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1. Para meter Name Access Format Description No 1013 dec Sense of rotation read word PWE 0 i sense of rotation 3F5 hex write PWE 1 e sense of rotation meaning see chapter 7 gt parameter no 18 1014 dec Pos type read word PWE 0 direct 3F6 hex write PWE 1 loop PWE 2 loop meaning see chapter 7 gt parameter no 19 1015 dec reserved 3F7 hex 1016 dec upper limit read Double Value range 9999999 9999999 3F8 hex write word __ meaning see chapter 7 gt parameter no 15 1017 dec lower limit read Double Value range 9999999 9999999 SF9 hex write word __ meaning see chapter 7 gt parameter no 16 1018 dec Calibration value read Double Value range 999999 999999 3FA hex write word for the meaning refer to see chapter 7 gt parameter no 14 and chapter 3 Calibration 1019 dec Delta Inch read Double Value range 1000000 1000000 3FB hex write word __ meaning see chapter 7 gt parameter no 17 1020 dec System read word System status word of the AGO4B SFC hex status word for the meaning of the individual bits refer to chapter 2 1 System status word 1021 dec Stop mode read word PWE 0 Inch2 stop with maximum delay 3FD hex Inch2 write PWE 1 Inch2 stop with pre programmed delay meaning see chapter 7 gt parameter no 25 1022 dec Inpos mode read word Without optional spring loaded brake SFE h
2. 2 9 4 8 Fig 1 System status word format Example grey background binary 0010 1001 0100 1000 hex gt 2 9 4 8 Date 09 07 2015 Page 3o0f 35 Art No 84940 Mod status 251 15 AG04B intelligente Weg und Winkelmess Systeme The table below informs about the meaning of the individual bits of the status word Bit State Description Bit 0 Positioning mode Limit switch 1 1 Limit switch 1 active Traveling is only possible in the limit switch 2 directions via inching mode 0 Limit switch 1 inactive 0 Rotational speed mode no significance Bit 1 Positioning mode Limit switch 2 1 Limit switch 2 active Traveling is only possible in the limit switch 1 direction via inching mode 0 Limit switch 2 inactive 0 Rotational speed mode no significance Bit 2 0 no meaning Bit 3 Positioning mode In position T Actual position is within the positioning window of the programmed target value 0 Actual position is beyond the positioning window of the programmed target value Velocity mode In position T Actual velocity is within the specified tolerance window of the target speed 0 Actual speed is outside the specified tolerance window Bit 4 Drive travels 1 Drive travels 0 Drive stands still velocity lt 2 rev min Bit 5 Positioning mode upper limit 1 Actual position is above the programmed limit Travell
3. Date 09 07 2015 Page 26 of 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme 8 5 6 Flow chart Operating mode Velocity mode Fault Start EE Means change from JL 0 to 1 and back l I Means change from Operating voltage On Achnowledge fault LI 1 to 0 and Aa STW 0000 0000 0000 0000 STW 7 FL X Bit be 0 or 1 Leys ek Ready to run Turn on disabled ZSW 0011 111x x01x 0011 ZSW 6 1 Enable operating N OFF 1 STW 0000 0000 0000 1011 STWO L J Operating enabled ZSW x011 111x x011 0111 Ready to travel ZSW 1011 111x x011 0111 J d Enable target value STW 0000 0000 0100 1011 Change starget value Travelling STW 0000 0000 0100 1011 ZSW 00x1 111x x011 0111 Disable target value STW 0000 0000 0000 1011 Fig 14 Flow chart Velocity mode AGO4B Date 09 07 2015 Page 27 of 35 Art No 84940 Mod status 251 15 8 6 Parameterization via Profibus intelligente Weg und Winkelmess Systeme A parameter number is assigned to every parameter of the AGO4B that serves to read out or change the parameters by means of the PKW mechanism see chapter 8 4 2 PKW Changes of the parameters are stored in the non volatile EEPROM If the Profibus master sends illegal values to the AGO4B this results in an error message see Table 10 Erro
4. must be interpreted as well Date 09 07 2015 Page 18 of 35 Art No 84940 Mod status 251 15 8 4 2 2 8 4 2 3 intelligente Weg und Winkelmess Systeme Job identification master gt slave Reply identification i E Function possible answers from slave positive negative 0 No job 0 1 Request parameter value 1or2 2 Change parameter value word 1 3 Change parameter value double word 2 4 Request description element 3 7or8 5 Change description element 3 6 Request parameter value array 4or5 7 Change parameter value array word 4 8 Change parameter value double word 5 9 Request number of array elements 6 Table 8 Job identification The right column Reply identification refers to the replies from the slave see table 9 Reply identification In the normal case there is a positive reply in case of a fault the reply is negative Reply identification slave gt master Reply identification Function No reply Parameter value transferred word Parameter value transferred double word Description element transferred Parameter value transferred array word Parameter value transferred array double word Number of array elements transferred Job cannot be executed No authorization for PKW interface Table 9 Reply identification 00 NI O1 AIIN O Parameter number master gt slave slave gt m
5. Fig 8 PPO setup PKW Parameter identification value PKE Parameter identification IND Index PWE Parameter value PZD1 3 Process data 1 3 STW Control word ZSW Status word HSW Main target value HIW Main actual value LSW lowest value data word MSW highest value data word Parameter identification value PKW Parameter processing in cyclic data traffic is executed via the PKW portion of the PPO Here the master formulates a job and sends it to the slave The master repeats the job until the slave has processed the job and given its reply The slave makes available the reply until the master formulates a new job Only one job can be processed at the same time Parameter identification PKE The parameter identification PKE consists of a data word in which the type of the job reply and the associated parameter number has been coded The parameter identification is made up as follows PKE Parameter identification 15 114 13 12 11 10 9 8 7 6 5 4 3 2 1 JO AK SPM Parameter number PNU Fig 9 PKE setup AK Job or reply identification respectively SPM Toggle bit for spontaneous message gt function not implemented status does not matter PNU Parameter number Job reply processing is defined in such a way that the content of the job identification field determines which fields of the PKW interface index and or parameter value PWE
6. Target speed Disable operation Disable setpoint or setpoint 0 SC Acceleration a Rot parameter Target value released Stop Time Fig 5 Ramp velocity mode The following conditions must be met for enabling start of velocity mode via the M command of the standard protocol e The AGO4B must not be switched to fault system status word bit 8 0 e no active travel job present system status word bit 14 0 e Enable input activated system status word bit 10 04 If these conditions are met this will be signalled in the system status word by bit 11 0 ii Limit switches as well as upper and lower limits are inactivated in this operating mode Torque deactivation A deactivation threshold is defined via the torque deactivation parameter see chapter 7 Parameter description gt Parameter No 29 Percent values are entered Torque deactivation is disabled with a parameter value of 125 The drive will decelerate with maximum delay when the deactivation threshold is exceeded CO ll Active torque deactivation causes no error Active torque deactivation is returned via bit 7 1 in parameter 1031 ge general status register This bit will be automatically reset when the current travel order is resumed CO ll This function is only available in the positioning mode Date 09 07 2015 Page 9of 35 Art No 84940 Mod status 251 15 2 4 AG04B intelligente W
