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AG03/1

1. 6 External gear When using an external gear you can program a factor via parameter no 11 numerator and parameter no 12 U denominator to include gear ratio into position sensing Example see Fig 6 The actuator is operated on a gear with transmission reduction of 5 1 For this purpose the parameters U numerator and denominator must be programmed as follows e Parameter numerator 5 e Parameter denominator 1 external ENS ADDS E BOT aE ICR PE Pe PR CER 5 revolutions ps 1 revolution Y N Y Internal gear Gear output Fig 6 External gear Input of an odd gear transmission reduction value is possible according to the following example Transmission reduction 3 78 e Parameter numerator 378 e Parameter denominator 100 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 11 of 36 Art no 86679 Mod status 112 14 Precision in Motion 7 Warnings Errors 7 1 7 2 7 2 1 7 3 Warnings Warnings do not influence the operation of the positioning drive Warnings disappear after correcting the cause Possible warnings e Battery voltage for absolute encoder is below limit 2 exchange battery within the next 6 months Errors Errors cause an immediate stop of the positioning drive An error is signaled in the SW 7 1 status word and with a blink code on LEDS The error messages are entered in the error memory in the order of their det
2. Reserved always 0 Table 9 Control word in positioning mode SIKONETZ5 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 25 of 36 Art no 86679 Mod status 112 14 9 8 3 AG03 1 RS485 SIKONETZ5 Precision in Motion Status word Positioning mode slave master Actuator travels stands still Bit Description Bit 0 0 Output stage voltage missing Supply 1 Supply voltage of the output stage is applied Bit 1 0 not ready to travel Readiness to travel 1 ready to travel Bit 2 0 no violation of limit upper limit 1 uppper limit exceeded Bit 3 0 no violation of limit lower limit 1 lower limit undercut Bit 4 0 actuator stands still 1 actuator travels Bit 5 0 Actuator is outside the position window Travel job acknowledgment Inpos 1 Actuator is inside the position window Bit 6 0 no active travel job Active travel job 1 active travel job Bit 7 0 no error Error 1 Error Acknowledgment with positive flank on Control word bit 5 Bit 8 0 operation not enabled Operation enabled 1 operation enabled Bit 9 0 no switch lock Switch lock 1 switch lock Bit 10 0 no acknowledgment 1 acknowledgment The bit is set when the travel job was taken over If bit 4 is reset in the control word this bit will be reset as well Bit 11 Battery warning 0 no warning battery loading state is OK 1
3. If travel direction equal start direction Or Operating mode Speed mode irrelevant Bit 10 Output stage supply voltage Supply voltage of the output stage not applied No traveling of the drive is possible Supply voltage of the output stage is applied Bit 11 ZH Or Ready for travel Not ready for travel Ready for travel e Drive not in error condition e No active positioning e Supply voltage of the output stage is applied e Actual position within limits only positioning mode Bit 12 Battery voltage battery voltage too low for absolute encoder Replace the battery within half a year after notice of error bit Battery voltage OK Bit 13 Motor current Motor current beyond permissible range If this condition persists longer than 4 s the drive will switch to Error Motor current within permissible range Bit 14 4 Or Operating mode Positioning mode Status Positioning active in positioning mode Positioning inactive Or Operating mode Speed mode irrelevant Bit 15 Or Contouring error Contouring error the actuator cannot reach the preset speed due to too high load This state should be avoided Remedy reduce programmed speed No contouring error actual speed corresponds with required speed Table 8 System Status Word AG03 1 RS485 SIKONETZ5 Precision in Motion Date 31 03 2014 Page 24 of 36 Art no 86679 Mod sta
4. 4 4 Reset only standard parameters to factory settings see chapter 8 Parameter description Reset only controller parameters to factory settings see chapter 8 Parameter description Reset only bus parameters to factory settings see chapter 8 Parameter description 3 Turn on supply voltage AG03 1 acknowledges with alternating blinking of the status LED and the bus LED Switch off supply voltage Setting of the original bus address and baud rate via DIP switches 1 7 DIP switch number 8 must be set to the OFF position The parameters chosen before will have the factory settings again after switching on supply voltage noon AGO03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 10 of 36 Art no 86679 Mod status 112 14 C Precision in Motion 5 Calibration Two steps are required for executing calibration 1 Write the calibration value 2 Execute calibration Since the measuring system is an absolute system calibration is necessary only once with commissioning With calibration the calibration value is adopted for calculation of the position value The following equation is applied in case of calibration Position value 0 calibration value offset value Calibration value see chapter 8 Parameter description Parameter no 14 Offset value see chapter 8 Parameter description gt Parameter no 32 NOTICE Calibration is only possible when no travel job is active
5. Limit 2 rw Integer32 Value range 9999999 9999999 see chapter 8 Parameter description gt Parameter no 16 Ox2D Contouring error limit rw Unsigned16 Value range 1 30000 see chapter 8 Parameter description gt Parameter no 28 0x36 d Pos rw Unsigned8 Value range 1 101 see chapter 8 Parameter description gt Parameter no 74 0x37 Torque disable rw Unsigned8 Value range 20 125 see chapter 8 Parameter description gt Parameter no 75 0x60 Output stage temperature Integer16 Temperature values in 1 10 C see chapter 8 Parameter description gt Parameter no 50 0x61 Voltage of control Integer16 Voltage values in 1 10 V see chapter 8 Parameter description gt Parameter no 51 0x62 Voltage of output stage Integer16 Voltage values in 1 10 V see chapter 8 Parameter description gt Parameter no 52 0x63 Voltage of battery Integer16 Voltage values in 1 100 V see chapter 8 Parameter description gt Parameter no 53 0x64 Motor current Integer16 Current values in mA see chapter 8 Parameter description gt Parameter no 54 0x65 Device code Unsigned8 2 AG03 1 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 33 of 36 Art no 86679 Mod status 112 14 Precision in Motion Para etc Access Access Format Description hex 0x66 So
