Siko AG25 Manual de usuario

225/18

AG25, AG26

Actuator with interface

User manual

AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 2 of 105

Table of contents

1General Information .................................................................................................. 9

1.1 Documentation ........................................................................................................9

2Display and controls .................................................................................................. 9

2.1 General Information..................................................................................................9

2.2 Displays ..................................................................................................................9

2.2.1 Ethernet module statuses .....................................................................................10

2.2.1.1 Module status LED 1.........................................................................................10

2.2.1.2 Link/Activity LED 2, 3 ......................................................................................10

2.2.1.3 Network status LED 4 .......................................................................................11

2.2.2 Drive status........................................................................................................11

2.2.2.1 Status LED 5 ...................................................................................................11

2.2.2.2 Status LEDs 6, 7 ..............................................................................................11

2.2.2.3 Status LED 8 ...................................................................................................11

2.3 Controls ................................................................................................................12

2.3.1 Control keys .......................................................................................................12

2.3.2 DIP switch: ........................................................................................................13

3Digital inputs and outputs ....................................................................................... 13

3.1 Examples of digital input configurations....................................................................14

3.2 Example of digital output configuration.....................................................................15

4Functional description ............................................................................................. 16

4.1 Control of the drive ................................................................................................16

4.1.1 Operating modes.................................................................................................16

4.1.1.1 Positioning mode ............................................................................................16

4.1.1.1.1 Loop positioning..........................................................................................17

4.1.1.2 Inching mode .................................................................................................18

4.1.1.2.1 Inching mode 1 ...........................................................................................18

4.1.1.2.2 Inching mode 2 ...........................................................................................19

4.1.1.3 Rotational speed mode.....................................................................................19

4.1.1.4 Position Control Mode ......................................................................................20

4.1.1.4.1 Examples of configuration of the digital inputs for the PCM ...............................21

4.1.2 Current limiting ..................................................................................................22

4.1.3 Limit switch .......................................................................................................22

4.1.3.1 Example of limit switch configuration.................................................................23

4.1.3.2 Arrangement of the limit switches .....................................................................23

5Calibration.............................................................................................................. 24

6External transmission .............................................................................................. 24

7Warnings / Errors..................................................................................................... 25

7.1 Warnings...............................................................................................................25

7.2 Errors....................................................................................................................25

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7.2.1 Error codes.........................................................................................................26

8EtherNet/IP™ .......................................................................................................... 27

8.1 Description............................................................................................................27

8.1.1 I/O Messages......................................................................................................27

8.1.2 Explicit Messages ................................................................................................27

8.1.3 ADI Object (Class A2h).........................................................................................28

8.2 Overview of parameters ...........................................................................................29

8.2.1 Parameter description..........................................................................................32

8.2.1.1 Digital Outputs Control.....................................................................................32

8.2.1.2 Control Word...................................................................................................32

8.2.1.2.1 Control word: Positioning mode (master slave) ............................................33

8.2.1.2.2 Flow chart: Operating mode: Positioning mode.................................................34

8.2.1.2.3 Control word Operating mode: Speed mode ......................................................35

8.2.1.2.4 Flow chart: Speed mode ................................................................................36

8.2.1.3 Target Value ...................................................................................................37

8.2.1.4 Digital Inputs State .........................................................................................37

8.2.1.5 Status Word ....................................................................................................37

8.2.1.5.1 Status word: Positioning mode (slave master)..............................................38

8.2.1.5.2 Status word: Speed mode ..............................................................................39

8.2.1.6 Actual Value ...................................................................................................40

8.2.1.7 LED Functionality ............................................................................................40

8.2.1.8 Service Interface Baud Rate ..............................................................................42

8.2.1.9 Digital Output 1 Functionality ...........................................................................42

8.2.1.10 Digital Output Functionalities State ...................................................................43

8.2.1.11 Digital Outputs Polarity ....................................................................................43

8.2.1.12 Digital Input 1 Functionality.............................................................................44

8.2.1.13 Digital Input 2 Functionality.............................................................................44

8.2.1.14 Digital Input 3 Functionality.............................................................................45

8.2.1.15 Digital Input 4 Functionality.............................................................................45

8.2.1.16 Digital Input Functionalities State .....................................................................46

8.2.1.17 Digital Inputs Polarity......................................................................................47

8.2.1.18 Controller Parameter P .....................................................................................47

8.2.1.19 Controller Parameter I......................................................................................47

8.2.1.20 Controller Parameter D .....................................................................................48

8.2.1.21 A-Pos.............................................................................................................48