7. 0 stop with maximum delay Stop mode 1 stop with pre programmed delay parameter no 8 Profibus chapter 8 6 parameter no 1021 dec 26 Inpos mode 0 1 2 Operating mode positioning mode without spring loaded brake option The drive s behaviour upon reaching the positioning window can be determined by this parameter Inpos mode 0 position control to setpoint value Inpos mode 1 position control OFF and short circuit of motor windings Inpos mode 2 position control OFF and release of drive with spring loaded brake option no significance Velocity mode no meaning Profibus chapter 8 6 parameter no 1022 dec AG04B Date 09 07 2015 Page 150f 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Selection Nr Name i value Default Description 27 Loop length 0 10000 512 Positioning mode Indicates the loop length in increments Rotational speed mode no significance Profibus chapter 8 6 Parameter no 1023 dec 28 Contouring 1 10000 400 Contouring error limit error limit Exceeding of the contouring error limit is signaled by the system status word bit 15 1 Profibus chapter 8 6 Parameter no 1024 dec 29 Torque 20 125 125 Operating mode positioning mode deactivation This parameter determines the threshold of torque deactivation Percent values are to be entered Value 125 Torque deactivation disabled Velocity mo
8. 8 Profibus address setup The Profibus subscriber addresses can only be set via DIP switches After removing the housing lid the 12 pin DIP switch will be visible The slave address is entered via switches 1 7 in binary format The setting of address 127 is internally set into address 126 This is illustrated in the following table SW1 SW2 SW3 SW4 SW5 SW6 SW7 set slave 2 2 27 2 24 2 2 address OFF OFF OFF OFF OFF OFF OFF 0 ON OFF OFF OFF OFF OFF OFF 1 OFF ON OFF OFF OFF OFF OFF 2 ON ON OFF OFF OFF OFF OFF 3 OFF OFF ON ON ON ON ON 124 ON OFF ON ON ON ON ON 125 OFF ON ON ON ON ON ON 126 ON ON ON ON ON ON ON 126 AG04B Date 09 07 2015 Page 24 of 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme gf S a ii The DIP switch settings are only read when the supply voltage is switched on Changing the slave address during operation has no effect 8 9 Profibus bus terminator The internal bus terminator can be activated via DIP switches 11 12 SW11 SW12 Bus terminator OFF OFF deactivated ON ON active Q It should be noted that both DIP switches are always required for correct Il function of bus termination 8 10 Device data base and configuration For the AG04B a device database file GSD named SIKOOB8C GSD has been created This file can be included in the device library by means of th
9. AGO4B can be read out via this parameter e g 0101he means version 1 01 AG04B Date 09 07 2015 Page 28 of 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Para meter Name Access Format Description No 970 dec Load parameter write word PWE 1 Set all parameters to default values 3CA hex data record bus address is not changed PWE 2 Set standard parameters to default value see chapter 7 Parameter description Controller parameters are maintained PWE 3 Set controller parameters to factory settings Standard parameters are maintained PWE 4 Delete fault counter and fault buffer PWE 5 calibrate the AGO4B PWE is set to zero after successful execution for default values refer to chapter 7 Parameter description In deviation from the definition in chapter 8 4 2 1 Parameter identification PKE the command Change parameter value word job identifier 2 is acknowledged by the response identifier 2 Transfer parameter value double word 1000 dec Controller read word _ Value range 1 500 3E8 hex parameter write meaning see chapter 7 gt parameter no 1 P 1001 dec Controller read word _ Value range 1 500 3E9 hex parameter write meaning see chapter 7 gt parameter no 1 1002 dec Controller read word Value range 0 500 3EA hex parameter write meaning see
10. On u STW 0000 0001 0000 1011 lt Inching 1 2 active Inching Off D ZSW 0x0x 1x1x x011 0111 sw 0000 0000 0000 1011 ER ZSW xx1x 1x11 x011 0111 intelligente Weg und Winkelmess Systeme Flow chart Operating mode Positioning mode Start STW 0000 0000 0000 0000 l Operating voltage On Ready to run ZSW 0x1x 1x11 x01x 0011 Enable operation D sT W 0000 0000 0000 1011 Operation enabled Ready to travel Fault ZSW 3 1 Acknowledge fault STW 7 I J Turn on disabled ZSW 6 1 Travel job completed or stop STW 4 0 Intermediate stop STW 5 0 Fig 13 Flow chart Positioning mod AG04B Date 09 07 2015 ZSW 101x 1x11 x011 0111 Activate travel job STW 0000 0000 0011 1011 C STW6 S or L Travel job active ZSW 000x 1x1x x011 0111 Travel job inactive ZSW 101x 1x11 x011 0111 Page 24 of 35 Art No 84940 Start positioning u STW5 1 Mod status 251 15 intelligente Weg und Winkelmess Systeme 8 5 4 Control word Velocity mode master slave AG04B Designation acc to Bit Value PROFIDRIVE AGO4B description 0 1 ON OFF 1 not active operational condition 0 OFF 1 OFF 1 Cancellation of trav
11. always from the same direction The travel direction can be defined via the parameter no 19 Pos Art Loop length is configured via parameter no 27 loop length see chapter 7 parameter description Example Assumption The direction of travelling for reaching any target position is positive see chapter 7 Parameter no 19 Pos Art loop Loop length is 512 increments see chapter 7 Parameter no 27 loop length 512 e Case 1 new position is greater than actual position Direct travel to target position e Case 2 new position is smaller than actual position The AGO4B travels back by half a revolution bit 9 in the system status word signals travel direction unequal start direction afterwards travelling to the target value is in positive direction Date 09 07 2015 Page Gol 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Positioning Loop 800 increments lt gt Positioning in positive direction Positioning in positive direction Target value Fig 3 Loop positioning 2 2 1 2 Inching operation Inching operation is enabled in the Positioning mode only Acceleration and speed in the inching operation can be programmed via parameter no 8 a Inch and parameter no 9 v Inch 1 There is no compensation for spindle play loop positioning in this travel type There are three options for travelling with i
12. date in cyclic traffic not readable Table 10 Error numbers with reply Process data PZD In the process data portion all information is transferred which is exchanged in normal cyclic travelling operation i e control commands target values from master to drive or status word respectively actual values from drive to master Due to the two operating modes of the AGO4B positioning mode and velocity mode there are different meanings for individual parameters The process data portion is set up as follows Data transfer master gt slave PZD target value high word low word Fig 10 Process data master gt slave STW Control word STW For a description of the control word in positioning mode refer to chapter 8 5 1 For a description of the control word in velocity mode refer to chapter 8 5 4 Target value The target value consists of 4 bytes and has a different meaning depending on the operating mode e Positioning mode Target value contains the target position applicable to the next travelling job The value must be in the range of the pre programmed limiting values see chapter 8 6 Parameterization parameter nos 1016 1017 e Velocity mode Target value contains the target velocity value in rev min Date 09 07 2015 Page 20 of 35 Art No 84940 Mod status 251 15 8 5 8 5 1 AG04B intelligente Weg und Winkelmess Systeme gg S E Data transfer slave gt master PZD actu
