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User manual EPN

1. ccececscscsececececscecececececscscsesesecececececececetecscecsescsesenees 83 Ns a VAMOS asen oa 83 E ME e o e UE II 83 Ose SOM Wale ML Censo Dicta lan snmsadenvanasesase 84 A nn oO E E E 84 A a a e oi E TER 84 E A o UR A E AA EE 84 ul OMAR G MOG ratas 84 tal IPOS OGG sora 84 O58 Dea IMG eer E EE e e qu ss 84 9 344 Inching 2 Acceleration IDE andina eoo Veas 85 A A IO UN II O A II 85 S340 MENO 2 Op NOUE coacalco canica concen 85 Dol A A o O TI AEN 85 9 34 8 Service Interface Baud Rate uma tia ii 85 A A PP E E EEE E A S 85 93 2 Controller parametros tte toi 86 O95 Comeetter Parameter Pepan a E 86 Saz Controller Parameter Lalo 86 O35 Conwellen pala meter D asomar lic nissan cosacos 86 D950 Dere TiO Mla 1G leas E A 86 Kae MOON CUMING iras 86 9 3 6 2 Output Stage Temperature sessccsdsveceasencseusiesve seasswuscusedavaueaswedseusdesbaseaeweneessedadsmeses 86 AAA A e 87 03 06 Voltage ol OULOUE SA aa ai 87 Dd VON OF Dacia dle 87 A oi CA RPO O U NP PO E E 87 Bo VSCOM cats WONG irse 88 AA O o o II eaten TES 88 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 6 of 102 030 Gat ROC GIO ici 88 aL MOON IWC erra a ir e erea 88 OO NEGO TDi aia 88 IEA A on o EAEE 88 E a A eo e e o e 89 ES A oo SEO soecnectaanecesesesecmaascenasvestacwcencesees 89 o 0 Lo SV MO Or CONTO lt a 89 3 DIG EA AOE outs iia 89 9 3 7 1 Digital Input 1 Functionallty oooooonononononononononnononononononon
2. 9 3 7 8 Digital Output 1 Functionality i see chapter 9 8 ASCII command structure see chapter 8 2 1 9 Digital Output 1 Functionality 9 3 7 9 Digital Outputs Control see chapter 9 8 ASCII command structure see chapter 8 2 1 1 Digital Outputs Control SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 90 of 102 Service protocol 9 3 7 10 Digital Output Functionalities State see chapter 9 8 ASCII command structure see chapter 8 2 1 10 Digital Output Functionalities State 9 3 7 11 Digital Outputs Polarity see chapter 9 8 ASCII command structure see chapter 8 2 1 11 Digital Outputs Polarity 9 3 8 Error memory 9 3 8 1 Number of Errors J0 see chapter 9 8 ASCII command structure see chapter 8 2 1 88 Number of Errors 9 3 8 2 Error Number 1 r w see chapter 9 8 ASCII command structure see chapter 8 2 1 89 Error Number 1 9 3 8 3 Error Number 2 2 see chapter 9 8 ASCII command structure see chapter 8 2 1 90 Error Number 2 9 3 8 4 Error Number 3 3 see chapter 9 8 ASCII command structure see chapter 8 2 1 91 Error Number 3 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 91 of 102 Service protocol 9 3 8 5 Error Number 4 304 see chapter 9 8 ASCII command structure see chapter 8 2 1 92 Error Number 4 9 3 8 6 Error Number 5 305 see chapter 9 8 ASCII command structure see chapter 8 2 1 93 Error Number 5 9 3
3. Controller parameters 9 3 Parameters 9 3 1 Positioning 9 3 1 1 Target Value see chapter 9 8 ASCII command structure see chapter 8 2 1 3 Target Value 9 3 1 2 Actual Position zo see chapter 9 8 ASCII command structure Decimal format see chapter 8 2 1 79 Actual Position i Wo see chapter 9 8 ASCII command structure Binary format see chapter 8 2 1 79 Actual Position 9 3 1 3 Actual Rotational Speed see chapter 9 8 ASCII command structure see chapter 8 2 1 80 Actual Rotational Speed SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 80 of 102 Service protocol 9 3 1 4 Calibration Value see chapter 9 8 ASCII command structure see chapter 8 2 1 31 Calibration Value 9 3 1 5 Loop Length see chapter 9 8 ASCII command structure see chapter 8 2 1 40 Loop Length 9 3 1 6 Offset Value see chapter 9 8 ASCII command structure see chapter 8 2 1 45 Offset Value 9 3 1 7 Pos Type a see chapter 9 8 ASCII command structure see chapter 8 2 1 36Pos Type Info Reading of the positioning type is via the flag register see chapter 9 3 6 6 Flag Register x 0 Positioning direct x 1 positioning with loop positive x 2 positioning with loop negative 9 3 1 8 Pos Window Read command see chapter 9 8 ASCII command structure Write command Description see chapter 8 2 1 27 Pos Window SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page
