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Actuator with RS485/SIKONETZ5 interface User manual

1. 33 9 2 1 Meaning of the bits 33 9 3 Service protocol commands list 35 9 4 Error number encoding 45 9 5 Flow chart Operating mode Positioning mode 46 9 6 Flow chart Operating mode Speed mode 47 10 Communication via SIKONETZ5 47 10 1 Interface 47 10 2 Data exchange 47 10 3 Telegram setup 48 10 3 1 Command 48 10 3 2 Node ID 48 10 3 3 Parameter
2. 6 4 1 3 Operating modes 6 4 1 3 1 Positioning mode 6 4 1 3 1 1 Loop positioning 7 4 1 3 2 Inching operation 8 4 1 3 2 1 Inching mode 1 8 4 1 3 2 2 Inching mode2 8 4 1 3 3 Rotational speed mode 9 4 1 4 Current limiting 9 4 2 Manual control stand alone operation 10 4 2 1 Start inching mode 2 10 4 2 2 Specifying the set point and starting the travel order 10 4 2 2 1 Example Starting positioning order
3. 20 5 Calibration 21 6 External gear 21 7 Warnings Errors 22 7 1 Warnings 22 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 3 of 64 7 2 Errors 22 7 2 1 Error codes 22 7 3 Input errors 23 8 Parameter description 24 9 Service Protocol 33 9 1 General 33 9 2 System Status Word
4. Value 500 will be displayed Confirm by pressing the key to start positioning 4 2 2 2 Example Starting positioning order to position 500 Preconditions The display is at the uppermost level of the menu structure basic state Operating mode Positioning mode Key functions enabled For negative values to be entered set first the value and only afterwards the arithmetical sign The value 0 cannot be entered Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 11 of 64 Initial state normal display First press the key then the key and hold down together The key enable time is counted down After expiry of the key enable time the input field is released The first decimal place is active and blinks Press the key twice to change the active decimal place The third decimal place is active and blinks Press the key 5 times for entering the value Value 500 will be displayed Press the key twice to change the active decimal place The fifth decimal place is active and blinks Press the key 11 times for setting the arithmetical sign Value 500
5. Offset Value range 19999 99999 see chapter 8 Parameter description Parameter no 32 Sense of rotation Selection i sense of rotation cw e sense of rotation ccw see chapter 8 Parameter description Parameter no 18 Pos Type Selection direct loop loop Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 15 of 64 Parameter Description see chapter 8 Parameter description Parameter no 19 Loop length Value range 0 30000 see chapter 8 Parameter description Parameter no 27 Table 4 Positioning menu 4 3 1 3 Actuator Menu Sub menu Parameter Description Acceleration in the positioning mode Value range 1 100 see chapter 8 Parameter description Parameter no 4 Maximum speed in the positioning mode Gear 66 1 value range 1 75 Gear 98 1 value range 1 50 see chapter 8 Parameter description Parameter no 5 Acceleration in rotational speed mode Value range 1 100 see chapter 8 Parameter description Parameter no 6 Acceleration in inching mode 1 2 Value range 1 100 see chapter 8 Parameter description Parameter no 8 Maximum
6. 51 10 8 Functional description of the control units 51 10 8 1 Control word Positioning mode master slave 51 10 8 2 Status word Positioning mode slave master 52 10 8 3 Flow chart Positioning mode 53 10 8 4 Control word Operating mode Speed mode 54 10 8 5 Status word Speed mode 54 10 8 6 Flow chart Operating mode Speed mode 56 10 9 Parameterization via SIKONETZ5 56 10 9 1 Example Read parameter 63 10 9 2 Example Write parameter 64 General Information AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 4 of 64 1 General Information 1 1 Documentation The following documents are associated with this document The data sheet describes the technical data the dimensions the pin assignm
7. LED 2 orange function Selection Bus operation display Off see chapter 8 Parameter description Parameter no 39 Red LED 1 function Selection Indication of the operating status Off see chapter 8 Parameter description Parameter no 40 Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 17 of 64 Parameter Description Green LED 1 function Selection Indication of the operating status Off see chapter 8 Parameter description Parameter no 41 Decimal places Selection 0 0 0 0 00 0 000 0 0000 see chapter 8 Parameter description Parameter no 42 Direction indication function Selection On inverted Off see chapter 8 Parameter description Parameter no 44 Displayed value of 2nd display line Selection Set point Output stage temperature Control voltage Output stage voltage Battery voltage Motor current Actual position Actual rotational speed see chapter 8 Parameter description Parameter no 49 Display test Selection no display test Start display test pressing
8. Parameter Description Node address Value range 0 31 see chapter 8 Parameter description Parameter no 22 Baud rate Selection 57600 baud 115200 baud 19200 baud see chapter 8 Parameter description Parameter no 33 Protocol Selection SIKONETZ5 Service protocol see chapter 8 Parameter description Parameter no 34 Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 14 of 64 Parameter Description Bus Timeout Value range 0 20 see chapter 8 Parameter description Parameter no 35 Table 3 Bus parameter menu 4 3 1 2 Positioning Menu Sub menu Parameter Description Pos window Value range 0 1000 see chapter 8 Parameter description Parameter no 10 Spindle pitch Value range 0 99999 see chapter 8 Parameter description Parameter no 13 Display divisor Selection 1 10 100 1000 see chapter 8 Parameter description Parameter no 43 Calibration value Value range 19999 99999 see chapter 8 Parameter description Parameter no 14 Selection no calibration Execute calibration
9. 10 7 1 Bus Timeout The first telegram received by the slave starts time monitoring Every new telegram recognized as valid by the slave correct check sum triggers time monitoring If timeout occurs during an active travel job this will result in the Timeout error i e the current travel job is cancelled Thus a broken cable can be detected for instance and the actuator set into a defined state Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 51 of 64 For this purpose the master must address all slaves cyclically see chapter 8 Parameter description Parameter no 35 10 7 2 Locking the programming mode Locking of programming is controlled via parameter Programming mode Configuration see chapter 8 Parameter description Parameter no 46 If it is activated locking must be disabled by a write command on parameter Programming mode see chapter 8 Parameter description Parameter no 47 prior to write access to a parameter which is stored non volately in the device Correspondingly locking should be re enabled immediately after write access This approach enhances protection from unwanted configuration Write access to locked parameters is answered with Error due to device status see chapter 10 5 1 SIKONETZ5 error codes 10 8 Functional description of the control units 10 8 1 Control word Positioning mode master slave Bit Description Bit 0
10. OFF1 active Current travel job is cancelled The actuator is activated 1 OFF1 inactive Bit 1 OFF2 max deceleration 0 OFF2 active Current travel job is cancelled The actuator is decelerated with max deceleration the actuator continues to be controlled 1 OFF2 inactive Bit 2 OFF3 progr deceleration 0 OFF3 active Current travel job is cancelled The actuator is decelerated with progr deceleration the actuator continues tie 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 Reserved always 0 Bit 7 Reserved always 0 Bit 8 Reserved always 0 Bit 9 Key enable 0 key enable as defined by parameter 0x05 1 key enable inverted as defined by parameter 0x05 Bit 10 15 Reserved always 0 Table 21 Control word speed mode SIKONETZ5 10 8 5 Status word Speed mode Bit Description Bit 0 Supply 0 Output stage 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 wind
11. yy 38 LED1 green 0 Off 1 On see chapter 8 Parameter description Parameter no 41 yy 39 Inching mode 2 acceleration type 0 static acceleration 1 incremental acceleration see chapter 8 Parameter description Parameter no 31 yy 40 Protocol 0 SIKONETZ5 1 Service protocol see chapter 8 Parameter description Parameter no 34 yy 41 PIN change see chapter 8 Parameter description Parameter no 48 yy 42 Temporary key function enable 0 Access as defined under Key function enable 1 Access inverted as defined under Key function enable Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 40 of 64 Command Length Reply Description yy 43 Displayed value of 2nd display line 0 Set point 1 Output stage temperature 2 Control voltage 3 Output stage voltage 4 Battery voltage 5 Motor current 6 Actual position 7 Actual rotational speed see chapter 8 Parameter description Parameter no 49 yy 44 Display divisor application see chapter 8 Parameter description Parameter no 74 Hyyxxxxx 8 2 gt Enter 2 byte value yy address xxxxx decimal value yy 00 Controller parameter P see chapter 8 Parameter description Parameter no 1 yy 01 Controller parameter I see chapter 8 Parameter description Parameter no 2 yy 02 Controller parameter D see chapter 8 Parameter description Parameter no 3 y
