User manual Profibus
Contents
1. 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 must be interpreted as well Job identification master gt slave Job Reply identification identification 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 Parameter2. Bit Value ne to AG03 1 description 0 1 ON OFF 1 not active operational condition 0 OFF 1 OFF 1 Cancellation of travel job motor enabled ready to run state Release from turn on interlock 1 1 Operating condition OFF 2 not active 0 OFF2 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 AG03 1 will be disabled 0 no meaning 8 is not supported 15 Table 13 Control word Velocity mode AG03 1 PB Date 08 07 2015 Page 25 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme 7 5 5 Status word Velocity mode slave gt master Bit Value Bene 10 AG03 1 description 0 1 Ready to turn on Supply voltage fo
3. sw9 SW10 Bus terminator OFF OFF deactivated ON ON active It should be noted that both DIP switches are always required for correct function of bus NOTICE Sa termination 7 11 Device data base and configuration For the AG03 1 a device database file GSD named SIKOOAC5 GSD has been created This file can be included in the device library by means of the 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 AG03 1 PB Date 08 07 2015 Page 35 of 35 Art No 86674 Mod status 251 15
4. 1 10000 Numerator gear ratio a gear ratio can be programmed here when a gear unit is used see chapter 4 external gear unit Profibus chapter 7 6 parameter no 1010 dec D Denominator 1 10000 Denominator gear ratio a gear ratio can be programmed here when a gear unit is used see chapter 4 external gear unit Profibus chapter 7 6 parameter no 1011 dec Spindle pitch 0 1000 Spindle pitch Spindle pitch 0 Position value is output in increments 1600 increments per revolution of the driving shaft of the AGO3 1 Spindle pitch parameter 0 when operating the AG03 1 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 1 100 mm e g spindle with a pitch of 2 mm gt spindle pitch parameter 200 Profibus chapter 7 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 AGO3 1 Caution Value must be within the range of the preprogrammed limiting values Profibus chapter 7 6 parameter no 1018 dec AG03 1 PB Date 08 07 2015 Page 140f 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme Nr Name Selection value Default Description
5. 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 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 gt 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 AG03 1 PB Date 08 07 2015 Page 32 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme PS nt 7 7 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 been parameterized by other master 0 Diag prm_req Slave must be re parameterized
6. 1 Diag Stat_diag static diagnosis byte diag bits 2 fixedto 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 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 o Byte 3 NIOJ AIIN ONIO 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 AG03 1 since no user specific diagnosis data is supported AG03 1 PB Date 08 07 2015 Page 33 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme 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 7 8 Profibus address setup The Profibus subscriber addresses can only be set via DIP switches The 10 pin DIP
7. 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme After activation of the travel order see chapter 7 5 3 Flowchart Positioning mode the AG03 1 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 pos As an alternative you can also choose a value for delay that deviates from acceleration see chapter 6 Parameter No 31 d Pos If the actual position is within the programmed window see chapter 6 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 6 parameter no 26 Changing controller parameters during a positioning process does not influence the current positioning operation Speed Speed Parameter No 5 Delay Parameter No 4 N Acceleration Delay Parameter No 4 Parameter No 31 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 AG03 1 must not be switched to fault system status word bit 8 0 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 Supply voltage of the output stage is applied system status w
8. Battery voltage too low for absolute encoder Replace the battery within half a year after reporting of the error bit 0 Battery voltage OK Bit 13 Motor current 1 Motor current beyond permissible range If this state lasts for more than 4 s the AG03 1 switches to fault 0 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 AG03 1 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 2 2 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 2 2 1 Positioning mode Parameter no 20 Operating mode is programmed to positioning mode see chapter 6 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 6 Parameter description AG03 1 PB Date 08 07 2015 Page 5of 35 Art No