4. Red flashing 3x Correctable error The module has been configured but the stored parameters differ from the parameters presently used SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 10 of 102 Display and controls 2 2 2 2 2 2 1 2 2 2 2 2 2 2 3 Drive status With factory setting the O O inform about the drive s status The functions of the drive status LEDs can be configured Status LED 5 LED statuses valid with factory setting Operating voltage applied to control no fault Red flashing Operating voltage applied to control active fault reen Operating voltage of control missing Status LEDs 6 7 LED statuses valid with factory setting Status LED 8 NOTICE If the actual value is unequal after switching on the module and if it is outside the programmed positioning window then the LED status is red or red flashing due to volatile storage of the setpoint The setpoint is initialized with the value O after switching on LED statuses valid with factory setting Green Actuator is within the programmed positioning window Operating voltage of the output stage is applied Green Actuator is within the programmed position window flashing Operating voltage of the output stage missing Actuator is outside the programmed positioning window Operating voltage of the output stage is applied Red flashing Actuator is outside the programmed positioning window
5. Digital Input 2 Functionality This parameter determines the functionality of digital input 2 With a value greater than 0 set a function is assigned to the digital input The functional state can be read from the Digital Input Functionalities State register Default oo Description see Table 7 Configuration of digital inputs Digital Input 3 Functionality This parameter determines the functionality of digital input 3 With a value greater than 0 set a function is assigned to the digital input The functional state can be read from the Digital Input Functionalities State register eee O Description see Table 7 Configuration of digital inputs Digital Input 4 Functionality This parameter determines the functionality of digital input 1 With a value greater than 0 set a function is assigned to the digital input The functional state can be read from the Digital Input Functionalities State register Default oT Description see Table 7 Configuration of digital inputs SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 43 of 102 PROFINET 10 8 2 1 16 Digital Input Functionalities State The states of the digital inputs are mapped in this register according to the functionalities set A bit is assigned to every function Dee e CI COEN e inening mode O CON CON Table 8 States of the digital inputs SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 44
6. SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 83 of 102 Service protocol 9 3 3 2 Software Limit 2 Read command see chapter 9 8 ASCII command structure Write command Description see chapter 8 2 1 33 Software Limit 2 9 3 3 3 Current Limiting Read command see chapter 9 8 ASCII command structure Write command Description see chapter 9 3 3 3 Current Limiting 9 3 3 4 Contouring Error Limit Read command see chapter 9 8 ASCII command structure Write command Description see chapter 8 2 1 41 Contouring Error Limit 9 3 4 Options 9 3 4 1 Operating Mode a see chapter 9 8 ASCII command structure see chapter 8 2 1 37 Operating Mode Info Reading of the operating mode is via the flag register see chapter 9 3 6 6 Flag Register y 0 Positioning mode y 1 Rotational speed mode 9 3 4 2 Inpos Mode see chapter 9 8 ASCII command structure see chapter 8 2 1 39 Inpos Mode 9 3 4 3 Delta Inch see chapter 9 8 ASCII command structure see chapter 8 2 1 34 Delta Inch SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 84 of 102 Service protocol 9 3 4 4 Inching 2 Acceleration Type see chapter 9 8 ASCII command structure see chapter 9 3 4 4 Inching 2 Acceleration Type 9 3 4 5 Inching 2 Offset see chapter 9 8 ASCII command structure see chapter 8 2 1 43 Inching 2 Offset 9 3 4 6 Inching 2 Stop Mode see chapter 9 8 ASCII com
7. Flowchart positioning mode SIKONETZ5 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 96 of 102 Service protocol 9 5 2 Flow chart Operating mode Speed mode The flow chart below illustrates the control in the rotational speed mode via service protocol see chapter 9 Service protocol SW System Status Word start Supply voltage On x bit can be 0 or 1 PPY 9 Status word Bit 8 1 Read status word Acknowledge error R command S11103 command Operation enabled SW 00xx 0000 x000 x000 Enter target speed FO command Enable target speed M command Target speed enabled SW 01xx x000 000x x000 Change target speed FO command Stop travel job N or 0 command Fig 17 Flow chart speed mode service protocol SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 97 of 102 Service protocol 9 6 Error number encoding Faulty inputs are acknowledged with an error message An error message is always prefixed by a question mark followed by a two digit error code The error message ends with a carriage return lt CR gt 203 No operating authorization active process data exchange with network master 9 7 Examples 9 7 1 Write and read setpoint 500 Write command FO 0000500 10 characters Reply gt lt CR gt 2 characters Read command EO 2 characters Reply 0000500 gt lt CR gt 10 characters
