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User manual EIP

1. 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 5 Calibration
2. 29 8 2 1 Parameter description 31 8 2 1 1 Digital Outputs Control 31 8 2 1 2 Control Word 32 8 2 1 2 1 Control word Positioning mode master slave 32 8 2 1 2 2 Flow chart Operating mode Positioning mode 33 8 2 1 2 3 Control word Operating mode Speed mode 34 8 2 1 2 4 Flow chart Speed mode 35 8 2 1 3 Target Value 36 8 2 1 4 Digital Inputs State 36 8 2 1 5 Status Word 36 8 2 1 5 1 Status word Positioning mode slave master 37 8 2 1 5 2 Status word Speed mode
3. 55 8 2 1 42 Current Limiting 56 8 2 1 43 Inching 2 Offset 56 8 2 1 44 Inching 2 Acceleration Type 57 8 2 1 45 Offset Value 57 8 2 1 46 PCM Position 1 58 8 2 1 47 PCM Position 2 58 8 2 1 48 PCM Position 3 58 8 2 1 49 PCM Position 4 59 8 2 1 50 PCM Position 5 59 8 2 1 51 PCM Position 6 59 8 2 1 52 PCM Position 7 60 8 2 1 53 PCM Acceleration 1
4. 60 8 2 1 54 PCM Acceleration 2 60 8 2 1 55 PCM Acceleration 3 61 8 2 1 56 PCM Acceleration 4 61 8 2 1 57 PCM Acceleration 5 61 8 2 1 58 PCM Acceleration 6 62 8 2 1 59 PCM Acceleration 7 62 8 2 1 60 PCM Velocity 1 62 8 2 1 61 PCM Velocity 2 63 8 2 1 62 PCM Velocity 3 63 8 2 1 63 PCM Velocity 4 63 8 2 1 64 PCM Velocity 5 64 8 2 1 65 PCM Velocity 6
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 3 Digital inputs and outputs 13 3 1 Examples of digital input configurations 14 3 2 Example of digital output configuration 15 4 Functional description 16 4 1 Control of the drive 16 4 1 1 Operating modes 16 4 1 1 1 Positioning mode
6. 24 6 External transmission 24 7 Warnings Errors 25 7 1 Warnings 25 7 2 Errors 25 AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 3 of 102 7 2 1 Error codes 26 8 EtherNet 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
7. 64 8 2 1 66 PCM Velocity 7 64 8 2 1 67 PCM Deceleration 1 65 8 2 1 68 PCM Deceleration 2 65 8 2 1 69 PCM Deceleration 3 66 8 2 1 70 PCM Deceleration 4 66 8 2 1 71 PCM Deceleration 5 67 8 2 1 72 PCM Deceleration 6 67 8 2 1 73 PCM Deceleration 7 68 AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 5 of 102 8 2 1 74 Output Stage Temperature 68 8 2 1 75 Voltage of Control 68 8 2 1 76 Voltage of Output Stage 69 8
8. 89 9 3 6 8 Device Type 89 AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 7 of 102 9 3 6 9 Gear Reduction 89 9 3 6 10 Motor Type 89 9 3 6 11 Network Type 90 9 3 6 12 Production Date 90 9 3 6 13 Serial Number 90 9 3 6 14 SW Ethernet Module 90 9 3 6 15 SW Motor Controller 90 9 3 7 Digital input output 90 9 3 7 1 Digital Input 1 Functionality 90 9 3 7 2 Digital Input 2 Functionality
9. 87 9 3 5 Controller parameter 87 9 3 5 1 Controller Parameter P 87 9 3 5 2 Controller Parameter I 87 9 3 5 3 Controller Parameter D 88 9 3 6 Device information 88 9 3 6 1 Motor Current 88 9 3 6 2 Output Stage Temperature 88 9 3 6 3 Voltage of Control 88 9 3 6 4 Voltage of Output Stage 88 9 3 6 5 Voltage of Battery 88 9 3 6 6 Flag Register 89 9 3 6 7 System Status Word
10. 85 9 3 3 2 Software Limit 2 85 9 3 3 3 Current Limiting 86 9 3 3 4 Contouring Error Limit 86 9 3 4 Options 86 9 3 4 1 Operating Mode 86 9 3 4 2 Inpos Mode 86 9 3 4 3 Delta Inch 86 9 3 4 4 Inching 2 Acceleration Type 86 9 3 4 5 Inching 2 Offset 87 9 3 4 6 Inching 2 Stop Mode 87 9 3 4 7 LED Functionality 87 9 3 4 8 Service Interface Baud rate
11. 94 9 4 3 Start inching mode 2 positive travel direction 94 9 4 4 Start inching mode 2 negative travel direction 95 9 4 5 Cancel current travel job in positioning mode 95 9 4 6 Motor stop fast 95 9 4 7 Motor stop 95 9 4 8 enable motor 95 9 4 9 Factory setting all parameters 95 9 4 10 Factory setting Standard parameter 96 9 4 11 Factory setting Controller parameter 96 9 4 12 Acknowledge error 96 AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 8 of 102 9 4 13 Calibrate 96 9 4 14 Delete error memor
12. 38 8 2 1 6 Actual Value 39 8 2 1 7 LED Functionality 39 8 2 1 8 Service Interface Baud Rate 41 8 2 1 9 Digital Output 1 Functionality 41 8 2 1 10 Digital Output Functionalities State 42 8 2 1 11 Digital Outputs Polarity 42 8 2 1 12 Digital Input 1 Functionality 43 8 2 1 13 Digital Input 2 Functionality 43 8 2 1 14 Digital Input 3 Functionality 44 8 2 1 15 Digital Input 4 Functionality 44 8 2 1 16 Digital Input Functionalities State 45 8 2 1 17 Digital Inputs Polarity 46 8 2 1 18 Contr
13. 91 9 3 7 3 Digital Input 3 Functionality 91 9 3 7 4 Digital Input 4 Functionality 91 9 3 7 5 Digital Input Functionalities State 91 9 3 7 6 Digital Inputs Polarity 91 9 3 7 7 Digital Inputs State 91 9 3 7 8 Digital Output 1 Functionality 92 9 3 7 9 Digital Outputs Control 92 9 3 7 10 Digital Output Functionalities State 92 9 3 7 11 Digital Outputs Polarity 92 9 3 8 Error memory 92 9 3 8 1 Number of Errors 92 9 3 8 2 Error Number 1
14. Bit 11 Battery warning 0 no warning battery loading state is OK 1 battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Current limiting 0 current limiting inactive 1 current limiting active Motor current exceeds the value set under parameter Current Limiting instance 1561d Table 5 Status word of speed mode EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 39 of 102 8 2 1 6 Actual Value Positioning mode Actual position with spindle pitch 0 Indicated as increments with spindle pitch gt 0 Indicated as 1 100 mm Speed mode Actual speed indicated as min 1 Instance 259 dec 103 hex Description Actual value Access Get component of process data Data type DINT Default No EEPROM No 8 2 1 7 LED Functionality This parameter determines the functions of the four system LEDs With factory settings the four LEDs indicate the operational state of the drive Alternately the LEDs can represent the states of the digital inputs Instance 513 dec 201 hex Description Functionality of the system LEDs Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 1 Description see chapter Table 6 Functionality of the system LEDs EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 40 of 102 Value LED State Description 0 LED5 Green Operat
15. Instance 2438 dec 986 hex Description Positioning mode via digital inputs Delay 5 Access Get Set Data type INT Default 101 EEPROM Yes Value range 1 101 101 the delay is determined by the PCM Acceleration 5 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 72 PCM Deceleration 6 Instance 2439 dec 987 hex Description Positioning mode via digital inputs Delay 6 Access Get Set Data type INT Default 101 EEPROM Yes Value range 1 101 101 the delay is determined by the PCM Acceleration 6 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 68 of 102 8 2 1 73 PCM Deceleration 7 Instance 2440 dec 988 hex Description Positioning mode via digital inputs Delay 7 Access Get Set Data type INT Default 101 EEPROM Yes Value range 1 101 101 the delay is determined by the PCM Acceleration 7 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 74 Output Stage Temperature Instance 2561 dec A01 hex
16. 0000 0000 1000 0111 or CW 0000 0001 0000 0111 Inching 1 2 active SW 000x x001 00x1 0001 Inching Off CW 0000 0000 0000 0111 Travel job finished Fault SW 7 1 Acknowledge error CW 5 1 Switch lock SW 9 1 Start Supply voltage On CW 0000 0000 0000 0000 CW Control word SW Status word x bit can be 0 or 1 Disengage switch lock Cancel travel job EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 34 of 102 8 2 1 2 3 Control word Operating mode Speed mode Bit Description Bit 0 OFF1 enable 0 OFF1 active Current travel job is canceled The actuator is activated 1 OFF1 inactive Bit 1 OFF2 max delay 0 OFF2 active Current travel job is canceled The actuator is decelerated with max delay the actuator continues to be controlled 1 OFF2 inactive Bit 2 OFF3 progr delay 0 OFF3 active Current travel job is canceled The actuator is decelerated with prog delay the actuator continues to be controlled 1 OFF3 inactive Bit 3 Reserved always 0 Bit 4 Start travel job Positive flank starts a travel job Bit 5 Acknowledge error Positive flank acknowledges an error Afterwards the actuator changes to the switch lock state Bit 6 15 Reserved always 0 Table 3 Control word speed mode SIKONETZ5 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod statu
17. Positioning in positive direction Positioning in negative direction Positioning loop Loop Length instance 1559 Functional description AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 19 of 102 4 1 1 2 2 Inching mode 2 The actuator travels from the current position as long as the relevant command is active You can influence the inching speed via two parameters and it will be calculated in the actuator as illustrated in the example below V Inch instance 1545 10 rpm can only be changed in the idle state Inching 2 Offset instance 1562 85 can be changed during inching operation The resulting inching speed in this example will be Inching speed v Tipp Offset inching 2 10 rpm 85 9 rpm Results are always rounded to integers Minimum speed is 1 rpm 4 1 1 3 Rotational speed mode Limits 1 2 are inactivated in this operational mode Exceeding the resolution of the absolute encoder results in a jump of the actual position With the set point enabled the actuator when in the rotational speed mode accelerates to the target speed and maintains this speed until the set point is disabled or a different target speed specified Speed is adjusted immediately to the new value when the rotational target speed is changed The arithmetical sign of the set point determines the travel direction in the rotational speed mode Fig 8 Ramp speed mode Velocity Time
18. 6 Acknowledge error 7 Inching mode 1 8 PCM Start 9 PCM input 1 10 PCM input 2 11 PCM input 3 Table 7 Configuration of digital inputs 8 2 1 13 Digital Input 2 Functionality This parameter determines the functionality of digital input 2 With a value greater than 0 set a function is assigned to the digital input The functional state can be read from the Digital Input Functionalities State register Instance 1026 dec 402 hex Description Input 2 functionality Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 11 Description see Table 7 Configuration of digital inputs EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 44 of 102 8 2 1 14 Digital Input 3 Functionality This parameter determines the functionality of digital input 3 With a value greater than 0 set a function is assigned to the digital input The functional state can be read from the Digital Input Functionalities State register Instance 1027 dec 403 hex Description Input 3 functionality Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 11 Description see Table 7 Configuration of digital inputs 8 2 1 15 Digital Input 4 Functionality This parameter determines the functionality of digital input 1 With a value greater than 0 set a function is assigned to the digital input The functional state can be read fr
19. A08 hex Description Serial number Unit Access Get Data type DINT Default No EEPROM Yes 8 2 1 82 Production Date Instance 2569 dec A09 hex Description Production date Unit DDMMYYYY Access Get Data type DINT Default No EEPROM Yes 8 2 1 83 SW Motor Controller Instance 2570 dec A0A hex Description Motor Controller software version Unit Access Get Data type DINT Default No EEPROM No EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 71 of 102 8 2 1 84 Gear Reduction Instance 2571 dec A0B hex Description Transmission ratio reduction Unit Access Get Data type INT Default No EEPROM Yes 8 2 1 85 System Status Word The system status word consists of 2 bytes and reflects the state of the drive High Byte Low Byte Bit number 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 2 9 4 8 Fig 15 Structure of the system status word Example gray background binary 0010 1001 0100 1000 hex 2 9 4 8 Instance 2572 dec A0C hex Description System status word Unit Access Get Data type UINT Default No EEPROM No Description of the bits see Table 9 System Status Word EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 72 of 102 The table below informs