9. NM intelligente Weg und Winkelmess Systeme ul BC i de 7 ZEIT User manual magnetic absolute kazae positioning drive BATOM AG03 1 5 1 5 2 7 5 intelligente Weg und Winkelmess Systeme gf a GENERAL REMARKS eenegen EEN nl aa setts nae Bann Annan nu an aaaea ienasi 3 DOCUMENTATION EE 3 B OCK DIAGRAM ein otecee ea Seehedth wctecedatdedasdsbudeceqatdedhedtaweesedatdedaddaautucheendvabeddaweweedaidedende 3 FUNCTIONAL DESCRIPTION c cssccssseecsseeeeeseeeseeeeesneeenseeeseaeseseeeenseaeeeaesesaaesasnaeensesessaeeaseaeensnaeees 4 SYSTEM STATUS WORD a ne eege Eege ege eege 4 OPERATING MODES Hana e E udn aeesstaubeeteatstaevsspaheured dageesagetecteeses 5 2 2 1 POSTHONING MOQO E 5 2 2 1 1 LOOP POSITIONING une nenn E 6 2 2 1 2 INCHING operation 2 een un 7 2 2 2 voloc y INOU EE 9 TORQUE DEACTIVATION ansehen 10 RESTORE FACTORY SETTINGS VIA DIP SWITCHES cccccccccccceccceeeeeeeceeeeeeeeeeeseeeeeeeseeeeeeeeeeeeeeeeeeeees 10 SUPPLY VOLTAGE OF CONTROL ND OUTPUT STAGE 11 DRIVE BEHAVIOR IN CASE OF POWER FAILURE neensnsunssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnnnnnnnnn nn 11 RT te E 11 EXTERNAL GEAR UNIT 4 24 ss nahen 11 WARNINGS FAULTS 2 22444 2242240 0200002240000 andaan maae e iaman ad auanei dunnnn iddaa vaa aidean raid daunien daei va nee 12 WARNINGS china een ea ie Dalai 12 FAULTS osiinsa aia E EERE E AE EEE E A AEEA ETE A E E RE ERREA 12 5 2 1 t 13 PARAMETER DESCRIP
10. Name Selection value Default Description v Pos 1 100 1 200 30 Maximum speed in positioning mode values in revolutions min gear ratio 48 1 gt max 100 rev min gear ratio 24 1 gt max 200 rev min Profibuschapter 7 6 parameter no 1004 dec a Rot 1 100 50 Acceleration in velocity mode values in 100 gt 4 U s Profibus chapter 7 6 parameter no 1005 dec reserved a Inch 1 100 50 Acceleration in inching operation 1 2 values in 100 gt 4 U s Profibus chapter 7 6 parameter no 1007 dec v Inch 1 100 1 200 30 Maximum speed in inching operation 1 2 values in revolutions min gear ratio 48 1 gt max 100 rev min gear ratio 24 1 gt max 200 rev min Profibus chapter 7 6 parameter no 1008 dec Pos Window 0 1000 Positioning mode positioning window If the actual position of the AG03 1 is within the programmed target value this window this is signalled by setting bit 3 in the system status word of the AG03 1 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 AG03 1 see chapter 2 1 Profibus chapter 7 6 parameter no 1009 dec Numerator
11. 2 Travelling is possible only in negative direction in inching operation UI Actual position is below the programmed limit OU Velocity mode no meaning Bit 6 Positioning mode lower limit 1 Actual position is below the lower programmed limit of limits 1 2 Travelling is possible only in positive direction in inching operation 0 Actual position is above the programmed limit 0 Velocity mode no meaning AG03 1 PB Date 08 07 2015 Page 4of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme Bit State Description Bit 7 Driver state 1 Motor is enabled 0 Motor in control Bit 8 Fault 1 The AG03 1 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 5 2 OU 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 Supply voltage of output stage 1 Supply voltage of output stage not applied Gear travel is disabled 0 Supply voltage of output stage applied Bit 11 Ready to travel 1 Not ready to travel 0 Ready to travel e AGO03 1 not in fault state e No active positioning e Supply voltage of output stage applied e actual position within limits only positioning mode Bit 12 Battery voltage 1
12. 27 Loop length 0 10000 800 Operating mode positioning mode Indicates the loop length in increments Velocity mode no meaning Profibus chapter 7 6 parameter no 1023 dec 28 reserved 29 Torque deactivation 20 125 125 Operating mode positioning mode This parameter determines the threshold of torque deactivation Percent values are to be entered Value 125 Torque deactivation disabled Velocity mode no meaning Profibus chapter 7 6 parameter no 1032 dec 30 Offset inching 2 10 100 100 Inching operation 2 Witth this parameter inching speed in inching operation 2 can be influenced Indication is percentage of parameter no 9 Caution This parameter is no stored in the EEPROM Profibus chapter 7 6 parameter no 1035 dec 31 d Pos 1 101 Delay in positioning operation values in 100 gt 4 U s Profibus chapter 7 6 parameter no 1039 dec Table 6 Parameter description AG03 1 PB Date 08 07 2015 Page 16 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme Fu SIKO eee 7 Communication via Profibus DP 7 1 General remarks This chapter describes the activation and parameterization of the AG03 1 via Profibus interface For the pin assignment of the Profibus interface please refer to the installation instructions 7 2 Interface Profibus DP is an international
