Siko AG25 Manual de usuario

305/15

AG25, AG25

Actuator with interface

User manual

AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 2 of 102

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 .......................................................................................10

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 ....................................................................................... 14

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 ...............................20

4.1.2 Current limiting ..................................................................................................21

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

4.1.3.1 Example of limit switch configuration.................................................................22

4.1.3.2 Arrangement of the limit switches .....................................................................22

5Calibration.............................................................................................................. 23

6External transmission .............................................................................................. 23

7Warnings / Errors..................................................................................................... 24

7.1 Warnings...............................................................................................................24

7.2 Errors....................................................................................................................24

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7.2.1 Error codes.........................................................................................................25

8PROFINET IO............................................................................................................ 26

8.1 Description............................................................................................................26

8.1.1 Cyclic data exchange ...........................................................................................26

8.1.2 Acyclic data exchange .........................................................................................26

8.1.3 Operating modes and synchronization....................................................................26

8.1.4 Diagnostics alarms ..............................................................................................26

8.1.5 Control lines when IOPS = BAD .............................................................................27

8.1.6 Response of outputs to disconnect ........................................................................27

8.1.7 Response of outputs to a network .........................................................................27

8.2 Overview of parameters ...........................................................................................28

8.2.1 Parameter description..........................................................................................30

8.2.1.1 Digital Outputs Control.....................................................................................30

8.2.1.2 Control Word...................................................................................................30

8.2.1.2.1 Control word: Positioning mode (master slave) ............................................31

8.2.1.2.2 Flow chart: Operating mode: Positioning mode.................................................32

8.2.1.2.3 Control word Operating mode: Speed mode ......................................................33

8.2.1.2.4 Flow chart: Speed mode ................................................................................34

8.2.1.3 Target Value ...................................................................................................35

8.2.1.4 Digital Inputs State .........................................................................................35

8.2.1.5 Status Word ....................................................................................................35

8.2.1.5.1 Status word: Positioning mode (slave master)..............................................36

8.2.1.5.2 Status word: Speed mode ..............................................................................37

8.2.1.6 Actual Value ...................................................................................................38

8.2.1.7 LED Functionality ............................................................................................38

8.2.1.8 Service Interface Baud rate...............................................................................40

8.2.1.9 Digital Output 1 Functionality ...........................................................................40

8.2.1.10 Digital Output Functionalities State ...................................................................41

8.2.1.11 Digital Outputs Polarity ....................................................................................41

8.2.1.12 Digital Input 1 Functionality.............................................................................42

8.2.1.13 Digital Input 2 Functionality.............................................................................43

8.2.1.14 Digital Input 3 Functionality.............................................................................43

8.2.1.15 Digital Input 4 Functionality.............................................................................43

8.2.1.16 Digital Input Functionalities State .....................................................................44

8.2.1.17 Digital Inputs Polarity......................................................................................45

8.2.1.18 Controller Parameter P .....................................................................................45

8.2.1.19 Controller Parameter I......................................................................................45

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

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8.2.1.26 V-Inch ...........................................................................................................48

8.2.1.27 Pos Window ....................................................................................................48

8.2.1.28 Gear Ratio Numerator.......................................................................................48

8.2.1.29 Gear Ratio Denominator....................................................................................49

8.2.1.30 Spindle Pitch ..................................................................................................49

8.2.1.31 Calibration Value .............................................................................................49

8.2.1.32 Software Limit 1..............................................................................................50

8.2.1.33 Software Limit 2..............................................................................................50

8.2.1.34 Delta Inch ......................................................................................................51

8.2.1.35 Sense of Rotation ............................................................................................51

8.2.1.36 Pos Type ........................................................................................................52

8.2.1.37 Operating Mode...............................................................................................52

8.2.1.38 Inching 2 Stop Mode........................................................................................53

8.2.1.39 Inpos Mode ....................................................................................................53

8.2.1.40 Loop Length ...................................................................................................54

8.2.1.41 Contouring Error Limit......................................................................................54

8.2.1.42 Current Limiting ..............................................................................................55

8.2.1.43 Inching 2 Offset..............................................................................................55

8.2.1.44 Inching 2 Acceleration Type..............................................................................56

8.2.1.45 Offset Value....................................................................................................56

8.2.1.46 PCM Position 1................................................................................................57

8.2.1.47 PCM Position 2................................................................................................57

8.2.1.48 PCM Position 3................................................................................................57

8.2.1.49 PCM Position 4................................................................................................58

8.2.1.50 PCM Position 5................................................................................................58

8.2.1.51 PCM Position 6................................................................................................58

8.2.1.52 PCM Position 7................................................................................................59