20. Encoder resolution Unit Increments per revolution of the output shaft Access Get Data type INT Default No EEPROM Yes 8 2 1 87 Device ID 1 AG25 2 AG26 Instance 2574 dec A0E hex Description Device identification Unit Access Get Data type USINT Default No EEPROM Yes EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 74 of 102 8 2 1 88 Number of Errors Instance 2817 dec B01 hex Description Number of errors Unit Access Get Data type USINT Default No EEPROM No 8 2 1 89 Error Number 1 Instance 2818 dec B02 hex Description Error 1 Unit Access Get Data type USINT Default No EEPROM Yes 8 2 1 90 Error Number 2 Instance 2819 dec B03 hex Description Error 2 Unit Access Get Data type USINT Default No EEPROM Yes 8 2 1 91 Error Number 3 Instance 2820 dec B04 hex Description Error 3 Unit Access Get Data type USINT Default No EEPROM Yes EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 75 of 102 8 2 1 92 Error Number 4 Instance 2821 dec B05 hex Description Error 4 Unit Access Get Data type USINT Default No EEPROM Yes 8 2 1 93 Error Number 5 Instance 2822 dec B06 hex Description Error 5 Unit Access Get Data type USINT Default No EE
21. Error Number 9 76 2827 Error Number 10 76 3073 S Command 77 8 2 1 Parameter description 8 2 1 1 Digital Outputs Control Instance 1 dec 1 hex Description Digital output control byte Access Get Set Component of process data Data type USINT Default No EEPROM No Value range USINT Bit Description 0 Digital output 1 1 7 Reserved always 0 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 32 of 102 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 No EEPROM No Value range UINT 8 2 1 2 1 Control word Positioning mode master slave Bit Description Bit 0 OFF1 enable 0 OFF1 active Current travel job is canceled The actuator is activated 1 OFF1 inactive Bit 1 OFF2 max delay 0 OFF2 active Current travel job is canceled The actuator is decelerated with max delay the actuator continues to be controlled 1 OFF2 inactive Bit 2 OFF3 progr delay 0 OFF3 active Current travel job is canceled The actuator is decelerated with programmed delay the actuator continues to be controlled 1 OFF3 inactive Bit 3 Intermediate stop 0 no intermediate stop 1 intermediate stop active Bit 4 Start travel job Positive flank starts a travel job Bit 5 Acknowledge error Positive flank acknowled
22. 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 Display and controls AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 11 of 102 2 2 1 3 Network status LED 4 A test sequence is executed on this LED after switching on the device LED state Description Off No operating voltage or no IP address Green On line one or multiple connections established CIP Class 1 or 3 Green flashing On line no connection established Red Double IP address fatal error Red flashing On line one or multiple connections timeout CIP Class 1 or 3 2 2 2 Drive status With factory setting the inform about the drive s status The functions of the drive status LEDs can be configured 2 2 2 1 Status LED 5 LED statuses valid with factory setting LED state Description Green Operating voltage applied to control no fault Red flashing Operating voltage applied to control active fault Off Operating voltage of cont
23. 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 8 2 1 65 PCM Velocity 6 Instance 2407 dec 967 hex Description Positioning mode via digital inputs Velocity 6 Access Get Set Data type INT Default 10 EEPROM Yes 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 8 2 1 66 PCM Velocity 7 Instance 2408 dec 968 hex Description Positioning mode via digital inputs Velocity 7 Access Get Set Data type INT Default 10 EEPROM Yes 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 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 65 of 102 8 2 1 67 PCM Deceleration 1 Instance 2434 dec 982 hex Description Positioning mode via digital inputs Delay 1 Access Get Set Data type INT Default 101 EEPROM Yes Value range 1 101 101 the delay is determined by the PCM Acceleration 1 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 68 PCM Deceleration 2 Instance 2435 dec 983 hex Description Positioning mod
24. 10 Spindle Pitch 84 9 3 2 Actuator 84 9 3 2 1 A Pos 84 9 3 2 2 V Pos 84 9 3 2 3 D Pos 84 9 3 2 4 A Rot 84 9 3 2 5 A Inch 85 9 3 2 6 V Inch 85 9 3 2 7 Gear Ratio Denominator 85 9 3 2 8 Gear Ratio Numerator 85 9 3 3 Limiting values 85 9 3 3 1 Software Limit 1
25. 92 9 3 8 3 Error Number 2 93 9 3 8 4 Error Number 3 93 9 3 8 5 Error Number 4 93 9 3 8 6 Error Number 5 93 9 3 8 7 Error Number 6 93 9 3 8 8 Error Number 7 93 9 3 8 9 Error Number 8 94 9 3 8 10 Error Number 9 94 9 3 8 11 Error Number 10 94 9 4 Commands 94 9 4 1 Start travel job 94 9 4 2 start of inching mode 1
26. AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 52 of 102 8 2 1 34 Delta Inch Indicates the relative traveling distance Positive value positive travel direction Negative value negative travel direction Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Instance 1553 dec 611 hex Description Travel distance jog mode 1 Access Get Set Data type DINT Default 720 EEPROM yes Value range 1000000 1000000 8 2 1 35 Sense of Rotation With shaft rotating counter clockwise view on the output shaft i sense of rotation positive counting direction e sense of rotation negative counting direction Instance 1554 dec 612 hex Description Sense of rotation Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 i sense of rotation cw 1 e sense of rotation ccw EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 53 of 102 8 2 1 36 Pos Type Loop positioning is executed in the positioning mode only Speed mode Irrelevant Operating mode Positioning mode Type of positioning Description Direct Direct traveling from actual position to target value Loop Traveling to the target value is always in positive direction to compensate for spindle play Loop Traveling to the target value is always in negative direction to compensat
27. Input State PCM Start 0 PCM input 1 1 PCM input 2 1 PCM input 3 0 Step 2 Start the positioning job Input State PCM Start 0 1 PCM input 1 1 PCM input 2 1 PCM input 3 0 4 1 2 Current limiting The actual motor current cannot be indicated by measuring the supply current With cycled output stages the supply current does not correspond to the motor current Actual motor current can be read via the interface The current limit is set via Parameter Current Limiting instance 1561 which serves primarily for protecting the drive against overload With default set nominal speed indicated on the product data sheet is achieved Actuator overload results in limiting the motor current to the set value As a consequence the actuator cannot maintain the speed set the contouring error increases The actuator changes to the error status if the contouring error exceeds the contouring error limit defined by the 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 Functional description AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 23 of 102 4 1 3 1 Example of limit switch configuration Exemplary configuration for the connection of proximity switches DC PNP NC Fig 10 Example of limit switch configuration 4 1 3 2 Arrangement of the limit s
28. Key Inching mode 2 in i direction Digital inputs and outputs AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 13 of 102 2 3 2 DIP switch The DIP switch is only read when the control s operating voltage is switched on Therefore any change takes effect only after power on reset of the control s operating voltage Switch Assignment SW1 SW8 Setting of the IP address in binary format 0 DHCP BOOTP 1 Don t use 2 254 setting of the last byte of the IP address 192 168 1 XXX 255 DHCP BOOTP SW9 SW10 No function always off If required you can use DIP switches SW1 SW8 to set the last byte of the IP address in binary format With the value zero set the settings for IP address subnet mask and standard gateway can be obtained from a DHCP server The following applies to a value set between 2 and 254 IP address Range from 192 168 1 2 to 192 168 1 254 Subnet mask 255 255 255 0 Standard gateway 192 168 1 1 DHCP Deactivated SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 IP OFF OFF OFF OFF OFF OFF OFF OFF DHCP BOOTP ON OFF OFF OFF OFF OFF OFF OFF 192 168 1 1 Don t use address is occupied by standard gateway OFF ON OFF OFF OFF OFF OFF OFF 192 168 1 2 OFF ON ON ON ON ON ON ON 192 168 1 254 ON ON ON ON ON ON ON ON DHCP BOOTP 3 Digital inputs and outputs The actuator has four config
29. Number 1 74 8 2 1 90 Error Number 2 74 8 2 1 91 Error Number 3 74 8 2 1 92 Error Number 4 75 8 2 1 93 Error Number 5 75 8 2 1 94 Error Number 6 75 8 2 1 95 Error Number 7 75 8 2 1 96 Error Number 8 76 8 2 1 97 Error Number 9 76 8 2 1 98 Error Number 10 76 8 2 1 99 S Command 77 8 3 CIP objects 77 8 3 1
30. Position 6 59 2344 PCM Position 7 60 2370 PCM Acceleration 1 60 2371 PCM Acceleration 2 60 2372 PCM Acceleration 3 61 2373 PCM Acceleration 4 61 2374 PCM Acceleration 5 61 2375 PCM Acceleration 6 62 2376 PCM Acceleration 7 62 2402 PCM Velocity 1 62 2403 PCM Velocity 2 63 2404 PCM Velocity 3 63 2405 PCM Velocity 4 63 2406 PCM Velocity 5 64 2407 PCM Velocity 6 64 2408 PCM Velocity 7 64 2434 PCM Deceleration 1 65 2435 PCM Deceleration 2 65 2436 PCM Deceleration 3 66 2437 PCM Deceleration 4 66 2438 PCM Deceleration 5 67 2439 PCM Deceleration 6 67 2440 PCM Deceleration 7 68 2561 Output Stage Temperature 68 2562 Voltage of Control 68 2563 Voltage of Output Stage 69 2564 Voltage of Battery 69 2565 Motor Current 69 2566 Actual Position 69 2567 Actual Rotational Speed 70 2568 Serial Number 70 2569 Production Date 70 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 31 of 102 Instance Parameter name Page 2570 SW Motor Controller 70 2571 Gear Reduction 71 2572 System Status Word 71 2573 Encoder Resolution 73 2817 Number of Errors 74 2818 Error Number 1 74 2819 Error Number 2 74 2820 Error Number 3 74 2821 Error Number 4 75 2822 Error Number 5 75 2823 Error Number 6 75 2824 Error Number 7 75 2825 Error Number 8 76 2826
31. Target speed set point A Rot instance 1543 Stop Set point enabled Disable target value or set point 0 Disable operation Functional description AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 20 of 102 The following conditions must be met for enabling the start of the rotational speed mode Supply voltage of the output stage is applied Operation enabled Drive stands still 4 1 1 4 Position Control Mode Via the control word in the process data the superordinate control can cancel travel jobs started by the position control mode For this purpose a negative flank must be created on bits OFF1 OFF2 or OFF3 in the control word Conversely the PCM mode cannot cancel a travel order initiated via the superordinate control The position control mode enables travel data sets to be called via the digital inputs A total of 7 travel data sets can be saved 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 Functional description AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 21 of 102 4 1 1 4 1 Examples of configuration of the digital inputs for the PCM Digital input 1 PCM Start high active Digital input 2 PCM input 1 high active Digital input 3 PCM input 2
32. chapter 8 2 1 98 Error Number 10 9 4 Commands 9 4 1 Start travel job Command M see chapter 9 8 ASCII command structure Description Positioning mode start of positioning process to programmed set point Speed mode start of speed mode 9 4 2 start of inching mode 1 Command Y see chapter 9 8 ASCII command structure Description only in positioning mode 9 4 3 Start inching mode 2 positive travel direction Command 2Chex see chapter 9 8 ASCII command structure Description Drive travels in positive direction as long as the ASCII character is permanently sent only in positioning mode Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 95 of 102 9 4 4 Start inching mode 2 negative travel direction Command 2Ehex see chapter 9 8 ASCII command structure Description Drive travels in negative direction as long as the ASCII character is permanently sent only in positioning mode 9 4 5 Cancel current travel job in positioning mode Command I 49hex see chapter 9 8 ASCII command structure Description Motor remains in control state 9 4 6 Motor stop fast If a contouring error is pending at the time of the N command the motor will be enabled Command N see chapter 9 8 ASCII command structure Description motor decelerates with maximum delay Motor remains in control state 9 4 7 Motor stop If a contouring error is pending at