6. Status word SW slave to master 9 3 6 Data Range for data exchange Size 4 bytes 9 3 7 Check sum For checking error free data transfer a check sum is formed at the end of the telegram The check sum is the exclusive OR link of bytes 1 9 Check sum Byte10 Byte1 XOR Byte2 XOR Byte3 XOR Byte4 XOR Byte5 XOR Byte6 XOR Byte7 XOR Byte8 XOR Byte9 The following applies for checking the telegram received Byte1 XOR Byte2 XOR Byte3 XOR Byte4 XOR Byte5 XOR Byte6 XOR Byte7 XOR Byte8 XOR Byte9 XOR Byte 10 0 With a result unequal 0 a transmission error is to be assumed 9 4 Synchronization Byte telegram synchronization is via Timeout The intervals of the individual bytes of a telegram must not exceed the value of 10 ms If an addressed device does not respond the master may send a new telegram not earlier than after 30 ms 9 5 Error telegram Illegal entries are replied with an error telegram An error telegram consists of parameter address OxFD and an error code The error code is in the data range of the reply telegram The error code is divided in two bytes Code 1 describes the error proper code 2 contains additional information if available In the following example it was attempted to write a value of 1000 to the v Pos parameter address However a maximum value of only 30 is admissible for this parameter Telegram from master to slave 1 Byte 2 Byte 3 Byte 4 Byte
7. ready to travel Bit 2 No function Bit 3 No function Bit 4 0 actuator stands still Actuator travels stands still 1 actuator travels Bit 5 0 Actuator is outside the position window Inpos 1 Actuator is inside the position window Bit 6 0 no active travel job Active travel job 1 active travel job Bit 7 0 no error Error 1 Error Acknowledgement with positive flank on control word bit 5 Bit 8 0 operation not enabled Operation enabled 1 operation enabled Bit 9 0 no switch lock Switch lock 1 switch lock Bit 10 0 no acknowledgment Travel job acknowledgment 1 acknowledgment The bit is set when the travel job was taken over If bit 4 is reset in the control word this bit will be reset as well Bit 11 Battery warning 0 no warning battery loading state is OK 1 Battery warning Battery voltage is below 2 6 V Battery change is required Date 31 03 2014 Table 12 Status word in soeed mode SIKONETZ5 Page 29 of 36 Art no 86679 Mod status 112 14 9 8 7 Flow chart of speed mode CW Control word SIKONETZ5 SW Status word SIKONETZ5 X bit can be 0 or 1 Change target value CW 4 1 Precision in Motion Start Error SW 7 1 Acknowledge error CW 5 1 t Supply voltage On CW 0000 0000 0000 0000 Enable operation L CW 0000 0000 0000 0111 Operation ena
8. 9 1 4 Technical Data Available baud rates 19200 baud 57600 baud factory setting 115200 baud No parity 8 data bits 1 stop bit no handshake 9 1 2 Setting of node address The node address is set via DIP switches 1 5 Swi SW2 SW3 SWA SW5 Set 2 Gi 27 Gi 2 Slave address OFF OFF OFF OFF OFF 0 ON OFF OFF OFF OFF 1 OFF ON OFF OFF OFF 2 OFF ON ON ON ON 30 ON ON ON ON ON 31 Table 4 Setting of node address 9 1 3 Setting the baud rate The baud rate is set via DIP switches 6 7 Baud rate SW6 SW7 set OFF OFF 57600 baud ON OFF 115200 baud OFF ON 19200 baud ON ON Table 5 Setting the baud rate NOTICE The node address and baud rate settings are only read in when switching on supply voltage Changing the settings during operation has no effect 9 1 4 Bus termination The internal bus terminator can be switched in via DIP switches 9 10 SW9 SW10 Bus termination OFF OFF deactivated ON ON active Table 6 Bus termination AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 19 of 36 Art no 86679 Mod status 112 14 Precision in Motion Please note that both DIP switches are always required to ensure the correct function of NOTICE bus termination 9 2 Data exchange The protocol functions a
9. Unsigned8 Value range 1 100 see chapter 8 Parameter description gt Parameter no 8 0x17 v Inch rw Unsigned8 Value range Gear 48 1 1 100 rpm Gear 24 1 1 200 rpm see chapter 8 Parameter description gt Parameter no 9 0x18 Numerator rw Unsigned16 Value range 1 10000 see chapter 8 Parameter description gt Parameter no 1 1 0x19 Denominator rw Unsigned16 Value range 1 10000 see chapter 8 Parameter description gt Parameter no 12 Ox1A Encoder resolution Unsigned16 Constant Value 1600 0x1B Sense of rotation rw Unsigned8 0 i sense of rotation cw 1 e sense of rotation ccw see chapter 8 Parameter description gt Parameter no 18 0x1C Spindle pitch rw Unsigned16 Value range 0 1000000 see chapter 8 Parameter description gt Parameter no 13 Ox1E Offset rw Integer32 Value range 999999 999999 see chapter 8 Parameter description gt Parameter no 32 Ox1F Calibration value rw Integer32 Value range 999999 999999 see chapter 8 Parameter description gt Parameter no 14 0x20 Pos window rw Unsigned16 Value range 0 1000 see chapter 8 Parameter description gt Parameter no 10 0x21 Pos type rw Unsigned8 0 direct 1 loop 2 loop see chapter 8 Parameter description gt Pa
10. Write set point 2 Output stage temperature 3 Control voltage 4 Output stage voltage 5 Battery voltage 6 Motor current 7 Actual position 8 Actual rotational speed see chapter 8 Parameter description gt Parameter no 36 OxOE Programming mode rw Unsigned8 0 no programming mode Configuration 1 apply programming mode see chapter 8 Parameter description gt Parameter no 46 0x10 Controller parameter rw Unsigned16 Value range 1 500 P see chapter 8 Parameter description gt Parameter no 1 0x11 Controller parameter rw Unsigned16 Value range 0 500 see chapter 8 Parameter description gt Parameter no 2 0x12 Controller parameter rw Unsigned16 Value range 0 500 D see chapter 8 Parameter description gt Parameter no 3 0x13 a Pos rw Unsigned8 Value range 1 100 see chapter 8 Parameter description gt Parameter no 4 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 31 of 36 Art no 86679 Mod status 112 14 Precision in Motion Para meter no hex Access Access Format Description 0x14 v Pos rw Unsigned8 Value range Gear 48 1 1 100 rpm Gear 24 1 1 200 rpm see chapter 8 Parameter description gt Parameter no 5 0x15 a Rot rw Unsigned8 Value range 1 100 see chapter 8 Parameter description gt Parameter no 6 0x16 a Inch rw
11. 0xA8 Programming mode On Offf temporary WO Unsigned8 Depending on the parameter programming mode configuration Programming mode configuration 0 no function Programming mode configuration 1 0 programming mode Off Write parameter disabled Write attempts are acknowledged with an error message 1 Programming mode On Write parameter enabled OxAA Freeze actual value WO Unsigned8 1 freeze actual value the current actual value is cached until next reading of actual value OxFA System Status Word Unsigned16 see chapter 9 3 4 System status word OxFE Actual value Integer32 Positioning mode Actual position Rotational speed mode Actual rotational speed OxFF Set point rw Integer32 Positioning mode target position Rotational speed mode Target rotational speed Table 13 Parameter description SIKONETZ5 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 35 of 36 Art no 86679 Mod status 112 14 C Precision in Motion 9 9 1 Example Read parameter Reading the parameter Limit 1 of node address 1 NOTICE With read commands the data range shall be set to value O Read command 0x00 Node ID 0x01 Parameter address 0x29 Limit 1 Data 0x00 00 00 00 Telegram from master to slave 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte Parameter check Com
