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1. ERHMH 74 S255 NONDE OF EMMONS areare E E EEE E E E A E sete EEA EE E 74 Se cod JEHOIC NUMO Lociran E E EE A 74 SRO EO DIM E T C 74 SM ox M dem i o 75 B 231 92 Fo NUNOC A aen qdueisa amv aiu ea uv pEINU crdveovaamuT II NE Uma RUN NE DE 75 8 2 1 93 Error Dt DOE D uoicssecia pe PIEEEEOERERSPO AE pois aves apr PD d qi eade s DIVER USED SKUR UPPER 75 O2 h94 ENF NODOT Oorr EE DEI S CIE EEM I M NEM SP EMI RUPEE Sri 75 902 1 95 ENOT NUOC F acenscesmsuedtesm daten i Edda VN ua TEUIS PR I PRIM ITEM E AT 76 AM Eadem mem 76 SN NEM iA ia TI T 76 9 0544959 Error Number DO seas secutosecsossscersranssn vanoesoasennaenestencsoareveaaassiqnises IRE DEDI REEF EOR 76 982211299 SEE OMMMANG en cccruiensucncsan de Usa ak v asa ua uod Dus o TRU cud veovaamu quse PLIN PA CERE T Io TOR E RETE 77 8 2 2 Standard objects parameter AeSCrIPtiOn ccsccececscsccececscsccecececsccecececscecececseeeess 77 0 WT DOV IRIURE 77 Ore ee ERRETORE T UO a saeccacsasetecmanoestweniecsces sasuacsevasesscueacsnaevsaseocenearacsturasesueneeses 77 le IIT Cee U A E E EE E N 78 8 2 2 4 NMI _M nufactDevName VS vues qi vesaesupFevexaesi exies eds pau ivl sup eU QUIM IU cece dTi 78 8 2 2 5 NMT Man facEHWVerS V5 cscissensvecssavasansnsseanaesaaiecocoawavsatacsdansseaveceteaseineaseesavansenns 78 8226 NM aS WVE US caisedsasedusiua OUR dva desea cXuSe Fa ORISd Is YOUR PS CUR ERE ed MU PPP FRU EUM U E 79 82 27 NMT TdentityOpjeci REG aisesscet
2. 63 PEM VCIOCIEY E E E A SE TEE E 64 POM VELO I PTT EE E 64 d Ri unum E EE E EE EE AOE 64 PUM Derce o aerie UT e 65 ZUR eri 65 PUM Becalerqtoli 3 aseniensemabu nisse E Ia I M M MEAM It 66 PCM Deceleration ERR 66 PEM Dece O ega E E E E E T saat 67 PEM DscaleratioH Ousman E E RURE 67 PEM Dece enO inire EE EAEE EEE N EEEE 68 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 4 of 116 O 2 1 74 QULDUE Stage Temperature coscessus use uto to Fus uxo vias eue Fatus cvcs eres uie ga pus ruiso viera sa Pase scs n Ue 68 9 04 70 Voltage 0r COR ERO ossi essere pesas noni EE SUE SRd PI viead ted tas E T EPRad TN Pia RUNs 68 Sod 75 Molbige or OUMU SIJE anren orre EEEE I EEEE ETE VELIT PMES 69 82 177 Voltage of BObtelV cersner enneren nerne rE NER EENE RAEE EE 69 Beeld MOTOT C Eaa E N EE PUR UP Ra EDE 69 Orel 2 Aca PO O M TETTE TUTTO E A EE 69 G2 1 00 Actual Rotanonal Speed rcrsirirron reiner er i arrosen nE ESI OUR UM aM IA POI DN FEUM EEIE MEUS 70 SNL a UN E Tm 70 Bie 1 82 PrOUHCDIOT DOLO aeaaea aed rib rlasi tbi ae Miete rV Rie A denar Padi e ep 70 Bice seo SW MOEPOPCODBIOLBE eeror or rra Eva ERE NE E PXEE EEE VERE RUP EE PUR EU ORT VP REI EERE 70 SNAM oA Gear RE dUC O emm 71 82189 SVEN ta US MOT ioctsccxasusencisestaeneauesneioned oebvacadeacdeuotcaanaaaesesdastentementeotionstaasss 71 Ore L86 Encoder RESO UU EON ac scctincusalaxacnscasidasenatsnntacetinasenasuncssecstdusanarneceacstiaassataneasascsiis 73 i ENUITISEIDTeE
3. 2C 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 108 of 116 Service protocol 9 4 4 Start inching mode 2 negative travel direction 2Ene 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 travel job in positioning mode I 49 5 see chapter 9 8 ASCII command structure Motor remains in control state 9 4 6 Motor stop fast NOTICE If a contouring error is pending at the time of the N command the motor will be enabled Command IN see chapter 9 8 ASCII command structure Description Motor decelerates with maximum delay Motor remains in control state 9 4 7 Motor stop NOTICE If a contouring error is pending at the time of the 0 command the motor will be enabled Command oO see chapter 9 8 ASCII command structure Description Motor decelerates with programmed delay Motor remains in control State 9 4 8 enable motor Command see chapter 9 8 ASCII command structure Description Motor is enabled 9 4 9 Factory setting all parameters S11100 see chapter 9 8 ASCII command structure Reset all parameters to factory settings SIKO AG25 AG26 Date 11 08 2015 Art N
4. SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 64 of 116 Ethernet Powerlink 8 2 1 67 PCM Deceleration 1 Yes Low Value range 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 Yes Tus Value range 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 65 of 116 Ethernet Powerlink 8 2 1 69 PCM Deceleration 3 Yes Low Value range 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 Yes Tus Value range 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 66 of 116 Ethernet Powerlink 8 2 1 71 PCM Decelerat
5. master ssssssssosososssosssesososeseseseses 37 82 52 Status word Speed ModE 4 cas casausnergsesarecsne nuaestevaccuseaseasvatuieteodancucanetasaecossapesas 38 Beo Aaly All Cc EE EE E EAE E A 39 Sa LEDENE ON y EEE E E E E EE EE ENa 39 8 2 1 8 Service Interface Baud Rate cccsccecscsececsececsccecsceecscsececsececscescsceeeecsseecseeees 41 8 2 1 9 Digital Output 1 Functionality s sesseseseesesessesessesescesescesescssescesesoesesossesosseseeeese 41 8 2 1 10 Digital Output Functionalities State esseseeseesessessescsesorserseesesoesorsorseeseseeseesees 42 Bo LL Digital OUMU Polani y any acescscecrcisncasasncoudvasendenvend sone en ad Messe Say RUF Dac OI ER ESI EP DUNS 42 8 2 1 12 Digital Input 1 FUNCTIONALLY csseesossesss do Eva esas vue bk Yap E VES nep EEVS OE edo EEA E 43 8 2 1 13 Digital Input 2 Functionality ccececeecececececececscscscsesececececececececscscscscseseeens 43 82 114 Digital Input 3 FUNCTIONALLY csse sesasaeicsteveseeeyenbeq099 veneti eo asea Vh V cies rex bs Sosa aed CPP QA 44 9 2 1415 Digital Input 4 FurciolalilUsseeessasossmexeuvs vba setas am ese pk PE abso pa a ero sbR arbe TEE v a ST re seEesS 44 6 2 1 16 Digital Input F rictionalities SEALE 2 dissscodcorsvecbecscdvevesenceareansienieanstacecsradeasseesuean 45 9 21 17 DIGI AU DODULS POLOTTUN cossacieu issu s Saptis I ases Ferd lave pen PR ECPTU A 46 5 2 1515 Dona Pal anie SI P oerna TE E EE 46 B 241 19 Controler Paramete
6. The minimum speed is 1 rpm Rotational speed mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 19 of 116 Functional description 4 1 1 4 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 Velocity Target speed set point Disable operation Disable target value Or set point 0 A Rot Object 2607h Set point enabled Fig 8 Ramp speed mode The following conditions must be met for enabling the start of the speed mode e Supply voltage of the output stage is applied e Operation enabled e Drive stands still Position Control Mode Via the control word in the process data the superordinate control can cancel travel orders started by the position control mode For this purpose a negative slope 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 mod
7. progr delay 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 Positive slope starts a travel job Start travel job Bit 5 Positive slope acknowledges an error Acknowledge error Afterwards the actuator changes to the switch lock state Bit 6 15 Reserved always 0 Table 3 Control word of speed mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 34 of 116 Ethernet Powerlink 8 2 1 2 4 Flow chart Speed mode CW Control word Fault SW7 1 Start SW Status word x Bit can be 0 or 1 CW 5 1 Supply voltage On CW 0000 0000 0000 0000 Switch lock SW 9 1 1 Unlock switch lock OFF1 CW 0 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Enable operation Cancel travel job CW 0000 0000 0000 0111 Operation enabled SW 0000 x001 00x0 00x1 Ready for travel SW 0000 x001 00x0 0011 Y Enable setpoint CW 0000 0000 0001 0111 Setpoint enabled SW 0000 x101 01xx 0001 Change target value Disable setpoint CW 4 2 0 Fig 14 Flow chart of speed mode Ethernet Powerlink SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 35 of 116 Ethernet Powerlink 8 2 1 3 8 2 1 4 8 2 1 5 Target Value Positioning mode Target position volatile with spindle pitch 0 Indicated as increments with s
8. 0000 0000 x000 M command Active travel job SW x1xx 10x0 0001 0000 Intermediate stop Continue positioning N or 0 command M command Intermediate stop active SW x10x 00x0 0000 0000 Fig 16 Flowchart positioning mode service protocol start of inching mode 1 2 Y 3 command Finish travel job T command Required position reached SW 000x 0000 0000 1000 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 111 of 116 Service protocol 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 SW System Status Word Start Supply voltage On Status word Bit 8 1 Read status word Acknowledge error R command 511103 command Operation enabled x bit can be 0 or 1 SW 00xx 0000 x000 x000 Enter target speed FO command Enable target speed M command Target speed enabled SW 01xx x000 000x x000 Change target speed FO command Stop travel job N or 0 command Fig 17 Flow chart speed mode service protocol SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 112 of 116 Service protocol 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 cod
9. 8 2 1 5 2 Status word Speed mode Bit 0 Supply Bit 1 Bit 4 Inpos Active travel job Bit 7 Fault 1 error Acknowledgment with positive slope on control word bit 5 Operation enabled Switch lock Bit 10 Travel job 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 Bit 11 Battery warning 1 battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Current limiting 1 current limiting active Motor current exceeds the value set under parameter Current Limiting Object 2619h Table 5 Status word of speed mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 38 of 116 Ethernet Powerlink 8 2 1 6 8 2 1 7 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 Object 2103h actual value ro component of process data Data type INTEGER32 Default Noo LED Functionality This parameter determines the functions of the four system LEDs With factory settings the four LEDs indicate the operational states of the drive Alternately the LEDs can represent the states of the digital inputs Default oT Description see chapter Table 6 Functionality of the system LEDs SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 3
