 105...

  • Page 61: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 61 of 105...

  • Page 62: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 62 of 105...

  • Page 63: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 63 of 105...

  • Page 64: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 64 of 105...

  • Page 65: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 65 of 105...

  • Page 66: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 66 of 105...

  • Page 67: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 67 of 105...

  • Page 68: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 68 of 105...

  • Page 69: Pcm Deceleration 7

    Data type Default EEPROM 8.2.1.75 Voltage of Control Instance 2562 dec / A02 hex Description Operating voltage of control Unit 1/10 V Access Data type Default EEPROM AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 69 of 105...

  • Page 70: Voltage Of Output Stage

    Instance 2566 dec / A06 hex Description Current position Unit Spindle pitch = 0: Steps Spindle pitch > 0: 1/100 mm Access Sata type Default EEPROM AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 70 of 105...

  • Page 71: Actual Rotational Speed

    Data type DINT Default EEPROM 8.2.1.83 SW Motor Controller Instance 2570 dec / A0A hex Description Motor Controller software version Unit Access Data type DINT Default EEPROM AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 71 of 105...

  • Page 72: Gear Reduction

    2572 dec / A0C hex Description System status word Unit Access Data type UINT Default EEPROM Description of the bits, see Table 9: System Status Word AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 72 of 105...
  • Page 73 Ready for travel: Actuator not in error state No active positioning Supply voltage of the output stage is applied Actual position within limits (only positioning mode) AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 73 of 105...

  • Page 74: Encoder Resolution

    Description Encoder resolution Unit Steps per revolution of the output shaft Access Data type Default EEPROM 8.2.1.87 Device ID 1 = AG25 2 = AG26 Instance 2574 dec / A0E hex Description Device identification Unit Access Data type USINT Default...

  • Page 75: Number Of Errors

    Access Data type USINT Default EEPROM 8.2.1.91 Error Number 3 Instance 2820 dec / B04 hex Description Error 3 Unit Access Data type USINT Default EEPROM AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 75 of 105...

  • Page 76: Error Number 4

    Access Data type USINT Default EEPROM 8.2.1.95 Error Number 7 Instance 2824 dec / B08 hex Description Error 7 Unit Access Data type USINT Default EEPROM AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 76 of 105...

  • Page 77: Error Number 8

    Various performance of the actuator can be configured via this parameter. Instance 2849 dez / B21 hex Description Configuration oft the actuator Access Get/Set Data type UINT Default EEPROM Valuation 0 … 65535 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 77 of 105...
  • Page 78 1 = switched on: In the EXCEPTION state, the drive automatically performs a reset. After the restart, the EXCEPTION fault is triggered. 7 … 15 reserved, always 0 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 78 of 105...

  • Page 79: 8.2.1.100 S-Command

    Enables access to the parameters of the actuator TCP/IP Interface Object Enables configuration of the TCP/IP interface Ethernet Link Object Contains connections-specific counters and status information AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 79 of 105...

  • Page 80: Identity Object (Class 01H)

    Data type Default value Object revision index UINT 0001h Maximum number of object UINT instances in this class Number of object instances in this UINT class AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 80 of 105...

  • Page 81: Instance Attributes Of The Identity Object

    Product Code UINT 0101h Revision Struct of: Major Revision USINT Minor Revision USINT Status WORD Serial Number UDINT 7 (AG25) Get Product Name SHORT_STRING SIKO DriveLine AG25 7 (AG26) Get Product Name SHORT_STRING SIKO DriveLine AG26 SETTL: Active Language Struct of:...

  • Page 82: Status

    Type 0: Power Cycling Reset The device carries out reset Type 1: Out of Box Reset All parameters to factory settings; afterwards, the device carries out reset AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 82 of 105...

  • Page 83: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod.

  • Page 84: Overview Of Parameters

    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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 84 of 105...

  • Page 85: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 85 of 105...