12. 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte Node Parameter check Command ID address CW data sumi 0x01 0x01 0x14 0x00 0x00 0x00 0x00 0x03 OxE8 OxFF AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 21 of 36 Art no 86679 Mod status 112 14 9 5 1 9 6 9 7 9 7 1 Precision in Motion Reply telegram from slave 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte Conimand Node Parameter sw data check ID address Code 2 Code 1 sum 0x01 0x01 OxFD 0x00 0x21 0x00 0x00 0x02 0x82 0x5C SIKONETZ5 error codes Code 1 Description Code 2 Description 0x80 Checksumme SIKONETZ5 0x00 No further information available 0x81 Timeout SIKONETZ5 0x00 No further information available 0x00 No further information available 0x01 Value MIN 0x82 Value rage exceeded nageduate 0x02 Value gt MAX 0x83 Unknown parameter 0x00 No further information available 0x00 No further information available 0x84 Access is not supported 0x01 Write on read only 0x02 Read on write only 0x00 No further information available 0x85 Eircrd sddevisestatie 0x01 EEPROM write access active 0x02 Positioning active 0x03 Programming locked Table 7 SIKONETZ5 Error codes Errors If a slave is in the error state the slave signals the error with ZSW 7 1 An error must
13. Block diagram AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 4 of 36 Art no 86679 Mod status 112 14 Precision in Motion 3 Display and operating elements 3 1 3 2 3 3 General Information The actuator has two operator keys 1 2 two LEDs 3 4 and one 10 pin DIP switch 5 Fig 2 Display and operating elements Operating keys Manual setup mode corresponding to inching mode 2 can be started by means of the operator keys This makes it possible to move the actuator without a superordinate control Key 1 clockwise movement Key 2 counter clockwise movement DIP switch Bus specific settings can be made via the DIP switch For a more detailed description of the functions refer to the bus specific part of this manual The factory settings can also be restored by means of the DIP switch see chapter 4 1 3 Restore factory settings via DIP switches AGO03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 5 of 36 Art no 86679 Mod status 112 14 Precision in Motion 3 4 LED displays LED Color State Description on Supply voltage of the output stage is applied blink 1 x Error Undervoltage blink 2 x Error Shaft blocked blink 3 x Error Overcurrent blink 4 x Error Output stage excess temperature LED3 green blink 5 x Error SIN COS monitoring blink 6 x Error Internal error blink 7 x Error Overvoltage blink 8 x Error Checksum error SIKONETZ
14. is equal limit 2 Take into account that there will be a jump of the actual position when the resolution of the absolute value encoder is exceeded Operating mode Speed mode irrelevant Limit 2 9999999 to 9999999 1000000 Operating mode Positioning mode Limit 2 Spindle pitch 0 Values refer to increments Spindle pitch gt gt 0 values refer to travel distance in 1 100 mm If the drive s position is outside the area defined by limit 1 and limit 2 traveling range then traveling is only enabled in inching mode in the direction of the traveling range Caution Limit monitoring is deactivated if limit 1 is equal limit 2 Take into account that there will be a jump of the actual position when the resolution of the absolute value encoder is exceeded Operating mode Speed mode irrelevant AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 14 of 36 Art no 86679 Mod status 112 14 Precision in Motion No Name Selection value Default Description S C 17 Delta inch 1000000 to 1000000 1600 Delta traveling distance with inching operation 1 indicates the relative traveling distance positive value positive travelling direction negative value negative travelling direction Spindle pitch 0 Values refer to increments Spindle pitch 0 values refer to travel distance in 1 100 mm S 1 Sense of rotation Counti
15. is outside the positioning window of the programmed target value Operating mode Speed mode In Position 1 Actual speed is inside the specified tolerance window of target speed OU Actual speed is outside the specified tolerance window Bit 4 Drive travels T Drive travels O Drive stands still rotational speed 2 rpm AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 23 of 36 Art no 86679 Mod status 112 14 Bit State Description Bit 5 Or Operating mode Positioning mode upper limit The actual position is above the programmed upper limit of limit 1 2 Traveling is possible only in negative direction in inching mode Actual position is below the programmed limiting value Or Operating mode Speed mode irrelevant Bit 6 Or Operating mode Positioning mode lower limit The actual position is below the programmed lower limit of limit 1 2 Traveling is possible only in negative direction in inching mode Actual position is above the programmed limiting value Or Operating mode Speed mode irrelevant Bit 7 4 Or Driver state Motor is enabled Motor in control Bit 8 Error Drive has switched to error The cause of the error must be cleared and acknowledged via CW 7 1 Cause of error see chapter 7 No error present Bit 9 4 Or Operating mode Positioning mode Loop travel If travel direction unequal start direction with loop travel
16. parameter Values are entered in percentage of parameter no 9 31 Type of acceleration Inching mode 2 Inching operation 2 The type of acceleration can be set with this parameter 0 static acceleration Acceleration to final speed occurs in one step as defined under parameter no 8 1 2 incremental acceleration Acceleration occurs to final speed as defined under parameter no 8 with the following steps 4 s to 20 of final speed 2 s to 50 of final speed 1 s to 100 926 of final speed 32 Offset 999999 to 999999 Offset value Changes to the offset value are immediately considered in the calculation of the position value The following equation applies to calibration Position value 0 calibration value offset value AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 16 of 36 Art no 86679 Mod status 112 14 Precision in Motion No Name eae Default Description SC 33 Baud rate read only The baud rate is set via DIP switches SW 6 l RS485 SW 7 0 19200 baud 1 57600 baud 2 2 115200 baud 35 Bus Timeout 0 20 20 SIKONETZ5 4 Caution Unintended device reactions Unintended device reactions may occur with missing time monitoring 02 deactivated and concurrent cable break Time monitoring is activated ex factory Mode Time monitoring deactivated 0 is only allowed for test purpos