13. switch becomes visible after removing the cover PEEP TITIT 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 The DIP switch settings are only read when the supply voltage is switched on Changing NOTICE the slave address during operation has no effect AG03 1 PB Date 08 07 2015 Page 34 of 35 Art No 86674 Mod status 251 15 7 9 Diagnosis LEDs intelligente Weg und Winkelmess Systeme Various operational states are signalled via the diagnosis LEDs State Meaning blinking Drive out of order meaning see chapter 5 2 1 Status LED ON The Sg voltages of the output stage and control are applie green OFF The supply voltages of the output stage and or control are missing BUS LED ON Drive is in the data exchange mode orange OFF Drive is not in the data exchange mode 7 10 Profibus bus terminator The internal bus terminator can be activated via DIP switches 9 10
14. the output stage is applied e velocity mode is not active STW 6 0 0 not ready to travel AG03 1 is not ready to travel Table 14 Status word Velocity mode AG03 1 PB Date 08 07 2015 Page 26 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme 7 5 6 Flow chart Operating mode Velocity mode Means change from JL 0 to 1 and back Means change from u 1 to 0 and back X Bn may be 0 or 1 Change starget value STW 0000 0000 0100 1011 Fig 14 Flow chart Velocity mode AG03 1 PB Date 08 07 2015 Fault Start ZSW3 1 Operating voltage On Achnowledge fault STW 0000 0000 0000 0000 STW 7 S1 Ready to run Turn on disabled ZSW 0011 111x x01x 0011 ZSW 6 1 Enable operating N OFF 1 ir 0000 0000 0000 1011 _STWO U jJ 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 Travelling ZSW 00x1 111x x011 0111 W 0000 0000 0000 1011 Disable target value ST Page 27 of 35 Art No 86674 Mod status 251 15 7 6 Parameterization via Profibus intelligente Weg und Winkelmess Systeme A parameter number is assigned to every parameter of the AG03 1 that serves to read out or change the parameters b
15. 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 B GO PO O Parameter number master gt slave slave gt master This field contains the number of the parameter whose data is transferred in the Parameter Value PWE field AG03 1 PB Date 08 07 2015 Page 19 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme PS E 7 4 2 2 Sub index IND This field contains the array sub index in the case of jobs and replies that refer to array elements 7 4 2 3 Parameter value PWE This field contains the numerical value of the parameter present in the Parameter Number PNU see chapter 7 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 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 desc
16. 07 2015 Page 9 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme gf gt a 2 3 Torque deactivation A deactivation threshold is defined via the torque deactivation parameter see chapter 6 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 Drive control will be maintained NOTICE 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 NOTICE This function is only available in the positioning mode 2 4 Restore factory settings via DIP switches Procedure for restoring factory settings via the 10 pin DIP switch 1 Switch off supply voltage 2 Set DIP switches 1 8 depending on the parameters to be reset RULL ON Reset all parameters see chapter 6 Parameter description to factory settings UO Reset only standard parameters see chapter 6 Parameter description to factory settings Reset only controller parameters see chapter 6 Parameter description to factory settings 3 Turn on supply voltage AG03 1 acknowledges with alternating blinking of the status LED and the bus LED 4
17. 15 Limit 1 9999999 to 9999999 1000000 Positioning mode limit 1 Spindle pitch 0 Information refers to increments Spindle pitch 0 Information refers to travelling distance in 1 100 mm If the AGO3 1 is beyond the range defined by limit 1 and limit 2 travel range travelling will only be possible in the direction of the travel range in inching mode Caution Limit monitoring is deactivated if limit 1 is equal limit 2 Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded Velocity mode no meaning Profibus chapter 7 6 parameter no 1016 dec Limit 2 9999999 to 9999999 1000000 Positioning mode limit 2 Spindle pitch 0 Information refers to increments Spindle pitch 0 Information refers to travelling distance in 1 100 mm If the AG03 1 is beyond the range defined by limit 1 and limit 2 travel range travelling will only be possible in the direction of the travel range in inching mode Caution Limit monitoring is deactivated if limit 1 is equal limit 2 Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded Velocity mode no meaning Profibus chapter 7 6 parameter no 1017 dec Delta Inch 1000000 to 1000000 1600 Delta travelling distance with inching operation 1 indicates the relative travelling distance positive value positive trav