8. 0 values refer to travel distance in 1 100 mm If the drive s position is beyond the range defined by Software Limit 1 and Software Limit 2 travel range traveling will only be possible in inching mode in the direction of the travel range Software Limit 2 Positioning mode Software limit value monitoring is deactivated if Software Limit 1 is equal Software Limit 2 Exceeding the resolution of the absolute encoder results in a jump of the actual position Speed mode Irrelevant Positioning mode Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm If the drive s position is beyond the range defined by Software Limit 1 and Software Limit 2 travel range traveling will only be possible in inching mode in the direction of the travel range Default 19999 9999999 9999999 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 50 of 102 PROFINET 10 8 2 1 34 Delta Inch Indicates the relative traveling distance Positive value gt positive travel direction Negative value negative travel direction Spindle pitch 0 Values refer to increments Spindle pitch gt O values refer to travel distance in 1 100 mm Default 720 EEPROM yes 1000000 1000000 8 2 1 35 Sense of Rotation With shaft rotating counter clockwise view on the output shaft 1 sense of rotation positive counting direction e sense of rotation negative
9. 15 Page 22 of 102 Calibration 5 Calibration Calibration is only possible when no travel job is active Two steps are required for executing calibration Write calibration value see Calibration Value PNU O60Eh Execute calibration software command or calibration input Calibration can be initiated by writing the value 7 to parameter S Command PNU OCO1h Alternately a digital input can be configured as calibration input as well Since the measuring system is an absolute system calibration is necessary only once with commissioning With calibration the calibration value is adopted for calculation of the position value The following equation is applied in case of calibration Position value 0 Calibration Value PNU O60Eh Offset Value PNU 061Ch 6 External transmission If external transmission is used a factor can be programmed via the parameters Gear Ratio Numerator PNU 060Bh and Gear Ratio Denominator PNU 060Ch in order to include the transmission ratio in position sensing Example see Fig 12 External transmission The actuator is operated on a transmission with reduction of 5 1 For this purpose the Gear Ratio Numerator and Gear Ratio Denominator must be programmed as follows Parameter Gear Ratio Numerator 5 Parameter Gear Ratio Denominator 1 External transmission 5 revolutions 1 revolution AAA Internal transmission Transmission output Fig 12 External transmissi
10. 15 Page 88 of 102 Service protocol 9 3 6 13 Serial Number E AS see chapter 9 8 ASCII command structure Response format 12345678 gt 9 3 6 14 SW Ethernet Module A Az see chapter 9 8 ASCII command structure Response format 01 02 63 gt 9 3 6 15 SW Motor Controller M Mo see chapter 9 8 ASCII command structure Response format V1 00 gt 9 3 7 Digital input output 9 3 7 1 Digital Input 1 Functionality k see chapter 9 8 ASCII command structure see chapter 8 2 1 12 Digital Input 1 Functionality 9 3 7 2 Digital Input 2 Functionality i see chapter 9 8 ASCII command structure see chapter 8 2 1 13 Digital Input 2 Functionality 9 3 7 3 Digital Input 3 Functionality i see chapter 9 8 ASCII command structure see chapter 8 2 1 14 Digital Input 3 Functionality SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 89 of 102 Service protocol 9 3 7 4 Digital Input 4 Functionality see chapter 9 8 ASCII command structure see chapter 8 2 1 15 Digital Input 4 Functionality 9 3 7 5 Digital Input Functionalities State see chapter 9 8 ASCII command structure see chapter 8 2 1 16 Digital Input Functionalities State 9 3 7 6 Digital Inputs Polarity see chapter 9 8 ASCII command structure see chapter 8 2 1 17 Digital Inputs Polarity 9 3 7 7 Digital Inputs State Bo5 see chapter 9 8 ASCII command structure see chapter 8 2 1 4 Digital Inputs State