10. 8 2 2 21 NMT_NodeAssignment_AU32 cscsescescnsieaiccneacccectatuamesientsnenedenmessncasienuiabertsieniaecsseans 89 O22 NMI Pearl AGS U 32 ou 5ccacacscsntcesanatccnscionetasevainesosceaeeaneaaaeseacoesacntweausesceseed oases 89 92 220 3 NMT EPL VOISION UG uceccrsscscetsuccdecesscatoncssuatnccssacdoutaawatpacssendenanncateecsacniostancctecessas 90 See 24 NICU IIT Shae US sesreniitrrrikttireres te e KESEDEN APEPRE EEKE EISE EAER DENR EAEE 90 8 2 2 25 NMI PresPayloadLimithist AU 1 6 icasscucsctivccacasriesncssvancacvebsaccaisssonsewebtesxeitemaceeseheons 90 8 2 20 NMT EPLNOdeID REC cisaieseepoesxrbrlusi e oat ae Poeta TEE Gavsieaeieadneuutaaacedotsasewaraiodeataiaaans 91 8 2 2 27 MMT CUEe TID EC sosnndesseseudqn cmd Sq E E PR IEEE E VEL RIS 91 8 2 2 28 NMT CNBasicEthernetTimeout U32 cccccececcccccecececececscscececececescsceseceescscececs 93 8 2 2 29 NMI MultiplCycleAssiqn AUS 1iioissae inei ed ota ERR ES ER e rRo SAP Pa e Ya oed UP LEER VE PI e yEPP e DENS 93 9 22 99 MT RE e md NS oocscecsuestecESEE SPON PIOui E HP ia eme EE bn USO sv OET PEERS 94 9 crdaabumuiuclss t 95 9 1 GOT eld IntormabiOllseser a e ue EEEE E E HR PIRDE ETIN 95 2 COMMMAVCAT eM 95 Nee SONG sane ceca 95 2 nc PS CU CO IN RTT 95 OMG INC SONG CS sss iater care erui ied Riese iE Em RE Vd E Mies Un MMt 95 9 2 Overview of parameters aedes edite ades usi cee aceensasecacaswhiwacedasacadecuianec
11. Length see chapter 9 8 ASCII command structure see chapter 8 2 1 40 Loop Length Offset Value see chapter 9 8 ASCII command structure see chapter 8 2 1 45 Offset Value Pos Type a see chapter 9 8 ASCII command structure 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 Pos Window see chapter 9 8 ASCII command structure see chapter 8 2 1 27 Pos Window Sense of Rotation Read command d see chapter 9 8 ASCII command structure 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 97 of 116 Service protocol 9 3 1 10 9 3 2 9 3 2 1 9 3 2 2 9 3 2 3 9 3 2 4 9 3 2 5 Spindle Pitch see chapter 9 8 ASCII command structure see chapter 8 2 1 30 Spindle Pitch Actuator A Pos see chapter 9 8 ASCII command structure see chapter 8 2 1 21 A Pos V Pos see chapter 9 8 ASCII command structure see chapter 8 2 1 22 V Pos D Pos see chapter 9 8 ASCII command structure see chapter 8 2 1 23 D Pos A Rot see chapter 9 8 ASCII command structure
12. Number 2 EN see chapter 9 8 ASCII command structure see chapter 8 2 1 90 Error Number 2 Error Number 3 303 see chapter 9 8 ASCII command structure see chapter 8 2 1 91 Error Number 3 Error Number 4 I4 see chapter 9 8 ASCII command structure see chapter 8 2 1 92 Error Number 4 Error Number 5 305 0 see chapter 9 8 ASCII command structure see chapter 8 2 1 93 Error Number 5 Error Number 6 i 06 0 see chapter 9 8 ASCII command structure see chapter 8 2 1 94 Error Number 6 Error Number 7 W see chapter 9 8 ASCII command structure see chapter 8 2 1 95 Error Number 7 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 107 of 116 Service protocol 9 3 8 9 9 3 8 10 9 3 8 11 9 4 9 4 1 9 4 2 9 4 3 Error Number 8 308 0 see chapter 9 8 ASCII command structure see chapter 8 2 1 96 Error Number 8 Error Number 9 see chapter 9 8 ASCII command structure see chapter 8 2 1 97 Error Number 9 Error Number 10 Read command J10 no see chapter 9 8 ASCII command structure see chapter 8 2 1 98 Error Number 10 Commands Start travel job see chapter 9 8 ASCII command structure Description Positioning mode start of positioning process to programmed set point Speed mode start of speed mode Start inching mode 1 see chapter 9 8 ASCII command structure only in positioning mode Start inching mode 2 positive travel direction
13. Object 2618h contouring error 4 1 3 Limit switch Two digital inputs must be configured correspondingly if the limit switch function is to be used SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 22 of 116 Functional description 4 1 3 1 Example of limit switch configuration Exemplary configuration for the connection of proximity switches DC PNP NC Digital Input Functionalities State Object 2405h ET Digital Inputs Polarity Digital Input 1 Functionality Bit 0 Digital input 1 i Object 2406h bit 0 1 Object 2401h value 1 S Digital Inputs Polarity Digital Input 2 Functionality Bit 1 Digital input 2 XOR Object 2406h bit 1 1 Object 2402h value 2 Bit 31 Fig 10 Example of limit switch configuration 4 1 3 2 Arrangement of the limit switches The limit switches are arranged according to the following pattern independent of the configured sense of rotation limit switch 2 limit switch 1 Fig 11 Arrangement of the limit switches SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 23 of 116 Calibration 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 Object 260Eh Execute calibration software command or calibration input Calibration can be initiated by writing the value 7 to parameter S Command Object 2CO1h Altern
14. Reduce velocity Output shaft blocked gt Disengage shaft OxOD Power electronic system Not supplied gt Check output stage operating voltage SIN COS monitoring OxOF gt Shield from stray magnetic fields gt Check EMC measures EEPROM queue overrun Internal error 0x13 EEPROM check sum gt Reset parameters to factory settings Ethernet module watchdog gt Internal error Ethernet module in the ERROR status while travel job is active 0x15 Internal error Ethernet module in the EXCEPTION status 0x16 Internal error power on reset necessary Table 1 Error codes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 26 of 116 Ethernet Powerlink 8 Ethernet Powerlink 8 1 Description The actuator is an Ethernet Powerlink Controlled Node CN The Ethernet Powerlink communication profile is based on the DS301 and DS302 CANopen communication profiles 8 1 1 Cyclic data exchange Cyclic process data is exchanged via PDO The actuator supports 1 TPDO and 1 RPDO Mapping is static and cannot be changed 8 1 2 Acyclic data exchange Acyclic data is exchanged via SDO frames 8 1 3 Operating modes and synchronization The actuator is not synchronized 8 2 Directory of objects The actuator uses the following object areas 1000h 1FFFh standard objects according to DS301 2000h 5FFFh manufacturer specific objects 7 7 1009 NWT ManufactHwVes S 78 HOW NNT NanufactSwVers 75 79 1oigh NWT IdentityObje
15. Spindle pitch gt 0 1 100 mm Dee o C N SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 69 of 116 Ethernet Powerlink 8 2 1 80 Actual Rotational Speed Data type INTEGER16 Default NO 8 2 1 81 Serial Number uit Default LEN EEPROM Yes 8 2 1 82 Production Date Dew NS 8 2 1 83 SW Motor Controller w Data type INTEGER32 Default wmo SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 70 of 116 Ethernet Powerlink 8 2 1 84 8 2 1 85 Gear Reduction Object 2AOBh Unit Access Data type INTEGER16 Default System Status Word The system status word consists of 2 bytes and reflects the state of the actuator High Byte Low Byte Bit number 15 14 13 12 11 10 9 8 7 6 5 j4 3 1 JO o fo j 1 jo 1 JO fo j1 JO 1 Jo jo 1 jo Jo fo Fig 15 Structure of the system status word Example gray background binary gt 0010 1001 0100 1000 hex gt 2 9 4 8 ZU System status word T Data type UNSIGNED16 Default EEPROM Description of the bits see Table 9 System status word SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 71 of 116 Ethernet Powerlink The table below informs about the meaning of the individual bits of the system status word ait see Ns pd O Positioning mode In Position Actual position is within the positioning window of the programmed target value Act
16. e LAN see chapter 9 8 ASCII command structure Response format SOW gt SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 103 of 116 Service protocol 9 3 6 11 9 3 6 12 9 3 6 13 9 3 6 14 9 3 6 15 9 3 7 9 3 7 1 Network Type T LN see chapter 9 8 ASCII command structure Response format ECT gt Production Date T AB see chapter 9 8 ASCII command structure Response format DDMMYYYY gt Serial Number is AB see chapter 9 8 ASCII command structure Response format 12345678 gt SW Ethernet Module ia M see chapter 9 8 ASCII command structure Response format 01 02 63 gt SW Motor Controller T Mo see chapter 9 8 ASCII command structure Response format V1 00 gt Digital input output Digital Input 1 Functionality i see chapter 9 8 ASCII command structure see chapter 8 2 1 12 Digital Input 1 Functionality SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 104 of 116 Service protocol 9 3 7 2 Digital Input 2 Functionality see chapter 9 8 ASCII command structure see chapter 8 2 1 13 Digital Input 2 Functionality 9 3 7 3 Digital Input 3 Functionality see chapter 9 8 ASCII command structure see chapter 8 2 1 14 Digital Input 3 Functionality 9 3 7 4 Digital Input 4 Functionality see chapter 9 8 ASCII command structure see chapter 8 2 1 15 Digital Input 4 Functionality 9 3 7 5
17. is No process data exchange Manual setup mode corresponding to inching mode 2 can be started by means of the operator keys This makes it possible to move the actuator without a superordinate control Key Inching mode 2 in e direction Key Inching mode 2 in i direction 2 3 2 DIP switch The DIP switch is only read while the controls operating voltage is switched on Therefore any change takes effect only after power on reset of the control s operating voltage SW1 SW8 Setting of Powerlink Node ID in binary format admissible Node IDs for controlled Nodes CN 1 239 SW9 SW10 No function always off tom jor or o jor jor or of o OOOO on or or ow om jor ov om o o or or om jor or ov 2 3 Digital inputs and outputs The actuator has four configurable 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 function s conditions of the digital inputs can be read in the register Digital Input Functionalities State Object 2405h 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 Outpu
18. mode Inpos Mode see chapter 9 8 ASCII command structure see chapter 8 2 1 39 Inpos Mode Delta Inch see chapter 9 8 ASCII command structure see chapter 8 2 1 34 Delta Inch Inching 2 Acceleration Type see chapter 9 8 ASCII command structure see chapter 8 2 1 44 Inching 2 Acceleration Type Inching 2 Offset see chapter 9 8 ASCII command structure see chapter 8 2 1 43 Inching 2 Offset SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 100 of 116 Service protocol 9 3 4 6 Inching 2 Stop Mode see chapter 9 8 ASCII command structure see chapter 8 2 1 38 Inching 2 Stop Mode 9 3 4 7 LED Functionality see chapter 9 8 ASCII command structure see chapter 8 2 1 7 LED Functionality 9 3 4 8 Service Interface Baud Rate see chapter 9 8 ASCII command structure see chapter 8 2 1 8 Service Interface Baud Rate 9 3 5 Controller parameters 9 3 5 1 Controller Parameter P see chapter 9 8 ASCII command structure see chapter 8 2 1 18 Controller Parameter P 9 3 5 2 Controller Parameter I see chapter 9 8 ASCII command structure see chapter 8 2 1 19 Controller Parameter I 9 3 5 3 Controller Parameter D see chapter 9 8 ASCII command structure see chapter 8 2 1 20 Controller Parameter D SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 101 of 116 Service protocol 9 3 6 Device information 9 3 6 1 Motor Current B0 0 see ch