8.2.1.53 PCM Acceleration 1 ..........................................................................................59

8.2.1.54 PCM Acceleration 2 ..........................................................................................59

8.2.1.55 PCM Acceleration 3 ..........................................................................................60

8.2.1.56 PCM Acceleration 4 ..........................................................................................60

8.2.1.57 PCM Acceleration 5 ..........................................................................................60

8.2.1.58 PCM Acceleration 6 ..........................................................................................61

8.2.1.59 PCM Acceleration 7 ..........................................................................................61

8.2.1.60 PCM Velocity 1 ................................................................................................61

8.2.1.61 PCM Velocity 2 ................................................................................................62

8.2.1.62 PCM Velocity 3 ................................................................................................62

8.2.1.63 PCM Velocity 4 ................................................................................................62

8.2.1.64 PCM Velocity 5 ................................................................................................63

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

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8.2.1.70 PCM Deceleration 4 ..........................................................................................65

8.2.1.71 PCM Deceleration 5 ..........................................................................................66

8.2.1.72 PCM Deceleration 6 ..........................................................................................66

8.2.1.73 PCM Deceleration 7 ..........................................................................................67

8.2.1.74 Output Stage Temperature ................................................................................67

8.2.1.75 Voltage of Control ...........................................................................................67

8.2.1.76 Voltage of Output Stage ...................................................................................68

8.2.1.77 Voltage of Battery ...........................................................................................68

8.2.1.78 Motor Current..................................................................................................68

8.2.1.79 Actual Position ...............................................................................................68

8.2.1.80 Actual Rotational Speed ...................................................................................69

8.2.1.81 Serial Number .................................................................................................69

8.2.1.82 Production Date ..............................................................................................69

8.2.1.83 SW Motor Controller .........................................................................................69

8.2.1.84 Gear Reduction................................................................................................70

8.2.1.85 System Status Word .........................................................................................71

8.2.1.86 Encoder Resolution ..........................................................................................73

8.2.1.87 Device ID .......................................................................................................73

8.2.1.88 Number of Errors .............................................................................................73

8.2.1.89 Error Number 1................................................................................................73

8.2.1.90 Error Number 2................................................................................................74

8.2.1.91 Error Number 3................................................................................................74

8.2.1.92 Error Number 4................................................................................................74

8.2.1.93 Error Number 5................................................................................................74

8.2.1.94 Error Number 6................................................................................................75

8.2.1.95 Error Number 7................................................................................................75

8.2.1.96 Error Number 8................................................................................................75

8.2.1.97 Error Number 9................................................................................................75

8.2.1.98 Error Number 10 ..............................................................................................76

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

8.2.1.100 S-Command ....................................................................................................78

9Service protocol....................................................................................................... 79

9.1 General Information................................................................................................79

9.1.1 Communication...................................................................................................79

9.1.2 Settings.............................................................................................................79

9.1.3 ASCII commands.................................................................................................79

9.1.4 Responses..........................................................................................................79

9.2 Overview of parameters ...........................................................................................80

9.3 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

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9.3.1.4 Calibration Value .............................................................................................81

9.3.1.5 Loop Length ...................................................................................................81

9.3.1.6 Offset Value....................................................................................................81

9.3.1.7 Pos Type ........................................................................................................81

9.3.1.8 Pos Window ....................................................................................................81

9.3.1.9 Sense of Rotation ............................................................................................82

9.3.1.10 Spindle Pitch ..................................................................................................82

9.3.2 Actuator ............................................................................................................82

9.3.2.1 A-Pos.............................................................................................................82

9.3.2.2 V-Pos.............................................................................................................82

9.3.2.3 D-Pos.............................................................................................................82

9.3.2.4 A-Rot.............................................................................................................83

9.3.2.5 A-Inch ...........................................................................................................83

9.3.2.6 V-Inch ...........................................................................................................83

9.3.2.7 Gear Ratio Denominator....................................................................................83

9.3.2.8 Gear Ratio Numerator.......................................................................................83

9.3.3 Limiting values...................................................................................................83

9.3.3.1 Software Limit 1..............................................................................................83

9.3.3.2 Software Limit 2..............................................................................................84

9.3.3.3 Current Limiting ..............................................................................................84

9.3.3.4 Contouring Error Limit......................................................................................84

9.3.4 Options .............................................................................................................84

9.3.4.1 Operating Mode...............................................................................................84

9.3.4.2 Inpos Mode ....................................................................................................84

9.3.4.3 Delta Inch ......................................................................................................84

9.3.4.4 Inching 2 Acceleration Type..............................................................................85

9.3.4.5 Inching 2 Offset..............................................................................................85

9.3.4.6 Inching 2 Stop Mode........................................................................................85

9.3.4.7 LED Functionality ............................................................................................85

9.3.4.8 Service Interface Baud Rate ..............................................................................85

9.3.4.9 Configuration..................................................................................................85