11. 2 1 80 Actual Rotational Speed Data type Interger16 Default Noo 8 2 1 81 Serial Number uit Default No EEPROM Yes 8 2 1 82 Production Date peut MOSS 8 2 1 83 SW Motor Controller uit SSS Data type Interger32 Default Noo SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 69 of 102 PROFINET 10 8 2 1 84 Gear Reduction PNU OAOBh Description Transmission ratio reduction Unt ee Data type Interger16 Default Noo EEPROM Yes Access SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 70 of 102 PROFINET 10 8 2 1 85 System Status Word The system status word consists of 2 bytes and reflects the state of the drive High Byte Low Byte ns us a 2 nu os fe p 6 EA a 2 a jo o fo a fo 1 To fo 1 Jo Ji fo Jo x o To fo Fig 15 Structure of the system status word Example gray background binary gt 0010 1001 0100 1000 hex 2 9 4 8 w Dee e CI Description of the bits see Table 9 System Status Word The table below informs about the meaning of the individual bits of the system status word Bit 3 Positioning mode In Position Actual position is within the positioning window of the programmed target value Actual position is outside the positioning window of the programmed target value Speed mode In Position Actual speed is inside the specified tolerance window of target speed Actual speed is outside the specified toler
12. 81 of 102 Service protocol 9 3 1 9 Sense of Rotation see chapter 9 8 ASCII command structure see chapter 8 2 1 35 Sense of Rotation Info Reading of the sense of rotation is via the flag register see chapter 9 3 6 6 Flag Register x 0 1 sense of rotation cw x 1 e sense of rotation 9 3 1 10 Spindle Pitch see chapter 9 8 ASCII command structure see chapter 8 2 1 30 Spindle Pitch 9 3 2 Actuator 9 3 2 1 A Pos see chapter 9 8 ASCII command structure see chapter A PosA Pos A Pos 9 3 2 2 V Pos see chapter 9 8 ASCII command structure see chapter 8 2 1 22 V Pos 9 3 2 3 D Pos see chapter 9 8 ASCII command structure see chapter 8 2 1 23 D Pos SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 82 of 102 Service protocol 9 3 2 4 A Rot see chapter 9 8 ASCII command structure see chapter 8 2 1 24 A Rot 9 3 2 5 A Inch see chapter 9 8 ASCII command structure see chapter 8 2 1 25 A Inch 9 3 2 6 V Inch see chapter 9 8 ASCII command structure see chapter 8 2 1 26 V Inch 9 3 2 7 Gear Ratio Denominator see chapter 9 8 ASCII command structure see chapter 8 2 1 29 Gear Ratio Denominator 9 3 2 8 Gear Ratio Numerator see chapter 9 8 ASCII command structure see chapter 8 2 1 28 Gear Ratio Numerator 9 3 3 Limiting values 9 3 3 1 Software Limit 1 see chapter 9 8 ASCII command structure see chapter 8 2 1 32 Software Limit 1
13. 9 7 2 Start travel job Command M 1 character Reply gt lt CR gt 2 characters SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 98 of 102 Service protocol 9 8 ASCII command structure Command Access i D FY XXXXXXX write 3 read xxxxx decimal value Hyyxxxxx write gt 2 Write parameter 2 byte yy address xxxxx decimal value write 2 Cancel current travel job in positioning mode Jyy 3 read Oxhh gt X Error memory yy address hh hexadecimal value ae Device information constants y address XXXXXXXX String XXXXXXXX gt 4 XXXXXXX gt Read parameter 3 byte y address XXXXXxx decimal value EXXXXXXX gt m lt lt E Write parameter 3 byte y address XXXXXxx decimal value Read parameter 2 byte yy address XXXXX gt write Type of positioning x decimal value write x J2 Start travel job write x J2 Motor stop fast write Motor stop Flag Register hh hexadecimal value System status word hh hexadecimal value x Oxhh gt Oxhhll gt ai write High byte II hexadecimal value Low byte System command XXXXX code Sense of rotation x decimal value SXXXXX T write Uxxxx read SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 99 of 102 x lt T bbbb Read parameter 4 byte bbbb binary value in the Big Endian format INS Block di