17. 1 01x0 0011 Fig 8 Flowchart positioning mode SIKONETZ5 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 27 of 36 Art no 86679 CW 3 0 Mod status 112 14 Precision in Motion 9 8 5 Control word in speed mode Bit Description Bit 0 OFF1 enable 0 OFF1 active Current travel job is canceled The actuator is activated 1 OFF1 inactive Bit 1 OFF2 max delay 0 OFF2 active Current travel job is canceled The actuator is decelerated with max delay the actuator continues tio be controlled 1 OFF2 inactive Bit 2 OFFS progr delay 0 OFF3 active Current travel job is canceled The actuator is decelerated with prog delay the actuator continues to be controlled 1 OFFS inactive Acknowledge error Bit 3 Reserved always 0 Bit 4 Positive flank starts a travel job Start travel job Bit 5 Positive flank acknowledges an error Afterwards the actuator changes to the switch lock state Bit 6 15 Reserved always 0 Table 11 Control word speed mode SIKONETZ5 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 28 of 36 Art no 86679 Mod status 112 14 9 8 6 AG03 1 RS485 SIKONETZ5 Status word in speed mode Precision in Motion Bit Description Bit 0 0 Output stage voltage missing Supply 1 Supply voltage of the output stage is applied Bit 1 0 not ready to travel Readiness to travel 1
18. 5 blink 9 x Error Timeout SIKONETZ5 blink 10 x Error Low battery voltage off Supply voltage of the output stage not applied LED4 orange on Bus operation active off no bus operation Table 1 LED displays 4 Functional description 4 1 Control of the drive The drive can be moved manually via the 1 2 keys without upstream control The drive can be controlled and configured in the bus operating mode 4 1 4 Operating modes The following operating modes are distinguished positioning mode and speed mode In the positioning mode there is the additional option of traveling in inching operation 4 1 1 1 Positioning mode In the positioning mode positioning to the specified set point is executed by means of a ramp function see Fig 3 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 Upon activation of the travel order the actuator accelerates to the specified speed with the acceleration programmed The measure of delay to the required value is defined by the parameter a pos as well Alternately a value deviating from acceleration can be chosen for delay see parameter d Pos If the actual position is within the programmed window this condition will be signaled in the system status word and in the SIKONETZ5 status word You can define the behavior of the actuator upon reaching the p
19. Battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Torque deactivation 0 Torque deactivation inactive 1 Torque deactivation active Motor current exceeds the value set under parameter 0x35 The drive was stopped Table 10 Status word in positioning mode SIKONETZ5 Date 31 03 2014 Page 26 of 36 Art no 86679 Mod status 112 14 9 8 4 Flow chart of positioning mode CW Control word SIKONETZ5 Precision in Motion Error Start SW Status word SIKONETZ5 SW 7 1 i X bit can be Oort 7 Acknowledge error CW 5 1 i Switch lock Supply voltage On CW 0000 0000 0000 0000 SW 9 1 i OFF1 CW 0 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 di Inching 1 2 On N CW 0000 0000 0100 0111 or CW 0000 0000 1000 0111 or CW 0000 0001 0000 0111 Enable operation d CW 0000 0000 0000 0111 J i EM Pi Operation enabled SW 0000 x001 00x0 xxx1 Inching 1 2 active SW 000x x001 00x1 0001 i Ready for travel 7 E SW 0000 x001 00x0 0011 Inching Off i CW 0000 0000 0000 0111 gt Activate travel job Travel job finished CW 0000 0000 0001 0111 Active travel job SW 000x x101 01x1 0001 Intermediate stop Continue positioning CW 3 1 Intermediate stop active SW 0000 x10
20. Precision in Motion yy ptt Apunpimip n lj il i User manual Actuator with RS485 SIKONETZ5 interface AG03 1 Precision in Motion Tt General Informatio saci L 4 1 1 DOCUMENTATION assats a a a a a A 4 2 Block dagiaM Ew 4 3 Display and operating elements AA 5 3 1 GENERAL INFORMATION 5 3 2 erg ruled em 5 3 3 Bst EE 5 3 4 LIED DISPLAY RR 6 A Funcional descriplon EE 6 4 1 CONTROLOP iuc 6 AAS Operating modes iia radere eec eto ette aeree EE eL Lud er eden 6 4 1 1 1 POSITIONING MOG Se 6 AAA LOOP POSITIONING DEE 7 AVA Inching Bulle 8 44 1 2 1 Jdnching mode T erster dene rra e deesset Tenn et rere 8 44 1 2 2 INCHING Mode 2 certe e rex epe repe ccs oper ener enn Da dee us utu un 8 4 1 4 3 Rotational speed mode cce tt titt te ti eo uet t rh ce rund kn e un 9 4 2 Torgue deactiVatlOn tee tete encre rnv eee erreur taeda maternal ken vo Fx yea UN Rea UU 9 4 1 3 Reset factory settings via DIP switches A 10 NN lofrnE M 11 6 Ee E TE 11 4 MWarnings te 12 7 1 WARNINGS 12 7 2 ERRORS jm HP m 12 MESE Uc D 12 7 3 ACKNOWLEDGMENT OF ERRDRORS NENNEN NENNEN NENNEN NENNEN iniri annee sns ENEE 12 8 Parameter AESCKHIDUOM wcesi acces cvecceeasocccee
21. be acknowledged with CW 5 0 1 If the cause of the error has not been resolved at the time of acknowledgment the error will not be reset After acknowledgment of an error the slave is in the switch lock state The switch lock can be released via a negative flank on CW 0 or CW 1 or CW 2 Errors are stored in the error memory and can be read out In order to receive the last error occurring the number of errors must first be read in parameter address 0x80 With 0x80 number of errors the parameter address with the latest error is received Under this address the error code can be found see chapter 7 2 1 Error codes Communication monitoring Bus timeout The first telegram received by the slave starts time monitoring Every new telegram recognized as valid by the slave correct check sum triggers time monitoring If timeout occurs during an active travel job this will result in the Timeout error i e the current travel job is canceled Thus a broken cable can be detected for instance and the actuator set into a defined state For this purpose the master must address all slaves cyclically AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 22 of 36 Art no 86679 Mod status 112 14 9 7 2 Locking the programming mode Precision in Motion Locking of programming is controlled via parameter Programming mode Configuration see chapter 8 Parameter description Parameter no 46 If it is activated locking must be disabled by a wri