13. master upon inquiry Slaves are called passive stations The AGO4B is operated on the Profibus DP as a slave passive bus station and can therefore acknowledge messages or send data only upon inquiry from the master AG04B Date 09 07 2015 Page 160f 35 Art No 84940 Mod status 251 15 8 3 8 4 8 4 1 AG04B intelligente Weg und Winkelmess Systeme The AG04B automatically recognizes the baud rate of the Profibus DP The master uniformly sets the baud rate for all devices connected to the Profibus The AGO4B supports the following baud rates e 9 6 kBd 19 2 kBd 93 75 kBd 187 5 kBd 500 kBd 1 5 MBd 3 MBd 6 MBd 12 MBd Line length Baud rate in kbit s 9 6 19 2 93 75 187 5 500 1500 3000 6000 12000 Line length in m 1200 1200 1200 1000 400 200 100 100 100 Table 7 Line length Termination of the Profibus DP line If the AGO4B is at the end of the bus the Profibus connection must be terminated using a defined bus terminator In the AGO4B this is accomplished via an internal resistor combination that can be connected via DIP switches SW9 SW10 see chapter 8 9 Profibus bus terminator Data exchange The flow charts control functions and status messages as well as the type of cyclic data traffic between master and AGO4B slave are based on the processes and data structures defined in the document Profibus profile for adjustable speed drives PROFIDRIVE
14. present see chapter 2 1 system status word bit 15 0 Lag error 9 1 Guide required Not supported statically on 1 0 On site operation 10 1 Target position reached The absolute position value is at the end of a travel job in the positioning window 0 Outside target position 11 1 Reference point set Function not implemented because it is an absolute 0 No reference point set System statically on 7 1 12 Edge Acknowledgement of Edge acknowledges that a new positioning job was 0 1 target value taken over 1 0 13 1 Drive stands still Signals standstill in case of intermediate stop and stop 0 Drive travels Travel job is executed 14 1 Limiting value for Position limiting value exceeded in positive or position exceeded negative direction Travelling possible only via inching operation 0 Within position limit Position value is within pre programmed limiting values 15 1 ready to travel AGDO4B is ready to travel if operation has been enabled ZSW 2 1 e Enable input activated e no limits have been exceeded e no fault is active e no current positioning is active e no limit switch is active 0 not ready to travel AGO04B is not ready to travel Table 12 Status word Positioning mode Date 09 07 2015 Page 23 0f 35 Art No 84940 Mod status 251 15 8 5 3 Means change from Ti 0 to 1 and back Means change from u 1 to 0 and back A Bit may be 0 or 1 Oo x000 0010 0000 1011 Inching 1 2
15. 100 mm e g spindle with a pitch of 2 mm gt spindle pitch parameter 200 Profibus chapter 8 6 parameter no 1012 dec Calibration value 999999 to 999999 Calibration value Writing a value in this parameter results in the take over of this value as the absolute position for the AGO4B Caution Value must be within the range of the preprogrammed limiting values Profibus chapter 8 6 parameter no 1018 dec Upper Limit 9999999 to 9999999 100000 Positioning mode upper limit specifies the maximum position in positive direction Spindle pitch 0 Information refers to increments Spindle pitch 0 Information refers to travelling distance in 1 100 mm If the AGO4B is beyond this limit travelling is only possible in negative direction via inching operation Caution Value must be greater than lower limit Limit monitoring is deactivated if upper limit is equal lower limit Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded Velocity mode no meaning Profibus chapter 8 6 parameter no 1016 dec Lower Limit 9999999 to 9999999 100000 Positioning mode lower limit specifies the maximum position in negative direction Spindle pitch 0 Information refers to increments Spindle pitch 0 Information refers to travelling distance in 1 100 mm If the AGO4B is beyond this limit travelling is only possible in positi
16. 2 off 10 is not supported 14 15 1 AGO4B specific negative travel direction with inching operation 2 0 AGO4B specific positive travel direction with inching operation 2 Table 11 Control word Positioning mode 8 5 2 Status word Positioning mode slave gt master Bit Value ne fo AGO4B description 0 1 Ready to turn on Supply voltage for motor and electronics unit applied 0 Not ready to turn on 1 1 Ready Identical with bit 0 0 Not ready 2 1 Operation enabled Positioning operation enabled 0 Operation disabled Positioning operation disabled 3 1 Error Drive faulty and therefore out of operation turn on disabled after acknowledgement and successful fault correction Error code in fault buffer 0 Faultless 4 1 No OFF 2 No pending OFF 2 command 0 OFF 2 OFF 2 command pending Date 09 07 2015 Art No 84940 Mod status 251 15 AG04B Page 22 of 35 AG04B intelligente Weg und Winkelmess Systeme Designation acc to Bit Value PROFIDRIVE AGO4B description 5 1 No OFF 3 Not implemented 0 OFF 3 Statically on 1 6 1 Turn on disabled Restart only via OFF 1 with subsequent On 0 Turn on not disabled 7 1 Warning Drive still in operation no acknowledgement required Warnings see chapter 6 1 0 No warning No pending warning or warning has disappeared 8 1 No lag error No lag error
17. age 21 of 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Bit Value gece ell to AGO4B description 0 Disable operation Operation disabled Motor decelerates with maximum deceleration and assumes ready to run state Motor remains in control state 4 1 Operating condition for Must continuously be pending for travel job positioning Activation of travelling job via edge on bit 6 0 Stop Drive decelerates with maximum deceleration Current positioning job is discarded Motor remains in control state 5 1 Operating condition for Must continuously be pending for executing a travel positioning job 0 Intermediate stop Drive decelerates from an active travel job with pre programmed deceleration to n 0 and comes to a standstill with a stop torque The travel job is not discarded The travel job is continued after changing to bit 5 1 6 Edge Activate travel job Each edge enables a new travel job with the current 0 1 target value 1 0 7 1 Acknowledge Acknowledge fault Turning on of the AG04B will be disabled 0 no meaning 8 1 Inching 1 On Condition Operation is enabled and no active positioning process Drive travels once by delta Inch target value 0 Inching 1 Off Inching 1 off 9 1 Inching 2 On Condition Operation is enabled and no active positioning process Drive travels until Inching 2 is OFF Direction depends on bit 15 0 Inching 2 Off Inching
18. al value high word low word Fig 11 Process data slave master ZSW Status word ZSW Description Positioning mode see chapter 8 5 2 Velocity mode see chapter 8 5 5 Actual value The actual value consists of 4 bytes and has a different meaning depending on the operating mode e Positioning mode The actual value contains the actual position value e Velocity mode The actual value contains the actual velocity Functional description of the control units The control and status words are represented as follows high byte low byte bit number 15 14 13 12 11 1019 8 716 5 4 312 1 0 0 0 1 0 1 0 0 1 0 1 0 0 1 0 040 2 9 4 8 Fig 12 Representation of control and status words Example grey background binary gt 0010 1001 0100 1000 hex gt 2 9 4 8 Control word in positioning mode master gt slave Bit Value poe tae to AGO4B description 0 1 ON OFF 1 not active operational condition 0 OFF 1 OFF 1 cancellation of positioning job motor enabled ready to run state release from turn on interlock 1 1 Operating condition _ OFF 2 not active 0 OFF 2 OFF 2 cancellation of positioning job motor enabled ready to run state 2 1 Operating condition Not implemented 0 OFF 3 must be statically set to 0 3 1 Operation enabled Enable operation Date 09 07 2015 P