33. external transmission is used a factor can be programmed via the parameters Gear Ratio Numerator instance 1547 and Gear Ratio Denominator instance 1548 in order to include the transmission ratio in position sensing Example see Fig 12 External transmission The actuator is operated on a transmission with reduction of 5 1 For this purpose the Gear Ratio Numerator and Gear Ratio Denominator must be programmed as follows Parameter Gear Ratio Numerator 5 Parameter Gear Ratio Denominator 1 Fig 12 External transmission 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 5 revolutions 1 revolution Transmission output External transmission 5 1 M Internal transmission Warnings Errors AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 25 of 102 7 Warnings Errors 7 1 Warnings Warnings do not influence the operation of the actuator Warnings disappear after removing the cause Possible warnings Battery voltage for absolute encoder is below limit exchange battery within the next 6 months Current limiting active 7 2 Errors Errors cause an immediate stop of drive movement Errors are indicated via the drive status LEDs The error bit is set in the status word The error messages a
34. high active Digital input 4 PCM input 3 high active Fig 9 Examples of configuration of the digital inputs for the PCM Example of the parameter set of travel data set no 3 Parameter Instance PCM Position 3 2340 PCM Acceleration 3 2372 PCM Velocity 3 2404 PCM Deceleration 3 2436 After applying the coding to the inputs the desired travel job can be started by a positive flank on the 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 Digital Input 1 Functionality instance 1025 value 8 Digital Inputs Polarity instance 1030 bit 0 0 Digital input 1 Bit 7 Bit 8 Bit 9 Bit 10 Digital input 2 Digital Inputs Polarity instance 1030 bit 1 0 XOR XOR Digital Input Functionalities State instance 1029 Digital Input 3 Functionality instance 1027 value 10 Digital Inputs Polarity instance 1030 bit 2 0 Digital input 3 XOR Digital Input 4 Functionality instance 1028 value 11 Digital Inputs Polarity instance 1030 bit 3 0 Digital input 4 XOR Bit 31 Bit 0 Digital Input 2 Functionality instance 1026 value 9 Functional description AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 22 of 102 An example of calling travel data set no 3 is shown below Step 1 Create number of travel data set
35. setpoint 500 Write command F0 0000500 10 characters Reply gt lt CR gt 2 characters Read command E0 2 characters Reply 0000500 gt lt CR gt 10 characters 9 7 2 Start travel job Command M 1 character Reply gt lt CR gt 2 characters Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 100 of 102 9 8 ASCII command structure Command Length Access Reply CR Length Description Ay 2 read xxxxxxxx gt x 10 Device information constants y address xxxxxxxx string Byy 3 read xxxxxxx gt x 10 Device information actual values yy address xxxxxxx decimal value Ey 2 read xxxxxxx gt x 10 Read parameter 3 byte y address xxxxxxx decimal value Fy xxxxxxx 10 write gt x 2 Write parameter 3 byte y address xxxxxxx decimal value Gyy 3 read xxxxx gt x 7 Read parameter 2 byte yy address xxxxx decimal value Hyyxxxxx 8 write gt x 2 Write parameter 2 byte yy address xxxxx decimal value I 1 write gt x 2 Cancel current travel job in positioning mode Jyy 3 read 0xhh gt x 6 Error memory yy address hh hexadecimal value K 1 write gt x 2 Software Reset Lx 2 write gt x 2 Type of positioning x decimal value M 1 write gt x 2 Start travel job N 1 write gt x 2 Motor stop fast O 1 write gt x 2 Motor stop P 1 writ
36. status 305 15 Page 102 of 102 11 Web server No parameters that are components of process data can be changed Drive control via web server is not possible Only an authorized network master can access the process data via the network The inbuilt web server enables configuration and parameterization without network master via the Ethernet interface The web server can be accessed via the set IP address Settings for IP and Ethernet can be made via the Configuration menu Below the parameter menu is shown The process data is within the red mark
37. 11 08 2015 Art No 87613 Mod status 305 15 Page 50 of 102 8 2 1 29 Gear Ratio Denominator a transmission factor can be programmed here when an external gear unit is used Instance 1548 dec 60C hex Description Denominator gear ratio Access Get Set Data type INT Default 1 EEPROM yes Value range 1 10000 8 2 1 30 Spindle Pitch Spindle pitch parameter 0 Position value is output in increments 720 increments per revolution of the output shaft Spindle pitch parameter gt 0 when operating the actuator on a spindle Position value is output as traveling distance in 1 100 mm rather than in increments Input of the target position is now in 1 100 mm as well e g spindle with a pitch of 2 mm spindle pitch parameter 200 Instance 1549 dec 60D hex Description Spindle pitch Access Get Set Data type DINT Default 0 EEPROM Yes Value range 0 1000000 8 2 1 31 Calibration Value Changes to the calibration value are adopted for calculation of the position value only after calibration via S command Position value 0 calibration value offset value Instance 1550 dec 60E hex Description Calibration value Access Get Set Data type DINT Default 0 EEPROM Yes Value range 999999 999999 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 51 of 102 8 2 1 32 Software Limit 1 Positioning mode Sof
38. 188 1 max 30 rpm Transmission 368 1 max 15 rpm EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 63 of 102 8 2 1 61 PCM Velocity 2 Instance 2403 dec 963 hex Description Positioning mode via digital inputs Velocity 2 Access Get Set Data type INT Default 10 EEPROM Yes 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 8 2 1 62 PCM Velocity 3 Instance 2404 dec 964 hex Description Positioning mode via digital inputs Velocity 3 Access Get Set Data type INT Default 10 EEPROM Yes 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 8 2 1 63 PCM Velocity 4 Instance 2405 dec 965 hex Description Positioning mode via digital inputs Velocity 4 Access Get Set Data type INT Default 10 EEPROM Yes 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 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 64 of 102 8 2 1 64 PCM Velocity 5 Instance 2406 dec 966 hex Description Positioning mode via digital inputs Velocity 5 Access Get Set Data type INT Default 10 EEPROM Yes
39. 2 1 77 Voltage of Battery 69 8 2 1 78 Motor Current 69 8 2 1 79 Actual Position 69 8 2 1 80 Actual Rotational Speed 70 8 2 1 81 Serial Number 70 8 2 1 82 Production Date 70 8 2 1 83 SW Motor Controller 70 8 2 1 84 Gear Reduction 71 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 74 8 2 1 89 Error
40. 305 15 AG25 AG26 Actuator with interface User manual AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 2 of 102 Table of contents 1 General Information 9 1 1 Documentation 9 2 Display 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
41. 5 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 4 of 102 8 2 1 30 Spindle Pitch 50 8 2 1 31 Calibration Value 50 8 2 1 32 Software Limit 1 51 8 2 1 33 Software Limit 2 51 8 2 1 34 Delta Inch 52 8 2 1 35 Sense of Rotation 52 8 2 1 36 Pos Type 53 8 2 1 37 Operating Mode 53 8 2 1 38 Inching 2 Stop Mode 54 8 2 1 39 Inpos Mode 54 8 2 1 40 Loop Length 55 8 2 1 41 Contouring Error Limit
42. 546 Inpos Mode instance 1558 10 10 Functional description AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 18 of 102 Fig 7 Loop positioning 4 1 1 2 Inching mode There is no compensation for spindle backlash loop positioning in this operating mode Inching mode is enabled in the positioning mode only You can program via parameters acceleration as well as speed in the inching mode 4 1 1 2 1 Inching mode 1 If the Spindle pitch parameter is programmed to zero then the traveling distance occurs by increments If Spindle pitch is unequal zero then the information of the Delta Tipp parameter refers to the travel distance in 1 100 mm If the actual position is outside the programmed limiting values then traveling from this position in the respective direction must be performed by means of inching mode 1 or 2 The drive travels once from the current actual position by the value Delta Inch instance 1553 depending on the mathematical sign of the value entered Delta Inch lt 0 negative travel direction Delta Inch gt 0 positive travel direction Reaching of the target position will be signaled accordingly The digital input can be configured for starting inching mode 1 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 Setpoint
43. 82 9 3 Parameters 82 9 3 1 Positioning 82 9 3 1 1 Target Value 82 9 3 1 2 Actual Position 82 AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 6 of 102 9 3 1 3 Actual Rotational Speed 82 9 3 1 4 Calibration Value 83 9 3 1 5 Loop Length 83 9 3 1 6 Offset Value 83 9 3 1 7 Pos Type 83 9 3 1 8 Pos Window 83 9 3 1 9 Sense of Rotation 84 9 3 1
44. Description Output stage temperature Unit 1 10 C Access Get Data type INT Default No EEPROM No 8 2 1 75 Voltage of Control Instance 2562 dec A02 hex Description Operating voltage of control Unit 1 10 V Access Get Data type INT Default No EEPROM No EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 69 of 102 8 2 1 76 Voltage of Output Stage Instance 2563 dec A03 hex Description Operating voltage of output stage Unit 1 10 V Access Get Data type INT Default No EEPROM No 8 2 1 77 Voltage of Battery Instance 2564 dec A04 hex Description Battery voltage Unit 1 100 V Access Get Data type INT Default No EEPROM No 8 2 1 78 Motor Current Instance 2565 dec A05 hex Description Motor current Unit mA Access Get Data type INT Default No EEPROM No 8 2 1 79 Actual Position Instance 2566 dec A06 hex Description Current position Unit Spindle pitch 0 Increments Spindle pitch gt 0 1 100 mm Access Get Sata type INT Default No EEPROM No EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 70 of 102 8 2 1 80 Actual Rotational Speed Instance 2567 dec A07 hex Description Current speed Unit rpm Access Get Data type INT Default No EEPROM No 8 2 1 81 Serial Number Instance 2568 dec
45. Identity Object Class 01h 78 8 3 1 1 Class attributes of the Identity Object 78 8 3 1 2 Instance attributes of the Identity Object 79 8 3 1 3 Status 80 8 3 1 4 Reset service of the Identity Object 80 9 Service protocol 81 9 1 General Information 81 9 1 1 Communication 81 9 1 2 Settings 81 9 1 3 ASCII commands 81 9 1 4 Responses 81 9 2 Overview of parameters
46. Instance object Every parameter corresponds to an instance in this class Access to the parameters is via explicit messages Class attributes of the ADI object Number Access Name Description Data type 1 Get Revision Object revision index UINT 2 Get Max instances Maximum number of object instances in this class UINT 3 Get Number of instances Number of object instances in this class UINT Instance attributes of the ADI object Number Access Name Description Data type 1 Get Name Parameter name including length SHORT_STRING 2 Get Data type Data type of the instance value USINT 3 Get Number of elements Number of elements of the specified Data type USINT 4 Get Bit field describing the access authorization for this instance Bit Meaning 0 set Get access 1 set Set access USINT 5 Get Set Value Instance value defined by attribute 2 6 Get Max value The maximum admissible parameter value 7 Get Min value The minimum admissible parameter value 8 Get Default value Standard value Access to the parameter values is via Get Set Attribute Single Attribute 5 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 29 of 102 8 2 Overview of parameters Instance Parameter name Page 1 Digital Outputs Control 31 2 Control Word 32 3 Target Value 32 257 Digital Inputs State 36 258 Status Word 36 259 Actu