22. bled SW 0000 x001 00x0 00x1 Ready for travel SW 0000 x001 00x0 0011 Enable target value L CW 0000 0000 0001 0111 Target value enabled SW 0000 x101 01xx 0001 i Disable target value CW 4 0 Fig 9 Flow chart speed mode SIKONETZ5 AGO03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 30 of 36 Switch lock SW 9 1 pa QE OFF1 CW 0 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Art no 86679 Mod status 112 14 Precision in Motion 9 9 Parameterization via SIKONETZ5 On principle the actuator sends a telegram acknowledging write and read commands of the master With the command able to be executed the value adopted is in the reply telegram If the actuator was unable to execute the command e g because it was attempted to write a value beyond the admissible range the actuator will send an error telegram in reply Access rw read write ro read only wo write only Para Pad Access Access Format Description hex 0x00 Node address ro Unsigned8 Node address see chapter 8 Parameter description Parameter no 22 0x01 Baud rate ro Unsigned8 Baud rate see chapter 8 Parameter description gt Parameter no 33 0x02 Bus Timeout rw Unsigned16 Value range 0 20 see chapter 8 Parameter description gt Parameter no 35 0x03 Reply parameter rw Unsigned8 0 set point to command 1 Actual value
23. ccording to the master slave principle The actuator acts as a slave Every act of communication must be initiated by the master When the master has sent a command telegram the addressed slave sends a reply telegram Broadcast commands are an exception they remain always unanswered by the slave The protocol is optimized for cyclical data exchange The relevant data such as set point and actual value can be transferred between master and slave by a single telegram exchange The parameter to be returned by the slave as a reply to the master s Write set point command can be defined via the Write Set point reply parameter 9 3 Telegram setup CW SW and data are transferred in the Big Endian format Command telegram from master 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte Command a S ee CW data prn Reply telegram by slave 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte Node Parameter check Reply ID address SW SE Sum 9 3 1 Command 0x00 read 0x01 write 0x02 broadcast 9 3 2 Node ID Node address see chapter 8 Parameter description Parameter no 22 9 3 3 Parameter address Description see chapter 9 9 Parameterization via SIKONETZ5 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 20 of 36 Art no 86679 Mod status 112 14 C Precision in Motion 9 3 4 Control word Control word CW master to slave 9 3 5 Status word
24. da yes deads jecken teedcetad aei e iaei dEi aa e 13 9 Communication via GIKONET Zb 19 9 1 INTERFACE nice E 19 911 Techmcal Data 19 9 1 2 Setting of node address 19 9 1 3 Setting the baud rate enters nn terrenis nnne ns 19 9 1 4 E U acaime 19 9 2 Bag hpclm 20 9 3 TELEGRAM SETUP T 20 93 1 COMMA EEN 20 9 3 2 TR EE 20 9 3 3 Parameter address cccccccceceecceeeeeeeceeeeeeeceeeeeeeceeeeeeeeeeesaeeeeesneeceeesneeaesesneeaeeessenseeeenenaes 20 9 3 4 Control Word sesira 21 CROP CREE Statt Tele ER 21 CRM 21 9 3 7 ee 21 9 4 SYNCHRONIZATION et 21 9 5 ERROR TELEGRAM pM 21 9 5 1 SIKONETZS error codes sssssssssssssesseeeee enne nennen nenne tenter nnn sinere ns 22 9 6 aedi 22 9 7 COMMUNICATION MONITORING scene nennen nns n tnn sn treten resins nitens ihres neni nr nn innen 22 SECH BUS TIMGOUE NT E m 22 9 7 2 Locking the programming mode sssnisrirseerinersnnisreronnisvenneennnnvinnnnenennianen nn aaeain En 23 9 8 FUNCTIONAL DESCRIPTION OF THE CONTROL UNITS ccccccccccecececeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 23 GREEN 23 9 8 2 Control word in positio
25. e 31 03 2014 Page 7 of 36 Art no 86679 Mod status 112 14 Precision in Motion 4 1 1 2 Inching mode Inching mode is enabled in the positioning mode only You can program via parameters acceleration as well as speed in the inching mode NOTICE There is no compensation for spindle backlash loop positioning in this operating mode 4 1 1 2 1 Inching mode 1 The drive travels once from the current actual position by the position Delta Tipp depending on the mathematical sign of the value entered Delta Tipp 0 negative travel direction Delta Tipp 0 positive travel direction If the Spindle pitch parameter is programmed to zero then the traveling way occurs NOTICE by increments If Spindle pitch is unequal zero then the information of the Delta Tipp parameter refers to the travel distance in 1 100 mm Reaching of the target position will be signaled accordingly The following conditions must be met for enabling the start of inching modes 1 and 2 e The actuator must not be switched to error e No active travel job e Supply voltage of the output stage is applied If the actual position is outside the programmed limiting values then traveling from this NCS position in the respective direction is possible by means of inching mode 1 or 2 4 1 1 2 2 Inching mode 2 The actuator travels from the current actual position as long as the relevant command is acti
26. ection The last 10 error messages are displayed when the error memory is full The cause of error can be tracked down with the help of the error codes Error codes Error code Error 0x00 No error 0x06 Low battery voltage 0x07 Low control electronics voltage 0x08 Excess control electronics voltage 0x09 Excess power electronics voltage Ox0A Output stage excess temperature 0x0C Shaft blocked 0x0D Power electronics supply missing 0x20 Internal error 0x21 Overcurrent 0x80 Checksum SIKONETZ5 0x81 Timeout SIKONETZ5 Table 2 Error codes Acknowledgment of errors Errors cannot be acknowledged until the cause of the eror has been corrected Acknowldgement is via the bus AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 12 of 36 Art no 86679 Mod status 112 14 8 Parameter description Precision in Motion Column Explanation S S Parameter transferred is saved in the device non volatilely 2 Parameter transferred is saved in the device volatilely Parameter class 1 Standard parameter 2 Controller parameter C 3 reserved 4 Bus parameter 5 General parameter No Name ee Default Description SC 1 Controller 1 500 100 P gain of controller S2 parameter applies to all operating modes positioning P mode speed mode inching mode 2 Controller 0 500 5 I gain of controller E parameter applies to all operating m