19. aster This field contains the number of the parameter whose data is transferred in the Parameter Value PWE field Sub index IND This field contains the array sub index in the case of jobs and replies that refer to array elements Parameter value PWE This field contains the numerical value of the parameter present in the Parameter Number PNU see chapter 8 6 Parameterization gt table 15 The PWE transfer of word sizes is realized with word 4 of the PPO transfer of double word sizes is realized with word 3 and word 4 of the PPO see fig 8 PPO setup In the case of non executable jobs the slave replies with an error number as described in the table below Date 09 07 2015 Art No 84940 Mod status 251 15 AG04B Page 19 of 35 8 4 3 AG04B intelligente Weg und Winkelmess Systeme No Meaning 0 illegal parameter number 1 parameter value cannot be changed 2 upper or lower limit exceeded 3 faulty sub index 4 no array 5 wrong data type 6 no setting permitted only resettable 7 description element cannot be changed 8 PPO Write required in IR not available 9 description data not available 10 wrong access group 11 no authorization 12 wrong password 13 text in cyclic traffic not readable 14 name in cyclic traffic not readable 15 no text array available 16 PPO is missing 17 job cannot be executed due to operating state 18 other error 19
20. ation disabled Velocity mode disabled 3 1 Error Drive faulty and therefore out of operation turn on disabled after acknowledgement and successful error correction Error code in fault buffer 0 Faultless 4 1 no OFF 2 No pending OFF 2 command 0 OFF 2 OFF 2 command pending 5 1 no OFF 3 Not implemented 0 OFF 3 statically on 1 6 1 Turn on disabled Restart only via OFF 1 with subsequent On 0 Turn on not disabled 7 1 Warning Drive still in operation no acknowledgement required Warnings see chapter 6 1 0 No warning Drive still in operation no acknowledgement required 8 1 Monitoring of Actual velocity is within the velocity window of the required actual values target velocity within tolerance range 0 Monitoring of required actual values outside tolerance range 9 1 Guide required Not supported statically on 1 0 On site operation 10 1 f or n reached Not supported statically on 1 0 Below f orn 11 Device specific Not supported statically on 1 and 12 13 1 Drive stands still Signals standstill at stop 0 drive travels Drive shaft rotates 14 Device specific Not supported statically on 1 15 1 ready to travel AGO04B is ready to travel if e operation has been enabled ZWS 2 1 e no fault is active e Enable input activated e _ velocity mode is not active STW 6 0 0 not ready to travel AGO4B is not ready to travel Table 14 Status word Velocity mode AG04B
21. chapter 7 gt parameter no 3 D 1003 dec a Pos read word Value range 0 100 3EB hex write meaning see chapter 7 gt parameter no 4 1004 dec v Pos read word Value range gear ratio 30 6 1 1 160 3EC hex write gear ratio 50 0 1 1 100 gear ratio 70 8 1 gt 1 70 meaning see chapter 7 gt parameter no 5 1005 dec a Rot read word _ Value range 0 100 SED hex write meaning see chapter 7 gt parameter no 6 1006 dec reserved 3EE hex 1007 dec a Inch read word Value range 0 100 SEF hex write meaning see chapter 7 gt parameter no 8 1008 dec v Inch read word Value range 3FO hex write gear ratio 30 6 1 gt 1 160 gear ratio 50 0 1 1 100 gear ratio 70 8 1 gt 1 70 meaning see chapter 7 gt parameter no 9 1009 dec Pos Window read word Value range 0 1000 3F1 hex write meaning see chapter 7 gt parameter no 10 1010 dec Numerator read word _ Value range 1 10000 SF2 hex write meaning see chapter 7 gt parameter no 11 1011 dec Denominator read word _ Value range 1 10000 3F3 hex write meaning see chapter 7 gt parameter no 12 1012 dec Spindle pitch read word Value range 0 1000 3F4 hex write meaning see chapter 7 gt parameter no 13 AG04B Date 09 07 2015 Page 29 of 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme
22. de no meaning Profibus chapter 8 6 parameter no 1032 dec 30 Travel against 0 7500 O Operating mode positioning mode load With spring brake option Trigger value 0 Travel against load function disabled 1 7500 With start of positioning the brake will not be released unless the motor current has exceeded the threshold set Indication is in mA Without spring brake option no meaning Velocity mode no meaning Profibus chapter 8 6 parameter no 1037 dec 31 Travel against 0 1 0 Indication of the sense of rotation where the Travel load against load function is to be effective Direction 0 positive sense of rotation 1 negative sense of rotation Profibus chapter 8 6 parameter no 1038 dec Table 6 Parameter description 8 Communication via Profibus DP 8 1 General remarks This chapter describes the activation and parameterization of the AGO4B via Profibus interface For the pin assignment of the Profibus interface please refer to the Installation instruction 8 2 Interface Profibus DP is an international standardized open fieldbus standard and is defined in the standards e European Fieldbus Standard EN50170 e DIN 19245 parts 1 and 3 The fieldbus is used for cyclic data exchange between a master and the subordinate slaves e Masters determine data traffic on the bus and are called active stations e Slaves can only acknowledge received messages or transfer messages to the
23. deactivation Bit 5 6 8 15 not used Bit x 1 active Bit x 0 inactive 1032 dez Torque read word Value range 20 125 408 hex deactivation write meaning see chapter 7 gt parameter no 29 1033 gez Serial number read Double Reading the serial number 409 hex word 1037 gez Travel against read word Value range 0 7500 40D hex load write meaning see chapter 7 gt parameter no 30 Trigger value 1038 gez Travel against read word Value range 0 1 40E hex load write meaning see chapter 7 gt parameter no 31 Direction Table 15 Parameter description 8 6 1 Example read parameter The parameter Calibration value is to be read out Determination of parameter identification PKE consisting of AK SPM PNU 1 Determination of job identification AK Job identification request parameter value 1 see table 8 Job identification 2 Determination of parameter number Parameter number calibration value 1018 3FA see table 15 3 SPM 0 gt PKE 13FA Parameter identification for the example Read parameter PKE Parameter identification Bit 15 14 12 11 110 918 7 6 5 4 3 211 0 Designation AK SPM Parameter number PNU Binary value O 0 1 0 0 1 141 717 77 771 1 1 07 17 0 Hex value 1 3 F A Determination of the parameter identification value PKW 1 Determination of parameter identificati
24. e configuration tool used e g COM PROFIBUS of the Siemens company for the procedure to be applied please refer to the documentation of the configuration tool AGO4B Date 09 07 2015 Page 350f 35 Art No 84940 Mod status 251 15