9.3.5 Controller parameter............................................................................................86

9.3.5.1 Controller Parameter P .....................................................................................86

9.3.5.2 Controller Parameter I......................................................................................86

9.3.5.3 Controller Parameter D .....................................................................................86

9.3.6 Device information..............................................................................................86

9.3.6.1 Motor Current..................................................................................................86

9.3.6.2 Output Stage Temperature ................................................................................86

9.3.6.3 Voltage of Control ...........................................................................................87

9.3.6.4 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

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9.3.6.9 Gear Reduction................................................................................................88

9.3.6.10 Motor Type .....................................................................................................88

9.3.6.11 Network Type ..................................................................................................88

9.3.6.12 Production Date ..............................................................................................88

9.3.6.13 Serial Number .................................................................................................89

9.3.6.14 SW Ethernet Module.........................................................................................89

9.3.6.15 SW Motor Controller .........................................................................................89

9.3.7 Digital input/output............................................................................................89

9.3.7.1 Digital Input 1 Functionality.............................................................................89

9.3.7.2 Digital Input 2 Functionality.............................................................................89

9.3.7.3 Digital Input 3 Functionality.............................................................................89

9.3.7.4 Digital Input 4 Functionality.............................................................................90

9.3.7.5 Digital Input Functionalities State .....................................................................90

9.3.7.6 Digital Inputs Polarity......................................................................................90

9.3.7.7 Digital Inputs State .........................................................................................90

9.3.7.8 Digital Output 1 Functionality ...........................................................................90

9.3.7.9 Digital Outputs Control.....................................................................................90

9.3.7.10 Digital Output Functionalities State ...................................................................91

9.3.7.11 Digital Outputs Polarity ....................................................................................91

9.3.8 Error memory......................................................................................................91

9.3.8.1 Number of Errors .............................................................................................91

9.3.8.2 Error Number 1................................................................................................91

9.3.8.3 Error Number 2................................................................................................91

9.3.8.4 Error Number 3................................................................................................91

9.3.8.5 Error Number 4................................................................................................92

9.3.8.6 Error Number 5................................................................................................92

9.3.8.7 Error Number 6................................................................................................92

9.3.8.8 Error Number 7................................................................................................92

9.3.8.9 Error Number 8................................................................................................92

9.3.8.10 Error Number 9................................................................................................92

9.3.8.11 Error Number 10 ..............................................................................................93

9.4 Commands.............................................................................................................93

9.4.1 Start travel job ...................................................................................................93

9.4.2 Start of inching mode 1 .......................................................................................93

9.4.3 Start inching mode 2 positive travel direction.........................................................93

9.4.4 Start inching mode 2 negative travel direction ........................................................93

9.4.5 Cancel current travel job in positioning mode .........................................................93

9.4.6 Motor stop fast...................................................................................................94

9.4.7 Motor stop .........................................................................................................94

9.4.8 Enable motor......................................................................................................94

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

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9.4.13 Calibrate............................................................................................................95

9.4.14 Delete error memory ............................................................................................95

9.4.15 Software Reset....................................................................................................95

9.5 Flow charts............................................................................................................96

9.5.1 Flow chart: Operating mode: Positioning mode........................................................96

9.5.2 Flow chart: Operating mode: Speed mode ...............................................................97

9.6 Error number encoding ............................................................................................98

9.7 Examples...............................................................................................................98

9.7.1 Write and read setpoint +500................................................................................98

9.7.2 Start travel job ...................................................................................................98

9.8 ASCII command structure ........................................................................................99

10 Block diagram ........................................................................................................100

11 Web server.............................................................................................................101

12 FTP-Server..............................................................................................................102

13 Secure Host IP Configuration Protocol (Secure HICP).................................................102

General Information

AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 9 of 102

1General Information

1.1 Documentation

The following documents are associated with this document:

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

accessories and the order key.

The installation instructions describe the mechanical and electrical installation with all

safety-relevant conditions and the associated technical specifications.

The User manual for actuator commissioning and integration into a Industrial Ethernet

network.

You can also download these documents 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, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 10 of 102

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

Display and controls

Modul status LED

Link/Activity LED Port 2

Link/Activity LED Port 1

Network status LED

2.2.1.1 Module status LED 1

LED state

Description

Off

No error or no operating voltage

Green

Normal operation

Green, flashing

Diagnostic event

Red

Fatal event

2.2.1.2 Link/Activity LED 2, 3

LED state

Description

Off

No connection or no operating voltage

Green

Connection established, no activity

Green, flashing

Connection established, activity

2.2.1.3 Network status LED 4

LED state

Description

OFF

No error or no operating voltage

Green

On-line (RUN)

Green, flashing

On-line (STOP)

Green, flackert

Blink (DCP Service Set Signal)

Red

Fatal event

Red, flashing 1x

Station name error (Station name not set)

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.

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