8.2.1.22 V-Pos.............................................................................................................48

8.2.1.23 D-Pos.............................................................................................................49

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

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8.2.1.30 Spindle Pitch ..................................................................................................51

8.2.1.31 Calibration Value .............................................................................................51

8.2.1.32 Software Limit 1..............................................................................................52

8.2.1.33 Software Limit 2..............................................................................................52

8.2.1.34 Delta Inch ......................................................................................................53

8.2.1.35 Sense of Rotation ............................................................................................53

8.2.1.36 Pos Type ........................................................................................................54

8.2.1.37 Operating Mode...............................................................................................54

8.2.1.38 Inching 2 Stop Mode........................................................................................55

8.2.1.39 Inpos Mode ....................................................................................................55

8.2.1.40 Loop Length ...................................................................................................56

8.2.1.41 Contouring Error Limit......................................................................................56

8.2.1.42 Current Limiting ..............................................................................................57

8.2.1.43 Inching 2 Offset..............................................................................................57

8.2.1.44 Inching 2 Acceleration Type..............................................................................58

8.2.1.45 Offset Value....................................................................................................58

8.2.1.46 PCM Position 1................................................................................................59

8.2.1.47 PCM Position 2................................................................................................59

8.2.1.48 PCM Position 3................................................................................................59

8.2.1.49 PCM Position 4................................................................................................60

8.2.1.50 PCM Position 5................................................................................................60

8.2.1.51 PCM Position 6................................................................................................60

8.2.1.52 PCM Position 7................................................................................................61

8.2.1.53 PCM Acceleration 1 ..........................................................................................61

8.2.1.54 PCM Acceleration 2 ..........................................................................................61

8.2.1.55 PCM Acceleration 3 ..........................................................................................62

8.2.1.56 PCM Acceleration 4 ..........................................................................................62

8.2.1.57 PCM Acceleration 5 ..........................................................................................62

8.2.1.58 PCM Acceleration 6 ..........................................................................................63

8.2.1.59 PCM Acceleration 7 ..........................................................................................63

8.2.1.60 PCM Velocity 1 ................................................................................................63

8.2.1.61 PCM Velocity 2 ................................................................................................64

8.2.1.62 PCM Velocity 3 ................................................................................................64

8.2.1.63 PCM Velocity 4 ................................................................................................64

8.2.1.64 PCM Velocity 5 ................................................................................................65

8.2.1.65 PCM Velocity 6 ................................................................................................65

8.2.1.66 PCM Velocity 7 ................................................................................................65

8.2.1.67 PCM Deceleration 1 ..........................................................................................66

8.2.1.68 PCM Deceleration 2 ..........................................................................................66

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

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8.2.1.74 Output Stage Temperature ................................................................................69

8.2.1.75 Voltage of Control ...........................................................................................69

8.2.1.76 Voltage of Output Stage ...................................................................................70

8.2.1.77 Voltage of Battery ...........................................................................................70

8.2.1.78 Motor Current..................................................................................................70

8.2.1.79 Actual Position ...............................................................................................70

8.2.1.80 Actual Rotational Speed ...................................................................................71

8.2.1.81 Serial Number .................................................................................................71

8.2.1.82 Production Date ..............................................................................................71

8.2.1.83 SW Motor Controller .........................................................................................71

8.2.1.84 Gear Reduction................................................................................................72

8.2.1.85 System Status Word .........................................................................................72

8.2.1.86 Encoder Resolution ..........................................................................................74

8.2.1.87 Device ID .......................................................................................................74

8.2.1.88 Number of Errors .............................................................................................75

8.2.1.89 Error Number 1................................................................................................75

8.2.1.90 Error Number 2................................................................................................75

8.2.1.91 Error Number 3................................................................................................75

8.2.1.92 Error Number 4................................................................................................76

8.2.1.93 Error Number 5................................................................................................76