25. e table 2 Error codes The error buffer is stored in the EEPROM and can be deleted via Profibus Parameter 970 gez Error codes The following table lists possible error causes Value error Blink code red Status LED Error description buffer ASCII HEX A 41h blinking 1 time supply voltage too low B 42h blinking 2 times blocked drive shaft C 43h blinking 3 times motor current too high D 44h blinking 4 times output stage temperature too high E 45h blinking 5 times error when reading the absolute position F 46h blinking 6 times internal error G 47h blinking 7 times intermediate circuit voltage too high Table 2 Error codes Parameter description This chapter describes the parameters of the AGO4B All parameters are stored in the non volatile EEPROM except for parameter 24 target value Controller parameters Nr Name Ee Default Description 1 Controller 1 500 100 P gain of controller parameter valid for all operating modes positioning mode velocity P mode inching operation Profibus chapter 8 6 parameter no 1000 dec 2 Controller 0 500 5 I gain of controller parameter valid for all operating modes positioning mode velocity mode inching operation Profibus chapter 8 6 parameter no 1001 dec Date 09 07 2015 Page 120f 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Nr Name Selection va
26. ee eege eege 17 TELEGRAM SETUP DATA EXCHANGE uunssssssssnnnnnnennnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnennnnannnnnnn nennen 17 8 4 1 Parameter Process Data ODiect 17 8 4 2 Parameter identification value DR 18 8 4 2 1 Parameter identification DREI 18 8 4 2 2 le tele E CR EE 19 8 4 2 3 Parameter Value P WE vxcc cccccctincecteeecvecceneddccgeetevesdeses decketusved ANEA Araia ANER A EE AE 19 64 3 Process E RETTEN 20 FUNCTIONAL DESCRIPTION OF THE CONTROL UNITS cccccccccceseceeeceeeeeseceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneees 21 8 5 1 Control word in positioning mode master gt sl vel 21 8 5 2 Status word Positioning mode slave gt maeier 22 8 5 3 Flow chart Operating mode Positioning mode 24 8 5 4 Control word Velocity mode master gt slave sssesssssenesinesenerneerreernnrrnernnernnrennreenne 25 8 5 5 Status word Velocity mode slave gt maeierl 26 8 5 6 Flow chart Operating mode Velocity mode 27 PARAMETERIZATION VIA PROFIBUS cccccccccccececececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneneees 28 8 6 1 Example read TEE 31 8 6 2 Example Write parameter ue 32 Re die TEE 33 PROFIBUS ADDRESS SETUP cccesscecessceeneeeeeeceseneeesnaeensaceseeaesaaaneneeeqacesaaaesnaneneaeeseeeeeseneaeens 34 PROFIBUS BUS TERMINATOR EEN 35 DEVICE DATA BASE AND CONEIGURATION en 35 AG04B Date 09 07 2015 Page 2of 35 Art No 84940 Mod status 251 15 1 1 1 1 2 2 1 AG04B i
27. eg und Winkelmess Systeme SIKO Travel start against load ii This function is only available with the spring brake option Starting travel against a load results in temporary deflection of the axis against the direction of movement when opening the brake since the motor wasn t able to develop torque yet This effect can be counteracted via the Travel start against load function Using this function the spring brake will be released only after exceeding a trigger value of motor current see chapter 7 Parameter description gt Parameter no 30 Thus the motor can develop torque already before opening the brake The Travel start direction against load parameter see chapter 7 Parameter description gt Parameter no 31 defines the travel direction where the function is intended to be active z If activated the Travel start against load function is only available in inching ll operation 1 inching operation 2 or in the positioning mode Calibration Since the measuring system is an absolute system calibration is necessary only once at start up During calibration the position value of the AGO4B is set to the programmed calibration value see chapter 7 Parameter description status word bit 8 0 parameter no 14 The measuring system is calibrated via Profibus see chapter 8 6 Parameterization via Profibus gt parameter no 970 ll Calibration is only possible when no travel job is active Limit switc
28. el job motor enabled ready to run state Release from turn on interlock 1 1 Operating condition OFF 2 not active 0 OFF 2 OFF 2 Cancellation of positioning job motor enabled ready to run state 2 1 Operating condition Not implemented 0 OFF 3 must be statically set to 0 3 1 Enable operation Enable operation 0 Disable operation Disable operation Motor decelerates with maximum deceleration and assumes ready to run state Motor remains in control state 4 1 Operating condition Not implemented 0 Disable starting encoder 5 1 Enable starting encoder Not implemented 0 Stop starting encoder 6 1 Enable target value Target value is enabled drive rotates with preset velocity 0 Disable target value Drive runs out with pre programmed deceleration Motor remains in control state 7 1 Acknowledge Acknowledge fault Turning on of the AGO4B will be disabled 0 no meaning 8 is not supported 15 Table 13 Control word Velocity mode Date 09 07 2015 Page 25 of 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme 8 5 5 Status word Velocity mode slave gt master Bit Value TS fo AGO4B description 0 1 Ready to turn on Supply voltage for motor and electronics unit applied 0 Not ready to turn on 1 1 Ready Identical with bit 0 0 Not ready 2 1 Operation enabled Velocity mode enabled 0 Oper
29. ex write PWE 0 Position regulation PWE 1 Short circuit of motor windings PWE 2 Motor enabled With optional spring loaded brake no significance meaning see chapter 7 gt parameter no 26 1023 gez Loop length read word Value range 0 10000 3FF hex write meaning see chapter 7 gt parameter no 27 1024 gez Contouring error read word Value range 1 10000 400 hex limit write meaning see chapter 7 gt parameter no 28 1025 gez Contouring error read Double Reading of the actual contouring errors 401 hex word 1026 gez Supply voltage read word Reading of the actual supply voltage in 1 10 V 402 hex 1027 gez Device read word Reading of the actual device temperature in 403 hex temperature 1 10 C 1028 gez max device read word Reading of the max device temperature 404 hex temperature in 1 10 C 1029 Ae Motor current read word Reading of the actual motor current in mA 405 hex 1030 gez max motor read word Reading of the max motor current in mA 406 hex current AG04B Date 09 07 2015 Page 30o0f 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Para meter Name Access Format Description No 1031 gez general status read word Represents the status of the inputs and of 407 hex register torque deactivation Bit 0 Limit switch 1 Bit 1 Limit switch 2 Bit 2 Input 1 Bit 3 Input 2 Bit 4 Enable entry Bit 7 torque
30. h AGO4B has two low active limit switch inputs The layout of the limit switches is independent of the parameterized sense of rotation in accordance with the diagram below Limit switch 1 Limit switch 2 Date 09 07 2015 Page 100f 35 Art No 84940 Mod status 251 15 6 1 AG04B intelligente Weg und Winkelmess Systeme Both limit switch inputs can be inactivated via DIP switch SW 10 SW10 Limit switch Note OFF active Wiring of limits switches mandatory ON inactivated No wiring of limit switches required External gear unit If an external gear unit is used a factor can be programmed via the parameter no 11 U Numerator numerator and parameter no 12 Denominator denominator in order to include the gear ratio in position sensing see also chapter 2 2 1 1 Example see fig 7 The AGO4B is operated on a gear with transfer reduction of 5 1 For this purpose the parameters Numerator and U Denominator must be programmed as follows e Parameter Numerator 5 e Parameter Denominator 1 external gear unit 5 1 GE ase Baa aed te end a 5 revolution 1 revolution CH A AGO4B with internal drive Gear output Fig 7 External gear unit Input of an odd gear reduction value is possible according to the following example Transfer reduction 3 78 e Parameter Numerator 378 e Parameter Denomina
