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Siko AG03/1 User Manual

Actuator with io-link interface
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AG03/1
Actuator with
Interface
User Manual
025/21

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Summary of Contents for Siko AG03/1

  • Page 1 AG03/1 Actuator with Interface User Manual 025/21...

  • Page 2: Table Of Contents

    3.5.1 Scaling ......................24 3.5.1.1 Example of spindle drive ................... 24 3.5.1.2 Example rack/pinion straight toothed, metric pitch ..........25 3.5.1.3 Example of external gear .................. 25 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 2 of 63...
  • Page 3 OperatingMode ....................38 4.3.2 AccelerationPositionMode ..................39 4.3.3 VelocityPositionMode ..................39 4.3.4 DecelerationPositionMode ..................40 4.3.5 AccelerationVelocityMode ..................40 4.3.6 AccelerationInchingMode ..................40 4.3.7 VelocityInchingMode ................... 41 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 3 of 63...
  • Page 4 Process data in Velocity Mode ................55 Process data output (Master  Device) .............. 56 5.2.2.1 Process data input (Device  Master) ..............56 5.2.2.2 Generic Mapping Channels ..................57 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 4 of 63...
  • Page 5 IO-Link specific objects..................58 IO-Link System Commands ..................59 IO-Link DeviceAccessLocks ..................59 IO-Link Event Codes ....................60 IO-Link Event Codes ....................60 Block wiring diagram ....................62 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 5 of 63...

  • Page 6: General Information

     User manual for connecting the actuator to an IO-Link master and for commissioning.  IODD file (IO-Link Device Description): connection and configuration with an IO-Link master is possible with the help of this file using commercially available IO-Link masters and their configurators. These documents are also available at http://www.siko-global.com/p/ag03-1. 1.1.1 History Change...

  • Page 7: Intended Use

    Unless otherwise described, normal operation of the system with unchanged factory settings is assumed for the further functional description. The AG03/1 actuator is used for adjustment and positioning tasks on systems and machines. The actuator is only intended for use in industrial applications that are not subject to any particular electrical or mechanical safety requirements.

  • Page 8: Status Led

    The operating keys can be used to start manual setup mode (corresponds to inching mode 2). This makes it possible to move the actuator without a higher-level control.  Clockwise button  Counterclockwise button AG03/1 Date: 2/08/2021 Art. No. 90425...

  • Page 9: Ex-Works Setting

    ControllerParameterI and ControllerParameterD, adjustments can be made to the controlled system. Changing the controller parameters during a positioning operation has no effect on the current positioning mode. AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 9 of 63...

  • Page 10: Target Window Positioning Mode

    Fig. 3: Target Window Positioning Mode 3.1.1.2 Travel range The travel range depends on the encoder and the scaling (cf. Section 3.5.1). The number of revolutions according to the product data sheet cannot be exceeded! AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21...

  • Page 11: Software Limits

    When operating the drive, it is possible to compensate for a mechanical clearance by means of the loop positioning. In this case, the target value is always taken from the same direction. AG03/1 Date: 2/08/2021 Art.

  • Page 12: Inching Mode

    1 or 2 must be used to move from this position in the corresponding direction! The actuator travels from the current actual position once by the value DeltaInch, depending on the sign of the entered value. AG03/1 Date: 2/08/2021 Art. No. 90425...

  • Page 13: Inching Mode 2

    VelocityInchingMode. The velocity profile then corresponds to the following process: Speed 100% VelocityInchingMode AccelerationInchingMode Time Fig. 7: Inching mode 2 – Inching2AccelerationMode AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 13 of 63...

  • Page 14: Controlword In Positioning Mode

    No inching mode 2 negative Inching mode 2 negative The actuator travels in the negative direction. bc09_Reserved Always 0 bc10_MoveRelative Absolute positioning Relative positioning bc11_Reserved Always 0 bc12_Reserved Always 0 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 14 of 63...

  • Page 15: Statusword In Positioning Mode

    Charging state OK Charging state critical bs12_TorqueDeactState Torque deactivation not Torque deactivation active active The motor current was greater than set under TorqueDeactivation parameter. AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 15 of 63...
  • Page 16 The bit is set when the calibration has been performed successfully. If bit CW.15 is reset, this bit is also reset. Table 4: StatusWord in positioning mode AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 16 of 63...