14. A E E E SE A 35 8 2414 Digital A a A 35 0200 IA E WON 0 PA O NEO E E E E 35 8 2 1 5 1 Status word Positioning mode slave gt Master ococcoccccncnocnonnccnnnncnccnnnncnnons 36 8 2 1 5 2 Status word Speed mode suicidio io caco ci tns 37 Bee E A ETA EE A 38 Bete EDUCA CY peee EEE E ATE E EE E AA 38 8 2 1 8 Serice Interface Baud Tania id 40 8 2 1 9 Digital Output 1 Functionality o ooooononococnonononocncnononocnonononocnonononarnonocononnononos 40 8 2 1 10 Digital Output Functionalities State oooocononononononnnnonononcncnonononononororocnononononono 41 Sut LTI Digital OUMU Polan asas ippo rios 41 SALI Digital pued Fonc ona V aese e aE EEEE TAN 42 Bae 1L 1 gt Digital Input FUNCIONAL Yc ccacsascuacctsnansnasaccncavecsasnenscesacnvonensessescseceyaageuecanecsnas 43 Oost te Digital DUE o TF UMGHON ALY sssini ea E EAEE 43 8 2115 Digital Input A FUNCIONA Via o 43 8 2 1 16 Digital Input Functionalities State oocococncnononocncnononacncnononacnonononacnonononacnononos 44 Sl Digital puts PO ar sn caia 45 8 2 1 18 Controller Parameter P cccscsccecsccecscececsececsececscescecsesecsecessceessceesecseeeeseeees 45 Bilal 19 COMBrouer Parameter T eeen ionene e iE E EE ETE EE EEEE TEA 45 82 1 20 Controller Parameter D lt cct sams atesscesacesewesucaseuceeeot eaovetasueseeetecauneasesescnotenesaresesston 46 Srl PP OS a A A E EE ESA 46 Saa VPO AA A di 46 Se LL OS A EA e PP Pon II 47 See BNO rs iia 47 nn E E O o
15. Actual position with spindle pitch 0 Indicated as increments with spindle pitch gt 0 Indicated as 1 100 mm Speed mode Actual speed indicated as min 0103h Actual value ro component of process data Data type Interger32 Default Noo LED Functionality This parameter determines the functions of the four system LEDs With factory settings the four LEDs indicate the operational state of the drive Alternately the LEDs can represent the states of the digital inputs Default Oo Description see chapter Table 6 Functionality of the system LEDs SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 38 of 102 PROFINET 10 Green Operating voltage applied to control No fault LED5 Red Operating voltage applied to control flashing Active error Off Operating voltage of control missing of of Green LED6 LED7 Actuator is within the programmed positioning window Operating voltage of the output stage is applied Actuator is within the programmed positioning window Operating voltage of the output stage Missing Green flashing Actuator is outside the programmed positioning window Operating voltage of the output stage is applied Red flashing Actuator is outside the programmed positioning window Operating voltage of the output stage Missing Operating voltage of control missing 0 Digital input 1 inactive Active error flashing Green Digital input 1 acti
16. Bit can be 0 or 1 CW 5 Operating voltage On CW 0000 0000 0000 0000 Switch lock SW 9 1 Disengage switch lock in OFF1 CW O 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Enable operation Cancel travel job CW 0000 0000 0000 0111 Operation enabled SW 0000 x001 00x0 00x1 Ready for travel SW 0000 x001 00x0 0011 Enable setpoint CW 0000 0000 0001 0111 Setpoint enabled Change setpoint SW 0000 x101 01xx 0001 Disable setpoint CW 4 0 Fig 14 Flow chart of PROFINET speed mode SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 34 of 102 PROFINET 10 8 2 1 3 8 2 1 4 8 2 1 5 Target Value Positioning mode Target position volatile with spindle pitch 0 Indicated as increments with spindle pitch gt 0 Indicated as 1 100 mm Speed mode Target speed volatile indicated as min Rw component of process data Default No Digital Inputs State ro component of process data Default No T o State ofdigitatinputa Status Word PNU 0102h ro component of process data Data type Unsigned16 Default No SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 35 of 102 PROFINET 10 8 2 1 5 1 Status word Positioning mode slave gt master Bit 0 Supply Bit 1 Upper limit Lower limit Bit 4 Inpos ee 3 Bit 6 no active travel job Active travel job 1 active travel job Bit 7 Fault 1 Error Ackno
17. EE 47 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 3 of 102 8 2 1 26 8 2 1 2 7 8 2 1 28 8 2 1 29 8 2 1 30 8 2 1 31 8 2 1 32 8 2 1 33 8 2 1 34 8 2 1 35 8 2 1 36 8 2 1 37 8 2 1 38 8 2 1 39 8 2 1 40 8 2 1 41 8 2 1 42 8 2 1 43 8 2 1 44 8 2 1 45 8 2 1 46 8 2 1 4 8 2 1 48 8 2 1 49 8 2 1 50 0 Loladl 8 2 1 52 8 2 1 53 8 2 1 54 8 2 1 55 8 2 1 56 8 2 1 5 8 2 1 58 8 2 1 59 8 2 1 60 8 2 1 61 8 2 1 62 8 2 1 63 8 2 1 64 8 2 1 65 8 2 1 66 8 2 1 67 8 2 1 08 8 2 1 69 SIKO AG25 AG25 POS A e o ESC ON o In A 48 Gear Raco NMC OF raras 48 Gear Ratio DENOMINACO iscsaneinadancuatornbuanubinuicwutedoarnmeadawdentoninasucananaewiosimtsiecineiesiust 49 Spinal FICCI ssatccvqecsseacewasudesciasdaenenueesncionet oeboacadeactouetcannnaaesesduaetemtunentaoneoestaeuss 49 Catita ION Val rie eiii 49 PO MEV Ne LAI dnd ii dad 50 SOME Ale IMG 2 tae 50 a A E E o I II A 51 Sense OF ROCA ON ico 51 OS TVG e o n A E EE 52 Mn E EU E EA 52 menno 2 Stop MOE nico toas 53 TP OS MOS ranita 53 PP II IIA 54 COM OUNT EOF LIMI Cesra EE tics 54 ENE VINCI r E Ro A 55 AA PP e e o O EI 55 mecha 2 Acceleration TYDE uan seanesndresnataqeisumsensonaausamesnsiaceumeesseuasensaane 56 PP E e OI E T 56 POMPOEN Eea A E E E TA EE 57 POM POO E A A A N E A E A 57 PEMP O ON eE E EEO EE AEE OEA EE 57 PCM FPO MION A ae E A EE E 58 PEM P OSI ION Deia E SEE EEE EET 58 POMPO ION Oars T iio 58 PREM POSICION ee E E lbs 59 PUM PCCCI