31. he system status word of the AGO4B see chapter 2 1 Spindle pitch 0 Information refers to increments Spindle pitch 0 Information refers to travelling distance in 1 100 mm Velocity mode Velocity window If the actual velocity is within the target velocity this window this is signalled by setting bit 3 in the system status word of the AGO4B see chapter 2 1 Profibus chapter 8 6 parameter no 1009 dec Numerator 1 10000 Numerator gear ratio a gear ratio can be programmed here when a gear unit is used see chapter 5 external gear unit Profibus chapter 8 6 parameter no 1010 dec Denominator 1 10000 Denominator gear ratio a gear ratio can be programmed here when a gear unit is used see chapter 5 external gear unit Profibus chapter 8 6 parameter no 1011 dec AG04B Date 09 07 2015 Page 13 0f 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Nr Name Selection value Default Description 13 Spindle pitch 0 1000 0 Spindle pitch Spindle pitch 0 Position value is output in increments 1024 increments per revolution of the driving shaft of the AGO4B Spindle pitch parameter 0 when operating the AGO4B on a spindle Position value is no longer output as increments but as travelling distance in 1 100 mm Target position is entered now as 1 100 mm too Spindle pitch value in 1
32. ing is possible only in negative direction in inching operation 0 Actual position is below the programmed limit 0 Velocity mode no meaning Bit 6 Positioning mode lower limit T Actual position is below the programmed limit Travelling is possible only in positive direction in inching operation 0 Actual position is above the programmed limit 0 Velocity mode no meaning Bit 7 Driver state 1 Motor is enabled 0 Motor in control Bit 8 Fault 1 The AGO4B has switched to fault The cause of the fault must be cleared and acknowledged via STW 7 1 command For the fault cause see chapter 6 2 0 No fault present Bit 9 Positioning mode loop travel 1 If travel direction unequal start direction with loop travel 0 If travel direction equal start direction 0 Velocity mode no meaning Bit 10 Status of the enable input 1 Enable input deactivated Gear travel is disabled OU Enable input activated Date 09 07 2015 Page 4of 35 Art No 84940 Mod status 251 15 2 2 2 2 1 AG04B intelligente Weg und Winkelmess Systeme Bit State Description Bit 11 Ready to travel 1 Not ready to travel 0 Ready to travel e AGO04B not in fault state e No active positioning e Enable input activated e actual position within limits only positioning mode e No limit switches active only positioning mode Bit 12 0 no meaning Bit 13 Motor current 1 Motor current beyond permi
33. intelligente Weg und Winkelmess Systeme User manual magnetic absolute positioning drive 3098 AG04B 6 1 6 2 8 5 8 6 8 7 8 8 8 9 8 10 intelligente Weg und Winkelmess Systeme gf a GENERAL REMARKS 324 224224400 22000 EEN 3 SYMBOLS AND THEIR MEANING cueeeeeeanananssenenunnnnnnnnnnnnnennnnnnnnnnnnnsnnnnnnnnnnnnnsnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnennnn 3 Balen age 3 FUNCTIONAL DESCRIPTION o 22cncsecccceseetennnresnecseceeecntnssseece ENEE eege 3 SYSTEM STATUS WORD ie averistsdsindd aver Eegeregie 3 ORERATINGMOBESE Heel ernennen aeesstaubeeteatitaevsspaheered aageesagetecteeses 5 2 2 1 POSIHONING MOOG nun een een een enter 5 2 2 1 1 Loop positioning BEE 6 2 2 1 2 INCHING Ce 7 2 2 2 Uer E 8 TORQUE DEACTIVATION EE 9 TRAVELSTART AGAINST LOAD u aa Ee ie la 10 CALIBRATION nn vase enasnann anne aan an ana nn anna na sted nahm aa ann an un anne han anna nen nnd 10 RIIT 10 EXTERNAL GEAR UNIT 12 20 44 4 00220 222020 a a anna nal dann kn nn nenne 11 WARNEN 11 WA RNINGS ee eege ee EE EES Ee EE 11 SAINT 12 6 2 1 ENON COGS i swisha seo en Se adage nae eee ead abs caged teeny eee 12 PARAMETER DESCRIPTION 63 ot scnccecseecs cenccoctnccenceeccsessesecccnecectvecestnesueceecttersecuensebesctuecedhnceesteseteeedesuers 12 COMMUNICATION VIA PROFIBUS DP unnuunsnannnsannnnnnnnnnnnnnnnannnnnannnnnnnnnnnnnnnannunnannnnnnnnnannnnnannnnnnn 16 GENERAL REMARKS eu aan 16 lge 16 DATAJEXCHANGE una sea evs d
34. lue Default Description Controller parameter D 0 500 0 D gain of controller valid for all operating modes positioning mode velocity mode inching operation Profibus chapter 8 6 parameter no 1002 dec a Pos 1 100 50 Acceleration in positioning mode values in 100 4 rev sec sec Profibus chapter 8 6 parameter no 1003 dec v Pos 1 160 1 100 1 70 30 Maximum speed in positioning mode values in revolutions min gear ratio 30 6 1 max 160 rev min gear ratio 50 0 1 max 100 rev min gear ratio 70 8 1 max 70 rev min Profibuschapter 8 6 parameter no 1004 dec a Rot 1 100 50 Acceleration in velocity mode values in 100 gt 4 rev sec sec Profibus chapter 8 6 parameter no 1005 dec reserved a Inch 1 100 50 Acceleration in inching operation 1 2 values in 100 gt 4 rev sec sec Profibus chapter 8 6 parameter no 1007 dec v Inch 1 160 1 100 1 70 30 Maximum speed in inching operation 1 2 values in revolutions min gear ratio 30 6 1 gt max 160 rev min gear ratio 50 0 1 max 100 rev min gear ratio 70 8 1 gt max 70 rev min Profibus chapter 8 6 parameter no 1008 dec Pos Window 0 1000 Positioning mode positioning window If the actual position of the AGO4B is within the programmed target value this window this is signalled by setting bit 3 in t
35. motion s Touch button operation is only enabled if the Profibus State machine of 1 the AG04B is not in the Data Exchange state The following conditions must be met for enabling the start of inching operations 1 and 2 or touch button operation via standard protocol e The AGO4B must not be switched to fault system status word bit 8 0 e No active travel job present system status word bit 14 0 e Enable input activated system status word bit 10 04 O If the actual position is outside the programmed limiting values or a limit 1 switch is active then travelling from this position to the respective direction is possible by means of inching operations 1 or 2 or touch button operation 2 2 2 Velocity mode Parameter no 20 operating mode is programmed to velocity mode see chapter 7 Parameter description In the velocity mode the AGO4B accelerates to the target velocity after release of the setpoint value see chapter 8 5 6 Flow chart Velocity mode and maintains this velocity until the setpoint value is disabled or a new target velocity specified The speed is adjusted immediately to the new value when the rotational target speed is changed The arithmetical sign of the target value determines the travel direction in the velocity mode see chapter 7 Parameter description AG04B Date 09 07 2015 Page 8of 35 Art No 84940 Mod status 251 15 2 3 AG04B intelligente Weg und Winkelmess Systeme Velocity
36. n parameterized by other master 0 Diag prm_req Slave must be re parameterized 1 Diag Stat_diag static diagnosis byte diag bits 2 fixed to 1 3 Diag WD_ON Byte 2 Response monitoring active 4 Diag freeze_mode freeze command received Sync_mode sync command received reserved Diag deactivated set by master reserved reserved reserved reserved reserved reserved reserved o Byte 3 OO BR CO PO ONIO Date 09 07 2015 Page 33 of 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Byte Bit Description T Diag ext_overflow Byte 4 Diag master_add Master address after parameterization FF without parameterization Byte 5 Ident number high byte Byte 6 Ident number low byte Table 16 Diagnosis bytes Stat_diag The slave cannot provide valid data due to a condition in the application As a result the master requests only diagnosis data until this bit will be reset The firmware does not support this bit permanently on 0 Ext_diag If this bit is set then a diagnosis entry must be present in the user specific diagnosis area This bit is always 0 in the AGO4B since no user specific diagnosis data is supported Ext_diag_overflow This bit is set if more diagnosis data have been provided than would fit the diagnosis data available This bit is permanently on 0 8