  • Page 17: Sequence Schedule In Positioning Mode

    Intermediate stop active SW = 0x00 x101 01x0 0011 Fig. 8: Sequence schedule in positioning mode 3.1.2 Speed Mode SoftwareLimit1 + 2 are disabled in this operating mode. AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 17 of 63...

  • Page 18: Target Window Speed Mode

    If the actual speed is within the window defined by the TargetWindow parameter, this is signaled in the StatusWord. Example:  TargetVelocity = 80  TargetWindow = 5 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 18 of 63...

  • Page 19: Controlword In Speed Mode

    The motor is braked to a standstill with maximum deceleration and remains in control. bc03_Reserved Always 0 bc04_StartTravelJob Start travel job (edge- controlled, positive) bc05_ErrorAck Acknowledge error AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 19 of 63...

  • Page 20: Statusword In Speed Mode

    Operation not enabled Operation enabled The position control of the actuator is activated bs09_SwitchLock No switch-on lock Switch-on lock (cf. Section 3.1.2.4) bs10_TravelJobAck No acknowledgment Acknowledgment AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 20 of 63...
  • Page 21 Acknowledgment The bit is set when the calibration has been performed successfully. If bit CW.15 is reset, this bit is also reset. Table 6: StatusWord speed mode AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 21 of 63...

  • Page 22: Sequence Schedule In Speed Mode

    5 years. The battery voltage is checked in a time interval of approx. 5 minutes. If the battery voltage drops below a certain value, this is signaled by SW.11. If the battery voltage drops further, the AG03/1 Date: 2/08/2021 Art.

  • Page 23: Emergency Operation

    When you replace the battery on site, the instructions in the assembly instructions must be observed. Replacement can also take place at the SIKO distribution partners or in the SIKO main plant. 3.2.1...

  • Page 24: Additional Functions

    The desired unit of the position value is 1/100 mm. The SpindlePitch parameter is calculated using the following formula: 2 mm SpindlePitch = = 200 Benutzereinheit 0.01 mm AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 24 of 63...

  • Page 25: Example Rack/Pinion Straight Toothed, Metric Pitch

    Fig. 12: external gear The input of non-integer gear ratios is possible according to the following example:  Gear Reduction = 3.78  GearRatioNumerator parameter = 378  GearRatioDenominator parameter = 100 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21...

  • Page 26: Protection Functions

    If the integral exceeds the limit value I²t-limit, the motor overcurrent fault is triggered. The percentage ratio of the actual value of the integral to the I²t limit can be read via the I2tOverload parameter. AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21...

  • Page 27: Torque Deactivation

    With a parameter value of 125%, the torque deactivation function is disabled. If the shutdown threshold is exceeded, the drive brakes with a maximum delay. The drive remains in control. AG03/1 Date: 2/08/2021 Art. No. 90425...

  • Page 28: Temperature Monitoring

    2 seconds, a position lag error is triggered. The control deviation is calculated as follows: Control Deviation [Increments] = Setpoint Position (Path Generator) [Increments] – Actual Position [Increments] AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21...

  • Page 29: Oscillation Detection

    The cause of the error can be determined based on the error code Fehler! Verweisquelle konnte Each fault is stored in the assigned fault counter (cf. Section nicht gefunden werden.). The fault counters cannot be reset. AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21...

  • Page 30: Error Codes

    SPI interface timeout 49 (31h) Internal error 2 Check EMC measures SPI interface data loss 50 (32h) Internal error 3 Check EMC measures SPI interface initialization communication error AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 30 of 63...

  • Page 31: Parameter

    Process data Positioning Actuator Limit values Options Controller parameter Device information Error memory Process data 4.1.1 ControlWord General properties EEPROM Unit Value range (cf. Section 5.2) Default AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 31 of 63...

  • Page 32: Statusword

    Data storage 4.1.4 ActualValue General properties EEPROM Unit Position Mode operating mode: User units (cf. Chapter3.5.1) Velocity Mode: U/min Value range Depends on the operating mode and scaling AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 32 of 63...

  • Page 33: Genericmappingparameter1

    Unit Value range (cf. Section 5.3) Default IO-Link Data type UnsignedInteger8 Access Index Subindex Data storage 4.1.7 GenericMappingChannel1 General properties EEPROM Unit Value range (cf. Section 5.3) AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 33 of 63...