  • Page 86: Sense Of Rotation

    Write command H44xxxxx Description see chapter 8.2.1.23 D-Pos 9.3.2.4 A-Rot Read command see chapter 9.8 ASCII command structure Write command H05xxxxx Description see chapter 8.2.1.24 A-Rot AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 86 of 105...

  • Page 87: A-Inch

    8.2.1.32 Software Limit 1 9.3.3.2 Software Limit 2 Read command see chapter 9.8 ASCII command structure Write command F2±xxxxxxx Description see chapter 8.2.1.33 Software Limit 2 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 87 of 105...

  • Page 88: Current Limiting

    8.2.1.34 Delta Inch 9.3.4.4 Inching 2 Acceleration Type Read command see chapter 9.8 ASCII command structure Write command H39xxxxx Description see chapter 8.2.1.44 Inching 2 Acceleration Type AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 88 of 105...

  • Page 89: Inching 2 Offset

    8.2.1.99 Configuration 9.3.5 Controller parameter 9.3.5.1 Controller Parameter P Read command see chapter 9.8 ASCII command structure Write command H00xxxxx Description see chapter 8.2.1.18 Controller Parameter P AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 89 of 105...

  • Page 90: Controller Parameter I

    8.2.1.75 Voltage of Control 9.3.6.4 Voltage of Output Stage Read command see chapter 9.8 ASCII command structure Write command read-only Description see chapter 8.2.1.76 Voltage of Output Stage AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 90 of 105...

  • Page 91: Voltage Of Battery

    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 92: Motor Type

    Write command read-only Description Response format: "01:02:63>" 9.3.6.15 SW Motor Controller Read command see chapter 9.8 ASCII command structure Write command read-only Description Response format: "V1.00 >" AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 92 of 105...

  • Page 93: Digital Input/Output

    8.2.1.16 Digital Input Functionalities State 9.3.7.6 Digital Inputs Polarity Read command see chapter 9.8 ASCII command structure Write command H54xxxxx Description see chapter 8.2.1.17 Digital Inputs Polarity AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 93 of 105...

  • Page 94: Digital Inputs State

    8.2.1.11 Digital Outputs Polarity 9.3.8 Error memory 9.3.8.1 Number of Errors Read command see chapter 9.8 ASCII command structure Write command read-only Description see chapter 8.2.1.88 Number of Errors AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 94 of 105...

  • Page 95: Error Number 1

    8.2.1.93 Error Number 5 9.3.8.7 Error Number 6 Read command see chapter 9.8 ASCII command structure Write command read-only Description see chapter 8.2.1.94 Error Number 6 AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 95 of 105...

  • Page 96: Error Number 7

    – start of positioning process to programmed set point Speed mode: –start of speed mode 9.4.2 start of inching mode 1 Command see chapter 9.8 ASCII command structure Description only in positioning mode AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 96 of 105...

  • Page 97: Start Inching Mode 2 Positive Travel Direction

    9.8 ASCII command structure Description motor decelerates with programmed delay. Motor remains in control state! 9.4.8 enable motor Command see chapter 9.8 ASCII command structure Description Motor is enabled AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 97 of 105...

  • Page 98: Factory Setting: All Parameters

    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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 98 of 105...

  • Page 99: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 99 of 105...

  • Page 100: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 100 of 105...

  • Page 101: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 101 of 105...

  • Page 102: 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, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 102 of 105...

  • Page 103: Block Diagram

    Ethernet Ethernet module Digital I Control reverse Power polarity pack Control protection reverse Encoder Output stage Motor polarity protection Output stage Battery Fig. 18: Block diagram AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 103 of 105...

  • Page 104: 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 (instance 2849). The web server is activated in the factory setting. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 104 of 105...

  • Page 105: Ftpsteps-Server

    IP address, subnet mask, and DHCP settings over the network. The protocol can be activated or deactivated via the parameter Configuration (instance 2849). The protocol is activated in the factory setting. AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 105 of 105...

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