19. percentage of parameter V Inch Object 2609h Value range 10 100 Default 100 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 56 of 116 Ethernet Powerlink 8 2 1 44 Inching 2 Acceleration Type The acceleration type in Inching operation 2 can be influenced via this parameter ew 0 Static acceleration Acceleration occurs to final speed as defined under parameter A Inch Object 2608h 1 Incremental acceleration Acceleration occurs to final speed as defined under parameter A Inch Object 2608h 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 calibration value offset value Default Oo EEPROM Yes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 57 of 116 Ethernet Powerlink 8 2 1 46 PCM Position 1 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Default oT 8 2 1 47 PCM Position 2 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Dm 0 8 2 1 48 PCM Position 3 Spindle pitch 2 0 Values refer to increments Spindle pitch gt 0 values refer to travel di
20. see chapter 8 2 1 24 A Rot A Inch see chapter 9 8 ASCII command structure see chapter 8 2 1 25 A Inch SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 98 of 116 Service protocol 9 3 2 6 V Inch see chapter 9 8 ASCII command structure see chapter 8 2 1 26 V Inch 9 3 2 7 Gear Ratio Denominator see chapter 9 8 ASCII command structure see chapter 8 2 1 29 Gear Ratio Denominator 9 3 2 8 Gear Ratio Numerator see chapter 9 8 ASCII command structure see chapter 8 2 1 28 Gear Ratio Numerator 9 3 3 Limiting values 9 3 3 1 Software Limit 1 see chapter 9 8 ASCII command structure see chapter 8 2 1 32 Software Limit 1 9 3 3 2 Software Limit 2 see chapter 9 8 ASCII command structure see chapter 8 2 1 33 Software Limit 2 9 3 3 3 Current Limiting see chapter 9 8 ASCII command structure see chapter 8 2 1 42 Current Limiting SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 99 of 116 Service protocol 9 3 3 4 9 3 4 1 9 3 4 2 9 3 4 3 9 3 4 4 9 3 4 5 Contouring Error Limit see chapter 9 8 ASCII command structure see chapter 8 2 1 41 Contouring Error Limit Options Operating Mode LEN see chapter 9 8 ASCII command structure 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
21. 05 15 Page 39 of 116 Ethernet Powerlink Green Operating voltage applied to control No error LED5 Red Operating voltage applied to control flashing Error is active Off Operating voltage of control missing of of Green LED6 LED7 Actuator is within the programmed positioning window Operating voltage of the output stage is applied Actuator is within the programmed positioning window Operating voltage of the output stage missing Green flashing 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 Operating voltage of control missing 0 Digital input 1 inactive Red Error is active flashing Green Digital input 1 active 0 Operating voltage of control missing Digital input 2 inactive Red Error is active flashing Green Digital input 2 active Operating voltage of control missing Digital input 3 inactive 0 Red Error is active flashing 0 Green Digital input 3 active Operating voltage of control missing Digital input 4 inactive Red Error is active flashing LED8 Green Digital input 4 active LED5 LED6 1 LED7 LED8 Off Operating voltage of control missing Table 6 Functionality of the system LEDs ff ff ff ff SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 40 of 116 Et
22. 1 Write and read setpoint 500 ssssssesseesesseseesorsesseseeseesoesossesecscesoesorsesseseeseesesse 114 ore E tidVel TOU ea E E E US N E OP E OPER U ESSE 114 9 8 ASCIL COMEM SUC UE aeaee EE E EEEE ES 114 10 Block didBEdlll cosecesasssvencssaventecsansccsvetanccnacasectesvecsadoiecevivcesieceisacsseuleseancecotecenvenssveinees 116 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 8 of 116 General Information 1 General Information 1 1 Documentation The following documents are associated with this product e Product data sheet describes the technical data the dimensions the pin assignment the accessories and the order key e Installation instructions describe the mechanical and electrical installation with all safety relevant conditions and the associated technical specifications e 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 de de service downloads 2 Display and operating elements 2 1 General Information The drive has various LEDs that indicate the statuses of the drive and of the Ethernet module The operating elements are located below the cover 2 2 Displays Fig 1 Displays SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 9 of 116 Display and operating elements 2 2 1 Ethernet module statuses The LEDs infor
23. 5 Art No 88092 Mod status 305 15 Page 92 of 116 Ethernet Powerlink om Dee o Value range Value range 0 255 ot 8 2 2 28 NMT CNBasicEthernetTimeout U32 on 8 2 2 29 NMT MultiplCycleAssign AU8 FOB Sub index 00h Description Configuration setting for multiplexed slot transfer number of entries Data type UNSIGNED8 Default 254 Value range 1 254 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 93 of 116 Ethernet Powerlink Object 1F9Bh oin cyeleN Data type UNSIGNED8 Default Oo Value range 0 255 8 2 2 30 NMT ResetCmd U8 Object 1F9Eh oon Reset of a node Data type UNSIGNED8 Default 255 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 94 of 116 Service protocol 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 add
24. 8092 Mod status 305 15 Page 60 of 116 Ethernet Powerlink 8 2 1 55 PCM Acceleration 3 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 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 es 1 Value range 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 61 of 116 Ethernet Powerlink 8 2 1 58 PCM Acceleration 6 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 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 es 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092
25. AG25 AG26 Actuator with POWERLINK interface User manual 305 15 Table of contents 1 euer T 9 1 1 Mere Ti Eco NE EEE OE 9 2 Display and operating elements iiec seseexiv aei vs toe esu b 9 is esi o Eo eq agri E959 19009 e aa soe Ye erasa os Seeds 9 2 1 General Thrormiaciolionreoso cavit cia Ped dt van A iod E EE PeS as eM pE vu E Font Ma Ie Sa E E 9 2 2 ESSERE EE TE TE 9 2 2 1 Ethelneb module Statu ES sierto nar aar a eed cms Put md IN PU M PULS 10 PANNE 00 TED E 10 NL EE EL Proin LED c 5 S 10 PNIS SVAN WED To 11 2 2 2 WS SUS ao ccna EE EE E E A RUEOS SIDES E AET P PRA O ICONE OSA SIR CONOCE 11 ALS ES RC CED E e 11 252872885 LEDE O T X X 11 IRL a E S Mc 12 2 3 Operating SIOITIBII S uesssuossentese ue sbUrT TO PUPPI Ur I SUP A PSU UPIIMI SERO raTa apin Nerine S URIS 12 Quo ODerd5u KOUS oomen tun PiSc Erde oer mir ea iveai sa esp IE Uc Ee E E 13 HS NN eT rms 13 3 Digital inputs and OUEDULS ias esi E yas ea ERR E FeEYEN VAe vx EIN anu E2 AR ava Ve PR E EE VETE S va SNP UR AA TUR d eU RO eUs 13 3 1 Examples of digital input CONFIGUIATIONS ceccececscsecececscsecececscsecececscsccecececsceeeecess 14 3 2 Example of digital output CONFIGUIATION ceccececsccecececscsecececscsecececscsccecececseeeesess 15 4 F nctional CESCH
26. Digital Input Functionalities State see chapter 9 8 ASCII command structure see chapter 8 2 1 16 Digital Input Functionalities State 9 3 7 6 Digital Inputs Polarity see chapter 9 8 ASCII command structure see chapter 8 2 1 17 Digital Inputs Polarity 9 3 7 7 Digital Inputs State B5 0 see chapter 9 8 ASCII command structure see chapter 8 2 1 4 Digital Inputs State SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 105 of 116 Service protocol 9 3 7 8 Digital Output 1 Functionality see chapter 9 8 ASCII command structure see chapter 8 2 1 9 Digital Output 1 Functionality 9 3 7 9 Digital Outputs Control see chapter 9 8 ASCII command structure see chapter 8 2 1 1 Digital Outputs Control 9 3 7 10 Digital Output Functionalities State see chapter 9 8 ASCII command structure see chapter 8 2 1 10 Digital Output Functionalities State 9 3 7 11 Digital Outputs Polarity see chapter 9 8 ASCII command structure see chapter 8 2 1 11 Digital Outputs Polarity 9 3 8 Error memory 9 3 8 1 Number of Errors J0 see chapter 9 8 ASCII command structure see chapter 8 2 1 88 Number of Errors 9 3 8 2 Error Number 1 w see chapter 9 8 ASCII command structure see chapter 8 2 1 89 Error Number 1 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 106 of 116 Service protocol 9 3 8 3 9 3 8 4 9 3 8 5 9 3 8 6 9 3 8 7 9 3 8 8 Error
27. EE N E 108 9 4 3 Start inching mode 2 positive travel direction ccccecscsccececscsccececscscsecececsceeees 108 9 4 4 Start inching mode 2 negative travel direction ecce 109 9 4 5 Cancel travel job in positioning mode ccccececscsccecececsccecececsccecececsesecececsceeees 109 OG NOLO SIO 0 NES TT 109 OT AAO ON SO Bea pers se vac cca Soca EE E A E E sue 109 SEA CGD MOLON a EEA A T E EE 109 9 4 9 Factory setting all parameters cscsccececsccecececscsecscecscsecececscsecececscscecesecsceeees 109 9 4 10 Factory setting Standard parameters cccsccececscsecececscsccececscsccececscscecececsceeees 110 9 4 11 Factory setting Controller parameters csccececscsecececscsccececscsccececscsccecececsceeees 110 9 4 12 Acknowledge CrO socescecrteasesacnceamsnacavensagecncdineeaonniegnseacoanssnertanssnssucntanunsecanoereanones 110 DA CAE a E E EEE EE A EEE EEA 110 94 14 DERECE MENO eriseeria Ense EE EE i du RN 110 D SOMWAle RO OE E EEE AT A TE E TEE LUN 110 9 5 VOW CM AMES AAPAN A ET DOTT A E E ON AE 111 9 5 1 Flow chart Operating mode Positioning Mode essssssssessesessesessesescesesorsesessesesees 111 9 5 2 Flow chart Operating mode Speed mode sssessssessesesesseseseesescsesescesesossesoesesersesesees 112 9 6 Eror nomber SHCOOIHO uestaeteteriur Ger nU eI MI TR OF ap DIDI S EDO P PUPIDIPT AP SUCK I TU DUI AR URSI M OVE 113 9 7 EXGIN PICS NETT TT TTE 114 9 7