12. AG05 0x66 Display controller software version ro Unsigned16 Version number e g 103 corresponds to V1 03 see chapter 8 Parameter description Parameter no 60 0x67 Motor controller software version ro Unsigned16 Version number e g 108 corresponds to V1 08 see chapter 8 Parameter description Parameter no 59 0x68 Serial number ro Unsigned32 Serial number see chapter 8 Parameter description Parameter no 57 0x69 Production date ro Unsigned32 Production date in DDMMYYYY format see chapter 8 Parameter description Parameter no 58 0x6A Gear reduction ro Unsigned16 66 gear 66 1 98 gear 98 1 0x6B Actual position ro Integer32 Spindle pitch 0 values in increments Spindle pitch gt 0 values in 1 100 mm see chapter 8 Parameter description Parameter no 55 0x6C Actual rotational speed ro Integer32 Actual speed in rpm see chapter 8 Parameter description Parameter no 56 0x80 Number of errors ro Unsigned8 Returns the number of errors in the error memory see chapter 8 Parameter description Parameter no 61 0x81 Error 1 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 62 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 62 of 64 Para meter no hex Name Access Format Description 0x82 Error 2 ro Unsigned8
13. Bit 13 Current limiting 1 Current limiting active 0 Current limiting not active Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 35 of 64 Bit State Description Bit 14 Operating mode Positioning mode Status 1 Positioning active in positioning mode 0 Positioning inactive Operating mode Speed mode Status 1 Enable target speed 0 Target speed disabled Bit 15 Contouring error 1 Contouring error the actuator cannot reach the pre set speed due to too high load The actuator switches the contouring error fault Remedy reduce programmed speed 0 No contouring error actual speed corresponds to target speed Table 15 System Status Word 9 3 Service protocol commands list Command Length Reply Description Ay 2 10 xxxxxxxx gt Device type software version y 0 hardware version y 1 Motor controller software version see chapter 8 Parameter description Parameter no 59 y 2 Display controller software version see chapter 8 Parameter description Parameter no 60 y 3 Bus version y 4 Gear reduction see chapter 8 Parameter description Parameter no 72 y 5 Serial number see chapter 8 Parameter description Parameter no 57 y 6 Production date see chapter 8 Parameter description Parameter no 58 Byy 3 10 dec xxxxxxx gt Diagnosis yy 0 Output stage temperature 1 10 C see
14. Display Description Value range exceeded inappropriate Input value exceeds upper limit Input value exceeds lower limit Access nor supported Write on read only Read on write only Error caused by device status Input disabled due to ongoing EEPROM write access Input disabled due to active travelling job Programming lock activated Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 24 of 64 8 Parameter description Column Explanation S S Parameter transferred is saved in the device non volatilely Parameter transferred is saved in the device volatilely C Parameter class 1 Standard parameter 2 Controller parameter 3 Display parameter 4 Bus parameter 5 general parameter No Name Selection value Default Description S C 1 Controller parameter P 1 500 300 P gain of controller valid for all operating modes positioning mode speed mode inching mode S 2 2 Controller parameter I 0 500 2 I gain of controller valid for all operating modes positioning mode speed mode inching mode S 2 3 Controller parameter D 0 500 0 D gain of controller valid for all operating modes positioning mode speed mode inching mode S 2 4 a pos 1 100 50 Ac
15. OFF1 enable 0 OFF1 active Current travel job is cancelled The actuator is activated 1 OFF1 inactive Bit 1 OFF2 max deceleration 0 OFF2 active Current travel job is cancelled The actuator is decelerated with max deceleration the actuator continues to be controlled 1 OFF2 inactive Bit 2 OFF3 program deceleration 0 OFF3 active Current travel job is cancelled The actuator is decelerated with progr deceleration 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 acknowledges an error Afterwards the actuator changes to the switch lock state Bit 6 Inching mode 1 0 no inching mode1 If the travel job is not completed yet it will be cancelled 1 inching operation 1 As soon as this bit is set the actuator travels the distance specified in parameter Delta Tipp Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 52 of 64 Bit Description 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 Key enable 0 key enable a
16. Stop Set point enabled Disable set point or set point 0 Disable operation Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 10 of 64 4 2 Manual control stand alone operation 4 2 1 Start inching mode 2 After applying supply voltage the actuator will be on the uppermost level of the menu structure default delivery state Positioning mode is active Pressing the key starts left hand motion inching operation 2 Pressing the key starts right hand motion inching operation 2 Releasing the respective key stops travel movement Pressing the key starts the parameterization programming mode 4 2 2 Specifying the set point and starting the travel order 4 2 2 1 Example Starting positioning order to position 500 Preconditions The display is at the uppermost level of the menu structure basic state Operating mode Positioning mode Key functions enabled Initial state normal display First press the key then the key and hold down together The key enable time is counted down After expiry of the key enable time the input field is released The first decimal place is active Press the key twice to change the active decimal place The third decimal place is active Press the key 5 times
17. chapter 8 Parameter description Parameter no 50 yy 1 Control unit voltage 1 10 V see chapter 8 Parameter description Parameter no 51 yy 2 Output stage voltage 1 10 V see chapter 8 Parameter description Parameter no 52 yy 3 Battery voltage 1 100 V see chapter 8 Parameter description Parameter no 53 yy 4 Motor current mA see chapter 8 Parameter description Parameter no 54 Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 36 of 64 Command Length Reply Description Ey 2 10 xxxxxxx gt Output values with spindle pitch 0 xxxxxxx decimal value in increments with spindle pitch gt 0 xxxxxxx decimal value 1 100 mm y 0 Current set point see chapter 8 Parameter description Parameter no 24 y 1 Limit 1 see chapter 8 Parameter description Parameter no 15 y 2 Limit 2 see chapter 8 Parameter description Parameter no 16 y 3 Calibration value see chapter 8 Parameter description Parameter no 14 y 4 Delta travelling distance with inching operation 1 see chapter 8 Parameter description Parameter no 17 y 5 Offset siehe Kapitel 8 Parameter description Parameter no 32 Fy xxxxxxx 10 2 gt Enter values with spindle pitch 0 xxxxxxx decimal value in increments with spindle pitch gt 0 xxxxxxx decimal value 1 100 mm y 0 Positioning mode target position vola
18. rotation i e i Counting direction of the measuring system With shaft rotating counter clockwise view on the clamping ring of the actuator i sense of rotation cw positive counting direction e sense of rotation ccw negative counting direction S 1 19 Pos Type direct loop loop direct Operating mode Positioning mode Type of positioning direct direct travelling from actual position to set point loop travelling to the set point occurs always in positive direction to compensate for spindle play loop travelling to the set point occurs always in negative direction to compensate for spindle play Notice Loop positioning in positioning mode only Operating mode Speed mode irrelevant S 1 20 Operating mode positioning mode speed mode position ing mode Operating mode Positioning mode see chapter 4 1 3 1 Positioning mode Operating mode Speed mode see chapter 4 1 3 3 Rotational speed mode S 1 21 reserved 22 Node address 0 31 1 SIKONETZ5 Setting the SIKONETZ5 node address Parameter changes become active only after cold start or software reset Service protocol no function S 5 23 reserved 24 Set point see Description column 0 Operating mode Positioning mode Indicates absolute target position Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Information refers to travel distance in 1 100 mm Value range depends on th
19. 8 delete error memory 9 software reset Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 63 of 64 Para meter no hex Name Access Format Description 0xA8 Programming mode On Off temporary wo Unsigned8 Depending on the programming mode configuration parameter Programming mode configuration 0 no function Programming mode configuration 1 0 Programming mode Off Write parameter disabled Write attempts are acknowledged with an error message 1 Programming mode On Write parameter enabled 0xAA Freeze actual value wo Unsigned8 1 freeze actual value The current actual value is cached until next reading of actual value 0xCA Switching the bus protocol wo Unsigned8 Configuration of bus protocol 0 SIKONETZ5 1 Service protocol Parameter changes become active only after cold start or software reset 0xFA System status word ro Unsigned16 see chapter 9 2 System Status Word 0xFE Actual value ro Integer32 Positioning mode Actual position Rotational speed mode Actual rotational speed 0xFF Set point rw Integer32 Positioning mode Target position Rotational speed mode Target rotational speed Table 23 Parameter description SIKONETZ5 10 9 1 Example Read parameter Reading the parameter Limit 1 of node address 1 With read commands the data range shall be set to value 0 Read command 0x00 Node ID 0x01 Parameter addr
20. Parameter no 35 0x03 Reply parameter to Write set point command rw Unsigned8 0 Set point 1 Actual value 2 Output stage temperature 3 Control voltage 4 Output stage voltage 5 Battery voltage 6 Motor current 7 Actual position 8 Actual rotational speed see chapter 8 Parameter description Parameter no 36 0x04 Enable keys time rw Unsigned8 Value range 1 60 see chapter 8 Parameter description Parameter no 37 0x05 Key function enable rw Unsigned8 0 key function free 1 key function locked see chapter 8 Parameter description Parameter no 38 0x07 LED 2 orange rw Unsigned8 0 LED 2 Off 1 LED 2 On see chapter 8 Parameter description Parameter no 39 0x08 LED 1 red rw Unsigned8 0 LED 1 red Off 1 LED 1 red On see chapter 8 Parameter description Parameter no 40 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 58 of 64 Para meter no hex Name Access Format Description 0x09 LED 1 green rw Unsigned8 0 LED 1 green Off 1 LED 1 green On see chapter 8 Parameter description Parameter no 41 0x0A Decimal places rw Unsigned8 Value range 0 4 see chapter 8 Parameter description Parameter no 42 0x0B Display divisor rw Unsigned8 Value range 0 3 see chapter 8 Parameter description Parameter no 43 0x0C Direction indication functio