18. ESS SETUP ican ea aaa daoa aa aa taaa SaNa aE 34 DIAGNOSIS RE 35 PROFIBUS BUS TERMINATOR 2 42 22 een ea ernennen 35 DEVICE DATA BASE AND CONEIGURATION en 35 AG03 1 PB Date 08 07 2015 Page 2 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme PS SIKO eee 1 General remarks This user manual is valid with firmware version 1 00 or higher 1 1 Documentation The following documents are associated with this document The data sheet describes the technical data the dimensions the pin assignment the accessories and the order key The installation instructions describe the mechanical and electrical installation with all safety relevant conditions and the associated technical specifications The User manual for actuator commissioning and integration into a fieldbus system You can also download these documents at http www siko global com en de service downloads 1 2 Block Diagram Profibus galvanic separation UB control Inverse polarity Mains Control protection adapter UB output Inverse Encod polarity Output stage ncoger protection Battery AG03 1 PB Date 08 07 2015 Page 30f 35 Art No 86674 Mod status 251 15 2 1 intelligente Weg und Winkelmess Systeme mg SIKO gt a Functional description This chapter describes the operating cycles functions and states required for the operation of the positioning drive Communication via Profi
19. Switch off supply voltage AG03 1 PB Date 08 07 2015 Page 10 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme Set the original bus address via DIP switches 1 7 DIP switch number 8 must be set to the OFF position After next switching on of supply voltage the previously selected parameters will have been reset to the factory settings NO 2 5 Supply voltage of control nd output stage Both supply voltages must be applied to enable the start of traveling jobs 2 6 Drive behavior in case of power failure NOTICE Power failure results in immediate loss torque If the drive is moving at the time of power failure then the drive will run out non braked 3 Calibration Since the measuring system is an absolute system calibration is necessary only once at start up During calibration the position value of the AG03 1 is set to the programmed calibration value see chapter 6 Parameter description gt parameter no 14 The measuring system is calibrated via Profibus see chapter 7 6 Parameterization via Profibus gt parameter no 970 NOTICE Calibration is only possible when no travel job is active 4 External gear unit If an external gear unit is used a factor can be programmed via the parameter no 11 Numerator numerator and parameter no 12 Denominator denominator in order to include the gear ratio in position sensing see also
20. TION cssscsseeeceseeeeseeeeseeeeeseeeenseeesnaeeeseeeenseaeseaeseseaesaseaeseeesessaeeasnanenseaes 13 COMMUNICATION VIA PROFIBUS DP unsunusnannnsnonnnnnannunnnnnnnnnnnnannunnnnnnannnnnannnnnnnnnnnnnnnannnnnann 17 GENERAL REMARKS nn Hs nennen fastened oa ean eid ees 17 INTEREACE EE 17 DATA ee 17 TELEGRAM SETUP DATA EXCHANGE uuunussssssnsnnnnennnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnennnnnannnnnnnnnnnnnn 18 7 4 1 Parameter Process Data ODiect nee 18 7 4 2 Parameter identification value DKW 18 7 4 2 1 Parameter identification DREI 18 7 4 2 2 Sub index IND ne ee near 20 7 4 2 3 Parameter valus PWE uen ne ee eb tn 20 7 4 3 PIOC8ss dala EE 20 FUNCTIONAL DESCRIPTION OF THE CONTROL UNITS ccccccccccecececeeeeeseseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 21 7 5 1 Control word in positioning mode master gt sl vel 22 7 5 2 Status word Positioning mode slave gt masterl 23 7 5 3 Flow chart Operating mode Positioning mode 24 7 5 4 Control word Velocity mode master gt slave nnursnsnnnnsennnnnnnnnnnnnnnnnnnnnnnnnn 25 7 5 5 Status word Velocity mode slave gt master 26 7 5 6 Flow chart Operating mode Velocity mode 27 PARAMETERIZATION VIA PROFIBUS cccccccccecececececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 28 7 6 1 Example road paramet r serisinin ssr ani namens ernennen in 31 7 6 2 Example Write parameier ue 32 DIAGNOSIS EE 33 PROFIBUS ADDR
21. arameter no 31 1040 ge Supply voltage read word Voltage in 1 10 V 410 hex output stage 1041 gee Supply voltage read word Voltage in 1 10 V 411 hex control AG03 1 PB Date 08 07 2015 Page 30 of 35 Art No 86674 Mod status 251 15 7 6 1 intelligente Weg und Winkelmess Systeme Para meter Name Access Format Description No 1042 gec Battery voltage read word Voltage in 1 100 V 412 hex Table 15 Parameter description 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 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Designation AK SPM Parameter number PNU Binary value 0 O O 1 0 0 1 1 1 1 1 1 1 0 1 0 Hex value 1 3 F A Determination of the parameter identification value PKW 1 Determination of parameter identification see above PKE 0x13FA 2 Determination of the index Index IND 0 3 Parameter value PWE 0 Telegram
22. bus DP is taken as the basis for the information presented in this chapter System status word The system status word of the AG03 1 consists of 2 bytes and reflects the state of the AGO3 1 The System status word can be read out as a hexadecimal value via Profibus Parameter 1020dec see chapter 7 6 Parameterization via Profibus High Byte Low Byte Bit number 15 14 113 12 11 10 9 81 7 6 5 14 3 211 0 Oo o 1 0 1 0 0 1 0 1 0 0 1 0 0 0 2 9 4 8 Fig 1 System status word format Example grey background binary gt 0010 1001 0100 1000 hex gt 2 9 4 8 The table below informs about the meaning of the individual bits of the status word Bit State Description Bit 0 0 no meaning Bit 1 0 no meaning 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 1 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 higher programmed limit of limits 1