28. IDUION iive s yeo edere i a eto E epa uos Ure a Po reb eiv a eres d dere v Ese E Ceg e knee auia Seca d Eu 16 4 1 COMEPOL OE SI Rom 16 Al OBePSdgdN HOS asserit vsbesus Porti Sam mesa E EXP UT FrPTI DUE REISK I ve EPUM PEE ene 16 ac Tl POSIEIOMMNG MOU sas cesaccavetessacacsure EAE E E E AE OEE A AA 16 QIJ 11 Loop poon erneer AEE N S AN 18 4 1 1 2 e E E E E DM MP OSES 19 Aee a a ode ieee E R eens 19 1 1 2 2 MEn OE e errre EEE EEE 19 211 5 Rotabela speed INOGCscictstssacvecndonsconsascavonstasceoncsaevoard cagenassasonessesecebateesetocsecuets 19 2211 4 POOE COn EO MO oee EE 20 4 1 1 4 1 Examples of configuration of the digital inputs for the PCM 21 2 117 Currenc IMI EMG sccactenracacencaccstsueedeoseerccasseu sasesausedes E N 22 c MEME E TET 22 4 13 1 Example of imit switch configurations ses suveua vav sue cuc uua ratae o2 PU ed ERE V RRCFUR E EYE onia 23 4 1 3 2 Arrangement of the limit switches cececsecececsccecececsccecececsccecececscsecececsceeees 23 5 oT EDT PRETI ILLI MNT 24 6 iii Mz EMPTUM TIME 24 7 LOEO ES M SUR RTT TOT TEC 25 7 1 WV AWNING s E E EEEE EE EE E EEE EAEE E ETT 25 7 2 ip t 25 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 2 of 116 Pee TAO COS asec n caccc sa cate ana teecennae E 26 8 Ethernet POWGIDIIK cnaciavesoncvecennacesceswaccccsnsactexetoycvecensacsaceswacuecsnsacee
29. Mod status 305 15 Page 62 of 116 Ethernet Powerlink 8 2 1 61 PCM Velocity 2 Object 2963h Positioning mode via digital inputs Velocity 2 w 1 Data type INTEGER16 Default LEM 0 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 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 es 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 63 of 116 Ethernet Powerlink 8 2 1 64 PCM Velocity 5 Object 2966h Positioning mode via digital inputs Velocity 5 1 Data type INTEGER16 Default LEM 0 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 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 es 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
30. NED8 st oO Digital output 1 Reserved always 0 8 2 1 2 Control Word Object 2002h Description Control word Access rw component of process data Data type UNSIGNED16 Value range UNSIGNED16 LEN NN SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 31 of 116 Ethernet Powerlink 8 2 1 2 1 Control word Operating mode Positioning mode master slave Bit 0 0 OFF1 active OFF1 enable Current travel job is canceled The actuator is enabled Bit 1 0 OFF2 active OFF2 max delay Current travel job is canceled The actuator is decelerated with max delay the actuator continues to be controlled Bit 2 0 OFF3 active OFF3 progr delay Current travel job is canceled The actuator is decelerated with prog delay the actuator continues to be controlled 1 OFF3 inactive Bit 3 0 No intermediate stop Intermediate stop 1 intermediate stop active Start travel job Acknowledge error Afterwards the actuator changes to the switch lock state Bit 6 0 No inching mode1 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 over the distance specified in parameter Delta Tipp Xx Inching mode 2 positive 1 inching mode 2 positive The actuator travels in positive direction sra Inching mode 2 negative 1 inching mode 2 negative The actuator travels in negative direction Bit 10 Relative p
31. a type UNSIGNED8 Default Oth a eee s 00000 8 2 2 19 PDL ProgCtrl AU8 on Default 01h a Default Default Oth 8 2 2 20 PDL_LocVerApplSw_REC Object 1F52h oon Number of entries Data type UNSIGNED8 Default 02h SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 88 of 116 Ethernet Powerlink ou Default Default ee om Dee 8 2 2 21 NMT_NodeAssignment_AU32 cr Default FEh Value range Oth FEh beie 0 8 2 2 22 NMT FeatureFlags U32 Object 1F82h ooh Data type UNSIGNED32 Default 0004 8205h SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 89 of 116 Ethernet Powerlink 8 2 2 23 NMT EPLVersion U8 TT Sub index 00h Supported Ethernet Powerlink version Data type UNSIGNED8 Default 20h 8 2 2 24 NMT CurrNMTState U8 oo Dee o 8 2 2 25 NMT PresPayloadLimitList AU16 oo Default 254 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 90 of 116 Ethernet Powerlink 8 2 2 206 NMT_EPLNodeID_REC cr ut Default 02h Object 1F93h oin Data type UNSIGNED8 Default the configured Node ID od Default 01h 8 2 2 27 NMT CycleTiming REC on LEN Default 08h oi SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 91 of 116 Ethernet Powerlink ot o od os Default Value range 36 1490 os SIKO AG25 AG26 Date 11 08 201
32. acseuanoseagelaatsusesoanennpieacronstacciermesceons 99 PELA MEE Kore iu eise di ET T E 100 P DDUON acess 100 OBS Opening MOUBLG coiere vtvse Mie EENE EE DP TES Sd s PosU e sea Geh Fo EE ENEA 100 0 542 MOS MOUS aa srs sere sacred EE d esie Ue oesedela cuu Ie pevR OUS Sea DR OdUS 100 OBA AA TAC RR Em 100 9 3444 Incmng 2 Acceleration TVG recaconccnsecssastrccacesstecncssacsconssniewssassvecucusbinsinetiesasoonense 100 9 5 4040 n 2 O E aee elusditetatoas noon sire utis E ien cUvMI nA dn OPES 100 9 545 0 TCWG S t6D MOG us cadi veta amu xsbr Qd ein tds Voss vus d Esa Tau V coa uad eu o ash asa UID Vre pra dU 101 D o4 7 CED FUNC CHON L snacicceucsesenceasaesusesetneseceneedeasseantesmaseceesantnessceusnenteasecnvalasaeacens 101 9 3 4 8 Service Interface Baud Rate sesesessssesesosessssesesosessesesesoseseesesesoseseesesesoseseeo 101 oS LOTO aC e aa A A E UTOR RIADRUS 101 oar Controller Parameter P baceaescsucenesncescansoatiennondenvecbtasiecieenessesnseatersoudeateusepemecsneas 101 9 542 Controler Parameter Tieres nrn E E E AIEO E2I SEU OEUDI 101 0 3 5 5 Controller Parameter D cciccsscocwstnicasacusssasvotesceasanesoacenieaneceusenasicenoteasoeueseacectntecs 101 D320 Bevice 3nrotifidt Ol ise ccccaconsccce se sactcesresaneuesvericoravacsessavacuapesstatousierecoussncsatsaverucneoss 102 SAN POE owe MSIE mmm 102 9 3 0 2 QU tput Stage TemperatUrE csc costauneeauecicncae seman ven ker aE 102 0 5 0 2 Wattage Ol CONT OL ccnsace
33. alid with factory setting Operating voltage applied to control No fault reen Red flashing Operating voltage applied to control active fault Operating voltage of control missing Status LEDs 6 7 LED statuses valid with factory setting SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 11 of 116 Display and operating elements 2 2 2 3 2 3 Status LED 8 If the actual value is unequal 0 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 O after switching on LED statuses valid with factory setting LED state Green Actuator is within the programmed positioning window Operating voltage of the output stage is applied Green Actuator is within the programmed positioning window flashing Operating voltage of output stage is missing 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 output stage is missing Operating voltage of control missing Operating elements Fig 2 Operating elements SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 12 of 116 Digital inputs and outputs 2 3 1 Operating keys Manual setup operation is only available if there
34. apter 9 8 ASCII command structure see chapter 8 2 1 78 Motor Current 9 3 6 2 Output Stage Temperature Boo see chapter 9 8 ASCII command structure see chapter 8 2 1 74 Output Stage Temperature 9 3 6 3 Voltage of Control r Bor see chapter 9 8 ASCII command structure see chapter 8 2 1 75 Voltage of Control 9 3 6 4 Voltage of Output Stage r Bo2 see chapter 9 8 ASCII command structure see chapter 8 2 1 76 Voltage of Output Stage 9 3 6 5 Voltage of Battery B3 see chapter 9 8 ASCII command structure see chapter 8 2 1 77 Voltage of Battery SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 102 of 116 Service protocol 9 3 6 6 Flag Register Read command Ja see chapter 9 8 ASCII command structure Description X X XX X X X X binary representation of the flag register 76543210 Bit Bit 0 Sense of rotation 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 9 3 6 7 System Status Word Read command R see chapter 9 8 ASCII command structure see chapter 8 2 1 85 System Status Word 9 3 6 8 Device Type io AQ see chapter 9 8 ASCII command structure Response format AG25 gt 9 3 6 9 Gear Reduction m AG see chapter 9 8 ASCII command structure Response format 98 gt 9 3 6 10 Motor Type
35. arameters of Rx PDOs number of entries Data type UNSIGNED8 Default SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 83 of 116 Ethernet Powerlink Object 1600h Mapped Object 002 Data type UNSIGNED64 Default 0020 0010 0000 2003h 8 2 2 13 PDO TxCommParam OOh REC SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 84 of 116 Ethernet Powerlink Object 1800h Oh ro Data type UNSIGNED8 Default 8 2 2 14 PDO_TxMappParam_00h_AU64 Object 1A00h Mapping parameters of TX PDOs number of entries Data type UNSIGNED8 Default 03h 01h ro gh SSCS Sumex on acces dS SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 85 of 116 Ethernet Powerlink 8 2 2 15 DLL CNLossSoC REC t a Dee o os 8 2 2 16 DLL CNCRCError REC Object Data type UNSIGNED8 Default SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 86 of 116 Ethernet Powerlink Object 1COFh oin CumulativeCnt U32 Dee o om L NENNEN ot Default 8 2 2 17 DLL CNLossOfSocTolerance U32 Sub index 00h Description Loss of Soc tolerance interval Data type UNSIGNED32 Default 100 000 ns Value range 0 2147483000 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 87 of 116 Ethernet Powerlink 8 2 2 18 PDL DownloadProgData ADOM Sub index 00h Description Number of entries Access Dat
36. are Limit 2 Object 2610h although the setpoint is within the limiting values 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 traveling to the target value is always from the same direction This travel direction can be determined via parameter Pos Type Object 2613h The loop length is set via parameter Loop Length Object 2617h 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 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 Positioning Loop Loop Length Object 2617h Positioning in positive Positioning in negative direction direction Setpoint 4 Fig 7 Loop positioning SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 18 of 116 Functional description 4 1 1 2 4 1 1 2 1 4 1 1 2 2 4 1 1 3 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 acceleration as well as speed in the inching mode via parameters Inching mode 1 If the Spindle pitch parameter is program