8.2.1.94 Error Number 6................................................................................................76

8.2.1.95 Error Number 7................................................................................................76

8.2.1.96 Error Number 8................................................................................................77

8.2.1.97 Error Number 9................................................................................................77

8.2.1.98 Error Number 10 ..............................................................................................77

8.2.1.99 Configuration..................................................................................................77

8.2.1.100 S-Command ....................................................................................................79

8.3 CIP objects ............................................................................................................79

8.3.1 Identity Object (Class 01h)...................................................................................80

8.3.1.1 Class attributes of the Identity Object ................................................................80

8.3.1.2 Instance attributes of the Identity Object...........................................................81

8.3.1.3 Status............................................................................................................82

8.3.1.4 Reset service of the Identity Object ...................................................................82

9Service protocol....................................................................................................... 83

9.1 General Information................................................................................................83

9.1.1 Communication...................................................................................................83

9.1.2 Settings.............................................................................................................83

9.1.3 ASCII commands.................................................................................................83

9.1.4 Responses..........................................................................................................83

9.2 Overview of parameters ...........................................................................................84

9.3 Parameters ............................................................................................................84

9.3.1 Positioning ........................................................................................................84

9.3.1.1 Target Value ...................................................................................................84

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9.3.1.2 Actual Position ...............................................................................................84

9.3.1.3 Actual Rotational Speed ...................................................................................84

9.3.1.4 Calibration Value .............................................................................................85

9.3.1.5 Loop Length ...................................................................................................85

9.3.1.6 Offset Value....................................................................................................85

9.3.1.7 Pos Type ........................................................................................................85

9.3.1.8 Pos Window ....................................................................................................85

9.3.1.9 Sense of Rotation ............................................................................................86

9.3.1.10 Spindle Pitch ..................................................................................................86

9.3.2 Actuator ............................................................................................................86

9.3.2.1 A-Pos.............................................................................................................86

9.3.2.2 V-Pos.............................................................................................................86

9.3.2.3 D-Pos.............................................................................................................86

9.3.2.4 A-Rot.............................................................................................................86

9.3.2.5 A-Inch ...........................................................................................................87

9.3.2.6 V-Inch ...........................................................................................................87

9.3.2.7 Gear Ratio Denominator....................................................................................87

9.3.2.8 Gear Ratio Numerator.......................................................................................87

9.3.3 Limiting values...................................................................................................87

9.3.3.1 Software Limit 1..............................................................................................87

9.3.3.2 Software Limit 2..............................................................................................87

9.3.3.3 Current Limiting ..............................................................................................88

9.3.3.4 Contouring Error Limit......................................................................................88

9.3.4 Options .............................................................................................................88

9.3.4.1 Operating Mode...............................................................................................88

9.3.4.2 Inpos Mode ....................................................................................................88

9.3.4.3 Delta Inch ......................................................................................................88

9.3.4.4 Inching 2 Acceleration Type..............................................................................88

9.3.4.5 Inching 2 Offset..............................................................................................89

9.3.4.6 Inching 2 Stop Mode........................................................................................89

9.3.4.7 LED Functionality@ .........................................................................................89

9.3.4.8 Service Interface Baud rate...............................................................................89

9.3.4.9 Configuration..................................................................................................89

9.3.5 Controller parameter............................................................................................89

9.3.5.1 Controller Parameter P .....................................................................................89

9.3.5.2 Controller Parameter I......................................................................................90

9.3.5.3 Controller Parameter D .....................................................................................90

9.3.6 Device information..............................................................................................90

9.3.6.1 Motor Current..................................................................................................90

9.3.6.2 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

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9.3.6.7 System Status Word .........................................................................................91

9.3.6.8 Device Type ....................................................................................................91

9.3.6.9 Gear Reduction................................................................................................91

9.3.6.10 Motor Type .....................................................................................................92

9.3.6.11 Network Type ..................................................................................................92

9.3.6.12 Production Date ..............................................................................................92

9.3.6.13 Serial Number .................................................................................................92