27. es Activate time monitoring after test mode 1 20 Indication of bus timeout values in x100 ms 36 Reply 0 8 1 SIKONETZ5 S4 parameter This parameter defines the reply to the Write Write to set set point command point 0 set point 1 Actual value 2 Output stage temperature 3 Controller voltage 4 Output stage voltage 5 Battery voltage 6 Motor current 7 Actual position 8 Actual rotational speed 46 Programming 0 1 0 SIKONETZ5 S5 mode 0 2 no programming mode Configuration 1 apply programming mode 47 Programming 0 1 0 SIKONETZ5 1 mode 0 Programming mode Off 1 Programming mode On 50 Output stage Read Output stage temperature temperature only Values in 1 10 C 51 Voltage Read Controller voltage of controller only Values in 1 10 V 52 Voltage Read Output stage voltage of output only Values in 1 10 V stage 53 Voltage Read Battery voltage of battery only Values in 1 100 V 54 Motor current Read Motor current only Values in mA 55 Actual Read Actual position position only Spindle pitch 0 values in increments Spindle pitch gt 0 values in 1 100 mm 56 Actual Read Actual rotational speed S rotational only values in rpm speed 57 Serial Read Serial number S number only 58 Production Read Production date S date only Format DDMMYYYY AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 17 of 36 Art no 86679 Mod status 112 14 Precision i
28. eter no 64 0x84 Error 4 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 65 0x85 Error 5 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 66 0x86 Error 6 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 67 0x87 Error 7 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 68 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 34 of 36 Art no 86679 Mod status 112 14 Precision in Motion Para meter no hex Access Access Format Description 0x88 Error 8 Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 69 0x89 Error 9 Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 70 0x8A Error 10 Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 71 OxAO S command WO Unsigned16 1 all parameters to default Caution All parameter classes are reset The factory settings are active after restart 2 only standard parameters to default 3 controller parameters to default 5 bus parameters to default 6 reset error 7 calibration 8 delete error memory 9 software reset
29. ftware version ro Unsigned16 Version number Secondary controller e g 103 corresponds to V1 03 1 see chapter 8 Parameter description gt Parameter no 60 0x67 Software version ro Unsigned16 Version number Main controller e g 108 corresponds to V1 08 see chapter 8 Parameter description gt Parameter no 59 0x68 Serial number ro Unsigned32 Serial number see chapter 8 Parameter description gt Parameter no 57 0x69 Production date ro Unsigned32 Production date in format DDMMJJJJ see chapter 8 Parameter description gt Parameter no 58 0x6A Gear reduction ro Unsigned16 48 gear 48 1 24 gear 24 1 0x6B Actual position ro Integer32 Spindle pitch 0 Values in increments Spindle pitch gt 0 Values in 1 100 mm see chapter 8 Parameter description gt Parameter no 55 Ox6C Actual rotational ro Integer32 Actual speed in rom speed see chapter 8 Parameter description gt Parameter no 56 0x80 Number of ro Unsigned8 Returns the number of errors in the error Errors memory see chapter 8 Parameter description gt Parameter no 61 0x81 Error 1 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 62 0x82 Error 2 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 63 0x83 Error 3 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Param
30. is applied NOTICE Limits 1 2 are inactivated in this operational mode 4 1 2 Torque deactivation Via the torque deactivation parameter see chapter 8 Parameter description Parameter no 75 a switch off threshold is defined The values are indicated in 96 of nominal current With a parameter value of 125 96 torque disable is deactivated The drive decelerates with max delay when the switch off threshold is exceeded The drive continues to be controlled NOTICE Active torque deactivation causes no error AGO03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 9 of 36 Art no 86679 Mod status 112 14 pn TE Precision in Motion Active torque disable is reported via SW 12 1 This bit will be automatically reset when the current travel order is continued NOTICE This function is available in the positioning mode only The actual motor current cannot be indicated by measuring the supply current With NOTICE cycled output stages the supply current does not correspond to the motor current Actual motor current can be read via the interface 4 1 3 Reset factory settings via DIP switches Procedure for restoring the 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 NIIIIIIDU pan EE LO IO Reset all parameters to factory settings see chapter 8 Parameter description
31. mand Node ID ddress CW data sumi 0x00 0x01 0x29 0x00 0x00 0x00 0x00 0x00 0x00 0x28 Reply telegram from slave 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte Command Parameter check reply Node address SW data sum 0x00 0x01 0x29 0x00 0x01 0x00 0x01 0x86 Ox9F 0x31 The reply telegram contains the current value of parameter limit 1 Data 0x00 01 86 9F 99 999 dec 9 9 2 Example Write parameter Set parameter v Pos of node address 1 to value 15 Write command 0x01 Node ID 0x01 Parameter address 0x14 v Pos Data 0x00 00 00 OF Telegram from master to slave 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte Parameter check Command Node ID address CW data eum 0x01 0x01 0x14 0x00 0x00 0x00 0x00 0x00 OxOF 0x1B Reply telegram from slave 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte 9 Byte 10 Byte Command Parameter check reply Node ID address SW data sum 0x01 0x01 0x14 0x00 0x01 0x00 0x00 0x00 OxOF Ox1A AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 36 of 36 Art no 86679 Mod status 112 14
32. n Motion No Name Ee Default Description SIC 59 Software Read Main controller software version Sl version only Main controller 60 Software Read Secondary controller 1 software version Sl version only Secondary controller 1 61 number of Read Number of errors in the error memory S Errors only 62 Error 1 Read Error 1 ER only 63 Error 2 Read Error 2 ER only 64 Error 3 Read Error 3 Sl only 65 Error 4 Read Error 4 Sl only 66 Error 5 Read Error 5 Sl only 67 Error 6 Read Error 6 Sl only 68 Error 7 Read Error 7 S only 69 Error 8 Read Error 8 Sl only 70 Error 9 Read Error 9 S only 71 Error 10 Read Error 10 S only 72 Step down Read Step down gear S gear only 73 System Read System Status Word Status Word only 74 d Pos 1 101 101 Delay in the positioning mode S2 101 Delay determined by parameter no 4 1 100 Delay in per cent 100 96 correspond to 4 rps 75 Torque 20 125 125 Operating mode Positioning mode S 1 disable This parameter determines the threshold of torque disable The values are indicated in 96 of nominal current Value 125 Torque disable deactivated Operating mode Speed mode irrelevant Table 3 Parameter description AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 18 of 36 Art no 86679 Mod status 112 14 Precision in Motion 9 Communication via SIKONETZ5 9 1 Interface