21. Subsequently the AG05 sends a reply with a concluding lt CR gt Parameters 19200 57600 115200 baud no parity 8 data bits 1 stop bit no handshake 9 2 System Status Word The system status word consists of 2 bytes and reflects the state of the actuator see chapter 8 Parameter description Parameter no 73 High Byte Low Byte Bit Nummer 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 Table 14 Structure of system status word Example grey background binary 0010 1001 0100 1000 hex 2 9 4 8 9 2 1 Meaning of the bits The table below informs about the meaning of the individual bits of the status word Bit State Description Bit 0 0 irrelevant Bit 1 0 irrelevant Bit 2 0 irrelevant Bit 3 Operating mode Positioning mode In Position 1 Actual position is within the positioning window of the programmed set point 0 Actual position is beyond the positioning window of the programmed set point Operating mode Speed mode In Position 1 Actual rotational speed is within the specified tolerance window of the target speed Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 34 of 64 Bit State Description 0 Actual speed is outside the specified tolerance window Bit 4 Actuator travels 1 Actuator travels 0 Drive stands still rotational spee
22. The cause of error can be tracked down with the help of the error codes 7 2 1 Error codes Display Error codes Error 0x00 No error 0x01 Timeout client 0x02 Timeout host 0x03 Check sum client 0x04 Check sum host 0x05 Define mismatch 0x06 Low battery voltage 0x07 Low control electronics voltage 0x08 Excess control electronics voltage 0x09 Excess power electronics voltage 0x0A Output stage excess temperature Warnings Errors AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 23 of 64 Display Error codes Error 0x0B Contouring error 0x0C Shaft blocked 0x0D Power electronics not supplied 0x0E Unknown bus type 0x0F SIN COS monitoring error 0x10 Queue 1 overrun 0x11 Queue 2 overrun 0x12 Response doesn t match question 0x13 Check sum EEPROM 0x80 Check sum SIKONETZ5 0x81 Timeout SIKONETZ5 Table 12 Error codes 7 3 Input errors Input errors inform the user abaut errors that occurred during menu entries Entries that produce errors are not adopted Input errors are not saved in the error memory
23. address 48 10 3 4 Control word 48 10 3 5 Status word 48 10 3 6 Data 48 10 3 7 Check sum 49 10 4 Synchronization 49 10 5 Error telegram 49 10 5 1 SIKONETZ5 error codes 50 10 6 Errors 50 10 7 Communication monitoring 50 10 7 1 Bus Timeout 50 10 7 2 Locking the programming mode
24. be assumed 10 4 Synchronization Byte telegram synchronization is via Timeout The intervals between the individual bytes of a telegram must not exceed the value of 10 ms If an addressed device does not respond the master must not send another telegram earlier than after 30 ms 10 5 Error telegram Illegal entries are replied with an error telegram An error telegram consists of parameter address 0xFD and an error code The error code is in the data section of the reply telegram The error code is divided in two bytes Code 1 describes the error proper and code 2 contains additional information if available In the following example an attempt was made at writing a value of 1000 to the v Pos parameter address However a maximum value of only 30 is admissible for this parameter Telegram from master to slave 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 9th byte 10th byte Command Node ID Parameter address CW Data Check sum 0x01 0x01 0x14 0x00 0x00 0x00 0x00 0x03 0xE8 0xFF Reply telegram from slave 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 9th byte 10th byte Command Node ID Parameter address SW Data Check sum Code2 Code1 0x01 0x01 0xFD 0x00 0x21 0x00 0x00 0x02 0x82 0x5C Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 50 of 64 10 5 1 SIKONETZ5 error codes Code 1 Des
25. it attempted to write a value beyond the admissible range the actuator will send an error telegram in reply Access rw read write ro read only wo write only Operation enabled SW 0000 x001 00x0 00x1 Enable operation CW 0000 0000 0000 0111 Ready to travel SW 0000 x001 00x0 0011 Enable target value CW 0000 0000 0001 0111 Set point enabled SW 0000 x101 01xx 0001 Change set point CW 4 1 Disable set point CW 4 0 Error SW 7 1 Acknowledge error CW 5 1 Switch lock SW 9 1 OFF1 CW 0 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Start Supply voltage ON CW 0000 0000 0000 0000 CW Control word SIKONETZ5 SW Status word SIKONETZ5 x Bit can be 0 or 1 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 57 of 64 Para meter no hex Name Access Format Description 0x00 Node address rw Unsigned8 Value range 0 31 Setting of node address Parameter changes become active only after cold start or software reset see chapter 8 Parameter description Parameter no 22 0x01 Baud rate rw Unsigned8 Setting the baud rate 0 19200 1 57600 2 115200 Parameter changes become active only after cold start or software reset see chapter 8 Parameter description Parameter no 33 0x02 Bus Timeout rw Unsigned16 Value range 0 20 see chapter 8 Parameter description
26. no 11 numerator and parameter no 12 denominator in order to include the gear ratio in position sensing Example see Fig 7 The actuator is operated on a gear with transmission reduction of 5 1 For this purpose the parameters numerator and denominator must be programmed as follows Parameter numerator 5 Parameter denominator 1 Fig 7 External gear 5 revolution 1 revolution Gear output external gear unit 5 1 M internal drive Warnings Errors AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 22 of 64 Input of an odd gear transmission reduction value is possible according to the following example Transmission reduction 3 78 Parameter numerator 378 Parameter denominator 100 7 Warnings Errors 7 1 Warnings Warnings do not influence the operation of the positioning drive 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 the positioning drive Error states are signalled via display Via interface errors can also be detected The error messages are entered in the error memory in the order of their detection The last 10 error messages are displayed when the error memory is full
27. speed in inching mode 1 2 Gear 66 1 value range 1 75 Gear 98 1 value range 1 50 see chapter 8 Parameter description Parameter no 9 Numerator gear ratio Value range 1 10000 see chapter 8 Parameter description Parameter no 11 Denominator gear ratio Value range 1 10000 see chapter 8 Parameter description Parameter no 12 Table 5 Actuator menu Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 16 of 64 4 3 1 4 Limiting values Menu Sub menu Parameter Description Limit 1 Value range 19999 99999 see chapter 8 Parameter description Parameter no 15 Limit 2 Value range 19999 99999 see chapter 8 Parameter description Parameter no 16 Current limiting Value range 25 110 see chapter 8 Parameter description Parameter no 29 Contouring error limit Value range 1 30000 see chapter 8 Parameter description Parameter no 28 Table 6 Limiting values menu 4 3 1 5 Visualization Menu Sub menu Parameter Description Display orientation Selection 0 180 see chapter 8 Parameter description Parameter no 45
28. to position 500 10 4 2 2 2 Example Starting positioning order to position 500 10 4 3 Menu selection 12 4 3 1 Changeable parameters 13 4 3 1 1 Bus parameters 13 4 3 1 2 Positioning 14 4 3 1 3 Actuator 15 4 3 1 4 Limiting values 16 4 3 1 5 Visualization 16 4 3 1 6 Options 18 4 3 1 7 Controller parameters 19 4 3 2 Readable parameters 19 4 3 3 Error memory
29. version display controller Read only Display controller software version S 61 Number of errors Read only Number of errors in the error memory S 62 Error 1 Read only Error 1 S 63 Error 2 Read only Error 2 S 64 Error 3 Read only Error 3 S 65 Error 4 Read only Error 4 S 66 Error 5 Read only Error 5 S 67 Error 6 Read only Error 6 S 68 Error 7 Read only Error 7 S 69 Error 8 Read only Error 8 S 70 Error 9 Read only Error 9 S 71 Error 10 Read only Error 10 S 72 Gear reduction Read only Gear reduction S 73 System Status Word Read only System status word 74 Display divisor application 0 1 0 Positioning mode only 0 The display divisor will be applied to the interface s target and actual positions and to the display 1 The display divisor will be applied to the display only S 3 Table 13 Parameter description Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 33 of 64 9 Service Protocol 9 1 General The service protocol enables drive configuration and control via ASCII commands No additional devices must be connected to the RS485 interface since this protocol is not bus compatible This user manual is valid with Motor controller firmware version V1 11 The PC sends a letter and additional parameters if required ASCII
30. will be displayed Confirm by pressing the key to start positioning Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 12 of 64 4 3 Menu selection Fig 6 Menu selection Start Hold down the key Changeable parameters Only readable parameters Error memory PIN input required key key see menu only readable parameters see menu error memory Key enable time expired see menu changeable parameters End yes no Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 13 of 64 4 3 1 Changeable parameters The Changeable parameters menu is subdivided into further sub menus Menu Sub menu Description Bus parameters Positioning Actuator Limiting values Visualization Options Controller parameter Exit menu Table 2 Changeable parameters menu overview 4 3 1 1 Bus parameters Menu Sub menu