18. ON POSO aa EEE A 23 6 External CL ANSIINISSION iii iia 23 7 Wamings EOS ono 24 7 1 Ea e e en E O 24 7 2 PP RO 24 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 2 of 102 ELL EN COE e 25 8 PROEINED 10 AAPP Ag LE TT 26 8 1 DES CPI EI lesa dera 26 8 1 VCC data AAA renn rr Kareena MAI A AONAR TINENOES 26 Sl AVe Gala Ox CMa Ge E E A E aeeaos 26 8 1 3 Operating modes and synchronization cccscsccececscsccececscsccecececsccecececscecececseeeees 26 GLA DANO S aA EAE S coa ea 26 8 1 5 Control lines when LOPS BAD aspas 27 8 1 6 Response of outputs to disconnect ssssesesseseesesessesescsesescesescesescesescesesossesorsesorsese 27 8 1 7 Response of outputs to a network essssesessesessesessesesceesescesescesescesescesesoesesorsesoseese 27 8 2 Overview of parameters ssessssessesescesesceesesorsesorsesossesorsesorecsoreesereeseseeseserseseeseseeseeee 28 gA Patameter e a a E loe 30 g2 11 Digital Outputs Contro laseivecotesucanecmianecaiestsecasehesreceevsosusotecsnatsatenscmtisscetncenenetent 30 BLL COMO N A E E TE E E A 30 8 2 1 2 1 Control word Positioning mode master slave csscsscscscsscsceecsscecesceeees 31 8 2 1 2 2 Flow chart Operating mode Positioning mode ssessssessesesseseseesessesesessescesese 32 8 2 1 2 3 Control word Operating mode Speed mode sssssssessesessesesseseseesescsesesoesesossesossese 33 8 2124 FOW Chale Speed MOUE sarao ria 34 BS Wal Ger N UG a
19. Operating voltage of the output stage missing Operating voltage of control missing SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 11 of 102 Display and controls 2 3 Controls Fig 2 Controls 2 3 1 Control keys Manual setup operation is only available if there is no process data exchange going on Manual setup mode corresponding to inching mode 2 can be started by means of the control keys This enables actuator movement without a superordinate control Key Inching mode 2 in e direction Key Inching mode 2 in i direction SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 12 of 102 Display and controls 2 3 2 DIP switch DIP switch is only read in when supply voltage of PLC is switched on Any modification will hence only become effective after a power on reset of the PLC s supply voltage NOTICE If station name setting was made via DIP switch a subsequent change in DIP switch setting to position DCP will lead to a reset of all network parameter eg station name and IP address to parameter setting as made ex factory SW1 SW8 Setting of PROFINET station name in format siko ag2x yyy yyy set value in decimal format the DCP protocol ON OFF OFF OFF OFF OFF OFF OFF siko ag2x 001 OFF ON OFF OFF OFF OFF OFF OFF siko ag2x 002 ee e dee e e e e e e SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305
20. PNU 0610h PNU 060Fh Upper limit 0 Pos Window PNU 060Ah Inpos Mode PNU 0616h Fig 6 Positioning mode The max travel range depends on transmission and scaling The number of revolutions specified in the product data sheet must not be exceeded 4 1 1 1 1 Loop positioning A travel order will not be executed if loop positioning would exceed the limiting values specified by parameters Software Limit 1 PNU 060Fh and Software Limit 2 PNU 0610h although the setpoint is within the limiting values If the actuator is operated on a spindle or an additional transmission the spindle or external transmission backlash can be compensated by means of loop positioning In this case traveling to the target value is always from the same direction This travel direction can be determined via parameter Pos Type PNU 0613h Loop length is set via parameter Loop Length PNU 0617h Example The direction from which every target position shall be driven to is positive Case 1 gt new position is greater than actual position Direct travel to required position Case 2 new position is smaller than actual position The actuator drives beyond the target position by the loop length afterwards the set point is approached in positive direction SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 17 of 102 Functional description Loop Length PNU 0617h Positioning loop Positioning in positive Positi