47. Major Recoverable Fault 0 no serious error 1 resettable serious error 11 Major Unrecoverable Fault 0 no serious error 1 non resettable serious error 12 15 Reserved 8 3 1 4 Reset service of the Identity Object 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 Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 81 of 102 9 Service protocol If there is process data exchange with a network master writing of parameters and execution of commands via the service protocol is disabled In this case the drive replies with the error code 03 no operating authorization 9 1 General Information The service protocol enables parameterization and control of the drive by ASCII commands via an ASCII terminal 9 1 1 Communication 9 1 2 Settings Available baud rates 9 6 kBit s 19 2 kBit s 57 6 kBit s factory setting 115 2 kBit s Additional settings no parity 8 data bits 1 stop bit no handshake 9 1 3 ASCII commands An ASCII command consists of an ASCII character and additional arguments such as parameter address mathematical sign and value Length and format of an ASCII command are defined unchangeably 9 1 4 Responses Except for a few cases the actuator responds to ASCII commands with a terminating string ASCII character g
48. Mod status 305 15 Page 97 of 102 9 5 Flow charts 9 5 1 Flow chart Operating mode Positioning mode The flow chart below shows the control of positioning in the positioning mode via service protocol see chapter 9 Service protocol Fig 16 Flowchart positioning mode SIKONETZ5 Acknowledge error S11103 command Start Supply voltage On Read status word R command Operation enabled SW 000x 0000 x000 x000 Send setpoint F0 command Start positioning M command Active travel job SW x1xx 10x0 0001 0000 continue positioning M command Fault Status word Bit 8 1 Intermediate stop active SW x10x 00x0 0000 0000 Intermediate stop N or O command start of inching mode 1 2 Y command Inching job finished SW 000x 0000 0000 x000 Inching job finished SW 000x 0000 0000 x000 SW System Status Word x bit can be 0 or 1 Required position reached SW 000x 0000 0000 1000 Finish travel job I command Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 98 of 102 9 5 2 Flow chart Operating mode Speed mode The flow chart below illustrates the control in the rotational speed mode via service protocol see chapter 9 Service protocol Fig 17 Flow chart speed mode service protocol Acknowledge error S11103
49. PROM Yes 8 2 1 94 Error Number 6 Instance 2823 dec B07 hex Description Error 6 Unit Access Get Data type USINT Default No EEPROM Yes 8 2 1 95 Error Number 7 Instance 2824 dec B08 hex Description Error 7 Unit Access Get Data type USINT Default no EEPROM Yes EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 76 of 102 8 2 1 96 Error Number 8 Instance 2825 dec B09 hex Description Error 8 Unit Access Get Data type USINT Default No EEPROM Yes 8 2 1 97 Error Number 9 Instance 2826 dec B0A hex Description Error 9 Unit Access Get Data type USINT Default No EEPROM Yes 8 2 1 98 Error Number 10 Instance 2827 dec B0B hex Description Error 10 Unit Access Get Data type USINT Default No EEPROM Yes EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 77 of 102 8 2 1 99 S Command Instance 3073 dec C01 hex Description S command Unit Access Get Set Data type USINT Default No EEPROM No Value Description 1 All parameters to default 2 Only standard parameters to default 3 Controller parameters to default 6 Reset error 7 Calibrate 8 Delete error memory 8 3 CIP objects The following CIP objects are integrated in the actuator Class Name Description 01h Ident
50. Service Interface Baud Rate Instance 545 dec 221 hex Description Baud rate of the service interface Access Get Set Data type USINT Default 1 EEPROM Yes Value range 0 3 0 19 2 Kbit s 1 57 6 Kbit s 2 115 2 Kbit s 3 9 6 Kbit s 8 2 1 9 Digital Output 1 Functionality This parameter determines the function of digital output 1 This setting determines the bit position in the Digital Outputs Status register which governs the state of the digital output Instance 769 dec 301 hex Description Digital output 1 functionality Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 3 Value Description 0 General use Control of the control output is directly via bit DO1 in the process data 1 Fault The output is switched active in case of fault 2 Inpos The state of bit Inpos in the status word defines the state of the digital output 3 Output on The output is switched on permanently EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 42 of 102 8 2 1 10 Digital Output Functionalities State The functional states that can be assigned to the digital output can be read from this register Instance 770 dec 302 hex Description Status of the digital output functionalities Access Get Data type UDINT Default No EEPROM No Bit Description 0 Fault 0 no error 1 fault active 1 Inpos 0
51. Type Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 87 of 102 9 3 4 5 Inching 2 Offset Read command G27 see chapter 9 8 ASCII command structure Write command H27xxxxx Description see chapter 8 2 1 43 Inching 2 Offset 9 3 4 6 Inching 2 Stop Mode Read command G15 see chapter 9 8 ASCII command structure Write command H15xxxxx Description see chapter 8 2 1 38 Inching 2 Stop Mode 9 3 4 7 LED Functionality Read command G45 see chapter 9 8 ASCII command structure Write command H45xxxxx Description see chapter 8 2 1 7 LED Functionality 9 3 4 8 Service Interface Baud rate Read command G25 see chapter 9 8 ASCII command structure Write command H25xxxxx Description see chapter 8 2 1 8 Service Interface Baud Rate 9 3 5 Controller parameter 9 3 5 1 Controller Parameter P Read command G00 see chapter 9 8 ASCII command structure Write command H00xxxxx Description see chapter 8 2 1 18 Controller Parameter P 9 3 5 2 Controller Parameter I Read command G01 see chapter 9 8 ASCII command structure Write command H01xxxxx Description see chapter 8 2 1 19 Controller Parameter I Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 88 of 102 9 3 5 3 Controller Parameter D Read command G02 see chapter 9 8 ASCII command structure Write command H02xxxxx Description see chapter 8 2 1 20 Controller Paramet
52. USINT Default 0 EEPROM Yes Value range 0 15 Value of the assigned bit 0 positive logics high active 1 negative logics low active Bit Description 0 Digital input 1 polarity 1 Digital input 2 polarity 2 Digital input 3 polarity 3 Digital input 4 polarity 4 7 Not assigned 8 2 1 18 Controller Parameter P This setting applies to all operating modes Instance 1537 dec 601 hex Description P gain of controller Access Get Set Data type INT Default 300 EEPROM Yes Value range 1 500 8 2 1 19 Controller Parameter I This setting applies to all operating modes Instance 1538 dec 602 hex Description I gain of controller Access Get Set Data type INT Default 2 EEPROM Yes Value range 0 500 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 47 of 102 8 2 1 20 Controller Parameter D This setting applies to all operating modes Instance 1539 dec 603 hex Description D gain of controller Access Get Set Data type INT Default 0 EEPROM Yes Value range 0 500 8 2 1 21 A Pos Instance 1540 dec 604 hex Description Acceleration in the positioning mode Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmissi
53. Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 54 PCM Acceleration 2 Instance 2371 dec 943 hex Description Positioning mode via digital inputs Acceleration 2 Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 61 of 102 8 2 1 55 PCM Acceleration 3 Instance 2372 dec 944 hex Description Positioning mode via digital inputs Acceleration 3 Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 56 PCM Acceleration 4 Instance 2373 dec 945 hex Description Positioning mode via digital inputs Acceleration 4 Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 57 PCM Acceleration 5 Instance 2374 de
54. about the meaning of the individual bits of the system status word Bit State Description Bit 0 0 Irrelevant Bit 1 0 Irrelevant Bit 2 0 Irrelevant Bit 3 1 0 Positioning mode In Position Actual position is within the positioning window of the programmed target value Actual position is outside the positioning window of the programmed target value 1 0 Speed mode In Position Actual speed is inside the specified tolerance window of target speed Actual speed is outside the specified tolerance window Bit 4 1 0 Actuator travels Actuator travels Actuator stands still rotational speed lt 2 rpm Bit 5 1 0 Positioning mode Upper limit Actual position is above the programmed limiting value Traveling is possible only in negative direction in inching mode Actual position is below the programmed limiting value 0 Positioning mode Irrelevant Bit 6 1 0 Positioning mode Lower limit Actual position is below the programmed limiting value Traveling is possible only in positive direction in inching mode Actual position is above the programmed limiting value 0 Positioning mode Irrelevant Bit 7 1 0 Driver state Motor is enabled Motor in control Bit 8 1 0 Error Actuator has switched to error The cause of the error must be removed and acknowledged No error present B
55. actual value outside the positioning window 1 actual value inside the positioning window 2 Output on The bit is permanently set 3 31 Not assigned 8 2 1 11 Digital Outputs Polarity This parameter determines the switching behavior individually for every digital output A bit that defines the switching logics is assigned to every digital output Instance 771 dec 303 hex Description Polarity of the digital output Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 15 Value of the assigned bits 0 positive logics high active 1 negative logics low active Bit Description 0 Digital output 1 polarity 1 7 Not assigned EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 43 of 102 8 2 1 12 Digital Input 1 Functionality This parameter determines the functionality of digital input 1 With a value greater than 0 set a function is assigned to the digital input The functional state can be read from the Digital Input Functionalities State register Instance 1025 dec 401 hex Description Input 1 functionality Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 11 Value Description 0 General use No function is assigned to the digital input 1 Limit switch 1 2 Limit switch 2 3 Inching operation 2 positive direction 4 Inching operation 2 negative direction 5 Calibrate
56. al Value 37 513 LED Functionality 39 769 Digital Output 1 Functionality 41 770 Digital Output Functionalities State 42 771 Digital Outputs Polarity 42 1025 Digital Input 1 Functionality 43 1026 Digital Input 2 Functionality 43 1027 Digital Input 3 Functionality 44 1028 Digital Input 4 Functionality 44 1029 Digital Input Functionalities State 45 1030 Digital Inputs Polarity 46 1537 Controller Parameter P 46 1538 Controller Parameter I 46 1539 Controller Parameter D 47 1540 A Pos 47 1541 V Pos 47 1542 D Pos 48 1543 A Rot 48 1544 A Inch 48 1545 V Inch 49 1546 Pos Window 49 1547 Gear Ratio Numerator 49 1548 Gear Ratio Denominator 50 1549 Spindle Pitch 50 1550 Calibration Value 50 1551 Software Limit 1 51 1552 Software Limit 2 51 1553 Delta Inch 52 1554 Sense of Rotation 52 1555 Pos Type 53 1556 Operating Mode 53 1557 Inching 2 Stop Mode 54 1558 Inpos Mode 54 1559 Loop Length 55 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 30 of 102 Instance Parameter name Page 1560 Contouring Error Limit 55 1561 Current Limiting 56 1562 Inching 2 Offset 56 1563 Inching 2 Acceleration Type 57 1564 Offset 57 2338 PCM Position 1 58 2339 PCM Position 2 58 2340 PCM Position 3 58 2341 PCM Position 4 59 2342 PCM Position 5 59 2343 PCM