37. nching operation e Inching operation 1 Inching operation 1 is started via STW 8 1 in the control word The drive travels once from the current position by the position Delta Inch The travel direction is positive or negative depending on the arithmetical sign parameter no 17 Delta Inch Parameter Delta Inch lt 0 negative travel direction Parameter Delta Inch gt 0 positive travel direction If the parameter no 13 Spindle pitch is programmed to zero then there is an incremental travelling way If the spindle pitch is unequal zero then the information of the Delta Inch parameter refers to the travel distance in 1 100 mm Reaching the target position will be signalled in the system status word bit 3 e Inching operation 2 Inching operation 2 is started via STW 9 1 The drive moves at the pre programmed speed as long as this bit 1 The drive direction depends on STW 15 STW 15 0 gt positive travel direction STW 15 1 gt negative travel direction AG04B Date 09 07 2015 Page 7of 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme gg S E e Touch button operation The sense of rotation does not depend on the sense of rotation parameter in the touch button mode The touch buttons can be accessed after removing the cover plate travel direction with view on the clamping ring Left motion Right
38. ntelligente Weg und Winkelmess Systeme En SIKO eee General remarks This user manual is valid with firmware version 1 09 or higher Symbols and their meaning N This symbol precedes passages in the text that should be read with particular care to ensure flawless use of the AGO4B ll This symbol precedes passages in the text that contain additional important information Documentation This user manual is valid for the AGO4B absolute positioning drive and is intended to provide you with the necessary information on programming and activation of the AGO4B positioning drive mounting electrical connection general safety instructions correct Please refer to the installation instruction for information on mechanical N usage as well as commissioning of the positioning drive Functional description This chapter describes the operating cycles functions and states required for the operation of the positioning drive Communication via Profibus DP is taken as the basis for the information presented in this chapter System status word The system status word of the AGO4B consists of 2 bytes and reflects the state of the AGO4B The System status word can be read out as a hexadecimal value via Profibus Parameter 1020gez see chapter 8 6 Parameterization via Profibus High Byte Low Byte Bit number 15 14 113 12 11 10 9 81 7 6 5 14 3 2117 0 0o o 1 0 1 0 0 1 0 1 0 0 1 0 0 0
39. on see above PKE 0x13FA 2 Determination of the index Index IND 0 3 Parameter value PWE 0 AG04B Date 09 07 2015 Page 31 of 35 Art No 84940 Mod status 251 15 8 6 2 AG04B intelligente Weg und Winkelmess Systeme Telegram from master gt slave PKW 4 words PKE IND PWE word 1 word 2 word 3 word 4 Ox13FA 0x0000 0x0000 0x0000 Telegram from slave master with correct execution PKW 4 words PKE IND PWE word 1 word 2 word 3 word 4 Ox23FA 0x0000 0x0000 0x2710 PKE 23FA Reply identification 2 transfer parameter value double word see table 9 Reply identification PWE 2710 10000 The current calibration value is 10000 Example Write parameter The parameter upper limit is to be set to 250000 Determination of parameter identification PKE consisting of AK SPM PNU 1 Determination of job identification AK Job identification change parameter value double word 3 3 see table 8 Job identification 2 Determination of parameter number parameter number upper limit 1016 3F 8 see table 15 3 SPM 0 PKE 33F8 Parameter identification for the example Write parameter PKE Parameter identification Bit 15 14 13 12 11 10 9 8 MECHER Designation AK SPM Parameter number PNU Binary value 0 0 1 1 0O7 O 1 1 141 741 17 1 1 0 040 hex
40. os If the actual position is within the programmed window see chapter 7 parameter no 10 this will be signalled in the system status word bit 3 The drive s behaviour upon reaching the pre programmed window can be defined see chapter 7 parameter no 26 Changing controller parameters during a positioning process does not influence the current positioning operation Date 09 07 2015 Page 5of 35 Art No 84940 Mod status 251 15 2 2 1 1 AG04B intelligente Weg und Winkelmess Systeme Speed Maximum speed v Pos parameter A Tee Acceleration delay nr Be a Pos parameter N N Start position Target position Time Fig 2 Ramp travel in positioning mode direct Travel orders can only be started if the following conditions have been met e the AGO4B must not be switched to fault system status word bit 8 0 e no limit switches active system status word bit 1 2 05 e actual position is within the programmed limiting values system status word bits 5 6 0 e no active travel job present system status word bit 14 0 e Enable input activated system status word bit 10 04 ZSW 15 1 is signalled when these conditions have been met Loop positioning If the AGO4B is operated on a spindle or an additional drive the spindle or external drive play can be compensated by means of loop positioning In this case travelling to the target value is
41. r numbers with reply For the meaning of the individual parameters please refer to chapter 7 Parameter description 3C5 hex version Para meter Name Access Format Description No 918 dec Profibus read word Under this parameter number the preset 396 hex Address Profibus address can be read out 930 dec Operating mode read word PWE 1 Velocity mode 3A2 hex write PWE 2 Positioning mode see chapter 7 gt parameter no 21 945 dec Fault buffer read Array This parameter is defined as an array with 10 3B1 hex 10 entries In this array occurring faults are entered word with their fault codes This fault code can be read out via parameter number and indication of the sub index 0 to 9 The fault codes are stored in the EEPROM The fault codes are output as ASCII characters from A to E The fault buffer can be deleted via parameter no 970gez Example PWE 41 corresponds to ASCII A For the meaning of the individual characters please refer to chapter 6 2 gt table 2 error codes 952 dec Number of read word Here the number of faults occurring can be read 3B8 hex faults out The number of faults is stored in the EEPROM 961 dec Hardware read word The gear reduction of the AGO4B can be read 3C1 hex version out PWE 1 gt gear ratio 70 8 1 PWE 2 gear ratio 50 0 1 PWE 3 gt gear ratio 30 6 1 965 dec Software read word The software version of the