  • Page 34: Genericmappingchannel2

    Positioning 4.2.1 OffsetApplication General properties EEPROM Unit User units (cf. Section 3.5.1) Value range -999999 ... 999999 Default IO-Link Data type SignedInteger32 Access Index Subindex Data storage AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 34 of 63...

  • Page 35: Spindlepitch

    Rotation direction e: increasing position values during counterclockwise rotation 4.2.4 CalibrationValue General properties EEPROM Unit User units (cf. Section 3.5.1) Value range -999999 ... 999999 Default AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 35 of 63...

  • Page 36: Targetwindow

    To compensate for the spindle play, the target value is always approached in the positive direction. To compensate for the spindle play, the target value is always approached in the negative direction. AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21...

  • Page 37: Looplength

    SignedInteger16 Access Index Subindex Data storage 4.2.9 GearRatioDenominator General properties EEPROM Unit Value range 1 ... 10000 Default IO-Link Data type SignedInteger16 Access Index Subindex Data storage AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 37 of 63...

  • Page 38: Deltainch

    Position control OFF and short circuit of the motor windings Position control OFF and activation of the drive Actuator 4.3.1 OperatingMode General properties EEPROM Unit Value range 0 ... 1 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 38 of 63...

  • Page 39: Accelerationpositionmode

    4.3.3 VelocityPositionMode General properties EEPROM Unit U/min Value range i=24: 1 … 200 i=48: 1 ... 100 Default IO-Link Data type SignedInteger16 Access Index Subindex Data storage AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 39 of 63...

  • Page 40: Decelerationpositionmode

    Access Index Subindex Data storage 4.3.6 AccelerationInchingMode General properties EEPROM Unit %, 100% = 4 U/s² Value range 1 ... 100 Default IO-Link Data type SignedInteger16 Access AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 40 of 63...

  • Page 41: Velocityinchingmode

    Data type UnsignedInteger8 Access Index Subindex Data storage Limit values 4.4.1 SoftwareLimit1 General properties EEPROM Unit User units (cf. Section 3.5.1) Value range -9999999 ... 9999999 Default 1000000 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 41 of 63...

  • Page 42: Softwarelimit2

    Value range 1 ... 30000 Default IO-Link Data type SignedInteger16 Access Index Subindex Data storage 4.4.4 TorqueDeactivation General properties EEPROM Unit Value range 20 ... 125 Default AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 42 of 63...

  • Page 43: Peakcurrentlimit

    Index Subindex Data storage 4.4.6 PeakCurrentTime General properties EEPROM Unit x100 ms Value range 0 ... 20 Default IO-Link Data type SignedInteger16 Access Index Subindex Data storage AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 43 of 63...

  • Page 44: Continuouscurrent

    Subindex Data storage Parameter selection Value Description Stop with maximum delay Stop with programmed delay 4.5.2 Inching2AccelerationMode General properties EEPROM Unit Value range 0 ... 1 Default AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 44 of 63...

  • Page 45: Controller Parameter

    Value range 1 ... 500 Default IO-Link Data type SignedInteger16 Access Index Subindex Data storage 4.6.2 ControllerParameterI General properties EEPROM Unit Value range 0 ... 500 Default AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 45 of 63...

  • Page 46: Controllerparameterd

    OutputStageTemperature General properties EEPROM Unit 1/10° C Value range Default IO-Link Data type SignedInteger16 Access Index Subindex Data storage 4.7.2 ControlVoltage General properties EEPROM Unit 1/10 V AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 46 of 63...

  • Page 47: Outputstagevoltage

    Data storage 4.7.4 BatteryVoltage General properties EEPROM Unit 1/100 V Value range Default IO-Link Data type SignedInteger16 Access Index Subindex Data storage 4.7.5 MotorCurrent General properties EEPROM Unit AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 47 of 63...

  • Page 48: Actualposition

    Data storage 4.7.7 ActualVelocity General properties EEPROM Unit U/min Value range Default IO-Link Data type SignedInteger16 Access Index Subindex Data storage 4.7.8 MotorThermalLoad General properties EEPROM Unit AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 48 of 63...

  • Page 49: Diagnosticparameter

    Data type Name SignedInteger16 DiagnosticParameter1 SignedInteger16 DiagnosticParameter2 4.7.10 Production Date General properties EEPROM Unit DDMMYYYY Value range Default IO-Link Data type StringT Access Index Subindex Data storage AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 49 of 63...