21. counting direction Default oT EEPROM Yes Value range 0 i sense of rotation cw 1 e sense of rotation ccw SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 51 of 102 PROFINET 10 8 2 1 36 Pos Type NOTICE Loop positioning is executed in the positioning mode only Speed mode Irrelevant Operating mode Positioning mode Type of positioning Direct traveling from actual position to target value Loop Traveling to the target value is always in positive direction to compensate for spindle play Loop Traveling to the target value is always in negative direction to compensate for spindle play E Dee O Value range 0 direct 1 loop 2 loop 8 2 1 37 Operating Mode 061 h rw Ye Positioning type acces tw SSOSOSS Default PO CI Sides SSC sS S Value range 0 positioning mode 1 speed mode SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 52 of 102 PROFINET 10 8 2 1 38 8 2 1 39 Inching 2 Stop Mode The delay ramp in Inching operation 2 can be influenced via this parameter 0615h eee o Value range 0 stop with maximum delay 1 stop with programmed delay Inpos Mode This parameter determines the drive s behavior after reaching the positioning window Default O Speed mode Irrelevant Positioning mode 0 Permanent positioning regulation to setpoint 1 Positioning control Off and short c
22. of 102 PROFINET 10 8 2 1 17 8 2 1 18 8 2 1 19 Digital Inputs Polarity This parameter determines the switching behavior individually for every digital input A bit that defines the switching logics is assigned to every digital input Default oo Value of the assigned bit 0 positive logics high active 1 negative logics low active Digital input 1 polarity Digital input 2 polarity Digital input 3 polarity Digital input 4 polarity Not assigned o Controller Parameter P This setting applies to all operating modes Controller Parameter I This setting applies to all operating modes access fw SSS rw Default SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 45 of 102 PROFINET 10 8 2 1 20 Controller Parameter D This setting applies to all operating modes o603h D gain of controler acess fw SSS rw Dee O 8 2 1 21 A Pos 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 22 V Pos Yes Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 gt max 15 rpm SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 46 of 102 PROFINET 10 8 2 1 23 D Pos 1 Value range 101 101 the delay is determined by the
23. 15 Page 13 of 102 Digital inputs and outputs 3 Digital inputs and outputs The actuator has four configurable digital inputs and one configurable digital output Function and switching behavior can be set No function has been assigned to the digital inputs in the factory setting The logical status of the digital inputs is mapped in the process data independent of the assigned function If a function was assigned to the digital input the functions conditions of the digital inputs can be read in the register Digital Input Functionalities State PNU 0405h With factory settings the digital output can be actuated via the process data If a function is assigned to the digital output it is actuated via register Digital Output Functionalities State PNU 0302h 3 1 Examples of digital input configurations The following configuration deviates from the factory setting and requires parameterization by the user e Digital input 1 Limit switch 1 low active proximity switch DC PNP NC e Digital input 2 Limit switch 2 low active proximity switch DC PNP NC e Digital input 3 Inching mode 2 positive travel direction high active pushbutton e Digital input 4 Inching mode 2 negative travel direction high active pushbutton Digital Input Functionalities State PNU 0405h ee Digital Inputs Polarity Digital Input 1 Functionality Bit 0 Digital input 1 PNU 0406h bit 0 1 PNU 0401h value 1 ee a Digital Inputs Polarity Digi