57. al input 2 2 State of digital input 3 3 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 No EEPROM No EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 37 of 102 8 2 1 5 1 Status word Positioning mode slave master Bit Description Bit 0 Supply 0 output stage supply voltage missing 1 supply voltage of the output stage is applied Bit 1 Readiness to travel 0 not ready to travel 1 ready to travel Bit 2 Upper limit 0 no violation of limit 1 upper limit exceeded Bit 3 Lower limit 0 no violation of limit 1 lower limit undercut Bit 4 Actuator travels stands still 0 actuator stands still 1 actuator travels Bit 5 Inpos 0 actuator is outside the position window 1 actuator is inside the position window Bit 6 Active travel job 0 no active travel job 1 active travel job Bit 7 Fault 0 no error 1 Error Acknowledgment with positive flank on Control word bit 5 Bit 8 Operation enabled 0 operation not enabled 1 operation enabled Bit 9 Switch lock 0 no switch lock 1 switch lock Bit 10 Travel job acknowledgment 0 no acknowledgment 1 acknowledgment The bit is set when the travel job was adopted If bit 4 is reset in the control word this bit will be reset as wel
58. alibration value offset value Instance 1564 dec 61C hex Description Offset value Access Get Set Data type DINT Default 0 EEPROM Yes Value range 999999 999999 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 58 of 102 8 2 1 46 PCM Position 1 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Instance 2338 dec 922 hex Description Positioning mode via digital inputs Position 1 Access Get Set Data type DINT Default 0 EEPROM Yes Value range DINT 8 2 1 47 PCM Position 2 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Instance 2339 dec 923 hex Description Positioning mode via digital inputs Position 2 Access Get Set Data type DINT Default 0 EEPROM Yes Value range DINT 8 2 1 48 PCM Position 3 Spindle pitch 0 values refer to increments Spindle pitch gt 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 0 EEPROM Yes Value range DINT EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 59 of 102 8 2 1 49 PCM Position 4 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer t
59. ansmission 188 1 1 06 rps Transmission 368 1 0 54 rps EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 49 of 102 8 2 1 26 V Inch Instance 1545 dec 609 hex Description Maximum speed in inching mode 1 2 Access Get Set Data type INT Default 10 EEPROM Yes 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 8 2 1 27 Pos Window Operating mode Positioning mode If the actual position of the drive is within the programmed set point this window setting bit 5 in the status word of the drive signals this Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Values refer to travel distance as 1 100 mm Operating mode Speed mode If the actual rotational speed is within the target rotational speed this window setting bit 5 in the drive s system status word signals this Instance 1546 dec 60A hex Description Positioning window Access Get Set Data type INT Default 10 EEPROM Yes Value range 0 1000 8 2 1 28 Gear Ratio Numerator a transmission factor can be programmed here when an external gear unit is used Instance 1547 dec 60B hex Description Numerator transmission ratio Access Get Set Data type INT Default 1 EEPROM Yes Value range 1 10000 EtherNet IP AG25 AG26 Date
60. butes of the Identity Object Number Access Name Data type Default value 1 Get Vendor ID UINT 053Eh 2 Get Device Type UINT 002Bh 3 Get Product Code UINT 0101h 4 Get Revision Major Revision Minor Revision Struct of USINT USINT 01h 03h 5 Get Status WORD 6 Get Serial Number UDINT 7 Get Product Name SHORT_STRING SIKO DriveLine EIP 11 SETTL Active Language Struct of USINT USINT USINT 12 Get Supported Language List Array of Struct of USINT USINT USINT EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 80 of 102 8 3 1 3 Status Bit s Name Description 0 Owned 0 no connection to master 1 connection to master established 1 Reserved 2 Configured 0 device with standard configuration 1 no standard configuration 3 Reserved 4 7 Extended Device Status Manufacturer specific status bits Value description 0000b Unknown 0010b At least one faulty I O connection 0011b No I O connection established 0100b Non volatile configuration EEPROM faulty 0101b Serious error bit 10 or bit 11 1 0110b At least one I O connection in the Run mode 0111b At least one I O connection established all in the Idle operating mode Others reserved 8 Minor Recoverable Fault 0 no error 1 resettable error 9 Minor Unrecoverable Fault 0 no error 1 non resettable error 10
61. c 946 hex Description Positioning mode via digital inputs Acceleration 5 Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 62 of 102 8 2 1 58 PCM Acceleration 6 Instance 2375 dec 947 hex Description Positioning mode via digital inputs Acceleration 6 Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 59 PCM Acceleration 7 Instance 2376 dec 948 hex Description Positioning mode via digital inputs Acceleration 7 Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 60 PCM Velocity 1 Instance 2402 dec 962 hex Description Positioning mode via digital inputs Velocity 1 Access Get Set Data type INT Default 10 EEPROM Yes Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission
62. command start Supply voltage On Read status word R command Operation enabled SW 00xx 0000 x000 x000 Enter target speed F0 command Enable target speed M command Target speed enabled SW 01xx x000 000x x000 Stop travel job N or O command Change target speed F0 command Fault Status word Bit 8 1 SW System Status Word x bit can be 0 or 1 Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 99 of 102 9 6 Error number encoding Faulty inputs are acknowledged with an error message An error message is always prefixed by a question mark followed by a two digit error code The error message ends with a carriage return lt CR gt Code Description 01 input of illegal parameter number 02 illegal value range 03 No operating authorization active process data exchange with network master 04 Input disabled due to operating state 05 limit switch 1 active 06 limit switch 2 active 07 Actual or target value gt upper software limit 08 Actual or target value lt lower software limit 09 setpoint entered exceeds limiting value 10 Fault 11 active EEPROM write access 12 Actual or target value lt lower area limit 13 Actual or target value gt upper area limit 14 Operating voltage of control missing 9 7 Examples 9 7 1 Write and read
63. current Instance 1561 dec 619 hex Description Current limiting Access Get Set Data type USINT Default 110 EEPROM Yes Value range 25 110 8 2 1 43 Inching 2 Offset The inching speed in Inching operation 2 can be influenced via this parameter 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 100 EEPROM No Value range 10 100 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 57 of 102 8 2 1 44 Inching 2 Acceleration Type The acceleration type in Inching operation 2 can be influenced via this parameter Instance 1563 dec 61B hex Description Inching mode 2 acceleration type Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 1 Value Description 0 Static acceleration Acceleration occurs to final speed as defined under parameter A Inch instance 1544 1 Incremental acceleration Acceleration occurs to final speed as defined under parameter A Inch instance 1544 with the following increments 4 s to 20 of final speed 2 s to 50 of final speed 1 s to 100 of final speed 8 2 1 45 Offset Value Changes to the offset value are immediately considered in the calculation of the position value The following equation is applied in case of calibration Position value 0 c
64. d only Description see chapter 8 2 1 4 Digital Inputs State Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 92 of 102 9 3 7 8 Digital Output 1 Functionality Read command G46 see chapter 9 8 ASCII command structure Write command H46xxxxx Description see chapter 8 2 1 9 Digital Output 1 Functionality 9 3 7 9 Digital Outputs Control Read command G60 see chapter 9 8 ASCII command structure Write command H60xxxxx Description see chapter 8 2 1 1 Digital Outputs Control 9 3 7 10 Digital Output Functionalities State Read command U0770 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 10 Digital Output Functionalities State 9 3 7 11 Digital Outputs Polarity Read command G48 see chapter 9 8 ASCII command structure Write command H48xxxxx Description see chapter 8 2 1 11 Digital Outputs Polarity 9 3 8 Error memory 9 3 8 1 Number of Errors Read command J00 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 88 Number of Errors 9 3 8 2 Error Number 1 Read command J01 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 89 Error Number 1 Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 93 of 102 9 3 8 3 Error Number 2 Read command J02 see chapter 9 8 ASCII command s
65. e gt x 2 enable motor Q 1 read 0xhh gt x 6 Flag Register hh hexadecimal value R 1 read 0xhhll gt x 8 System status word hh hexadecimal value High byte II hexadecimal value Low byte Sxxxxx 6 write gt x 2 System command xxxxx code Tx 2 write gt x 2 Sense of rotation x decimal value Uxxxx 5 read bbbb 4 Read parameter 4 byte bbbb binary value in the Big Endian format Block diagram AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 101 of 102 Command Length Access Reply CR Length Description V 1 read xxxx gt x 7 Actual rotational speed xxxx decimal value with arithmetical sign W 1 read bbbb 4 Position value in binary format bbbb binary value in the Big Endian format Xy 2 write gt x 2 Operating mode y decimal value Y 1 write gt x 2 start of inching mode 1 Z 1 read xxxxxxx gt x 10 Position value xxxxxxx decimal value 2Chex 1 write 0 Start inching mode 2 positive travel direction 2Ehex 1 write 0 Start inching mode 2 negative travel direction 10 Block diagram Fig 18 Block diagram reverse polarity protection Power pack reverse polarity protection Ethernet module Control Output stage Motor Encoder Battery Digital I O UB Control Ethernet UB Output stage Web server AG25 AG26 Date 11 08 2015 Art No 87613 Mod
66. e for spindle play Instance 1555 dec 613 hex Description Positioning type Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 direct 1 loop 2 loop 8 2 1 37 Operating Mode Instance 1556 dec 614 hex Description Operating mode Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 positioning mode 1 speed mode EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 54 of 102 8 2 1 38 Inching 2 Stop Mode The delay ramp in Inching operation 2 can be influenced via this parameter Instance 1557 dec 615 hex Description Stop mode inching 2 Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 stop with maximum delay 1 stop with programmed delay 8 2 1 39 Inpos Mode This parameter determines the drive s behavior after reaching the positioning window Instance 1558 dec 616 hex Description Inpos mode Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 2 Speed mode Irrelevant Positioning mode Value Description 0 Permanent positioning regulation to setpoint 1 Positioning control Off and short circuit of the motor windings 2 Positioning control Off and drive enable EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 55 of 102 8 2 1 40 Loop Length This parameter determ
67. e via digital inputs Delay 2 Access Get Set Data type INT Default 101 EEPROM Yes Value range 1 101 101 the delay is determined by the PCM Acceleration 2 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 66 of 102 8 2 1 69 PCM Deceleration 3 Instance 2436 dec 984 hex Description Positioning mode via digital inputs Delay 3 Access Get Set Data type INT Default 101 EEPROM Yes Value range 1 101 101 the delay is determined by the PCM Acceleration 3 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 70 PCM Deceleration 4 Instance 2437 dec 985 hex Description Positioning mode via digital inputs Delay 4 Access Get Set Data type INT Default 101 EEPROM Yes Value range 1 101 101 the delay is determined by the PCM Acceleration 4 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 67 of 102 8 2 1 71 PCM Deceleration 5