31. with programmed deceleration see chapter 8 Parameter description Parameter no 25 Inching 2 Offset Value range 10 100 see chapter 8 Parameter description Parameter no 30 PIN change Value range 0 99999 see chapter 8 Parameter description Parameter no 48 Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 19 of 64 Parameter Description S commands Selection execute no S command execute no S command Set standard parameters to default Set controller parameters to default Set display parameters to default Set bus parameters to default Calibration Delete error memory Table 8 Options menu 4 3 1 7 Controller parameters Menu Sub menu Parameter Description Controller parameter P Value range 1 500 see chapter 8 Parameter description Parameter no 1 Controller parameter I Value range 0 500 see chapter 8 Parameter description Parameter no 2 Controller parameter D Value range 0 500 see chapter 8 Parameter description Parameter no 3 Table 9 Controller parameters menu 4 3 2 Readable parameters Menu Paramet
32. 000 see chapter 8 Parameter description Parameter no 27 0x23 Inpos mode rw Unsigned8 0 position control 1 short circuit of the motor windings 2 motor activated see chapter 8 Parameter description Parameter no 26 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 60 of 64 Para meter no hex Name Access Format Description 0x24 Delta Inch rw Integer32 Value range 1000000 1000000 see chapter 8 Parameter description Parameter no 17 0x25 Acceleration type with Inching mode 2 rw Unsigned8 0 static acceleration 1 incremental acceleration see chapter 8 Parameter description Parameter no 31 0x26 Inching 2 Offset rw Unsigned8 Value range 10 100 see chapter 8 Parameter description Parameter no 30 0x27 Stop mode inching 2 rw Unsigned8 0 maximum deceleration 1 programmed deceleration see chapter 8 Parameter description Parameter no 25 0x28 Operating mode rw Unsigned8 0 positioning mode 1 speed mode see chapter 8 Parameter description Parameter no 20 0x29 Limit 1 rw Integer32 Value range 9999999 9999999 see chapter 8 Parameter description Parameter no 15 0x2A Limit 2 rw Integer32 Value range 9999999 9999999 see chapter 8 Parameter description Parameter no 16 0x2C Current limiting rw Unsigned8 Value range 25 110 s
33. 396 15 AG05 Actuator with RS485 SIKONETZ5 interface User manual AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 2 of 64 Table of contents 1 General Information 4 1 1 Documentation 4 2 Block Diagram 4 3 Display and Control Keys 5 3 1 General 5 3 2 LCD display 5 3 3 LED displays 5 4 Functional Description 6 4 1 Control of the drive 6 4 1 1 Value input 6 4 1 2 Value selection
34. 66 xxxxx Error 6 see chapter 8 Parameter description Parameter no 67 xxxxx Error 7 see chapter 8 Parameter description Parameter no 68 xxxxx Error 8 see chapter 8 Parameter description Parameter no 69 xxxxx Error 9 see chapter 8 Parameter description Parameter no 70 Calibration AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 21 of 64 Parameter Description xxxxx Error 10 see chapter 8 Parameter description Parameter no 71 Table 11 Error memory menu xxxxx Plain text display of error codes see chapter 7 2 1 Error codes 5 Calibration Two steps are required for executing calibration 1 Write the calibration value 2 Execute calibration 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 offset value Calibration value see chapter 8 Parameter description Parameter no 14 Offset value see chapter 8 Parameter description Parameter no 32 Calibration is only possible when no travel job is active 6 External gear If an external gear is used a factor can be programmed via the parameters
35. Current limiting 25 110 110 Current limiting Limiting of surge current Figures indicate percentage of nominal current S 1 30 Inching 2 Offset 10 100 100 Inching operation 2 The inching speed in Inching operation 2 can be influenced via this parameter Values in percentage of parameter no 9 1 Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 29 of 64 No Name Selection value Default Description S C 31 Type of accelera tion Inching mode 2 0 1 0 Inching operation 2 The type of acceleration can be set with this parameter 0 static acceleration Acceleration to final speed in one step as defined under parameter no 8 1 incremental acceleration Acceleration to final speed as defined under parameter no 8 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 S 1 32 Offset 999999 to 999999 0 Offset value Changes to the offset value are immediately entered in the calculation of the position value The following equation is applied in case of calibration Position value 0 calibration value offset value S 1 33 Baud rate RS485 0 2 1 Baud rate of the RS485interface 0 19200 1 57600 2 115200 Parameter changes become active only after cold start or software reset S 5 34 Protocol 0 1 0 Protocol of the RS485 interface 0 SIKONETZ5 1 Servic
36. On see chapter 8 Parameter description Parameter no 41 yy 39 Inching mode 2 acceleration type 0 constant acceleration to final speed value 1 incremental acceleration to final speed value see chapter 8 Parameter description Parameter no 31 yy 40 Protocol 0 SIKONETZ5 1 Service protocol see chapter 8 Parameter description Parameter no 34 yy 41 PIN change see chapter 8 Parameter description Parameter no 48 yy 42 Temporary key function enable 0 Access as defined under Key function enable 1 Access inverted as defined under Key function enable yy 43 Displayed value of 2nd display line 0 Set point 1 Output stage temperature 2 Control voltage 3 Output stage voltage 4 Battery voltage 5 Motor current 6 Actual position 7 Actual rotational speed see chapter 8 Parameter description Parameter no 49 yy 44 Display divisor application see chapter 8 Parameter description Parameter no 74 I 1 2 gt Cancel current travel job in positioning mode Motor remains in control state Jyy 3 6 0xhh gt Read out error memory yy 00 number of errors in the error memory see chapter 8 Parameter description Parameter no 61 yy 01 Error 1 see chapter 8 Parameter description Parameter no 62 yy 02 Error 2 see chapter 8 Parameter description Parameter no 63 Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Pa
37. Parameter no 9 yy 09 Pos window Spindle pitch 0 gt increments Spindle pitch gt 0 gt 1 100 mm see chapter 8 Parameter description Parameter no 10 yy 10 numerator see chapter 8 Parameter description Parameter no 11 yy 11 denominator see chapter 8 Parameter description Parameter no 12 yy 12 reserved yy 13 Spindle pitch in 1 100 mm see chapter 8 Parameter description Parameter no 13 yy 14 Node address see chapter 8 Parameter description Parameter no 22 yy 15 Stop mode inching 2 0 Hard Stop 1 Soft Stop see chapter 8 Parameter description Parameter no 25 yy 16 Inpos mode 0 Position control 1 Emf brake 2 Enable see chapter 8 Parameter description Parameter no 26 yy 17 Loop length Spindle pitch 0 gt increments Spindle pitch gt 0 gt 1 100 mm see chapter 8 Parameter description Parameter no 27 yy 18 Contouring error limit see chapter 8 Parameter description Parameter no 28 yy 19 reserved yy 20 reserved Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 38 of 64 Command Length Reply Description yy 21 reserved yy 22 reserved yy 23 reserved yy 24 Current limiting Range 25 110 of nominal torque see chapter 8 Parameter description Parameter no 29 yy 25 Baud rate RS485 0 19200 1 57600 2 115200 see chapter 8 Parameter de
38. attery 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 0x2C Table 20 Status word positioning mode SIKONETZ5 10 8 3 Flow chart Positioning mode Fig 10 Flow chart positioning mode SIKONETZ5 Activate travel job CW 0000 0000 0001 0111 Operation enabled SW 0000 x001 00x0 xxx1 enable operation CW 0000 0000 0000 0111 Ready to travel SW 0000 x001 00x0 0011 Travel order active 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 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 order finished Error SW 7 1 Acknowledge error CW 5 1 Switch lock SW 9 1 OFF1 CW 0 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Start Supply voltage ON CW 0000 0000 0000 0000 CW Control word SIKONETZ5 SW Status word SIKONETZ5 x Bit can be 0 or 1 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 54 of 64 10 8 4 Control word Operating mode Speed mode Bit Description Bit 0 OFF1 enable 0
39. celeration in the positioning mode values in 100 correspond to Gear 66 1 3 04 rps2 Gear 98 1 2 05 rps2 S 2 5 v pos see Description column 10 Maximum speed in the positioning mode values in rpm Gear 66 1 1 75 rpm Gear 98 1 1 50 rpm S 2 6 a rot 1 100 50 Acceleration in rotational speed mode values in 100 correspond to Gear 66 1 3 04 rps2 Gear 98 1 2 05 rps2 S 2 7 reserved 8 a inch 1 100 50 Acceleration in inching mode 1 2 values in 100 correspond to Gear 66 1 3 04 rps2 Gear 98 1 2 05 rps2 S 2 9 v inch see Description column 10 Maximum speed in inching mode 1 2 values in rpm Gear66 1 1 75 rpm Gear98 1 1 50 rpm S 2 Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 25 of 64 No Name Selection value Default Description S C 10 Pos window 0 1000 10 Operating mode Positioning mode Positioning window If the actual position of the actuator is within the programmed set point this window this is signalled by setting bit 3 in the status word of the actuator Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Values refer to travel distance in 1 100 mm Operating mode Speed mode If the actual rotational speed is within the target rotational speed this window this is signalled by setting bit 3 in the system status word of the act