23. chapter 2 2 1 1 Example see fig 7 The AG03 1 is operated on a gear with transfer reduction of 5 1 For this purpose the parameters U Numerator and Denominator must be programmed as follows e Parameter U Numerator 5 e Parameter Denominator 1 AG03 1 PB Date 08 07 2015 Page 11 of 35 Art No 86674 Mod status 251 15 5 1 5 2 intelligente Weg und Winkelmess Systeme external EE EE 5 revolution ae 1 revolution N AG03 1 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 U Denominator 100 Warnings Faults The AG03 1 distinguishes between warnings and faults Warnings Warnings do not influence the operation of the positioning drive Warnings disappear after removing their causes 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 bit 13 gt if this condition lasts longer than 4 s the AGO3 1 will switch to fault e Lag error present see chapter 2 1 System status word gt bit 15 gt AG03 1 cannot reach programmed speed because load is too high Faults Faults induc
24. e an immediate stop of the positioning drive The status LED signalizes the fault status see installation instructions Based on the blink code the cause of the fault can be tracked down see table 2 Error codes Furthermore an existing fault can be recogniozed via ZSW 3 1 Faults must be acknowledged after clearing the faults STW 7 19 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 see table 2 Error codes The error buffer is stored in the EEPROM and can be deleted via Profibus Parameter 970 dec AG03 1 PB Date 08 07 2015 Page 12 0f 35 Art No 86674 Mod status 251 15 5 2 1 Error codes The following table lists possible error causes intelligente Weg und Winkelmess Systeme Valle Error Blink code green buffer at Error description ASCII HEX A 41h blinking 1 time supply voltage too low Error condition Supply voltage lt 18 V motor current gt 200 mA B 42h blinking 2 times blocked drive shaft Error condition Revolutions per minute lt rpm contouring error C 43h blinking 3 times motor current too high Error condition Motor current gt 2 4 A more than 4 s D 44h blinking A times output stage temperature too high Error condition Output stage temperature gt 90 C E 45h b
25. elling 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 mm Profibus chapter 7 6 parameter no 1019 dec Sense of rotation Counting direction of the measuring system When the shaft rotates counter clockwise view on the clamping ring of the AGO3 1 i sense of rotation gt positive counting direction e sense of rotation gt negative counting direction Profibus chapter 7 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 travelling 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 7 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 7 6 parameter no 930 dec 21 reserved 22 reserved 23 reserved AG03 1 PB Date 08 07 2015 Page 150f 35 Art No 86674 Mod status 251 15 intel
26. fo AG03 1 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 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 AG03 1 will be disabled 0 no meaning 8 1 Inching 1 On Condition Operation is enabled and no active positioning process Drive
27. 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 gt 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 AG03 1 PB Date 08 07 2015 Page 31 of 35 Art No 86674 Mod status 251 15 7 6 2 intelligente Weg und Winkelmess Systeme PS gt _ Example Write parameter The parameter limit 1 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 3n see table 8 Job identification 2 Determination of parameter number parameter number limit 1 10164 3F8 see table 15 3 SPM 0 gt PKE 33F8 Parameter identification for the example Write parameter PKE Parameter identification Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 42 1 0 Designation AK SPM Parameter number PNU Binary value 0 O 1 1 0 0 1 1 1 1 1 1 1 0 0 0 hex value 3 3 F 8 Determination of the parameter identification value PKW
28. hing operation can be programmed via parameter no 8 a Inch and parameter no 9 v Inch NOTICE There is no compensation for spindle play loop positioning in this travel type There are three options for travelling with inching 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 AG03 1 PB Date 08 07 2015 Page 7 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme mg SIKO oa e Inching operation 2 Inching operation 2 is started via STW 9 1 The drive moves 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 The inching speed can be influenced via tw
29. ligente Weg und Winkelmess Systeme Nr Name Selection value Default Description 24 Setpoint see column Descrip tion 0 Positioning mode indicates absolute target position Spindle pitch 0 Information refers to increments Spindle pitch 0 Information refers to travelling distance in 1 100 mm 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 48 1 gt max 100 rev min gear ratio 24 1 gt max 200 rev min Profibus chapter 7 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 0 stop with maximum delay Stop mode 1 stop with pre programmed delay parameter no 8 Profibus chapter 7 6 parameter no 1021 dec 26 Inpos mode 0 1 2 Operating mode positioning mode 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 Velocity mode no meaning Profibus chapter 7 6 parameter no 1022 dec