68. ed window via parameter Inpos Mode instance 1558 you can define the behavior of the actuator Fig 6 Positioning mode The max travel range depends on transmission and scaling The number of revolutions specified in the product data sheet must not be exceeded 4 1 1 1 1 Loop positioning A travel order will not be executed if loop positioning would exceed the limiting values specified by parameters Software Limit 1 instance 1551 and Software Limit 2 instance 1552 although the setpoint is within the limiting values If the actuator is operated on a spindle or an additional transmission the spindle or external transmission backlash can be compensated by means of loop positioning In this case traveling to the target value is always from the same direction This travel direction can be determined via parameter Pos Type instance 1555 Loop length is set via parameter Loop Length instance 1559 Example The direction from which every target position shall be driven to is positive Case 1 new position is greater than actual position Direct travel to required position 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 Software Limit 1 instance 1551 Software Limit 2 instance 1552 Travel range Upper limit Travel range Lower limit 0 Pos Window instance 1
69. er D 9 3 6 Device information 9 3 6 1 Motor Current Read command B04 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 78 Motor Current 9 3 6 2 Output Stage Temperature Read command B00 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 74 Output Stage Temperature 9 3 6 3 Voltage of Control Read command B01 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 75 Voltage of Control 9 3 6 4 Voltage of Output Stage Read command B02 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 76 Voltage of Output Stage 9 3 6 5 Voltage of Battery Read command B03 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 77 Voltage of Battery Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 89 of 102 9 3 6 6 Flag Register Read command Q see chapter 9 8 ASCII command structure Write command read only Description x x x x x x x x binary representation of the flag register 7 6 5 4 3 2 1 0 Bit Bit 0 Sense of rotation 0 i cw 1 e ccw Bit 1 2 Type of positioning 00 direct 01 loop 10 loop Bit 3 not assigned Bit 4 Operating mode 0 positioning mode 1 speed mode Bit 5 6 7 not assi
70. formation AG25 AG26 Date 16 06 2014 Art No 87613 Mod status 305 15 Page 9 of 102 1 General 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 2 Display 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 11 08 2015 Art No 87613 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 Description 1 Module status LED 2 Link Activity LED 3 Link Activity LED 4 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
71. ges an error Afterwards the actuator changes to the switch lock state Bit 6 Inching mode 1 0 no inching mode 1 If the travel job is not completed yet it will be canceled 1 inching operation 1 As long as this bit is set the actuator travels the distance specified in parameter Delta Tipp Bit 7 Inching mode 2 positive 0 no inching mode 2 positive 1 inching mode 2 positive The actuator travels in positive direction Bit 8 Inching mode 2 negative 0 no inching mode 2 negative 1 inching mode 2 negative The actuator travels in negative direction Bit 9 Reserved always 0 Bit 10 Relative positioning 0 absolute positioning 1 relative positioning Bit 11 15 Reserved always 0 Table 2 Positioning mode control word EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 33 of 102 8 2 1 2 2 Flow chart Operating mode Positioning mode Fig 13 Flow chart of EtherNet IP positioning mode OFF1 CW 0 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Activate travel job CW 0000 0000 0001 0111 Operation enabled SW 0000 x001 00x0 xxx1 Enable operation CW 0000 0000 0000 0111 Active travel job SW 000x x101 01x1 0001 Active travel job SW 000x x101 01x1 0001 Intermediate stop CW 3 1 Intermediate stop active SW 0000 x101 01x0 0011 Continue positioning CW 3 0 Inching 1 2 On CW 0000 0000 0100 0111 or CW
72. gned 9 3 6 7 System Status Word Read command R see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 85 System Status Word 9 3 6 8 Device Type Read command A0 see chapter 9 8 ASCII command structure Write command read only Description Response format AG25 gt 9 3 6 9 Gear Reduction Read command A4 see chapter 9 8 ASCII command structure Write command read only Description Response format 98 gt 9 3 6 10 Motor Type Read command A7 see chapter 9 8 ASCII command structure Write command read only Description Response format 50W gt Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 90 of 102 9 3 6 11 Network Type Read command A3 see chapter 9 8 ASCII command structure Write command read only Description Response format EIP gt 9 3 6 12 Production Date Read command A6 see chapter 9 8 ASCII command structure Write command read only Description Response format DDMMYYYY gt 9 3 6 13 Serial Number Read command A5 see chapter 9 8 ASCII command structure Write command read only Description Response format 12345678 gt 9 3 6 14 SW Ethernet Module Read command A2 see chapter 9 8 ASCII command structure Write command read only Description Response format 01 02 63 gt 9 3 6 15 SW Motor Controller Read command A1 see chapter 9 8 ASCII command structure Wr
73. ines the loop length for the loop and loop positioning types Positioning mode Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Speed mode Irrelevant Instance 1559 dec 617 hex Description Loop length Access Get Set Data type INT Default 360 EEPROM yes Value range 0 30000 8 2 1 41 Contouring Error Limit Upon starting a travel job the ramp generator generates position setpoints in order to reach the target position with the desired speed profile A Pos V Pos D Pos Position regulation attempts to readjust the drive s actual position and to keep the control deviation as small as possible Disturbance variables such as load or friction can disable the drive s following the position values Control deviation contouring error will increase steadily If control deviation exceeds the value of the contouring error limit this will result in the contouring error fault The maximum admissible contouring error is indicated as increments Instance 1560 dec 618 hex Description Contouring error limit Access Get Set Data type INT Default 400 EEPROM Yes Value range 1 30000 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 56 of 102 8 2 1 42 Current Limiting This parameter determines the setting for limiting the motor current The values are indicated as of nominal
74. ing voltage applied to control No fault Red flashing Operating voltage applied to control Active error Off Operating voltage of control missing LED6 Off No function LED7 Off No function LED8 Green Actuator is within the programmed positioning window Operating voltage of the output stage is applied Green flashing Actuator is within the programmed positioning window Operating voltage of the output stage missing Red Actuator is outside the programmed positioning window Operating voltage of the output stage is applied Red flashing Actuator is outside the programmed positioning window Operating voltage of the output stage missing Off Operating voltage of control missing 1 LED5 Red Digital input 1 inactive Red flashing Active error Green Digital input 1 active Off Operating voltage of control missing LED6 Red Digital input 2 inactive Red flashing Active error Green Digital input 2 active Off Operating voltage of control missing LED7 Red Digital input 3 inactive Red flashing Active error Green Digital input 3 active Off Operating voltage of control missing LED8 Red Digital input 4 inactive Red flashing Active error Green Digital input 4 active Off Operating voltage of control missing Table 6 Functionality of the system LEDs EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 41 of 102 8 2 1 8
75. it 0 Bit 1 Bit 2 Bit 3 Digital input 2 Digital Inputs Polarity instance 1030 bit 1 1 XOR XOR Digital Input Functionalities State instance 1029 Digital Input 3 Functionality instance 1027 value 3 Digital Inputs Polarity instance 1030 bit 2 0 Digital input 3 XOR Digital Input 4 Functionality instance 1028 value 4 Digital Inputs Polarity instance 1030 bit 3 0 Digital input 4 XOR Bit 31 Digital Input 2 Functionality instance 1026 value 2 Digital inputs and outputs AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 15 of 102 3 2 Example of digital output configuration Digital output 1 Inpos high active Fig 4 Example of digital output configuration Bit 0 Digital Output Functionalities State Instance 770 Bit 31 Digital Outputs Polarity instance 771 bit 0 0 XOR Digital output 1 Digital Output 1 Functionality instance 769 value 2 Functional description AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 16 of 102 4 Functional description 4 1 Control of the drive The drive can be moved manually via the keys or digital inputs without upstream control The drive can be controlled and configured in the bus operating mode and via the service interface 4 1 1 Operating modes The following operating modes are distinguished positioning mode and speed mode In the pos
76. it 9 1 0 Positioning mode Loop travel If travel direction unequal start direction with loop travel If travel direction equal start direction 0 Positioning mode Irrelevant Bit 10 1 0 Output stage supply voltage No voltage no travelling possible Voltage applied Bit 11 1 0 Ready for travel Not ready for travel 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 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 73 of 102 Bit State Description Bit 12 1 0 Battery voltage Battery voltage lt 2 6 V Battery voltage OK Bit 13 1 0 Current limiting Current limiting active Current limiting not active Bit 14 1 0 Positioning mode Status Positioning active in positioning mode Positioning inactive 1 0 Speed mode Status Enable target speed Target speed disabled Bit 15 1 0 Contouring error Contouring error the actuator cannot reach the preset speed due to too high load The actuator switches the contouring error fault Remedy reduce programmed speed No contouring error actual speed corresponds with required speed Table 9 System Status Word 8 2 1 86 Encoder Resolution Instance 2573 dec A0D hex Description
77. ite command read only Description Response format V1 00 gt 9 3 7 Digital input output 9 3 7 1 Digital Input 1 Functionality Read command G49 see chapter 9 8 ASCII command structure Write command H49xxxxx Description see chapter 8 2 1 12 Digital Input 1 Functionality Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 91 of 102 9 3 7 2 Digital Input 2 Functionality Read command G50 see chapter 9 8 ASCII command structure Write command H50xxxxx Description see chapter 8 2 1 13 Digital Input 2 Functionality 9 3 7 3 Digital Input 3 Functionality Read command G51 see chapter 9 8 ASCII command structure Write command H51xxxxx Description see chapter 8 2 1 14 Digital Input 3 Functionality 9 3 7 4 Digital Input 4 Functionality Read command G52 see chapter 9 8 ASCII command structure Write command H52xxxxx Description see chapter 8 2 1 15 Digital Input 4 Functionality 9 3 7 5 Digital Input Functionalities State Read command U1029 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 16 Digital Input Functionalities State 9 3 7 6 Digital Inputs Polarity Read command G54 see chapter 9 8 ASCII command structure Write command H54xxxxx Description see chapter 8 2 1 17 Digital Inputs Polarity 9 3 7 7 Digital Inputs State Read command B05 see chapter 9 8 ASCII command structure Write command rea