40. cription Code 2 Description 0x80 Check sum SIKONETZ5 0x00 no further information available 0x81 Timeout SIKONETZ5 0x00 no further information available 0x82 Value rage exceeded inadequate 0x00 no further information available 0x01 Value lt MIN 0x02 Value gt MAX 0x83 Unknown parameter 0x00 no further information available 0x84 Access is not supported 0x00 no further information available 0x01 write attempt to read only 0x02 read attempt to write only 0x85 Error due to device status 0x00 no further information available 0x01 EEPROM write access active 0x02 Positioning active 0x03 Programming locked Table 18 SIKONETZ5 error codes 10 6 Errors If a slave is in the error state the slave signals this state with SW 7 1 Errors must be acknowledged by CW 5 0 1 If the cause of the error has not ben resolved at the time of acknowledgement the error will not be reset After acknowledgement of an error the slave is in the switch lock state The switch lock can be released via a negative flank on CW 0 or CW 1 or CW 2 Errors are stored in the error memory and can be read out In order to receive the last error occurring the number of errors must first be read in parameter address 0x80 With 0x80 number of errors the parameter address with the latest error is received Under this address the error code is found see chapter 7 2 1 Error codes 10 7 Communication monitoring
41. d lt 2 rpm Bit 5 Operating mode Positioning mode upper limit 1 Actual position is above the programmed limiting value Travelling is possible only in negative direction in inching mode 0 Actual position is below the programmed limiting value 0 Operating mode Speed mode irrelevant Bit 6 Operating mode Positioning mode lower limit 1 Actual position is below the programmed limiting value Travelling is possible only in positive direction in inching mode 0 Actual position is above the programmed limiting value 0 Operating mode Speed mode irrelevant Bit 7 Driver state 1 Motor is enabled 0 Motor in control Bit 8 Error 1 Actuator has switched to error The cause of the error must be removed and acknowledged 0 No error present Bit 9 Operating mode Positioning mode Loop travel 1 If travel direction unequal start direction with loop travel 0 If travel direction equal start direction 0 Operating mode Speed mode irrelevant Bit 10 Output stage supply voltage 1 No voltage no travelling possible 0 Voltage applied Bit 11 Ready for travel 1 Not ready for travel 0 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 Bit 12 Battery voltage 1 Battery voltage lt 2 6 V 0 Battery voltage OK
42. d PIN to be able to change parameters via keys and display S 3 49 Displayed value 2nd display line 0 7 0 Display Parameter to be displayed in the 2nd line of the display 0 Set point 1 Output stage temperature 2 Control voltage 3 Output stage voltage 4 Battery voltage 5 Motor current 6 Actual position 7 Actual rotational speed S 3 50 Output stage tempera ture Read only Output stage temperature Values in 1 10 C 51 Voltage of control Read only Control voltage Values in 1 10 V 52 Voltage of output stage Read only Output stage voltage Values in 1 10 V 53 Voltage of battery Read only Battery voltage Values in 1 100 V 54 Motor current Read only Motor current Values in mA Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 32 of 64 No Name Selection value Default Description S C 55 Actual position Read only Actual position Spindle pitch 0 values in increments Spindle pitch gt 0 values in 1 100 mm 56 Actual rotational speed Read only Actual rotational speed Values in rpm 57 Serial number Read only Serial number S 58 Production date Read only Production date Format DDMMJJJJ S 59 Software version motor controller Read only Motor controller software version S 60 Software
43. e preprogrammed target values parameters 15 16 Operating mode Speed mode indicates the target rotational speed in rpm Value range Gear 66 1 max 75 rpm Gear 98 1 max 50 rpm 1 Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 28 of 64 No Name Selection value Default Description S C 25 Stop mode Inch 2 0 1 0 Stop mode inching mode 2 inching key operation Stopping behaviour of inching mode 2 or inching key mode resp can be parameterized differently Stop mode 0 stop with maximum deceleration Stop mode 1 stop with programmed deceleration Parameter no 8 S 1 26 Inpos mode 0 2 0 Operating mode Positioning mode With this parameter you can define the behaviour of the actuator upon reaching the position window Inpos mode 0 Position control to set point Inpos mode 1 Position control OFF and short circuit of the motor windings Inpos mode 2 Position control OFF and drive enable Operating mode Speed mode irrelevant S 1 27 Loop length 0 30000 360 Operating mode Positioning mode Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Operating mode Speed mode irrelevant S 1 28 Contouring error limit 1 30000 400 Contouring error limit Exceeding the contouring error limit during ongoing positioning results in a Contouring error fault S 1 29
44. e protocol Parameter changes become active only after cold start or software reset S 5 35 Bus Timeout 0 20 20 SIKONETZ5 Notice Unplanned device reactions Unplanned device reactions can occur with time monitoring disabled 0 disabled and simultaneous cable break In the delivery state time monitoring is enabled Mode Time monitoring disabled 0 is only admissible for test purposes Enable time monitoring after leaving the test mode 1 20 Bus Timeout values in x100 ms Service protocol no function S 4 Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 30 of 64 No Name Selection value Default Description S C 36 Write reply parameter to set point 0 8 1 SIKONETZ5 This parameter defines the reply to the Write set point command 0 Set point 1 Actual value 2 Output stage temperature 3 Control voltage 4 Output stage voltage 5 Battery voltage 6 Motor current 7 Actual position 8 Actual rotational speed Service protocol no function S 4 37 Key enable time 1 60 3 Display key control Time in seconds the asterisk key must be held down until menu can be entered or the set point specification is enabled via display S 3 38 Key function enable 0 1 0 Display key control The access to inching mode 2 positioning mode and rotational speed mode functions via keys can be set with this parameter 0 all functio
45. ee chapter 8 Parameter description Parameter no 29 0x2D Contouring error limit rw Unsigned16 Value range 1 30000 see chapter 8 Parameter description Parameter no 28 0x30 Display value of 2nd line rw Unsigned8 0 Set point 1 Output stage temperature 2 Control voltage 3 Output stage voltage 4 Battery voltage 5 Motor current 6 Actual position 7 Actual rotational speed see chapter 8 Parameter description Parameter no 49 0x33 Display divisor application rw Unsigned8 see chapter 8 Parameter description Parameter no 74 0x60 Output stage temperature ro Integer16 Temperature values in 1 10 C see chapter 8 Parameter description Parameter no 50 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 61 of 64 Para meter no hex Name Access Format Description 0x61 Voltage of control ro Integer16 Voltage values in 1 10 V see chapter 8 Parameter description Parameter no 51 0x62 Voltage of output stage ro Integer16 Voltage values in 1 10 V see chapter 8 Parameter description Parameter no 52 0x63 Voltage of battery ro Integer16 Voltage values in 1 100 V see chapter 8 Parameter description Parameter no 53 0x64 Motor current ro Integer16 Current values in mA see chapter 8 Parameter description Parameter no 54 0x65 Device code ro Unsigned8 0
46. ent the accessories and the order key The installation instructions describe the mechanical and electrical installation with all safety relevant conditions and the associated technical specifications The User manual for actuator commissioning and integration into a fieldbus system You can also download these documents at http www siko global com p ag05 2 Block Diagram Fig 1 Block diagram Inverse polarity protection Mains adapter Control Output stage Motor Encoder Gear Bus electronics UB control RS485 UB output stage Inverse polarity protection Verpol schutz Battery Display and Control Keys AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 5 of 64 3 Display and Control Keys 3 1 General The actuator has a two line display with special characters and three control keys The keys serve for actuator parameterization and control Two LEDs 1 2 inform about the actuator s operating state Fig 2 Control elements 3 2 LCD display With supply voltage applied to the control the actual value is displayed in the first line and the set point value with factory settings in the second line The value displayed in the 2nd line can be adjusted via parameters 3 3 LED displays LED Colour State Description LED1 green on Actuator is within the programmed position window Supply voltage of the output stage is applied blin
47. er Description Current output stage temperature Current control voltage Current output stage voltage Current battery voltage Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 20 of 64 Parameter Description Current motor current Current actual position Current actual speed Gear reduction Motor rated power Encoder resolution Display controller software version Motor controller software version Serial number Production date Table 10 Readable parameters menu 4 3 3 Error memory Menu Parameter Description Number of errors in the error memory see chapter 8 Parameter description Parameter no 61 xxxxx Error 1 see chapter 8 Parameter description Parameter no 62 xxxxx Error 2 see chapter 8 Parameter description Parameter no 63 xxxxx Error 3 see chapter 8 Parameter description Parameter no 64 xxxxx Error 4 see chapter 8 Parameter description Parameter no 65 xxxxx Error 5 see chapter 8 Parameter description Parameter no