33. ng direction of the measuring system With shaft rotating counter clockwise view on the clamping ring of the actuator i sense of rotation cw positive counting direction e sense of rotation ccw negative counting direction Pos type direct loop loop direct Operating mode Positioning mode Type of positioning direct direct traveling from actual position to target value loop traveling to the target value occurs always in positive direction to compensate for spindle play loop traveling to the target value occurs always in negative direction to compensate for spindle play Caution Loop positioning only in positioning mode Operating mode Speed mode irrelevant 20 Operating mode positioning mode speed mode Position ing mode Operating mode Positioning mode see chapter 4 1 1 1 Positioning mode Operating mode Speed mode see chapter 4 1 1 3 Speed mode 21 reserved 22 Node address read only Setting of the node address is via the DIP switch 23 reserved 24 Set point see Column Description Operating mode Positioning mode indicates absolute target position Spindle pitch 0 Values refer to increments Spindle pitch gt gt 0 values refer to travel distance in 1 100 mm Value range depends on the pre programmed limits parameters 15 16 Operating mode Speed mode indicates the target rotational s
34. ning mode master gt Slavel 25 9 8 3 Status word Positioning mode slave master ssssssssseeeeeee 26 9 8 4 Flow chart of positioning mode nennen nemen nnne 27 9 8 5 Control word in speed mode entrent enne nnne ns 28 9 8 6 Status word in speed mode entm ennenrennnnnn nri nrnnenns 29 9 8 7 Flow chart of speed mode nennen nnne nnns 30 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 2 of 36 Art no 86679 Mod status 112 14 Y S e TE Precision in Motion 9 9 PARAMETERIZATION VIA GIKONET AR 31 9 9 1 Example Read parameter 9 9 2 Example Write parameter AGO03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 3 of 36 Art no 86679 Mod status 112 14 Precision in Motion 1 General Information 1 4 Documentation The following documents are associated with this document Product data sheet describes the technical data the dimensions the pin assignment the accessories and the order key Installation instruction describes the mechanical and electrical installation with all safety relevant conditions and the associated technical specifications User manual for commissioning the actuator and integrating it into a fieldbus system These documents can also be found at http www siko global com en de service downloads 2 Block diagram RS485 Galvanic isolation UB control Reverse polarity Control protection UB Output Reverse Efcoder polarity Output stage protection Battery Fig 1
35. odes positioning mode speed mode inching mode 3 Controller 0 500 0 D gain of controller S2 parameter applies to all operating modes positioning D mode speed mode inching mode 4 a Pos 1 100 50 Acceleration in the positioning mode E values in 96 100 correspond to 4 rps 5 v Pos 1 100 30 Maximum velocity in the positioning mode S 2 1 200 values in rpm gear 48 1 max 100 rpm gear 24 1 gt max 200 rpm 6 a rot 1 100 50 Acceleration in rotational speed mode S2 values in 96 100 96 correspond to 4 rps 7 reserviert 8 a inch 1 100 50 Acceleration in inching mode 1 2 S2 values in 96 100 96 correspond to 4 rps 9 v inch 1 100 30 Maximum speed in inching mode 1 2 S2 1 200 values in rpm gear 48 1 max 100 rpm gear 24 1 max 200 rpm 10 Pos window 0 1000 10 Operating mode Positioning mode S 1 Positioning window If the actual position of the drive is within the programmed set point this window this is signaled by setting bit 3 in the drive s status word Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Values refer to travel distance in 1 100 mm Operating mode Speed mode If the actual rotational speed is within the target rotational speed this window this is signaled by setting bit 3 in the drive s system status word AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 13 of 36 Art no 86679 Mod status 112 14 Precision in Motion Name Selecti
36. on value Default Description S C numerator 1 10000 1 Numerator gear ratio a transmission factor can be programmed here when a gear is used S 1 z denominator 1 10000 Denominator gear ratio a transmission factor can be programmed here when a gear is used Spindle pitch 0 1000000 Spindle pitch Spindle pitch parameter 0 Position value is output in increments 1600 increments per revolution of the driving shaft Spindle pitch parameter 0 when operating the actuator on a spindle The position value is output as traveling distance in 1 100 mm rather than in increments Input of required position is now in 1 100 mm as well E g spindle with a pitch of 2 mm Spindle pitch parameter 200 Calibration value 999999 to 999999 Calibration value Changes to the calibration value are adopted for calculation of the position value via command only after calibration Position value 0 calibration value offset value Limit 1 9999999 to 9999999 1000000 Operating mode Positioning mode Limit 1 Spindle pitch 0 Values refer to increments Spindle pitch gt gt 0 values refer to travel distance in 1 100 mm If drive s position is beyond the range defined by limit 1 and limit 2 travel range traveling will only be possible in inching mode in the direction of the travel range Caution Limit monitoring is deactivated if limit 1
37. peed in rpm Value range Transmission 48 1 gt max 100 rpm Transmission 24 1 gt max 200 rpm AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 15 of 36 Art no 86679 Mod status 112 14 Precision in Motion No Name Selection value Default Description S C 25 Stop mode Inching 2 0 1 0 Stop mode inching mode 2 Inching key operation The stop behavior of inching mode 2 or inching key operation can be configured in different ways Stop mode 0 stop with maximum delay Stop mode 1 stop with programmed delay parameter no 8 S 1 26 Inpos mode Operating mode Positioning mode With this parameter you can define the behavior of the actuator upon reaching the position window Inposmode 0 Position control to set point Inposmode 1 Position control OFF and short circuit of the motor windings Inposmode 2 Position control OFF and enabling of the drive Operating mode Speed mode irrelevant 27 Loop length 0 30000 800 Operating mode Positioning mode Values refer to increments Operating mode Speed mode irrelevant 28 Contouring error limit 1 30000 400 Contouring error limit exceeding the contouring error limit during ongoing positioning results in a Contouring error error 30 Inching 2 Offset 10 100 100 Inching operation 2 The inching speed in Inching operation 2 can be influenced via this