37. aseitsacsenbieeredesepeneate 95 9 3 F Ql CETT UN 96 Dal ua Tn 96 Deel dL GCE V O esos pesante case satt ates dedidit tuns anne oatesesheneenn ve geeseccuued EDIUnUM C ga UP e NIE 96 SNP ACPO T ONT ETT 96 9 3 1 3 Actual Rotational Speed cececsccecececsccecececsccecececscsecececscsececececsccesesecseeeees 96 Ole Paubratroni Valles osse Ran E PPM UT MN MM ENIM d Has 96 Gide Foro SIG UW Rm m 97 PLO OME VUE e E t 97 KLT POS WC e EE EE EE AEEA 97 PaL POS WOW PR 97 PRSE EE i o EMINET 97 9 5 110 SOIC PRECII sese vuesastan iU en Sag in Dad wav CH SN VUES Debe E ss vase MeV ICeD Da DIN DENIM EE RU RN UE 98 JD MEN eu ENT mU 98 SADSONMEE I C 98 ORC MERO Cw 98 Oe WAP OS 98 D ou MASINDESeIIet pides tsi suse see ovat aaeeesaun E IU Pa uses acter checavodeaaaessnetasseunteaeiierstonees 98 Dae Od er H 98 230823 0 4 E EEA E AEAEE E E E 99 9 3 2 Gear Ratio Denomindl Oi sisson cess d expe DAVERF PIRE r EN A a 99 9 3 2 0 Gat RaNo NUMEIALOT ccscivscccaccseriuesrsiwenncrseniaedestapandicsweddetesetoaseauridaiewiuseeavaeeideses 99 PCS MEME ESISTENTE OSTSEE 99 OB SM SOM e aE EE EEE EA EE E EE 99 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 6 of 116 SIKO AG25 AG26 eae SOM WANG IMI T T 99 Daoa CUE E IMS TUER cctoteacacacecocansoiaeteatesnasioe tet de
38. ately 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 Object 260Eh Offset Value Object 261Ch 6 External gear If an external gear is used a factor can be programmed via the parameters Gear Ratio Numerator Object 260Bh and Gear Ratio Denominator Object 260Ch in order to include the gear ratio in position sensing Example see Fig 12 external The actuator is operated on a gear with transmission reduction of 5 1 For this purpose the Gear Ratio Numerator and Gear Ratio Denominator parameters must be programmed as follows Parameter Gear Ratio Numerator 2 5 Parameter Gear Ratio Denominator 1 external 5 revolutions ae IS i 5 1 A 1 revolution A ee Internal gear Gear output Fig 12 external gear SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 24 of 116 Warnings Errors Input of an odd transmission reduction value is possible according to the following example Transmission reduction 3 78 e Parameter Gear Ratio Numerator 378 e Parameter Gear Ratio Denominator 100 7 Warnings Errors 7 1 Warnings Warnings do not influence the operation of th
39. ct REC 79 16208 1030h NWT InterfaceGroup_OOh RC 8l 1400h PD R amp tommPram 0h RD 83 16008 18008 UO PD TeMappParm oon AUG 8 1009h 100Ah 1018h 1020h 1030h 83 1400h 1600h 1800h 1AQ0h 85 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 27 of 116 Ethernet Powerlink HOP DLLeweRcenor eC Lii NMpNodeAsgmmen a032 8 Hs M Featurelags Gp 8 Ho MERWesn Us OOOO o HO WrAmWIe UB 9 Liebh NMT_PresPayloadLimitlist AUG 99 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 28 of 116 Ethernet Powerlink 2928h PCM Position 6 2042h PCM Acceleration 60 2943h RMAxdenton OOOO o 2084h PCM Deceleration 66 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 29 of 116 Ethernet Powerlink 2985h PCM deceleration 2987h PCM Deceleration6 5l 2988h 2h01 2a0at 2n03t 2h04 2n0st 2106 2207 2a0at 2a0ah 2AOAK ZABT 2aoch 210b 240 2801 mo Eror Number OOO mos imrMumer2 OOOO y Hok tmrumer3 OOOO 2805 2806 HO tmrumer OOOO moh tmrume OOOO Boh tmrMumer OOOO 280A 2808 Kwh S mmmd y SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 30 of 116 Ethernet Powerlink 8 2 1 Parameter description of manufacturer specific objects 8 2 1 1 Digital Outputs Control rw component of process data Default No Value range UNSIG
40. e The error message ends with a carriage return lt CR gt 203 No operating authorization active process data exchange with network master SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 113 of 116 Service protocol 9 7 Examples 9 7 1 Write and read setpoint 500 Write command F0 0000500 10 characters Reply gt lt CR gt 2 characters Read command EO 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 9 8 ASCII command structure X read XXXXXXXX gt read XXXXXXX gt read XXXXXXX gt eng i read XXXXX gt 1 2 1 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Device information constants y address XXXXXXXX string Read parameter 3 byte y address XXXXXxx decimal value Write parameter 3 byte y address XXXXXxx decimal value Read parameter 2 byte yy address Xxxxx decimal value write gt X 2 Write parameter 2 byte yy address Xxxxx decimal value write gt X 2 Cancel travel job in positioning mode read Oxhh gt X Error memory yy address hh hexadecimal value wit write gt X 2 Type of positioning x decimal value write gt x 2 Start travel job gt x 2 Starttraveljob 0 0 Mod status 305 15 Page 114 of 116 Service protocol IN awrite gt x fe Motorstop fast 0 awrite gt x z oo
41. e 52 of 116 Ethernet Powerlink 8 2 1 36 Pos Type Loop positioning is executed in the positioning mode only Operating mode Speed mode Irrelevant Operating mode Positioning mode Type of positioning Direct traveling from actual position to target value Loop Traveling to the target value occurs always in positive direction to compensate for spindle play Loop Traveling to the target value occurs always in negative direction to compensate for spindle play Dee o Value range 0 direct 1 loop 2 loop 8 2 1 37 Operating Mode acces tw Dei 0 LEE rw EEPROM Yes Value range 0 positioning mode 1 speed mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 53 of 116 Ethernet Powerlink 8 2 1 38 Inching 2 Stop Mode The delay ramp in Inching operation 2 can be influenced via this parameter Default Oo 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 D 0 Operating mode Speed mode Irrelevant Operating mode Positioning mode Permanent positioning regulation to setpoint Position control Off and short circuit of the motor windings Position control Off and drive enable SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 54 of 116 Ethernet Powerlink 8 2 1 40 Loop Length This parameter determ
42. e actuator Warnings disappear after removing the cause Possible warnings e Battery voltage for absolute encoder is below limit exchange battery within the next 6 months e 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 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 The cause of error can be tracked down with the help of the error codes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 25 of 116 Warnings Errors 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 Low battery voltage 0x06 gt Empty battery replace battery gt Bonding error check battery bonding gt Wrong battery type inserted insert correct battery type 0x07 Low voltage of control electronic system gt Check control operating voltage 0x08 Overvoltage of control electronic system gt Check control operating voltage 0x09 Overvoltage of power electronic system gt Check output stage operating voltage Output stage excess temperature OxOA gt Reduce ambient temperature gt Reduce load Contouring error gt Reduce load SAU gt Reduce acceleration gt
43. e 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 inputs PCM input 1 to 3 in binary addressing Travel data set 0 does not exist SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 20 of 116 Functional description 4 1 1 4 1 Examples of configuration of the digital inputs for the PCM e Digital input 1 PCM Start high active e Digital input 2 PCM input 1 high active e Digital input 3 PCM input 2 high active e Digital input 4 PCM input 3 high active Digital Input Functionalities State Object 2405h Digital Input 1 Functionality Object 2401h value 8 Digital Inputs Polarity Object 2406h bit 0 0 Digital input 1 XOR Bit 7 Digital Input 2 Functionality Bit 8 Object 2402h value 9 Digital Inputs Polarity Digital input 2 XOR Object 2406h bit 1 0 Digital Inputs Polarity Digital Input 3 Functionality Bit 9 Digital input 3 AN Object 2406h bit 2 0 Object 2403h value 10 Digital Inputs Polarity Digital Input 4 Functionality Bit 10 Digital input 4 XOR Object 2406h bit 3 0 Object 2404h value 11 Bit 31 Fig 9 Examples of configuration of the digital inputs for the PCM Example of the parameter set of travel data set No 3 Parameter PCM Position 3 PCM Acceleratio
44. e logics low active l0 Digital output 1 polarity Not assigned SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 42 of 116 Ethernet Powerlink 8 2 1 12 8 2 1 13 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 Dee 0 General use No function is assigned to the digital input mI 6 anome err OO 8 mse oo 9 fronin E Table 7 Configuration of digital inputs 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 Object 2402h Input 2 functionality wt 0 Description see Table 7 Configuration of digital inputs SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 43 of 116 Ethernet Powerlink 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 Object 2403h Input 3 functionality Dee 0 Description see Table 7 Config
45. eeees 105 9 3 7 5 Digital Input Functionalities State 4 ioescowe idv ver ap Vas ER EET Yee 2E ER Co Y OE e sag ea YE PEE XXE OPE gas 105 9 3 7 6 Digital Inputs Polarity cccscscsccececececececececscscscsesececececececscecesecscsescseeeees 105 D oda DIU TOUTS SEU a E E E A 105 9 3 7 8 Digital Output 1 Flnetrorallbyucceesseokeesvesv sues esuldsusedut ves a va era S Gia oU aae a FERE ERN E eva ads 106 9 5 7 9 DLU COU OLoeidoen Er Pob a ad ese viu deoa em easi ean ebd an Feo dUS 106 9 3 7 10 Digital Output Functionalties State essneves eodera doses Vus UE P2 S EPeS es C Fu ESO au eari 106 9 3 7 11 Digital Outputs Polay Sucesuie suot tos added E nueP nonsen iania OS erm aprenda ora ue Riods 106 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 7 of 116 JA EE SUPUESTO TT S mmn 106 9 9o0 1 NUDO OI EIOS eese toT aire eRSed Tod elusditetatoasnhtot sere o tisd orici estat nnseaspiasaronetncsengeieas 106 sme M EN Und EIU T TETTE 106 O37 SUR Ur mmm 107 Spo ENO NUDE 3 vacsoaconcaaese cstaescecastaansnaveseatoasa ces vance EAE A OEA EEA 107 Deo ENO NUME A ac cree opere vs souavierd E E E AN 107 DS EAO NUDE S RTT 107 DoS ENO NUME Corri rai e E E E Ee T 107 0 9 8 0 ERON NUBE Joerres 107 Oo ENO EMU 0 ware erener EE EE E LE EE TEE 108 Do0 Enor UM E 108 O38 EAO NODS O EE EE A m 108 9 4 COA MOT EEEE E saccrsesteonauacsseees 108 o KA Start travel 10D P A S EE E AA N PEA A AA A EEHECUUdDS 108 92 Start Ana ode ese AE E E