48. ess 0x29 Limit1 Data 0x00 00 00 00 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 64 of 64 Telegram from master to slave 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 9th byte 10th byte Command Node ID Parameter address CW Data Check sum 0x00 0x01 0x29 0x00 0x00 0x00 0x00 0x00 0x00 0x28 Reply telegram from slave 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 9th byte 10th byte Command reply Node ID Parameter address SW Data Check sum 0x00 0x01 0x29 0x00 0x01 0x00 0x01 0x86 0x9F 0x31 The reply telegram contains the current value of parameter limit 1 Data 0x00 01 86 9F 99 999dec 10 9 2 Example Write parameter Set parameter v Pos of node address 1 to value 15 Write command 0x01 Node ID 0x01 Parameter address 0x14 v Pos Data 0x00 00 00 0F Telegram from master to slave 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 9th byte 10th byte Command Node ID Parameter address CW Data Check sum 0x01 0x01 0x14 0x00 0x00 0x00 0x00 0x00 0x0F 0x1B Reply telegram from slave 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 9th byte 10th byte Command reply Node ID Parameter address SW Data Check sum 0x01 0x01 0x14 0x00 0x01 0x00 0x00 0x00 0x0F 0x1A
49. ge 43 of 64 Command Length Reply Description yy 03 Error 3 see chapter 8 Parameter description Parameter no 64 yy 04 Error 4 see chapter 8 Parameter description Parameter no 65 yy 05 Error 5 see chapter 8 Parameter description Parameter no 66 yy 06 Error 6 see chapter 8 Parameter description Parameter no 67 yy 07 Error 7 see chapter 8 Parameter description Parameter no 68 yy 08 Error 8 see chapter 8 Parameter description Parameter no 69 yy 09 Error 9 see chapter 8 Parameter description Parameter no 70 yy 10 Error 10 see chapter 8 Parameter description Parameter no 71 hh value represented as hex K 1 0 Software reset Ly 2 2 gt Enter positioning type y 0 Direct positioning y 1 Positioning with loop positive y 2 Positioning with loop negative see chapter 8 Parameter description Parameter no 19 M 1 2 gt Start of travel job Positioning mode start positioning process to programmed set point Rotational speed mode start of speed mode N 1 2 gt Motor stop fast Motor brakes with maximum deceleration Motor remains in control state Notice If a contouring error is pending at the time of the N command the motor will be enabled O 1 2 gt Motor stop Motor brakes with programmed deceleration Motor remains in control state Notice If a contouring error is pending at the time of the O command the mot
50. he key 4 1 3 Operating modes The following operating modes are distinguished positioning mode and speed mode In the positioning mode there is the additional option of travelling in the inching mode 4 1 3 1 Positioning mode In the positioning mode positioning to the specified set point is executed by means of a ramp function see Fig 3 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 order the actuator accelerates to the specified speed with the acceleration programmed The value of deceleration to the set point is defined by the parameter a Pos as well If the actual position is within the programmed window this will be signalled by LED1 in the system status word and in the SIKONETZ5 status word You can define the behaviour of the actuator upon reaching the programmed window Changing controller parameters during a positioning process does not influence the current positioning operation Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 7 of 64 Fig 3 Ramp travel direct positioning mode 4 1 3 1 1 Loop positioning If the actuator is operated on a spindle or an additional gear the spindle or external gear backlash can be compensated by means of loop positioning In this case travelling to the target val
51. he Big Endian format Command telegram from master 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 9th byte 10th byte Command Node ID Parameter address CW Data Check sum Antworttelegramm vom Slave 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte 9th byte 10th byte Reply Node ID Parameter address SW Data Check sum 10 3 1 Command 0x00 read 0x01 write 0x02 broadcast 10 3 2 Node ID Node address see chapter 8 Parameter description Parameter no 22 10 3 3 Parameter address Description see chapter 10 9 Parameterization via SIKONETZ5 10 3 4 Control word Control word CW master to slave 10 3 5 Status word Status word SW slave to master 10 3 6 Data Range for data exchange Size 4 bytes Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 49 of 64 10 3 7 Check sum For checking error free data transfer a check sum is formed at the end of the telegram The check sum is the exclusive OR link of bytes 1 9 Check sum Byte10 Byte1 XOR Byte2 XOR Byte3 XOR Byte4 XOR Byte5 XOR Byte6 XOR Byte7 XOR Byte8 XOR Byte9 The following applies for checking the telegram received Byte1 XOR Byte2 XOR Byte3 XOR Byte4 XOR Byte5 XOR Byte6 XOR Byte7 XOR Byte8 XOR Byte9 XOR Byte 10 0 With a result unequal 0 a transmission error is to
52. ion via SIKONETZ5 10 1 Interface Schnittstelle RS485 Available baud rates 19 2 kBit 57 6 kBit 115 2 kBit No parity 8 data bits 1 stop bit no handshake 10 2 Data exchange The protocol functions according to the master slave principle The actuator acts as a slave Every instance of communication must be initiated by the master When the master has sent a command telegram the slave sends a reply telegram Broadcast commands are an exception they remain always unanswered by the slave The protocol is optimized for cyclical data exchange The relevant data such as set point and actual value can be transferred between master and slave by a single telegram exchange Acknowledge error command S11103 Start Supply voltage ON Read status word command R Operation enabled SW 00xx 0000 x000 x000 Enter target speed command F0 Enable target speed command M Target speed enabled SW 01xx x000 000x x000 Stop travel order command N or O Change target speed command F0 Error Status word bit 8 1 SW System status word x Bit can be 0 or 1 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 48 of 64 The parameter to be returned by the slave as a reply to the master s Write set point command can be defined via the Write set point reply parameter 10 3 Telegram setup CW SW and data are transferred in t
53. king Actuator is within the programmed position window Supply voltage of the output stage is missing off Actuator is outside the programmed position window red on Actuator is outside the programmed position window Supply voltage of the output stage is applied blinking Actuator is outside the programmed position window Supply voltage of the output stage is missing off Actuator is within the programmed position window LED2 orange on Active bus operation off No bus operation Table 1 LED displays LED2 LED1 LCD display Keys Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 6 of 64 4 Functional Description 4 1 Control of the drive The drive can be controlled manually stand alone and completely parameterized via the keys In bus operation you can disable drive control via the keys 4 1 1 Value input Enter values via the key and the key Confirm entered values by pressing the key Decimal place selection key Value input key With value input via the keys the display range is limited to 19999 99999 When entering values beyond this range via SIKONETZ5 or the service protocol will be displayed when you select the parameter 4 1 2 Value selection For some parameters you can select values from a list Direct value input is not possible You can select a value from the list via the key Confirm the value by pressing t
54. ll only be possible in inching mode in the direction of the travel range Notice Limit monitoring is deactivated if limit 1 is equal limit 2 Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded Operating mode Speed mode irrelevant S 1 16 Limit 2 9999999 to 9999999 19999 Operating mode Positioning mode Limit 2 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Information refers to travel distance in 1 100 mm If actuator s position is beyond the range defined by limit 1 and limit 2 travel range travelling will only be possible in inching mode in the direction of the travel range Notice Limit monitoring is deactivated if limit 1 is equal limit 2 Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded Operating mode Speed mode irrelevant S 1 17 Delta inch 1000000 to 1000000 720 Delta travelling distance with inching operation 1 Indicates the relative travelling distance positive value positive travelling direction negative value negative travelling direction Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Information refers to travel distance in 1 100 mm S 1 Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 27 of 64 No Name Selection value Default Description S C 18 Sense of
55. n rw Unsigned8 Value range 0 2 see chapter 8 Parameter description Parameter no 44 0x0D Display orientation rw Unsigned8 0 normal 1 rotated by 180 see chapter 8 Parameter description Parameter no 45 0x0E Programming mode Configuration rw Unsigned8 0 no programming mode 1 apply programming mode see chapter 8 Parameter description Parameter no 46 0x0F PIN change rw Unsigned32 Value range 0 99999 see chapter 8 Parameter description Parameter no 48 0x10 Controller parameter P rw Unsigned16 Value range 1 500 see chapter 8 Parameter description Parameter no 1 0x11 Controller parameter I rw Unsigned16 Value range 0 500 see chapter 8 Parameter description Parameter no 2 0x12 Controller parameter D rw Unsigned16 Value range 0 500 see chapter 8 Parameter description Parameter no 3 0x13 a Pos rw Unsigned8 Value range 1 100 see chapter 8 Parameter description Parameter no 4 0x14 v Pos rw Unsigned8 Gear 66 1 value range 1 75 Gear 98 1 value range 1 50 see chapter 8 Parameter description Parameter no 5 0x15 a rot rw Unsigned8 Value range 1 100 see chapter 8 Parameter description Parameter no 6 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 59 of 64 Para meter no hex Name Access F