30. linking 5 times SIN COS monitoring F 46h blinking 6 times _ internal error G 47h blinking 7 times intermediate circuit voltage too high Error condition Intermediate circuit voltage gt 35 V J 4Ah blinking 10 times Battery voltage lt 2 2 V Battery must be replaced Table 2 Error codes 6 Parameter description This chapter describes the parameters of the AG03 1 All parameters are stored in the non volatile EEPROM except for parameter no 24 target value and parameter no 30 Offset inching 2 Controller parameters Standard parameters Nr Name Ge 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 7 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 7 6 parameter no 1001 dec 3 Controller 0 500 0 D gain of controller parameter valid for all operating modes positioning mode velocity D mode inching operation Profibus chapter 7 6 parameter no 1002 dec 4 a Pos 1 100 50 Acceleration in positioning mode values in 100 gt 4 U s Profibus chapter 7 6 parameter no 1003 dec AG03 1 PB Date 08 07 2015 Page 13 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme Nr
31. o parameters and will be calculated in the drive as shown in the following example Inch parameter no 9 50 rpm changeable only during standstill Offset Inching 2 parameter no 30 47 changeable during inching operation In this example the resulting incing speed is Inching speed v inch offset inching 2 rpm 47 24 rpm Results are always rounded up to integers The minimum speed is 1 rpm e Manual setup mode er gen SS The manual setup mode corresponding to inching operation 2 can be started by means of the operator keys enabling traveling of the actuator without a superordinate control Key 1 clockwise movement Key 2 counter clockwise movement The manual setup mode is only available if the Profibus finite state machine of AG03 1 is NOTICE not in the Data Exchange status AG03 1 PB Date 08 07 2015 Page 8 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme PS gt The following conditions must be met to enable the start of inching operation 1 and 2 or manual setup operation repectively e The AG03 1 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 Supply voltage of the output stage is applied system status word bit 10 0 If the actual position is outside the programmed limits traveling in the relevant direction NOTICE We is
32. ord bit 10 0 ZSW 15 1 is signalled when these conditions have been met 2 2 1 1 Loop positioning If the AGO3 1 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 always from the same direction This travel direction can be defined via the parameter no 19 Pos Art see chapter 6 Parameter description Example Assumption The direction of travelling for reaching any target position is positive see chapter 6 Parameter no 19 Pos Art loop AG03 1 PB Date 08 07 2015 Page 6 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme _ SIKO IK 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 AG03 1 travels beyond the target position by the loop length parameter no 27 bit 9 in the system status word signals travel direction unequal start direction afterwards travelling to the target value is in positive direction Positioning Loop Loop length Parameter no 27 Kiem Positioning in positive direction Positioning in negative 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 inc
33. peration no acknowledgement required Warnings see chapter 5 1 0 No warning No pending warning or warning has disappeared 8 1 No lag error No lag error 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 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 AG03 1 is ready to travel if operation has been enabled ZSW 2 1 e Supply voltage of the output stage is applied e no limits have been exceeded e no fault is active e no current positioning is active 0 not ready to travel AG03 1 is not ready to travel Table 12 Status word Positioning mode AG03 1 PB Date 08 07 2015 Page 23 of 35 Art No 86674 Mod statu
34. plicable to the next travelling job The value must be in the range of the pre programmed limiting values see chapter 7 6 Parameterization parameter nos 1016 1017 e Velocity mode Target value contains the target velocity value in rev min Data transfer slave gt master PZD actual value high word low word Fig 11 Process data slave master ZSW Status word ZSW Description Positioning mode see chapter 7 5 2 Velocity mode see chapter 7 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 7 5 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 04 0 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 AG03 1 PB Date 08 07 2015 Page 21 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme 7 5 1 Control word in positioning mode master gt slave Bit Value ne