46. esesusenseuenteaneniecacaruenence 50 Caora on Va GC sooo erue tina rib E E ne EPiaUePivdesi Tek vius help Regn eM 50 SOTtWSESSDIHIE T E A E A D TESI qeavenatenensaiee A E PX PUR TRO 51 SOME ALC IMIG RT m 51 BIS aPC RR Tn 52 BMS O ROCO na E TTE 52 zog see 53 oper ang MOUGS o sce viesr Tm net eeiacudio E E eheu Ree OI Fonte ed RS HN SEC hM MESES 53 PEMA 2 SED MOUG 2c oessURsa ei E e tetdsu nein Rad ni Geist dace nonet eT UPSRE Cd PINE 54 MPO MOUG acu decade E Ree TEQUE ona HoSDISu EE E Po TERRE EO EIE TE ERIR 54 EG OSI ono P RT 55 COMCOUMME EON RTT OTT 55 CURE T EVM GO uaaseia peres Urso SE E 56 EMIO ULNIS P 56 Iching 2 Acceleration TYDE canacpsansonavcevserccsavsavanstscuscolausaneugeevataciausasanetesacesonsenes 57 Oe Va enere E E E EA E 57 POM PO HIM UT 58 EM POO eE E E E EE 58 POMPO ION TT 58 PUM FOSON CUT 59 PUMPOSI E A TE OE TA EA 59 PUM POON O oaa A A A E T E A N A 59 PEMP O ME aeae aE E EE OE E EAE AE M 60 PCM ACC EO Te E A EE E sauseucesavacteceesac 60 RUM ACCO ENTON E eere er EE ESEE EEEE 60 POM AC CIEN NT TT Tm 61 FEM AG CIEI ON ra EE E 61 PUM ACCSIGIIEION 9 vazacancennsnsanvenrescounsonacatecrscecennaiasaeadiaaccsoces sauvacrsceveonecavenyese ce 61 POM AC EBERT TETUER 62 POM twee 62 d uR uds M 62 POM T rein E dE 63 PENN ELOI dio ERNEUT RT 63 PEM T nan P TC HE
47. guration e Digital output 1 Inpos high active Digital Output Functionalities State Object 2302h Bit 31 Digital Output 1 Functionality Digital Outputs Polarity Object 2301h value 2 AOR Object 2303h Bit 0 0 Digital output 1 Fig 4 Example of digital output configuration SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 15 of 116 Functional description 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 mode and via the service interface 4 1 1 Operating modes The following operating modes are distinguished positioning mode and speed mode In the positioning 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 operating mode chosen 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 velocity Upon activation of the travel order the actuator accelerates to the specified speed with the acceleration programmed The measure of delay to the setpo
48. hernet Powerlink 8 2 1 8 8 2 1 9 Service Interface Baud Rate 0 3 Value range 0 19 2 Kbit s 1 57 6 Kbit s 2 115 2 Kbit s 3 9 6 Kbit s 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 wi o General use Control of the digital output is directly via BIT DO1 in the process data Fault The output is switched active in case of fault 1 gt 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 41 of 116 Ethernet Powerlink 8 2 1 10 8 2 1 11 Digital Output Functionalities State The functional states that can be assigned to the digital output can be read from this register Dee Ny 0 RM N Error 0 No error 1 Error active 1 Inpos 0 actual value outside the positioning window 1 actual value inside the positioning window 2 Output on The bit is permanently set Not assigned 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 Dee 0 Value of the assigned bits 0 positive logics high active 1 negativ
49. in limits only positioning mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 72 of 116 Ethernet Powerlink Battery voltage Battery voltage lt 2 6 V Battery voltage OK Current limiting Current limiting active Current limiting not active Positioning mode Status Positioning active in positioning mode Positioning inactive Speed mode Status Enable target speed Target speed disabled 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 Object ii Data type INTEGER16 Default SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 73 of 116 Ethernet Powerlink 8 2 1 87 Device ID ZU uit Dee NS 0 RM EEPROM Yes 1 AG25 2 AG26 8 2 1 88 Number of Errors C Dee e C N 8 2 1 89 Error Number 1 wooo p dt No 7 mM EEPROM Yes 8 2 1 90 Error Number 2 uit SSS Data type UNSIGNED8 Default LEN EEPROM Yes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 74 of 116 Ethernet Powerlink 8 2 1 91 Error Number 3 2804 w Dee e C EEPROM Yes 8 2 1 92 Error Number 4 w Default No EEPROM Yes 8 2 1 93 Er
50. ines the loop length for the loop and loop positioning types 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 Default 360 EEPROM Yes 8 2 1 41 Contouring Error Limit Upon starting a travel job the ramp generator generates target position values 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 regulation deviation as small as possible Disturbance variables such as load or friction can disable the drive s following the position values The control deviation contouring error will increase steadily If the 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 in increments Object 2618h Contouring error limit SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 55 of 116 Ethernet Powerlink 8 2 1 42 Current Limiting This parameter determines the setting for limiting the motor current The values are indicated as percentage of Nominal current Default 110 EEPROM Yes Value range 8 2 1 43 Inching 2 Offset The inching speed in Inching operation 2 can be influenced via this parameter The values are indicated as
51. int is defined by the parameter A Pos Object 2604h as well Alternately a value deviating from acceleration can be chosen for delay by means of parameter D Pos Object 2606h Changing controller parameters during a positioning process does not influence the current positioning operation Velocity V Pos Object 2605h A Pos Object 2604h a A Pos D Pos Object 2604h Object 2606h Start position Fig 5 Ramp travel direct positioning mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 16 of 116 Functional description The status word indicates whether the actual position is within the window defined by parameter Pos Window Object 260Ah You can define the behavior of the actuator upon reaching the programmed window via parameter Inpos Mode Object 2616h Travel range Software Limit 2 Software Limit 1 Travel range Lower limit Object 2610h Object 260Fh Upper limit Pos Window Object 260Ah Inpos Mode Object 2616h Fig 6 Positioning mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 17 of 116 Functional description The max travel range depends on gear 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 a loop positioning would exceed the limiting values specified by parameters Software Limit 1 Object 260Fh and Softw
52. ion 5 Yes Low Value range 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 Yes Tus Value range 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 67 of 116 Ethernet Powerlink 8 2 1 73 PCM Deceleration 7 Yes Low Value range 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 LN NN RM N 8 2 1 75 Voltage of Control Object 2A02h Operating voltage of control Rb Np 0 eprom Np SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 68 of 116 Ethernet Powerlink 8 2 1 76 Voltage of Output Stage Data type INTEGER16 Default Noo 8 2 1 77 Voltage of Battery Default No 8 2 1 78 Motor Current wi NOS RM o 8 2 1 79 Actual Position Object 2A06h Actual position Unit Spindle pitch 0 Increments
53. itional 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 gt Carriage Return lt CR gt The responses to read commands contain return values in addition Length and format of the response are defined unchangeably 9 2 Overview of parameters Chapter starting with page Peso OOS 989 Limiting values CNN 7 CNN SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 95 of 116 Service protocol Chapter starting with page 9 3 Parameters 9 3 1 Positioning 9 3 1 1 Target Value see chapter 9 8 ASCII command structure see chapter 8 2 1 3 Target Value 9 3 1 2 Actual Position see chapter 9 8 ASCII command structure Description Decimal format see chapter 8 2 1 79 Actual Position see chapter 9 8 ASCII command structure Description Binary format see chapter 8 2 1 79 Actual Position 9 3 1 3 Actual Rotational Speed yd see chapter 9 8 ASCII command structure see chapter 8 2 1 80 Actual Rotational Speed 9 3 1 4 Calibration Value see chapter 9 8 ASCII command structure see chapter 8 2 1 31 Calibration Value SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 96 of 116 Service protocol 9 3 1 5 9 3 1 6 9 3 1 7 9 3 1 8 9 3 1 9 Loop
54. m about the status of the Ethernet module The Ethernet module LEDs function are permanently defined and cannot be changed Link Activity LED Port 2 Link Activity LED Port 1 2 2 1 1 ERROR LED 1 No error or No operating voltage A Non fatal error has occurred if the STATUS LED is Not red A fatal error has occurred if the STATUS LED is red 2 2 1 2 Link Activity LED 2 3 No connection or No operating voltage Connection detected No activity Green flickering Connection detected activity SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 10 of 116 Display and operating elements 2 2 1 3 2 2 2 2 2 2 1 2 2 2 2 STATUS LED 4 No error or No operating voltage Green quickly No Powerlink traffic detected flashing Green flashing NMT CS PRE OPERATIONAL 1 1x Only asynchronous data Green flashing NMT CS PRE OPERTIOANL 2 2X Asynchronous and synchronous data No PDO data Green flashing NMT CS READY TO OPERATE 3x Ready to operate Green NMT CS OPERATIONAL In operation PDO data is sent and received Green slowly Module stopped e g for controlled shutdown flashing No PDO data Rd A fatal event has occurred if the ERROR LED is also red a 50 ms On 50 ms Off b 200 ms On 200 ms Off Drive status In factory setting the LEDs inform about the drive s status The function of the drive status LEDs can be configured Status LED 5 LED statuses v
55. med 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 Object 2611h 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 A 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 e Supply voltage of the output stage is applied e Operation enabled e Drive stands still Inching mode 2 The actuator travels from the actual 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 Object 2609h 10 rpm can only be changed in the idle state Inching 2 Offset 2 85 9o 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