56. ns this speed until the set point is disabled or a different target speed specified The 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 5 Ramp rotational speed mode The following conditions must be met for enabling the start of the rotational speed mode The actuator must not be switched to error No active travel job Supply voltage of the output stage is applied Limits 1 2 are inactivated in this operational mode 4 1 4 Current limiting The actuator is equipped with adjustable current limiting which serves primarily for protecting the actuator against overload With the default value set the nominal speed indicated on the 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 With the contouring error exceeding the contouring error limit the actuator will enter the state of error contouring error The actual motor current cannot be stated by measuring the supply current With cycled output stages the supply current does not correspond to the motor current The actual motor current can be read out via the interface or indicated on the display Speed Time Target speed set point Acceleration Parameter no 8
57. ns via key enabled 1 all functions via key disabled S 3 39 LED 2 orange 0 1 1 LED 2 orange function 0 Off 1 Bus operation indication S 3 40 LED 1 red 0 1 1 Red LED 1 function 0 Off 1 Indication of the operating status S 3 41 LED 1 green 0 1 1 Green LED 1 function 0 Off 1 Indication of the operating status S 3 42 Decimal places 0 4 0 Display Input of decimal places 0 0 1 0 0 2 0 00 3 0 000 4 0 0000 S 3 43 Display divisor 0 3 0 Display Divisor by which the display accuracy is reduced compared with the measurement resolution 0 1 1 10 2 100 3 1000 S 3 Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 31 of 64 No Name Selection value Default Description S C 44 Direction indication function 0 2 0 Display The direction indicators show the key to be pressed to arrive at the set position window 0 On 1 Inverted 2 Off S 3 45 Display orientation 0 1 0 Display Display orientation 0 0 1 rotated by 180 S 3 46 Program ming mode configura tion 0 1 0 SIKONETZ5 0 no programming mode 1 apply programming mode Service protocol no function S 5 47 Program ming mode 0 1 0 SIKONETZ5 0 Programming mode Off 1 Programming mode On Service protocol no function 1 48 PIN Change 0 99999 0 Display Require
58. or will be enabled P 1 2 gt Enable motor Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 44 of 64 Command Length Reply Description Q 1 6 0xhh gt Output flag register hh value hex x x x x x x x x binary representation of hh 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 assigned R 1 8 0xhhll gt Output system status word hex for the meaning of the individual bits see the Status word table hh High Byte ll Low Byte Sxxxxx 6 2 gt Reset device to basic state system data x 11100 all parameters into basic state Notice All parameter classes will be reset After restart the factory settings will be active this applies to protocol and baud rate as well x 11101 only standard parameters into basic state x 11102 only controller parameters into basic state x 11003 only display parameters into basic state x 11103 reset error x 11104 calibrate AG05 x 11105 delete primary error memory Ty 2 2 gt Enter sense of rotation y 0 i sense of rotation cw y 1 e sense of rotation ccw see chapter 8 Parameter description Parameter no 18 V 1 7 xxxx gt Output actual rotational speed Unit rpm see chapter 8 Parameter description Pa
59. ormat Description 0x16 a inch rw Unsigned8 Value range 1 100 see chapter 8 Parameter description Parameter no 8 0x17 v inch rw Unsigned8 Gear 66 1 value range 1 75 Gear 98 1 value range 1 50 see chapter 8 Parameter description Parameter no 9 0x18 Numerator rw Unsigned16 Value range 1 10000 see chapter 8 Parameter description Parameter no 11 0x19 Denominator rw Unsigned16 Value range 1 10000 see chapter 8 Parameter description Parameter no 12 0x1A Encoder resolution ro Unsigned16 Constant Value 720 0x1B Sense of rotation rw Unsigned8 0 i sense of rotation cw 1 e sense of rotation ccw see chapter 8 Parameter description Parameter no 18 0x1C Spindle pitch rw Unsigned16 Value range 0 1000000 see chapter 8 Parameter description Parameter no 13 0x1E Offset rw Integer32 Value range 999999 999999 see chapter 8 Parameter description Parameter no 32 0x1F Calibration value rw Integer32 Value range 999999 999999 see chapter 8 Parameter description Parameter no 14 0x20 Pos window rw Unsigned16 Value range 0 1000 see chapter 8 Parameter description Parameter no 10 0x21 Pos type rw Unsigned8 0 direct 1 loop 2 loop see chapter 8 Parameter description Parameter no 19 0x22 Loop length rw Unsigned16 Value range 0 30
60. ow Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 55 of 64 Bit Description Bit 6 Active travel job 0 no active travel job 1 active travel job Bit 7 Error 0 no error 1 Error Acknowledgement 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 acknowledgement 0 no acknowledgement 1 acknowledgement 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 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 0x2C Table 22 Status word speed mode SIKONETZ5 Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 56 of 64 10 8 6 Flow chart Operating mode Speed mode Fig 11 Flow chart speed mode SIKONETZ5 10 9 Parameterization via SIKONETZ5 On principle the actuator sends a telegram acknowledging write and read commands of the master With the command executable the value adopted is in the reply telegram If the actuator was unable to execute the command e g because
61. r no 28 yy 19 reserved yy 20 reserved yy 21 reserved yy 22 reserved yy 23 reserved yy 24 Current limiting see chapter 8 Parameter description Parameter no 29 yy 25 Baud rate RS485 see chapter 8 Parameter description Parameter no 33 yy 26 Bus Timeout see chapter 8 Parameter description Parameter no 35 yy 27 Inching 2 Offset see chapter 8 Parameter description Parameter no 30 yy 28 Key function enable 0 all functions via key enabled 1 all functions via key disabled see chapter 8 Parameter description Parameter no 38 yy 29 Key enable time see chapter 8 Parameter description Parameter no 37 yy 30 Display orientation see chapter 8 Parameter description Parameter no 45 yy 31 Display divisor see chapter 8 Parameter description Parameter no 43 yy 32 Display Decimal places see chapter 8 Parameter description Parameter no 42 yy 33 Display Direction indication function see chapter 8 Parameter description Parameter no 44 yy 34 reserved yy 35 reserved yy 36 LED 2 orange 0 Off 1 On see chapter 8 Parameter description Parameter no 39 Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 42 of 64 Command Length Reply Description yy 37 LED 1 red 0 Off 1 On see chapter 8 Parameter description Parameter no 40 yy 38 LED 1 green 0 Off 1
62. rameter no 56 W 1 4 xxxx Binary position value xxxx 4 bytes in 2 complement MSB LSB see chapter 8 Parameter description Parameter no 55 Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 45 of 64 Command Length Reply Description Xy 2 2 gt Enter operation mode y 0 Positioning mode y 1 Speed mode see chapter 8 Parameter description Parameter no 20 Y 1 2 gt Start of inching mode 1 only in positioning mode Z 1 10 xxxxxxx gt Output position value see chapter 8 Parameter description Parameter no 55 2Chex 1 0 Travelling in inching mode 2 positive Actuator travels in positive direction as long as sign is permanently sent only in positioning mode 2Ehex 1 0 Travelling in inching mode 2 negative Actuator travels in negative direction as long as sign is permanently sent only in positioning mode Table 16 Service protocol commands list 9 4 Error number encoding Code Description 01 Input of illegal parameter number 02 Illegal value range 03 No authorization active control via Profibus CAN Bus 04 Input disabled due to operating state 07 Upper software limit exceeded 08 Lower software limit exceeded 09 Set point entered exceeds limiting value 10 Error 11 EEPROM write access active 12 Set point lt range limit 13 Set point gt range limit Table 17 Error n
63. rs 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 Reaching of the target position will be signalled accordingly The following conditions must be met for enabling the start of inching modes 1 and 2 The actuator must not be switched to error No active travel job Supply voltage of the output stage is applied If the actual position is outside the programmed limiting values then travelling from this position in the respective direction is possible by means of inching mode 1 or 2 4 1 3 2 2 Inching mode2 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 Tipp Parameter no 9 10 rpm can only be changed in the idle state Offset inching 2 Parameter no 30 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 The results are always rounded to integers The minimum speed is 1 rpm Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 9 of 64 4 1 3 3 Rotational speed mode With the set point enabled the actuator when in the rotational speed mode accelerates to the target speed and maintai