78. itioning mode there is the additional option of traveling in the inching mode The position control mode can be started via the digital inputs independent of the chosen operating mode 4 1 1 1 Positioning mode In the positioning mode positioning to the specified set point is executed by means of a ramp function see Fig 5 Ramp travel direct positioning mode calculated on the basis of the actual position as well as the programmed controller parameters P proportional factor I integral factor D differential factor acceleration and speed Upon activation of the travel job the actuator accelerates to the specified speed with the acceleration programmed The measure of delay to the setpoint is defined by the parameter A Pos instance 1540 as well Alternately a value deviating from acceleration can be chosen for delay by means of parameter D Pos instance 1542 Changing controller parameters during a positioning process does not influence the current positioning operation Fig 5 Ramp travel direct positioning mode Start position target position Time Velocity V Pos instance 1541 A Pos instance 1540 D Pos instance 1542 A Pos instance 1540 Functional description AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 17 of 102 The status word indicates whether the actual position is within the window defined by parameter Pos Window instance 1546 Upon reaching the programm
79. ity Object Contains device specific data 02h Message Router 04h Assembly Object The Assembly Object enables access to process data 06h Connection Manager 0Fh Parameter Object Contains the available ports port names and node addresses 47h DLR Object Contains status information of the DLR protocol 48h QoS Object Contains mechanisms for handling data streams with different priorities 53h Power Management Object A2h ADI Object Enables access to the parameters of the actuator F5h TCP IP Interface Object Enables configuration of the TCP IP interface F6h Ethernet Link Object Contains connections specific counters and status information EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 78 of 102 8 3 1 Identity Object Class 01h The Identity Object contains device specific data Services supported Class Get_Attribute_Single Get_Attributes_All Instance Get_Attribute_Single Set_Attribute_Single Get_Attributes_All Reset 8 3 1 1 Class attributes of the Identity Object Number Access Description Data type Default value 1 Get Object revision index UINT 0001h 2 Get Maximum number of object instances in this class UINT 3 Get Number of object instances in this class UINT EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 79 of 102 8 3 1 2 Instance attri
80. l Bit 11 Battery warning 0 no warning battery loading state is OK 1 battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Current limiting 0 current limiting inactive 1 current limiting active Motor current exceeds the value set under parameter Current Limiting instance 1561d Table 4 Status word of positioning mode EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 38 of 102 8 2 1 5 2 Status word Speed mode Bit Description Bit 0 Supply 0 output stage supply voltage missing 1 supply voltage of the output stage is applied Bit 1 Readiness to travel 0 not ready to travel 1 ready to travel Bit 2 no function Bit 3 no function Bit 4 Actuator travels stands still 0 actuator stands still 1 actuator travels Bit 5 Inpos 0 actuator is outside the position window 1 actuator is inside the position window Bit 6 Active travel job 0 no active travel job 1 active travel job Bit 7 Fault 0 no error 1 Error Acknowledgment with positive flank on control word bit 5 Bit 8 Operation enabled 0 operation not enabled 1 operation enabled Bit 9 Switch lock 0 no switch lock 1 switch lock Bit 10 Travel job acknowledgment 0 no acknowledgment 1 acknowledgment The bit is set when the travel job was adopted If bit 4 is reset in the control word this bit will be reset as well
81. o travel distance as 1 100 mm Instance 2341 dec 925 hex Description Positioning mode via digital inputs Position 4 Access Get Set Data type DINT Default 0 EEPROM Yes Value range DINT 8 2 1 50 PCM Position 5 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Instance 2342 dec 926 hex Description Positioning mode via digital inputs Position 5 Access Get Set Data type DINT Default 0 EEPROM Yes Value range DINT 8 2 1 51 PCM Position 6 Spindle pitch 0 values refer to increments Spindle pitch gt 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 0 EEPROM Yes Value range DINT EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 60 of 102 8 2 1 52 PCM Position 7 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Instance 2344 dec 928 hex Description Positioning mode via digital inputs Position 7 Access Get Set Data type DINT Default 0 EEPROM Yes Value range DINT 8 2 1 53 PCM Acceleration 1 Instance 2370 dec 942 hex Description Positioning mode via digital inputs Acceleration 1 Access Get Set Data type INT Default 50 EEPROM Yes
82. oller Parameter P 46 8 2 1 19 Controller Parameter I 46 8 2 1 20 Controller Parameter D 47 8 2 1 21 A Pos 47 8 2 1 22 V Pos 47 8 2 1 23 D Pos 48 8 2 1 24 A Rot 48 8 2 1 25 A Inch 48 8 2 1 26 V Inch 49 8 2 1 27 Pos Window 49 8 2 1 28 Gear Ratio Numerator 49 8 2 1 29 Gear Ratio Denominator 50 AG2
83. om the Digital Input Functionalities State register Instance 1028 dec 404 hex Description input 4 functionality Access Get Set Data type USINT Default 0 EEPROM Yes Value range 0 11 Description see Table 7 Configuration of digital inputs EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 45 of 102 8 2 1 16 Digital Input Functionalities State The states of the digital inputs are mapped in this register according to the functionalities set A bit is assigned to every function Instance 1029 dec 405 hex Description Status of the digital input functionalities Access Get Data type UDINT Default No EEPROM No Bit Description 0 Limit switch 1 1 Limit switch 2 2 Inching operation 2 positive direction 3 Inching operation 2 negative direction 4 Calibrate 5 Acknowledge error 6 Inching mode 1 7 PCM Start 8 PCM input 1 9 PCM input 2 10 PCM input 3 11 31 Not assigned Table 8 States of the digital inputs EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 46 of 102 8 2 1 17 Digital Inputs Polarity This parameter determines the switching behavior individually for every digital input A bit that defines the switching logics is assigned to every digital input Instance 1030 dec 406 hex Description Polarity of the digital output Access Get Set Data type
84. ommand G03 see chapter 9 8 ASCII command structure Write command H03xxxxx Description see chapter 8 2 1 21 A Pos 9 3 2 2 V Pos Read command G04 see chapter 9 8 ASCII command structure Write command H04xxxxx Description see chapter 8 2 1 22 V Pos 9 3 2 3 D Pos Read command G44 see chapter 9 8 ASCII command structure Write command H44xxxxx Description see chapter 8 2 1 23 D Pos 9 3 2 4 A Rot Read command G05 see chapter 9 8 ASCII command structure Write command H05xxxxx Description see chapter 8 2 1 24 A Rot Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 85 of 102 9 3 2 5 A Inch Read command G07 see chapter 9 8 ASCII command structure Write command H07xxxxx Description see chapter 8 2 1 25 A Inch 9 3 2 6 V Inch Read command G08 see chapter 9 8 ASCII command structure Write command H08xxxxx Description see chapter 8 2 1 26 V Inch 9 3 2 7 Gear Ratio Denominator Read command G11 see chapter 9 8 ASCII command structure Write command H11xxxxx Description see chapter 8 2 1 29 Gear Ratio Denominator 9 3 2 8 Gear Ratio Numerator Read command G10 see chapter 9 8 ASCII command structure Write command H10xxxxx Description see chapter 8 2 1 28 Gear Ratio Numerator 9 3 3 Limiting values 9 3 3 1 Software Limit 1 Read command E1 see chapter 9 8 ASCII command structure Write command F1 xxxxxxx Description see chap
85. on 368 1 0 54 rps 8 2 1 22 V Pos Instance 1541 dec 605 hex Description Maximum speed in the positioning mode Access Get Set Data type INT Default 10 EEPROM Yes 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 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 48 of 102 8 2 1 23 D Pos Instance 1542 dec 606 hex Description Delay in the positioning mode Access Get Set Data type INT Default 101 EEPROM Yes Value range 1 101 101 the delay is determined by the A Pos parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 24 A Rot Instance 1543 dec 607 hex Description Acceleration in speed mode Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 25 A Inch Instance 1544 dec 608 hex Description Acceleration in inching mode 1 2 Access Get Set Data type INT Default 50 EEPROM Yes Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Tr
86. ration Value 9 3 1 5 Loop Length Read command G17 see chapter 9 8 ASCII command structure Write command H17xxxxx Description see chapter 8 2 1 40 Loop Length 9 3 1 6 Offset Value Read command E5 see chapter 9 8 ASCII command structure Write command F5 xxxxxxx Description see chapter 8 2 1 45 Offset Value 9 3 1 7 Pos Type Read command Q see chapter 9 8 ASCII command structure Write command Lx Description see chapter 8 2 1 36 Pos Type Info Reading of the positioning type is via the flag register see chapter 9 3 6 6 Flag Register x 0 Positioning direct x 1 positioning with loop positive x 2 positioning with loop negative 9 3 1 8 Pos Window Read command G09 see chapter 9 8 ASCII command structure Write command H09xxxxx Description see chapter 8 2 1 27 Pos Window Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 84 of 102 9 3 1 9 Sense of Rotation Read command Q see chapter 9 8 ASCII command structure Write command Tx Description see chapter 8 2 1 35 Sense of Rotation Info Reading of the sense of rotation is via the flag register see chapter 9 3 6 6 Flag Register x 0 i sense of rotation cw x 1 e sense of rotation 9 3 1 10 Spindle Pitch Read command G13 see chapter 9 8 ASCII command structure Write command H13xxxxx Description see chapter 8 2 1 30 Spindle Pitch 9 3 2 Actuator 9 3 2 1 A Pos Read c
87. re 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 Warnings Errors AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 26 of 102 7 2 1 Error codes If the error cannot be acknowledged after removal of the cause of error and the error persists after power on reset then the drive must be inspected in the factory Error code Fault 0x00 No error 0x06 Low battery voltage empty battery replace battery bonding error check battery bonding wrong battery type inserted insert correct battery type 0x07 Low control electronics voltage check control operating voltage 0x08 Control electronics overvoltage check control operating voltage 0x09 Power electronics overvoltage check output stage operating voltage 0x0A Output stage excess temperature reduce ambient temperature reduce load 0x0B Contouring error reduce load reduce acceleration reduce speed 0x0C Output shaft blocked disengage shaft 0x0D Power electronics not supplied check output stage operating voltage 0x0F SIN COS monitoring shield from stray magnetic fields check EMC measures 0x10 EEPROM queue overrun internal error 0x13 EEPROM check sum reset parameters to factory settings 0x14 Ethe
88. rnet module watchdog internal error 0x15 Ethernet module in the ERROR status while travel job is active internal error 0x16 Ethernet module in the EXCEPTION status internal error power on reset necessary Table 1 Error codes EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 27 of 102 8 EtherNet IP 8 1 Description The drive has been designed as CIP Generic Device Type 2Bh 8 1 1 I O Messages Cyclic process data exchange is via I O messages class 1 connection Two assemblies are available which contain a collection of parameters required for the control of the drive Connection Exclusive Owner Target drive Origin master Assembly Object 04h instance 64h Instance Description Type 258 Status word UNIT 259 Actual value DINT 257 Digital inputs state USINT Origin master Target drive Assembly Object 04h instance 96h Instance Description Type 2 Control word UNIT 3 Target value DINT 1 Digital outputs control USINT 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 EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 28 of 102 8 1 3 ADI Object Class A2h All drive parameters are contained in the Application Data