56. n 3 PCM Velocity 3 PCM Deceleration 3 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 21 of 116 Functional description After applying the coding to the inputs the desired travel job can be started by a positive slope on the PCM Start input Resetting the PCM Start input during an active positioning process will result in cancelation of the travel job but the drive will continue to be controlled An example of calling travel data set No 3 is shown below Step 1 Create number of travel data set PCM Start PCM input 1 PCM input 2 PCM input 3 Step 2 Start the positioning job PCM Start PCM input 1 PCM input 2 PCM input 3 4 1 2 Current limiting Measuring the supply current cannot indicate the actual motor 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 Object 2619h which serves primarily for protecting the drive against overload With the default set the Nominal torque indicated on the product data sheet is achieved Drive 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 parameter Contouring Error Limit
57. ncrements 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 Default oo EEPROM Yes Value range 0 1000000 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 Default OO EEPROM Yes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 50 of 116 Ethernet Powerlink 8 2 1 32 8 2 1 33 Software Limit 1 Operating mode 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 Operating mode Speed mode Irrelevant Operating mode 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 Software Limit 2 Operating mode Positioning mode Software limi
58. nenencessennacsesesoaceceens 27 8 1 DES CPD ENO Ms cscacansacceevencacorsceccsstenestcmsaenedcuesboracacesacacataseucsaanucien is eocecosenssccutaeancouauens 27 Gl uu OcuadidexchdlltBioesssestasess Enesi ate bepiFeceunt AEE ciat iN van UN NERONE 27 S 1 2 AVe Gala OX CNS cesissvenetes nivea QUII Sa ke T Ia cried ave d e t dI ead n TURON DEN EIETUS 27 8 1 3 Operating modes and synchronization cececsccececscsccececscsccececscsccecececsccecececsceeees 27 8 2 DIRE CHONY wr ODIGCUS uossosssandon oe od Is2 02 UPIU3 S oO IW CRUHI SEIEN GIF RNUP oM II LOU DDR ODNESEREEEUNE 27 8 2 1 Parameter description of manufacturer specific objects ecce 31 Godd DIG ial OUMU CONTO censteceanvasonasincedeceanueoucetsselaciausecertsanciecuveussecoueuetadiancutesteent 31 5 2 2 ono WONG E E ciwiceaueccaaeesocucoceuenccateunasesaesadcurseosucerseecsastevewinesaeie 31 8 2 1 2 1 Control word Operating mode Positioning mode master slave 32 8 2 1 2 2 Flow chart Operating mode Positioning MOE csceecececsccecececscsecececsceeees 33 8 2 1 2 3 Control word Speed mode ivre ctos oia itor sd us ava XetaswuqE Sa DXEAd OR UUERd Po rUEEEM UE CK IRIS 34 p 2 12 5 FLOW Speca IMOUG acces coxa daro ea ER VE PIE IR VIR M Cad adag mx E DER ET SRM 35 9 2 1 3 LoraBt y dlll8 Lies E I E S E E A E 36 Sea Da EU SEO UO a E E E EON bone Sa ERO SR 36 o LS a NO T a E EE A E E OA AE EEE ses 36 8 2 1 5 1 Status word Positioning mode slave
59. o 88092 Mod status 305 15 Page 109 of 116 Service protocol 9 4 10 Factory setting Standard parameters Command S11101 see chapter 9 8 ASCII command structure Description Reset only standard parameters to factory settings 9 4 11 Factory setting Controller parameters Command 11102 see chapter 9 8 ASCII command structure Description Reset only controller parameters to factory settings 9 4 12 Acknowledge error Command 11103 see chapter 9 8 ASCII command structure Description Acknowledge error 9 4 13 Calibrate Command 11104 see chapter 9 8 ASCII command structure Description Calibrate actuator 9 4 14 Delete error memory Command 11105 see chapter 9 8 ASCII command structure Description Deleting of the error memory 9 4 15 Software Reset Command see chapter 9 8 ASCII command structure Description Execute software reset SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 110 of 116 Service protocol 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 BM zabranie torr Status word Bit 8 1 Read status word Acknowledge error R command 511103 command Operation enabled SW 000x 0000 x000 x000 Inching job active Send setpoint SW x0xx 1000 0001 0000 FO command Inching job finished Start positioning SW 000x
60. orrespond 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 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 48 of 116 Ethernet Powerlink 8 2 1 26 8 2 1 27 8 2 1 28 V Inch 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 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 in 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 Default EEPROM Value range Gear Ratio Numerator A transmission factor can be programmed here when an external gear unit is used Object 260Bh Numerator transmission ratio SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 49 of 116 Ethernet Powerlink 8 2 1 29 8 2 1 30 8 2 1 31 Gear Ratio Denominator A transmission factor can be programmed here when an external gear unit is used Default EEPROM Yes Spindle Pitch Spindle pitch 0 The position value is output in i
61. ositioning Table 2 Control word of positioning mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 32 of 116 Ethernet Powerlink 8 2 1 2 2 Flow chart Operating mode Positioning mode CW Control word Start x bit can be 0 or 1 Acknowledge error CW 5 1 Supply voltage On Switch lock Disengage switch lock OFF1 CW 0 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Inching 1 2 On CW 0000 0000 0100 0111 or CW 0000 0000 1000 0111 or Enable operation Ganesh travel sob CW 0000 0001 0000 0111 CW 0000 0000 0000 0111 Operation enabled SW 0000 x001 00x0 xxx1 Inching 1 2 active SW 000x x001 00x1 0001 Ready for traveling CW 0000 0000 0000 0111 Activate travel job oo Travel job finished CW 0000 0000 0001 0111 Active travel job SW 000x x101 01x1 0001 Intermediate stop CW 3 1 Continue positioning CW 3 0 Intermediate stop active SW 0000 x101 01x0 0011 Fig 13 Flow chart of positioning mode of Ethernet Powerlink SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 33 of 116 Ethernet Powerlink 8 2 1 2 3 Control word Speed mode Bit 0 0 OFF1 active OFF1 enable Current travel job is canceled The actuator is enabled Bit 1 0 OFF2 active OFF2 max delay Current travel job is canceled The actuator is decelerated with max delay the actuator continues to be controlled Bit 2 0 OFF3 active OFF3
62. pindle pitch gt 0 Indicated as 1 100 mm Speed mode Target speed volatile indicated as min rw component of process data Default Noo Digital Inputs State ro component of process data Default LIEN st o State of digitalinputa Status Word Object 2102h ro component of process data Data type UNSIGNED16 Default mooo SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 36 of 116 Ethernet Powerlink 8 2 1 5 1 Status word Positioning mode slave master Bit 0 0 output stage supply voltage missing Supply 1 supply voltage of the output stage is applied Bit 1 0 Not ready to travel upper limit lower limit Bit 4 Inpos Bit 6 0 No active travel job Active travel job 1 active travel job Bit 7 Fault 1 error Acknowledgment with positive slope on control word bit 5 Operation enabled Bit 9 Switch lock Bit 10 Travel job 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 Bit 11 Battery warning 1 battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Current limiting 1 current limiting active Motor current exceeds the value set under parameter Current Limiting Object 2619h Table 4 Status word of positioning mode SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 37 of 116 Ethernet Powerlink
63. r cccocesssesetecsacaanswanss esas a Uva tA REVISE Par ERUIT IDE NUPVTH EE RF EXER TUE 46 8 2120 Controller Parameter Di scccstectaesusecssiosotoceninceseceseuaseaeanheseceeeuatesswacucasenesdtecsarsenecanions 47 NIA E i auras E E N A E ae E A E E E antes 47 NRI 47 ANNAM e 48 SNL EE R MT 48 208 POLES 48 Cee NA ONE E IMTTEPTT 40 B 2 L27 POS WNION orerar aeea EEEE EE EE cde UU NERA RE dI PEU iles a FUNK ONUS 49 G2 129 Gear Ratio NuUmMErd O mssecentavestc eeann rae eras dud a sai IIS TUS PEN MIO rU E UE 49 8 2 1 29 Gear Ratio DENOMINAtOL ccccecscscsccscecscsccececscsecececscsceecececsceeeececsceseecessceeees 50 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 3 of 116 8 2 1 30 8 2 1 31 8 2 1 3 8 2 1 33 8 2 1 34 8 2 1 35 8 2 1 36 8 2 1 37 8 2 1 38 8 2 1 39 8 2 1 40 8 2 1 41 8 2 1 42 8 2 1 43 8 2 1 44 8 2 1 45 8 2 1 46 8 2 1 47 8 2 1 48 8 2 1 49 8 2 1 50 8 2 1 51 8 2 1 5 8 2 1 53 8 2 1 54 8 2 1 55 8 2 1 56 8 2 1 57 8 2 1 58 8 2 1 59 8 2 1 60 8 2 1 61 8 2 1 62 8 2 1 63 8 2 1 64 8 2 1 65 8 2 1 66 8 2 1 67 8 2 1 68 8 2 1 69 8 2 1 70 8 2 1 71 8 2 1 7 8 2 1 73 SIKO AG25 AG26 SIGNS PIPC cess rerrnitsiea eiae Uu aaa UPN furto o TIPS cacesbiac
64. ror Number 5 w Dee e RM EEPROM 8 2 1 94 Error Number 6 wo Data type UNSIGNED8 Default No o EEPROM Yes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 75 of 116 Ethernet Powerlink 8 2 1 95 Error Number 7 2808 w Dee e C EEPROM Yes 8 2 1 96 Error Number 8 L EMEN Default No EEPROM Yes 8 2 1 97 Error Number 9 wo Dee e RM EEPROM 8 2 1 98 Error Number 10 uit Data type UNSIGNED8 Default mooo EEPROM Yes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 76 of 116 Ethernet Powerlink 8 2 1 99 8 2 2 8 2 2 1 8 2 2 2 S Command C ataye Dert C Data type UNSIGNED8 Default Noo 6 reseter 000000 8 DMMeemrmmoy S Standard objects parameter description NMT_DeviceType_U32 o 0000 0000h no profile ERR ErrorRegister U8 Sub index 00h Description Error register Data type UNSIGNED8 Default 00h SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 77 of 116 Ethernet Powerlink 8 2 2 3 NMT_CycleLen_U32 100 Sub index 00h Subindex 200 2147483 ps 8 2 2 4 NMT ManufactDevName VS oo 8 2 2 5 NMT ManufactHwVers VS 1009 Sub index 00h Description Hardware version Data type VISIBLE_STRING Default Current hardware version format HW_1 00 Access const SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod sta