  • Page 50: I2Toverload

    SignedInteger32 Access Index Subindex Data storage Error memory 4.8.1 ErrorCount General properties EEPROM Unit Value range 0 ... 10 Default IO-Link Data type UnsignedInteger8 Access Index Subindex AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 50 of 63...

  • Page 51: Errorbuffer

    Error6 UnsignedInteger8 Error7 UnsignedInteger8 Error8 UnsignedInteger8 Error9 UnsignedInteger8 Error10 4.8.3 ErrorCounters General properties EEPROM Unit Value range Default IO-Link Data type Record Access Index Subindex Data storage AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 51 of 63...

  • Page 52: Io-Link

    Data Storage Block Parameter DEVICE ID AG03-24 FW-V1.01 DEVICE ID AG03-48 FW-V1.01 Device ID AG03-24 ≥ FW-V1.02 Device ID AG03-48 ≥ FW-V1.02 1024 Table 9: General Interface Information AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 52 of 63...

  • Page 53: Process Data Input / Output

    (Position Mode operating mode) offset ActualPosition TargetPosition 4 … 7 GenericMappingChannel1 GenericMappingParameter1 GenericMappingChannel2 GenericMappingParameter2 4 … 19 ControlWord StatusWord 0 … 1 Table 11: Process Data Definition Position Mode AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 53 of 63...

  • Page 54: Process Data Output (Master  Device)

    Process data input (Device  Master) 5.2.1.2 Sub- Name Data type Note index offset length ActualPosition Signed Actual position integer GenericMappingChannel1 Signed Content selectable integer via generic mapping parameter 1 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 54 of 63...

  • Page 55: Process Data In Velocity Mode

    (Velocity Mode) offset ActualVelocity TargetVelocity 4 … 7 GenericMappingChannel1 GenericMappingParameter1 GenericMappingChannel2 GenericMappingParameter2 4 … 19 ControlWord StatusWord 0 … 1 Table 14: Process Data Definition Velocity Mode AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 55 of 63...

  • Page 56: Process Data Output (Master  Device)

    1 GenericMappingChannel2 Signed Content selectable integer via generic mapping parameter 2 bs00_Supply Bool Output stage voltage status bs01_ReadyToTravel Bool True if ready to travel AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 56 of 63...

  • Page 57: Generic Mapping Channels

    Actual velocity / Max velocity [%] Motor thermal load Motor thermal load / Max thermal load [%] I2t overload I2t actual value / I2t limit [%] Diagnostic parameter 1 AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 57 of 63...

  • Page 58: Object Directory

    3 bytes Cf. IO-Link (0Eh) Integer16 Interface Spec. PDOutputDescriptor Unsigned 3 bytes Cf. IO-Link (0Fh) Integer16 Interface Spec. Vendor Name String 9 bytes SIKO GmbH (10h) Vendor Text String www.siko- (11h) bytes global.com Product Name String AG03-24-IOL (12h) bytes AG03-24-IOL2 AG03-48-IOL...

  • Page 59: Io-Link System Commands

    Table 19: System Commands IO-Link DeviceAccessLocks Index Name Access Supported Access Locks Note (hex) 12 (0Ch) DeviceAccessLocks rw Data Storage IO-Link Spec. Local Parameterization IO-Link Spec. Table 20: DeviceAccessLocks AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 59 of 63...

  • Page 60: Io-Link Event Codes

    Service temporarily not available, device control Write access denied Parameter value out of range Parameter value above limit Parameter value below limit Parameter length overrun Parameters length underrun Function not available AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 60 of 63...
  • Page 61 Value Name Note 1. Byte 2. Byte Function temporarily not available Invalid parameter set Inconsistent parameter set Application not ready Vendor specific error code Table 22: ErrorCodes AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 61 of 63...

  • Page 62: Block Wiring Diagram

    L+/L- Communication protection unit DC/DC Isolation Isolation limit Motion Control Reverse IO-Link Master Output stage polarity P24/N24 protection Motor Gears Encoder Battery Fig. 16: Block wiring diagram AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 62 of 63...
  • Page 63 SIKO GmbH Weihermattenweg 2 79256 Buchenbach Telephone + 49 7661 394-0 + 49 7661 394-388 Email info@siko-global.com Internet www.siko-global.com Service support@siko-global.com AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 63 of 63...

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