38. rameter no 19 0x22 Loop length rw Unsigned16 Value range 0 30000 see chapter 8 Parameter description gt Parameter no 27 0x23 Inpos mode rw Unsigned8 0 position control 1 short circuit of the motor windings 2 motor activated see chapter 8 Parameter description gt Parameter no 26 AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 32 of 36 Art no 86679 Mod status 112 14 Precision in Motion Para meter no hex Access Access Format Description 0x24 Delta Inch rw Integer32 Value range 1000000 1000000 see chapter 8 Parameter description gt Parameter no 17 0x25 Acceleration type with Inching mode 2 rw Unsigned8 0 static acceleration 1 2 incremental acceleration see chapter 8 Parameter description gt Parameter no 31 0x26 Inching 2 Offset rw Unsigned8 Value range 10 100 see chapter 8 Parameter description gt Parameter no 30 0x27 Stop mode inching 2 rw Unsigned8 0 2 maximum delay 1 programmed delay see chapter 8 Parameter description gt Parameter no 25 0x28 Operating mode rw Unsigned8 0 positioning mode 1 speed mode see chapter 8 Parameter description gt Parameter no 20 0x29 Limit 1 rw Integer32 Value range 9999999 9999999 see chapter 8 Parameter description gt Parameter no 15 Ox2A
39. rogrammed window Changing controller parameters during a positioning process does not influence the current positioning operation AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 6 of 36 Art no 86679 Mod status 112 14 Precision in Motion Velocity Velocity parameter no 5 Delay parameter no 4 S Acceleration Delay parameter no 4 parameter no 74 Start position target position Time Fig 3 Ramp travel direct positioning mode 4 1 1 1 1 Loop positioning If the actuator is operated on a spindle or an additional gear the spindle or external gear backlash can be compensated by means of loop positioning In this case traveling to the target value is always from the same direction This direction of approach can be defined see chapter 8 Parameter description gt Parameter no 19 Example The direction from which every target position shall be driven to is positive e Case 1 new position is greater than actual position direct travel to the target position e Case 2 gt new position is smaller than actual position The actuator drives beyond the target position by the loop length afterwards the set point is approached in positive direction Positioning loop Loop length Ke Positioning in positive Positioning in negative direction direction lt lt Set point Fig 4 Loop positioning AGO03 1 RS485 SIKONETZ5 Dat
40. te command on parameter Programming mode see chapter 8 Parameter description Parameter no 47 prior to write access to a parameter which is stored non volately in the device Correspondingly locking should be re enabled immediately after write access This approach enhances protection from unwanted configuration Write access to locked parameters is answered with Error due to device status see chapter 9 5 1 SIKONETZ5 error codes 9 8 Functional description of the control units 9 8 1 System Status Word The system status word consists of 2 bytes and reflects the state of the drive independent of the operating mode The system status word can be read as a parameter The mode dependent status words are available for cyclical data exchange High Byte Low Byte Bit number 15 14 13 12 11 10 9 8 7 51 4 3 2 1 0 0 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 2 9 4 8 Fig 7 System Status Word Example gray background binary 0010 1001 0100 1000 8 hex gt 2 4 The table below informs about the meaning of the individual bits of the status word System Status Word Bit State Description Bit 0 0 irrelevant Bit 1 OU irrelevant Bit 2 OU irrelevant Bit 3 Operating mode Positioning mode In Position 1 Actual position is within the positioning window of the programmed target value O Actual position
41. tus 112 14 9 8 2 Precision in Motion Control word in positioning mode master slave Bit Description Bit 0 OFF1 enable 0 OFF1 active Current travel job is canceled The actuator is activated 1 OFF1 inactive Bit 1 OFF 2 max delay 0 OFF2 active Current travel job is canceled The actuator is decelerated with max delay the actuator continues to be controlled 1 2 OFF2 inactive Bit 2 OFF 3 progr delay 0 OFFS active Current travel job is canceled The actuator is decelerated with prog delay the actuator continues to be controlled 1 OFFS inactive Acknowledge error Bit 3 0 no intermediate stop Intermediate stop 1 intermediate stop active Bit 4 Positive flank starts a travel job Start travel job Bit 5 Positive flank acknowledges an error Afterwards the actuator changes to the switch lock state Bit 6 Inching mode 1 0 no inching mode If the travel job is not completed yet it will be canceled 1 inching operation 1 As long as this bit is set the actuator travels the distance specified in parameter Delta Inch Bit 7 0 no inching mode 2 positive Inching mode 2 positive 1 inching mode 2 positive The actuator travels in positive direction Bit 8 0 no inching mode 2 negative Inching mode 2 negative 1 inching mode 2 negative The actuator travels in negative direction Bit 9 15
42. ve You can influence the inching speed via two parameters and it will be calculated in the actuator as illustrated in the example below v Tipp Parameter no 9 10 rpm can only be changed in the idle state Offset inching 2 Parameter no 30 85 can be changed during inching operation The resulting inching speed in this example will be Inching speed v Tipp Offset inching 2 10 rpm 85 9 rpm The results are always rounded to integers The minimum speed is 1 rpm AG03 1 RS485 SIKONETZ5 Date 31 03 2014 Page 8 of 36 Art no 86679 Mod status 112 14 Precision in Motion 4 1 1 3 Rotational speed mode With the set point enabled the actuator when in the rotational speed mode accelerates to the target speed and maintains this speed until the set point is disabled or a different target speed specified The speed is adjusted immediately to the new value when the rotational target speed is changed The arithmetical sign of the set point determines the travel direction in the rotational speed mode Velocity Target speed set point Disable operation Disable target value or set point 0 CH Acceleration Parameter no 8 Set point enabled Stop Time Fig 5 Hamp speed mode The following conditions must be met for enabling the start of the rotational speed mode e The actuator must not be switched to error e No active travel job e Supply voltage of the output stage

AG03/1

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