65. rstop P we gt x 2 fable motor 1 read Oxhh gt X Flag Register hh hexadecimal value 1 read Oxhhll X System status word hh hexadecimal value High byte l hexadecimal value Low byte SXXXXX write System command XXXXX code M Ii i of rotation p decimal value mE Lm mE Read parameter 4 byte bbbb binary value in the Big Endian format read XXXX gt Actual rotational speed XxXxx decimal value with arithmetical sign read bbbb Position value in binary format bbbb binary value in the Big Endian format ae et Operating mode y decimal value LL Start of inching mode 1 Z 1 read XXXXXXX gt _ X 10 Position value XXXxXxxx decimal value 2C 1 write Start of inching mode 2 positive travel direction 2E 1 write Start of inching mode 2 negative travel direction SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 115 of 116 10 Block diagram Ethernet Ethernet module Digital I 0 reverse Control UB polarity Power Control Protection pack reverse UB polarity Output stage Encoder Output Protection Fig 18 Block diagram
66. scdc irat esu IP one rita mx operan Uem Ue ossodela Mus Pa A Seu URP 102 S368 Votade OF OUI SLAE cisesooaio3Ei2v URDU a 990975 09 00000090 9909 090 0 59 90 0E OP OdSS 102 OBO VOMAGe Of Babel uosavuesese qu odesiuni tite sad Urs M ved uU TAE QU EUM E UPTPTPROKU DEDI 102 O60 SE rm TT 103 05 0 7 SV SCCM Sta bus VOU ostensae ia tan iaieu a rto diexiei Ma bet E 103 DECERNIMUS 103 9 3 5 9 edi REG UCN orosei EE EE EEEE E sn a Np ROPA IER NOE eR SR EAR 103 NRI eM c HS 103 OAs INCL e MER PDT 104 0 2 612 Production Dal asensepntonnic d ronge en EEA APR TEUNT PEORES M EUNDI SR DET ENFUSDEUA 104 SEO OWENS I M UIDI NET m 104 o 9 014 SW Ethernet Module oo etu Pa iieiaeie REA Sero exer duda nisi IR I Prreni nu EUNT RES CU OUE 104 9 2 0 15 SW Motor BORED BI ocacccacnoacoams cancun 108p 0 serian Ias ORA PSDUFUITITUUPIN RO Id eM nO SPU n KI NUS 104 9 5 7 DIG MALU OU OU a sceciido vates vatem sin canc uae Pens riae rerUsd sap enses oc Cuse ae Hansen coumeveaenmesae 104 9 3 7 1 Digital Input 1 Functional cinsisesscscsnevacssscecscsdsascsieasscnssesasssecsavicacsedesrsacsebosnnss 104 9 5 7 2 Digital Input 2 FUNCTIONAULY csmsssnccwscinacwaseceaneausconsieaennssssnetbaseaanreadecvesanceasseseneese 105 9 5 7 0 Digital Input TODCHONSUEU vsssnssectitcusnercscuncaanessseensweyanetecwasncssincusncdcncsaeaeseceseets 105 9 3 7 4 Digital Input 4 Functionality cccccecececececececscscsesececececececececececscscseses
67. sesesuteiesssen drape UENS Er E Er uad dpi su eie tested rT 79 8 2 2 8 CFM VenfyconfiguraHon REC vevsssacnatonscasonestaceccannsesevateaoniinascasonnsiesnccanseseusnsesnets 80 8 2 2 9 NMI InterfaceGroup 00h REG ctccsnesateuseosancvsnausnrsaceasesabuctateusoncanssamaicinessersinenoenaes 81 8 2 0 10 SDO SequbaverTimeout 32 cssscsenssavssscedasavavdsinncden bank EN AEAEE EE 83 8 2 2 11 PDO RxCommParam 00N REC sscsivscassonsasvadioievessouseavasduienutsencesvsdveresasaesswiweadoreouia 83 8 2 2 12 PDO_RXMappParam_00h_AU64 sssssessesessesesessesessesessesescesescssescesesossesoesesorseseesese 83 8221 PDU TxContiPatam OOM REC wessvexssenneacasewesuesanencavedessnncnenaucususecasesinesenssancseeceins 84 8 2 2 14 PDO TxMappParam 00 AUG 4 sscsdscntsracacestsawacwdawaredeevncatensansencssbenesandawavecesanesscens 85 Bec DEL CNES SOG Mee ae ras ate caste casas se Em 86 Bice LO DEL CNURCEITOE OREL EEEE EE EE E E E S CIS saseseuessteewnicaune sanawemassien sais 86 8 2 2 17 DLL CNLossOfSocTolerance UW 32 sesenta s pupa a aka Ryan a Ra ea a A Lap eU ER Yo ar dara n kia axs 87 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 5 of 116 8 2 2 18 PDL DoywntoadProgData ADOM iissersacwnssntonsvesniesncssvancacdebsaccatsnsonseusotesueiiemncsesehions 88 82 219 PDE Prod MO AS cosnrsced anaeaoacanios acd staeauswnaetdedcatu taageanesantswuutaas entpieacncactaodieamescesine 88 9 0 2 200 PDL LOCE POSON REC sensio ra rE r EEE EEEE E reese 88
68. stance in 1 100 mm Wem e DM 0 ve rw EEPROM Yes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 58 of 116 Ethernet Powerlink 8 2 1 49 PCM Position 4 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Default oT 8 2 1 50 PCM Position 5 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Do 0 7 8 2 1 51 PCM Position 6 Spindle pitch 2 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Wee 0 m 000000000 DM 0 ve rw EEPROM Yes SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 59 of 116 Ethernet Powerlink 8 2 1 52 8 2 1 53 8 2 1 54 PCM Position 7 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Object 2928h Positioning mode via digital inputs Position 7 weie p PCM Acceleration 1 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 PCM Acceleration 2 es 1 Value range 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 SIKO AG25 AG26 Date 11 08 2015 Art No 8
69. t Functionalities State Object 2302h SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 13 of 116 Digital inputs and outputs 3 1 Examples of digital input configurations The following configuration deviates from the factory setting and requires parameterization by the user e Digital input 1 Limit switch 1 low active proximity switch DC PNP NC e Digital input 2 Limit switch 2 low active proximity switch DC PNP NC e Digital input 3 Inching mode 2 positive travel direction high active pushbutton e Digital input 4 Inching mode 2 negative travel direction high active pushbutton Digital Input Functionalities State Object 2405h Digital Inputs Polarity Object 2406h bit 0 1 Digital Input 1 Functionality Digital input 1 AOR Object 2401h value 1 Bit 0 Digital Inputs Polarity Object 2406h bit 1 1 Digital Input 2 Functionality Digital input 2 ut Object 2402h value 2 Bit 1 Digital Inputs Polarity Object 2406h bit 2 0 Digital Input 3 Functionality Object 2403h value 3 gt lt e A Digital input 3 Bit 2 Digital Inputs Polarity Object 2406h bit 3 0 Digital Input 4 Functionality Object 2404h value 4 gt lt e A Digital input 4 Bit 3 Bit 31 Fig 3 Examples of digital input configurations SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 14 of 116 Digital inputs and outputs 3 2 Example of digital output confi
70. t 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 Operating mode Speed mode Irrelevant Operating mode 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 Object 2610h Default 19999 EEPROM Yes Value range 9999999 9999999 Data type INTEGER32 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 51 of 116 Ethernet Powerlink 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 Object 2611h Travel distance inching mode 1 8 2 1 35 Sense of Rotation With shaft rotating counter clockwise view on the output shaft 1 sense of rotation positive counting direction e sense of rotation negative counting direction Default oo EEPROM Yes Value range 0 i sense of rotation cw 1 e sense of rotation ccw SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Pag
71. ting modes Controller Parameter I This setting applies to all operating modes acces e rw Default SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 46 of 116 Ethernet Powerlink 8 2 1 20 Controller Parameter D This setting applies to all operating modes Object 2603h D gain of controller acess m 0 0T rw wb 0 8 2 1 21 A Pos 1 Value range 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 22 V Pos Object 2605h Maximum speed in the positioning mode 1 Data type INTEGER16 Default LEE 0 Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 gt max 15 rpm SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 47 of 116 Ethernet Powerlink 8 2 1 23 D Pos 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 1 Value range 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 es 1 Value range 100 100 c
72. tus 305 15 Page 78 of 116 Ethernet Powerlink 8 2 2 6 NMT ManufactSwVers VS 100A Sub index 00h Suin 8 2 2 7 NMT_IdentityObject_REC cr od a on o SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 79 of 116 Ethernet Powerlink abject od Data type UNSIGNED32 Default Serial number of the device 8 2 2 8 CFM VerifyConfiguration REC on od ou Data type UNSIGNED32 Default oO Value range O FFFF FFFFh od Do 0 SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 80 of 116 Ethernet Powerlink 8 2 2 9 NMT_InterfaceGroup_OOh_REC 1630 Hh o 0 9h 1030 Object 1030h InterfaceDescription VSTR Data type VISIBLE STRING194 Default Depending on the current hardware version Hg o 04h 16308 Sume on SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 81 of 116 Ethernet Powerlink os os n Data type UNSIGNED8 Default 01h o Default 01h Object 1030h os LEN Valera Default Oth SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 82 of 116 Ethernet Powerlink 8 2 2 10 SDO SequLayerTimeout U32 15006 Sub index 00h Subsindex Value range Value range 100 FFFF FFFFh 8 2 2 11 PDO RxCommParam OOh REC oo Default 02h a Default 00h od t Default 00h 8 2 2 12 PDO RXMappParam OOh AU64 Object 1600h ooh Mapping p
73. ual position is outside the positioning window of the programmed target value Speed mode In Position Actual speed is inside the specified tolerance window of target speed Actual speed is outside the specified tolerance window Actuator travels Actuator travels Drive stands still rotational speed lt 2 rpm Bit 5 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 Operating mode Positioning mode irrelevant Bit 6 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 Driver state Motor is enabled Motor in control Error Actuator has switched to error The cause of the error must be removed and acknowledged No error present Bit 9 Positioning mode Loop travel If travel direction unequal start direction with loop travel If travel direction equal start direction 0 Positioning mode irrelevant Output stage supply voltage No voltage no traveling possible Voltage applied 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 with
74. uration 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 from the Digital Input Functionalities State register s fw eee o rw es Description see Table 7 Configuration of digital inputs SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 44 of 116 Ethernet Powerlink 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 2405 Dee Ny 0 RM N fo jUmtmRh 0000 6 Inching moet C 9 MMmug O 31 Not assigned Table 8 States of the digital inputs SIKO AG25 AG26 Date 11 08 2015 Art No 88092 Mod status 305 15 Page 45 of 116 Ethernet Powerlink 8 2 1 17 8 2 1 18 8 2 1 19 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 Default Oo Value of the assigned bit 0 positive logics high active 1 negative logics low active Digital input 1 polarity Digital input 2 polarity Digital input 3 polarity Digital input 4 polarity Not assigned o Controller Parameter P This setting applies to all opera

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