89. rol missing 2 2 2 2 Status LEDs 6 7 LED statuses valid with factory setting LED state Description Off No function 2 2 2 3 Status LED 8 If the actual value is unequal after switching on the module and if it is outside the programmed positioning window then the 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 Display and controls AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 12 of 102 LED statuses valid with factory setting LED state Description Green Actuator is within the programmed positioning window Operating voltage of the output stage is applied green flashing Actuator is within the programmed position window Operating voltage of the output stage missing red Actuator is outside the programmed positioning window Operating voltage of the output stage is applied red flashing Actuator is outside the programmed positioning window Operating voltage of the output stage missing off Operating voltage of control missing 2 3 Controls Fig 2 Controls 2 3 1 Control keys Manual setup operation is only available if there is no process data exchange going on 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
90. s 305 15 Page 35 of 102 8 2 1 2 4 Flow chart Speed mode Fig 14 Flow chart of EtherNet IP speed mode Operation enabled SW 0000 x001 00x0 00x1 Enable operation CW 0000 0000 0000 0111 Ready for travel SW 0000 x001 00x0 0011 Enable setpoint CW 0000 0000 0001 0111 Setpoint enabled SW 0000 x101 01xx 0001 Change setpoint Disable setpoint CW 4 0 Fault SW 7 1 CW 5 1 Switch lock SW 9 1 Start Operating voltage On CW 0000 0000 0000 0000 CW Control word SW Status word x Bit can be 0 or 1 OFF1 CW 0 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Disengage switch lock Cancel travel job EtherNet IP AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 36 of 102 8 2 1 3 Target Value Positioning mode Target position volatile with spindle pitch 0 Indicated as increments with spindle pitch gt 0 Indicated as 1 100 mm Speed mode Target speed volatile indicated as min 1 Instance 3 dec 3 hex Description Setpoint Access Get Set component of process data Data type DINT Default No EEPROM No Value range DINT 8 2 1 4 Digital Inputs State Instance 257 dec 101 hex Description States of the digital inputs Access Get component of process data Data type USINT Default No EEPROM No Bit Description 0 State of digital input 1 1 State of digit
91. t Carriage Return lt CR gt The responses to read commands contain return values in addition Length and format of the response are defined unchangeably Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 82 of 102 9 2 Overview of parameters Chapter starting with page Positioning 82 Actuator 84 Limiting values 85 Options 86 Controller parameters 87 Device information 88 Digital input output 90 Error memory 92 9 3 Parameters 9 3 1 Positioning 9 3 1 1 Target Value Read command E0 see chapter 9 8 ASCII command structure Write command F0 xxxxxxx Description see chapter 8 2 1 3 Target Value 9 3 1 2 Actual Position Read command Z see chapter 9 8 ASCII command structure Write command read only Description Decimal format see chapter 8 2 1 79 Actual Position Read command W see chapter 9 8 ASCII command structure Write command read only Description Binary format see chapter 8 2 1 79 Actual Position 9 3 1 3 Actual Rotational Speed Read command V see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 80 Actual Rotational Speed Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 83 of 102 9 3 1 4 Calibration Value Read command E3 see chapter 9 8 ASCII command structure Write command F3 xxxxxxx Description see chapter 8 2 1 31 Calib
92. ter 8 2 1 32 Software Limit 1 9 3 3 2 Software Limit 2 Read command E2 see chapter 9 8 ASCII command structure Write command F2 xxxxxxx Description see chapter 8 2 1 33 Software Limit 2 Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 86 of 102 9 3 3 3 Current Limiting Read command G24 see chapter 9 8 ASCII command structure Write command H24xxxxx Description see chapter 8 2 1 42 Current Limiting 9 3 3 4 Contouring Error Limit Read command G18 see chapter 9 8 ASCII command structure Write command H18xxxxx Description see chapter 8 2 1 41 Contouring Error Limit 9 3 4 Options 9 3 4 1 Operating Mode Read command Q see chapter 9 8 ASCII command structure Write command Xy Description see chapter 8 2 1 37 Operating Mode Info Reading of the operating mode is via the flag register see chapter 9 3 6 6 Flag Register y 0 Positioning mode y 1 Rotational speed mode 9 3 4 2 Inpos Mode Read command G16 see chapter 9 8 ASCII command structure Write command H16xxxxx Description see chapter 8 2 1 39 Inpos Mode 9 3 4 3 Delta Inch Read command E4 see chapter 9 8 ASCII command structure Write command F4 xxxxxxx Description see chapter 8 2 1 34 Delta Inch 9 3 4 4 Inching 2 Acceleration Type Read command G39 see chapter 9 8 ASCII command structure Write command H39xxxxx Description see chapter 8 2 1 44 Inching 2 Acceleration
93. the time of the O command the motor will be enabled Command O see chapter 9 8 ASCII command structure Description motor decelerates with programmed delay Motor remains in control state 9 4 8 enable motor Command P see chapter 9 8 ASCII command structure Description Motor is enabled 9 4 9 Factory setting all parameters Command S11100 see chapter 9 8 ASCII command structure Description Reset all parameters to factory settings Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 96 of 102 9 4 10 Factory setting Standard parameter Command S11101 see chapter 9 8 ASCII command structure Description Reset only standard parameters to factory settings 9 4 11 Factory setting Controller parameter Command S11102 see chapter 9 8 ASCII command structure Description Reset only controller parameters to factory settings 9 4 12 Acknowledge error Command S11103 see chapter 9 8 ASCII command structure Description Acknowledge error 9 4 13 Calibrate Command S11104 see chapter 9 8 ASCII command structure Description Calibrate actuator 9 4 14 Delete error memory Command S11105 see chapter 9 8 ASCII command structure Description Deleting of the error mermory 9 4 15 Software Reset Command C see chapter 9 8 ASCII command structure Description Execute software reset Service protocol AG25 AG26 Date 11 08 2015 Art No 87613
94. tructure Write command read only Description see chapter 8 2 1 90 Error Number 2 9 3 8 4 Error Number 3 Read command J03 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 91 Error Number 3 9 3 8 5 Error Number 4 Read command J04 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 92 Error Number 4 9 3 8 6 Error Number 5 Read command J05 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 93 Error Number 5 9 3 8 7 Error Number 6 Read command J06 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 94 Error Number 6 9 3 8 8 Error Number 7 Read command J07 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 95 Error Number 7 Service protocol AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 94 of 102 9 3 8 9 Error Number 8 Read command J08 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 96 Error Number 8 9 3 8 10 Error Number 9 Read command J09 see chapter 9 8 ASCII command structure Write command read only Description see chapter 8 2 1 97 Error Number 9 9 3 8 11 Error Number 10 Read command J10 see chapter 9 8 ASCII command structure Write command read only Description see
95. tware limit value monitoring is deactivated if Software Limit 1 is equal Software Limit 2 Exceeding the resolution of the absolute encoder results in a jump of the actual position Speed mode Irrelevant Positioning mode Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm If the drive s position is beyond the range defined by Software Limit 1 and Software Limit 2 travel range traveling will only be possible in inching mode in the direction of the travel range Instance 1551 dec 60F hex Description Limit 1 Access Get Set Data type DINT Default 99999 EEPROM Yes Value range 9999999 9999999 8 2 1 33 Software Limit 2 Positioning mode Software limit value monitoring is deactivated if Software Limit 1 is equal Software Limit 2 Exceeding the resolution of the absolute encoder results in a jump of the actual position Speed mode Irrelevant Positioning mode Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm If the drive s position is beyond the range defined by Software Limit 1 and Software Limit 2 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 Yes Value range 9999999 9999999 EtherNet IP
96. urable digital inputs and one configurable digital output Function and switching behavior can be set No function has been assigned to the digital inputs in the factory setting The logical status of the digital inputs is mapped in the process data independent of the assigned function 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 Digital inputs and outputs AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 14 of 102 With factory settings the digital output can be actuated via the process data If a function is assigned to the digital output it is actuated via register Digital Output Functionalities State instance 770 3 1 Examples of digital input configurations The following configuration deviates from the factory setting and requires parameterization by the user Digital input 1 Limit switch 1 low active proximity switch DC PNP NC Digital input 2 Limit switch 2 low active proximity switch DC PNP NC Digital input 3 Inching mode 2 positive travel direction high active pushbutton Digital input 4 Inching mode 2 negative travel direction high active pushbutton Fig 3 Examples of digital input configurations Digital Input 1 Functionality instance 1025 value 1 Digital Inputs Polarity instance 1030 bit 0 1 Digital input 1 B
97. witches The arrangement of the limit switches is independent of the configured sense of rotation according to the following pattern Fig 11 Arrangement of the limit switches Digital Input 1 Functionality instance 1025 value 1 Digital Inputs Polarity instance 1030 bit 0 1 Digital input 1 Bit 1 Digital input 2 Digital Inputs Polarity instance 1030 bit 1 1 Digital Input 2 Functionality instance 1026 value 2 XOR XOR Digital Input Functionalities State Instance 1029 Bit 0 Bit 31 limit switch 2 limit switch 1 Calibration AG25 AG26 Date 11 08 2015 Art No 87613 Mod status 305 15 Page 24 of 102 5 Calibration Calibration is only possible when no travel job is active Two steps are required for executing calibration Write calibration value see Calibration Value instance 1550 Execute calibration software command or calibration input Calibration can be initiated by writing the value 7 to parameter S Command instance 3073 Alternately a digital input can be configured as calibration input as well Since the measuring system is an absolute system calibration is necessary only once with commissioning With calibration the calibration value is adopted for calculation of the position value The following equation is applied in case of calibration Position value 0 Calibration Value instance 1550 Offset Value instance 1564 6 External transmission If
98. y 96 9 4 15 Software Reset 96 9 5 Flow charts 97 9 5 1 Flow chart Operating mode Positioning mode 97 9 5 2 Flow chart Operating mode Speed mode 98 9 6 Error number encoding 99 9 7 Examples 99 9 7 1 Write and read setpoint 500 99 9 7 2 Start travel job 99 9 8 ASCII command structure 100 10 Block diagram 101 11 Web server 102 General In

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