35. possible by means of inching operation 1 or 2 or manual setup 2 2 2 Velocity mode Parameter no 20 operating mode is programmed to velocity mode see chapter 6 Parameter description In the velocity mode the AG03 1 accelerates to the target velocity after release of the setpoint value see chapter 7 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 6 Parameter description Velocity Target speed Disable operation lt Disable setpoint or setpoint 0 nn Acceleration p g 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 AG03 1 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 Supply voltage of the output stage is applied system status word bit 10 0 If these conditions are met this will be signalled in the system status word by bit 11 O NOTICE Limits 1 2 are deactivated in this operational mode AG03 1 PB Date 08
36. r 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 Operation 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 5 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 AG03 1 is ready to travel if e operation has been enabled ZWS 2 1 e no fault is active e Supply voltage of
37. re programmed delay meaning see chapter 6 gt parameter no 25 1022 gec Inpos mode read word PWE 0 Position control SFE hex write PWE 1 short circuit of motor windings PWE 2 motor released meaning see chapter 6 gt parameter no 26 1023 dec Loop length read word __ Value range 0 10000 SFF hex write meaning see chapter 6 gt parameter no 27 1027 dec Device read word Temperature in 1 10 C 403 hex temperature 1029 Aer Motor current read word Current in mA 405 hex 1031 dec general status read word Indicates the state of supply voltage of the 407 hex register output stage and of torque disable Bit 4 Supply voltage of output stage Bit 7 torquedeactivation Bit 0 3 5 6 8 15 not used Bit x 1 active Bit x 0 inactive 1032 jec Torque read word Value range 20 125 408 hex deactivation write meaning see chapter 6 gt parameter no 29 1033 gec Serial number read Double Reading the serial number 409 hex word 1234567 ge serial number 1234567 1034 gec date of read Double Read out date of production 40A hex production word Format description example 15 07 20 De 15 07 2009 DDMMJJJJ 1035gec Offset inching 2 read word Value range 10 100 40Bnex write meaning see chapter 6 gt parameter no 30 1036gec Position value read Double Read out position value 40Chex word 1039 dec d Pos read word Value range 1 101 AOF hex write meaning see chapter 6 gt p
38. reduction of the AGO3 1 can be read 301 hex version out PWE 2 gear reduction 24 1 PWE 3 gear reduction 48 1 965 dec Software read word The software version of the AG03 1 can be read 3C5 hex version out via this parameter e g 0101 means version 1 01 AG03 1 PB Date 08 07 2015 Page 28 of 35 Art No 86674 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 6 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 AGO3 1 PWE is set to zero after successful execution for default values refer to chapter 6 Parameter description In deviation from the definition in chapter 7 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 6 gt parameter no 1 P 1001 dec Con
39. ription 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 date in cyclic traffic not readable Table 10 Error numbers with reply 7 4 3 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 AG03 1 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 Conirol word STW For a description of the control word in positioning mode refer to chapter 7 5 1 For a description of the control word in velocity mode refer to chapter 7 5 4 AG03 1 PB Date 08 07 2015 Page 20 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme gf SIKO er 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 ap
40. rotation read word PWE 0 isense of rotation 3F5 hex write PWE 1 e sense of rotation meaning see chapter 6 gt parameter no 18 AG03 1 PB Date 08 07 2015 Page 29 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme Para meter Name Access Format Description No 1014 dec Pos type read word PWE 0 direct 3F6 hex write PWE 1 loop PWE 2 loop meaning see chapter 6 gt parameter no 19 1015 dec reserved 3F7 hex 1016 dec Limit 1 read Double Value range 9999999 9999999 3F8 hex write word __ meaning see chapter 6 gt parameter no 15 1017 dec Limit 2 read Double Value range 9999999 9999999 3F9 hex write word __ meaning see chapter 6 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 6 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 6 gt parameter no 17 1020 gec System read word System status word of the AG03 1 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 p
41. rts control functions and status messages as well as the type of cyclic data traffic between master and AG03 1 slave are based on the processes and data structures defined in the document Profibus profile for adjustable speed drives PROFIDRIVE version 2 September 1997 issue PNO order no 3 071 AG03 1 PB Date 08 07 2015 Page 17 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme 7 4 Telegram setup Data Exchange 7 4 1 7 4 2 7 4 2 1 During operation Data exchange gt orange Profibus LED is lighting see installation instructions 7 data words are cyclically exchanged between a master and the AG03 1 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 7 4 2 Parameter identification value Any parameter in the AG03 1 can be monitored or changed by means of the PKW telegram portion parameter identification value e Process data range see chapter 7 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 Definition of the Parameter Process data Object A special PPO type with fixed data length 7 da