42. ravelling to the target value occurs always in positive direction to compensate for spindle play loop travelling to the target value occurs always in negative direction to compensate for spindle play Caution Loop positioning in positioning mode only Velocity mode no meaning Profibus chapter 8 6 parameter no 1014 dec 20 Operating mode positioning mode speed mode positioning mode Positioning mode see chapter 2 2 1 Positioning mode Velocity mode see chapter 2 2 2 Velocity mode Profibus chapter 8 6 parameter no 930 dec 21 reserved 22 reserved 23 reserved 24 Setpoint see column Descrip tion Positioning mode indicates absolute target position Spindle pitch 0 Information refers to increments Spindle pitch 0 Information refers to travelling distance in 1 100 m Value range depends on the pre programmed target values parameters 15 16 Velocity mode indicates the target velocity in rev min Value range gear ratio 30 6 1 max 160 rev min gear ratio 50 0 1 max 100 rev min gear ratio 70 8 1 gt max 70 rev min Profibus chapter 8 4 Telegram setup Data Exchange Attention Target value will not be stored in the EEPROM 25 Stop mode Inching mode 2 0 1 Stop mode inching mode 2 touch button mode The stop behaviour of inching mode 2 or touch button operation can be parameterized in different ways Stop mode
43. ssible range If this state lasts for more than 4 sec the AGO4B switches to fault o Motor current within permissible range Bit 14 Positioning mode status T Positioning active in positioning mode 0 Positioning inactive 0 Velocity mode no meaning Bit 15 Lag error 1 Lag error gt AGO4B cannot reach the preset speed due to too high load This state should be avoided Remedy reduce programmed speed 0 No lag error gt actual speed corresponds with required speed Table 1 System status word Operating modes The following operating modes are available positioning mode and velocity mode In the positioning mode there is the additional option of travelling with inching operation Positioning mode Parameter no 20 Operating mode is programmed to positioning mode see chapter 7 Parameter description In the positioning mode positioning to the target value is effected by means of a ramp function see fig 2 which is calculated on the basis of the actual position as well as the programmed controller parameters P proportional factor integral factor D differential factor acceleration and speed see chapter 7 Parameter description After activation of the travel order see chapter 8 5 3 Flowchart Positioning mode the AGO4B accelerates with the pre programmed acceleration to the specified speed The measure of deceleration to reach the target value is also defined by the parameter a p
44. tor 100 Warnings Faults The AGO4B distinguishes between warnings and faults Warnings Warnings do not influence the operation of the positioning drive Warnings disappear after removing their causes Date 09 07 2015 Page 11 of 35 Art No 84940 Mod status 251 15 6 2 6 2 1 AG04B intelligente Weg und Winkelmess Systeme _ SIKO gt Possible warnings e Battery voltage for absolute encoder is below limit gt exchange battery within the next 6 months see chapter 2 1 system status word gt bit 12 e Motor current beyond the permissible range see chapter 2 1 System status word gt bit 13 gt if this condition lasts longer than 4 seconds the AGO4B will switch to fault e Lag error present see chapter 2 1 System status word gt bit 15 gt AGO4B cannot reach programmed speed because load is too high Faults Faults induce an immediate stop of the positioning drive The status LED signalizes the fault status see Installation instruction Based on the blink code the cause of the fault can be tracked down see tab 2 Error codes Furthermore an existing fault can be recogniozed via ZSW 3 1 Faults must be acknowledged after clearing the faults STW 7 1 The error messages are entered in the error buffer in the order of their detection The last 10 fault messages are displayed when the fault buffer is full The cause of an error can be tracked down with the help of the error codes se
45. value 3 3 F 8 Determination of the parameter identification value PKW 1 Determination of parameter identification see above PKE 0x33F8 2 Determination of the index Index IND 0 3 Determination of the parameter value PWE Parameter value PWE 250000 3D090 Date 09 07 2015 Page 32of 35 Art No 84940 Mod status 251 15 8 7 AG04B intelligente Weg und Winkelmess Systeme Telegram from master gt slave PKW 4 words PKE IND PWE word 1 word 2 word 3 word 4 0x33F8 0x0000 0x0003 0xD090 Telegram from slave master with correct execution PKW 4 words PKE IND PWE word 1 word 2 word 3 word 4 Ox23F8 0x0000 0x0003 0xD090 PKE 23F8 Reply identification 2 transfer parameter value double word see table 9 Reply identification Diagnosis Standard diagnosis for Profibus DP is supported Profibus diagnosis consists of 6 bytes with the following contents Byte Bit Description 0 Diag station does not exist set by master 1 Diag station not ready Slave not ready for data exchange 2 Diag cfg_ Fault Byte 1 Inconsistent configuration data 3 Diag ext_diag Slave has external diagnosis data 4 Diag not supported Requested function not supported by slave 5 Diag invalid slave response fixes slave to 0 6 Diag prm_fault wrong parameterization ident number etc 7 Diag master_lock set by master Slave has bee
46. ve direction via inching operation Caution Value must be smaller than upper limit Limit monitoring is deactivated if upper limit is equal lower limit Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded Velocity mode no meaning Profibus chapter 8 6 parameter no 1017 dec Delta Inch 1000000 to 1000000 1024 Delta travelling distance with inching operation 1 indicates the relative travelling distance positive value gt positive travelling direction negative value gt negative travelling direction Spindle pitch 0 Information refers to increments Spindle pitch 0 Information refers to travelling distance in 1 100 m Profibus chapter 8 6 parameter no 1019 dec AG04B Date 09 07 2015 Page 140f 35 Art No 84940 Mod status 251 15 intelligente Weg und Winkelmess Systeme Nr Name Selection value Default Description 18 Sense of rotation i e Counting direction of the measuring system When the shaft rotates counter clockwise view on the clamping ring of the AGO4B i sense of rotation gt positive counting direction e sense of rotation gt negative counting direction Profibus chapter 8 6 parameter no 1013 dec Pos Type direct loop sloop direct Positioning mode Type of positioning direct direct travelling from actual position to target value loop t
47. version 2 September 1997 issue PNO order no 3 071 Telegram setup Data Exchange During operation Data exchange gt orange Profibus LED is lighting see Installation instruction 7 data words are cyclically exchanged between a master and the AGO4B The structure of these data words for cyclic data traffic is called Parameter Process data Object PPO in the Profibus profile Adjustable speed Drives PROFIDRIVE version 2 Parameter Process Data Object Such a Parameter Process data Object PPO consists of two parts e Parameter data range see chapter 8 4 2 Parameter identification value Any parameter in the AGO4B can be monitored or changed by means of the PKW telegram portion parameter identification value e Process data range see chapter 8 4 3 Process data Control words and target values master gt slave or status words and actual values slave gt master respectively can be transferred with the process data Date 09 07 2015 Page 17of 35 Art No 84940 Mod status 251 15 8 4 2 8 4 2 1 AG04B intelligente Weg und Winkelmess Systeme gg S E Definition of the Parameter Process data Object A special PPO type with fixed data length 7 data words has been defined for the AGO4B PZD 3 words HAS CGE PZD1 PZD2 PZD3 STW HSW HSW master slave dee A Er ZSW HIW HIW slave gt master MSW LSW word 1 word 2 word 3 word 4 word5 word 6 word 7

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