64. s defined by parameter 0x05 1 key enable inverted as defined by parameter 0x05 Bit 10 15 Reserved always 0 Table 19 Control word positioning mode SIKONETZ5 10 8 2 Status word Positioning mode slave master Bit Description Bit 0 Supply 0 Output stage 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 positioning window 1 Actuator is inside the positioning window Bit 6 Active travel job 0 no active travel job 1 active travel job Bit 7 Error 0 no error 1 Error Acknowledgement 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 acknowledgement 0 no acknowledgement 1 acknowledgement The bit is set after the travel job was adopted If bit 4 is reset in the control word this bit will be reset as well Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 53 of 64 Bit Description Bit 11 Battery warning 0 no warning b
65. scription Parameter no 33 yy 26 Bus Timeout Range 0 20 x100 ms see chapter 8 Parameter description Parameter no 35 yy 27 Inching 2 Offset Range 10 100 der of inching speed see chapter 8 Parameter description Parameter no 30 yy 28 Key function enable 0 all functions via key enabled 1 all functions via key disabled see chapter 8 Parameter description Parameter no 38 yy 29 Key enable time Range 1 60 seconds see chapter 8 Parameter description Parameter no 37 yy 30 Display orientation 0 0 1 rotated by 180 see chapter 8 Parameter description Parameter no 45 yy 31 Display divisor 0 1 1 10 2 100 3 1000 see chapter 8 Parameter description Parameter no 43 Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 39 of 64 Command Length Reply Description yy 32 Decimal places 0 0 1 0 0 2 0 00 3 0 000 4 0 0000 see chapter 8 Parameter description Parameter no 42 yy 33 Direction indication function 0 On 1 inverted 2 Off see chapter 8 Parameter description Parameter no 44 yy 34 Encoder resolution see chapter 8 Parameter description Parameter no 72 yy 35 reserved yy 36 LED 2 orange 0 Off 1 On see chapter 8 Parameter description Parameter no 39 yy 37 LED1 red 0 Off 1 On see chapter 8 Parameter description Parameter no 40
66. see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 63 0x83 Error 3 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 64 0x84 Error 4 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 65 0x85 Error 5 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 66 0x86 Error 6 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 67 0x87 Error 7 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 68 0x88 Error 8 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 69 0x89 Error 9 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 70 0x8A Error 10 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description Parameter no 71 0xA0 S command wo Unsigned16 1 all parameters to default Notice All parameter classes will be reset After restart the factory settings will be active this applies to node address and baud rate as well 2 only standard parameters to default 3 controller parameters to default 4 display parameters to default 5 bus parameters to default 6 reset error 7 calibration
67. the key stops display test Table 7 Visualization menu Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 18 of 64 4 3 1 6 Options Menu Sub menu Parameter Description Key enable time Value range 1 60 see chapter 8 Parameter description Parameter no 37 Key function enable Selection Enable all key functions All key functions disabled see chapter 8 Parameter description Parameter no 38 Operating mode Selection Positioning mode Rotational speed mode see chapter 8 Parameter description Parameter no 20 Delta Inch Value range 19999 99999 see chapter 8 Parameter description Parameter no 17 Inpos mode Selection Position control to set point Position control Off and short circuit of all motor windings Position control Off and drive enable see chapter 8 Parameter description Parameter no 26 Inching mode 2 acceleration type Selection static acceleration incremental acceleration see chapter 8 Parameter description Parameter no 31 Stop mode inching 2 Selection stop with maximum deceleration stop
68. tile with spindle pitch 0 Values refer to increments with spindle pitch gt 0 Values refer to travel distance in 1 100 mm Speed mode target speed volatile y 1 Limit 1 see chapter 8 Parameter description Parameter no 15 y 2 Limit 2 see chapter 8 Parameter description Parameter no 16 y 3 Calibration value see chapter 8 Parameter description Parameter Nr 14 y 4 Delta travelling distance with inching operation 1 see chapter 8 Parameter description Parameter no 17 y 5 Offset see chapter 8 Parameter description Parameter no 32 Gyy 3 7 xxxxx gt Output 2 byte value yy address xxxxx decimal value yy 00 Controller parameter P see chapter 8 Parameter description Parameter no 1 yy 01 Controller parameter I see chapter 8 Parameter description Parameter no 2 Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 37 of 64 Command Length Reply Description yy 02 Controller parameter D see chapter 8 Parameter description Parameter no 3 yy 03 a Pos see chapter 8 Parameter description Parameter no 4 yy 04 v Pos see chapter 8 Parameter description Parameter no 5 yy 05 a rot see chapter 8 Parameter description Parameter no 6 yy 06 reserved yy 07 a inch see chapter 8 Parameter description Parameter no 8 yy 08 v inch see chapter 8 Parameter description
69. uator S 1 11 numerator 1 10000 1 Numerator gear ratio a gear factor can be programmed here when a gear is used S 1 12 denomina tor 1 10000 1 Denominator gear ratio a gear factor can be programmed here when a gear is used S 1 13 Spindle pitch 0 1000000 0 Spindle pitch Spindle pitch parameter 0 Position value is output in increments 720 increments per revolution of the driving shaft Spindle pitch parameter gt 0 when operating the actuator on a spindle The position value is output as travelling distance in 1 100 mm not in increments Input of target position is now in 1 100 mm as well e g spindle with a pitch of 2 mm Spindle pitch parameter 200 S 1 14 Calibration value 999999 to 999999 0 Calibration value Changes to the calibration value are adopted for calculation of the position value via S command only after calibration Position value 0 calibration value offset value S 1 Parameter description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 26 of 64 No Name Selection value Default Description S C 15 Limit 1 9999999 to 9999999 99999 Operating mode Positioning mode Limit 1 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Values refer to travelling distance in 1 100 mm If actuator s position is beyond the range defined by limit 1 and limit 2 travel range travelling wi
70. ue is always from the same direction This direction of approach can be defined 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 the target 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 Fig 4 Positioning Loop Start position Target position Time Speed Speed Parameter no 5 Acceleration deceleration Parameter no 4 Positioning loop Set point Positioning in positive direction Positioning in negative direction Loop length Functional Description AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 8 of 64 4 1 3 2 Inching operation Inching operation is enabled in the positioning mode only You can program via parameters acceleration as well as speed in the inching mode There is no compensation for spindle play loop positioning in this operating mode 4 1 3 2 1 Inching mode 1 The drive travels once from the current actual position by the position Delta Tipp depending on the mathematical sign of the value entered Delta Tipp lt 0 negative travel direction Delta Tipp gt 0 positive travel direction If the Spindle pitch parameter is programmed to zero then the travelling way occu
71. umber encoding Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 46 of 64 9 5 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 8 Flow chart positioning mode service protocol Acknowledge error command S11103 Start Supply voltage ON Read status word command R Operation enabled SW 000x 0000 x000 x000 Send set point command F0 Start positioning command M Travelling order active SW x1xx 10x0 0001 0000 Continue positioning command M Error Status word bit 8 1 Intermediate stop active SW x10x 00x0 0000 0000 Intermediate stop command N oder O Start inching 1 2 command Y Inching order active SW x0xx 1000 0001 0000 Inching order finished SW 000x 0000 0000 x000 SW System status word x Bit can be 0 or 1 Target position reached SW 000x 0000 0000 1000 Finish travelling order command I Communication via SIKONETZ5 AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 47 of 64 9 6 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 9 Flow chart Totational speed mode service protocol 10 Communicat
72. y 03 a Pos see chapter 8 Parameter description Parameter no 4 yy 04 v Pos see chapter 8 Parameter description Parameter no 5 yy 05 a rot see chapter 8 Parameter description Parameter no 6 yy 06 reserved yy 07 a Inch see chapter 8 Parameter description Parameter no 8 yy 08 v Inch see chapter 8 Parameter description Parameter no 9 yy 09 Enter positioning window Spindle pitch 0 gt increments Spindle pitch gt 0 gt 1 100 mm see chapter 8 Parameter description Parameter no 10 yy 10 numerator see chapter 8 Parameter description Parameter no 11 yy 11 denominator see chapter 8 Parameter description Parameter no 12 yy 12 reserved yy 13 Enter spindle pitch in 1 100 mm see chapter 8 Parameter description Parameter no 13 yy 14 Node address see chapter 8 Parameter description Parameter no 22 Service Protocol AG05 Date 12 11 2015 Art No 85677 Mod status 396 15 Page 41 of 64 Command Length Reply Description yy 15 Stop mode inching 2 see chapter 8 Parameter description Parameter no 25 yy 16 Inpos mode see chapter 8 Parameter description Parameter no 26 yy 17 Loop length Spindle pitch 0 gt increments Spindle pitch gt 0 gt 1 100 mm see chapter 8 Parameter description Parameter no 27 yy 18 Contouring error limit see chapter 8 Parameter description Paramete

Actuator with RS485/SIKONETZ5 interface User manual

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