42. s 251 15 7 5 3 Means change from Ti 0 to 1 and back Lr Means change from 1 to 0 and back X Bit may be 0 or 1 Inching 1 2 On Oo x000 0010 0000 1011 pe 0000 0001 0000 10 I intelligente Weg und Winkelmess Systeme Flow chart Operating mode Positioning mode Start Operating voltage On STW 0000 0000 0000 0000 l Ready to run ZSW 0x1x 1x11 x01x 0011 Enable operation S sw 0000 0000 0000 1011 Operation enabled ZSW xx1x 1x11 x011 0111 RE Inching 1 2 active d Inching Off gt ZSW 0x0x 1x1x x011 0111 STW 0000 0000 0000 1011 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 ZSW 101x 1x11 x011 0111 Activate travel job STW 0000 0000 0011 1011 C STW6 S or 1 Travel job active ZSW 000x 1x1x x011 0111 Travel job inactive ZSW 101x 1x11 x011 0111 Fig 13 Flow chart Positioning mode AG03 1 PB Date 08 07 2015 Page 24 of 35 Art No 86674 Start positioning STW 5 1 gt Mod status 251 15 intelligente Weg und Winkelmess Systeme 7 5 4 Control word Velocity mode master gt slave
43. 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 master upon inquiry Slaves are called passive stations The AG03 1 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 The AG03 1 automatically recognizes the baud rate of the Profibus DP The master uniformly sets the baud rate for all devices connected to the Profibus The AG03 1 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 AG03 1 is at the end of the bus the Profibus connection must be terminated using a defined bus terminator In the AG03 1 this is accomplished via an internal resistor combination that can be connected via DIP switches SW9 SW10 see chapter 7 10 Profibus bus terminator 7 3 Data exchange The flow cha
44. ta words has been defined for the AG03 1 PZD 3 words ser PZD1 PZD2 PZD3 STW HSW HSW master slave oe Ne bile ZSW HIW HIW slave gt master MSW LSW word 1 word 2 word 3 word 4 word5 word 6 word 7 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 AG03 1 PB Date 08 07 2015 Page 18 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme PS gt The parameter identification is made up as follows PKE Parameter identification 12 11 10 9 8 7 6 5 4 3 2 1 0 SPM Parameter number PNU 15 14 13 AK Fig 9 PKE setup
45. 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 2 off 10 is not supported 14 15 1 AG03 1 specific negative travel direction with inching operation 2 0 AG03 1 specific positive travel direction with inching operation 2 Table 11 Control word Positioning mode AG03 1 PB Date 08 07 2015 Page 22 of 35 Art No 86674 Mod status 251 15 intelligente Weg und Winkelmess Systeme 7 5 2 Status word Positioning mode slave gt master Bit Value SE EE fo AG03 1 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 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 o
46. troller read word _ Value range 1 500 3E9 hex parameter write meaning see chapter 6 gt parameter no 1 1002 dec Controller read word Value range 0 500 3EA hex parameter write meaning see chapter 6 gt parameter no 3 D 1003 dec a Pos read word Value range 1 100 3EB hex write meaning see chapter 6 gt parameter no 4 1004 dec v Pos read word Value range gear ratio 24 1 gt 1 200 3EC hex write gear ratio 48 1 gt 1 100 meaning see chapter 6 gt parameter no 5 1005 dec a Rot read word Value range 1 100 SED hex write meaning see chapter 6 gt parameter no 6 1006 dec reserved 3EE hex 1007 dec a Inch read word Value range 1 100 SEF hex write meaning see chapter 6 gt parameter no 8 1008 dec v Inch read word Value range 3FO hex write gear ratio 24 1 gt 1 200 gear ratio 48 1 gt 1 100 meaning see chapter 6 gt parameter no 9 1009 dee Pos Window read word Value range 0 1000 3F1 hex write meaning see chapter 6 gt parameter no 10 1010 dec Numerator read word Value range 1 10000 SF2 hex write meaning see chapter 6 gt parameter no 11 1011 dec Denominator read word Value range 1 10000 3F3 hex write meaning see chapter 6 gt parameter no 12 1012 dec Spindle pitch read word Value range 0 1000 3F4 hex write meaning see chapter 6 gt parameter no 13 1013 dec Sense of
47. y means of the PKW mechanism see chapter 7 4 2 PKW Changes of the parameters are stored in the non volatile EEPROM If the Profibus master sends illegal values to the AG03 1 this result in an error message see Table 10 Error numbers with reply For the meaning of the individual parameters please refer to chapter 6 Parameter description 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 6 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 970gec Example PWE 41 corresponds to ASCII A For the meaning of the individual characters please refer to chapter 5 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
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