9.3.6.14 SW Ethernet Module.........................................................................................92

9.3.6.15 SW Motor Controller .........................................................................................92

9.3.7 Digital input/output............................................................................................93

9.3.7.1 Digital Input 1 Functionality.............................................................................93

9.3.7.2 Digital Input 2 Functionality.............................................................................93

9.3.7.3 Digital Input 3 Functionality.............................................................................93

9.3.7.4 Digital Input 4 Functionality.............................................................................93

9.3.7.5 Digital Input Functionalities State .....................................................................93

9.3.7.6 Digital Inputs Polarity......................................................................................93

9.3.7.7 Digital Inputs State .........................................................................................94

9.3.7.8 Digital Output 1 Functionality ...........................................................................94

9.3.7.9 Digital Outputs Control.....................................................................................94

9.3.7.10 Digital Output Functionalities State ...................................................................94

9.3.7.11 Digital Outputs Polarity ....................................................................................94

9.3.8 Error memory......................................................................................................94

9.3.8.1 Number of Errors .............................................................................................94

9.3.8.2 Error Number 1................................................................................................95

9.3.8.3 Error Number 2................................................................................................95

9.3.8.4 Error Number 3................................................................................................95

9.3.8.5 Error Number 4................................................................................................95

9.3.8.6 Error Number 5................................................................................................95

9.3.8.7 Error Number 6................................................................................................95

9.3.8.8 Error Number 7................................................................................................96

9.3.8.9 Error Number 8................................................................................................96

9.3.8.10 Error Number 9................................................................................................96

9.3.8.11 Error Number 10 ..............................................................................................96

9.4 Commands.............................................................................................................96

9.4.1 Start travel job ...................................................................................................96

9.4.2 start of inching mode 1 .......................................................................................96

9.4.3 Start inching mode 2 positive travel direction.........................................................97

9.4.4 Start inching mode 2 negative travel direction ........................................................97

9.4.5 Cancel current travel job in positioning mode .........................................................97

9.4.6 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

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9.4.11 Factory setting: Controller parameter .....................................................................98

9.4.12 Acknowledge error...............................................................................................98

9.4.13 Calibrate............................................................................................................98

9.4.14 Delete error memory ............................................................................................98

9.4.15 Software Reset....................................................................................................98

9.5 Flow charts............................................................................................................99

9.5.1 Flow chart: Operating mode: Positioning mode........................................................99

9.5.2 Flow chart: Operating mode: Speed mode ............................................................. 100

9.6 Error number encoding .......................................................................................... 101

9.7 Examples............................................................................................................. 101

9.7.1 Write and read setpoint +500.............................................................................. 101

9.7.2 Start travel job ................................................................................................. 101

9.8 ASCII command structure ...................................................................................... 102

10 Block diagram ........................................................................................................103

11 Web server.............................................................................................................104

12 FTPsteps-Server ......................................................................................................105

13 Secure Host IP Configuration Protocol (Secure HICP).................................................105

General Information

AG25, AG26 Date: 16.06.2014 Art. No. 87613 Mod. status 225/18 Page 9 of 105

1General Information

1.1 Documentation

The following documents are associated with this document:

Product data sheet, describes the technical data, the dimensions, the pin assignment, the

accessories and the order key.

Installation instructions, describe the mechanical and electrical installation with all safety-

relevant conditions and the associated technical specifications.

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.

2Display and controls

2.1 General Information

The drive has various LEDs that indicate the statuses of the drive and of the Ethernet module.

The controls are located below the cover.

2.2 Displays

Fig.. 1: Displays

Display and controls

AG25, AG26 Date: 09.07.2018 Art. No. 87613 Mod. status 225/18 Page 10 of 105

2.2.1 Ethernet module statuses

The , , , LEDs inform about the statuses of the Ethernet module. The Ethernet

module LEDs' functions are permanently defined and cannot be changed.

LED

Description

Module status LED

Link/Activity LED

Network status LED

2.2.1.1 Module status LED 1

A test sequence is executed on this LED after switching on the device.

LED state

Description

Off

No operating voltage

Green

Control via scanner

Green, flashing

Not configured or scanner inactive

Red

Serious error

Red, flashing

Correctable error. The module has been configured but the stored

parameters differ from the parameters presently used.

2.2.1.2 Link/Activity LED 2, 3

LED state

Description

Off

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)

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