24. 48 PCM Position 3 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm ees Default O ve rw EEPROM Yes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 57 of 102 PROFINET 10 8 2 1 49 PCM Position 4 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Default oT 8 2 1 50 PCM Position 5 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Default O 8 2 1 51 PCM Position 6 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm ees Default O ve rw EEPROM Yes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 58 of 102 PROFINET 10 8 2 1 52 PCM Position 7 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm 0028h Positioning mode via digital inputs Position 7 weie O 8 2 1 53 PCM Acceleration 1 Value range 1 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 54 PCM Acceleration 2 es 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmiss
25. 8 7 Error Number 6 306 see chapter 9 8 ASCII command structure see chapter 8 2 1 94 Error Number 6 9 3 8 8 Error Number 7 307 see chapter 9 8 ASCII command structure see chapter 8 2 1 95 Error Number 7 9 3 8 9 Error Number 8 Joe see chapter 9 8 ASCII command structure see chapter 8 2 1 96 Error Number 8 9 3 8 10 Error Number 9 J9 see chapter 9 8 ASCII command structure see chapter 8 2 1 97 Error Number 9 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 92 of 102 Service protocol 9 3 8 11 Error Number 10 Read command J10 no see chapter 9 8 ASCII command structure Write command Description see chapter 8 2 1 97 Error Number 9 9 4 Commands 9 4 1 Start travel job see chapter 9 8 ASCII command structure Description Positioning mode start of positioning process to programmed set point Speed mode start of speed mode 9 4 2 Start of inching mode 1 see chapter 9 8 ASCII command structure only in positioning mode 9 4 3 Start inching mode 2 positive travel direction 2C see chapter 9 8 ASCII command structure Description Drive travels in positive direction as long as the ASCII character is permanently sent only in positioning mode 9 4 4 Start inching mode 2 negative travel direction 2Enox see chapter 9 8 ASCII command structure Description Drive travels in negative direction as long as the ASCII character is permanently sen
26. A Pos parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 24 A Rot 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 25 A Inch es 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 47 of 102 PROFINET 10 8 2 1 26 V Inch 8 2 1 27 8 2 1 28 Default Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 max 15 rpm Pos Window Operating mode Positioning mode If the actual position of the drive is within the programmed set point this window setting bit 5 in the status word of the drive signals this Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Values refer to travel distance as 1 100 mm Operating mode Speed mode If the actual rotational speed is within the target rotational speed this window setting bit 5 in the drive s system status word signals this Default EEPROM Value range Gear Ratio Numerator a transmission factor can be programmed here when an external gear un
27. AG25 AG25 Actuator with py interface User manual 305 15 Table of contents 1 AA A E REEERE RES 9 1 1 DOCU EN ON sio 9 2 Display and s ya go COPE UNA on 9 2 1 Genera LIMON raid 9 2 2 A e o O E ATE E E 9 Coes Ememetmoquie Sea CISC Sc aaa 10 Pee Med Modulesta ls ALE Da race 10 Zefa E ANN ED O ea 10 A A A E 10 Pe WS SUIS E e E 11 Pol LAUSANA ia 11 A NS LEDE SI O IIA 11 Leo SUAS LED Sao a o 11 2 3 e e io E O nn e OU OO PE e 12 Peed O 0 PO II E 12 ala DIPAN e lianas 13 3 Digital inputs and QUEDUES cs ssisccsvesaccesscsscessaceacevasoisensetieocavedanesenestussenuewdsconctinecersseds 14 3 1 Examples of digital input CONFIGUIATIONS ceccececscsecececscsecececscsecececscsccecececsceeeecess 14 3 2 Example of digital output CONFIgUTratiON o coooccononocncnonononncnonononacncnononnononononarnoncnnnss 15 4 Functional descriptlON siestas discoteca lesarir euceestseetevevidsedeseteeucssevens 16 4 1 oigo oo a o PO E A 16 All OUPeratiia MOdES narrada 16 GMA POSICION MOS rea aa 16 ALLIT E o a 17 A Po E o E E 18 IA AAA e ORO E O cent 18 1 A e e Bn ON In 19 Betas o e o A A 19 Bee POOE E y 20 4 1 1 4 1 Examples of configuration of the digital inputs for the PCM oocococncnononmmmo 20 Bee A ses E N aces 21 Pe A PP e O o oO E E E 22 4 1 3 1 Example of imit switch conque co 22 4 1 3 2 Arrangement of the limit switches esessesessesesoesesorsescssesessesescesescesescesesorseseesese 22 5 Cara
28. AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 61 of 102 PROFINET 10 8 2 1 61 8 2 1 62 8 2 1 63 PCM Velocity 2 Yes Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 max 15 rpm PCM Velocity 3 Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 max 15 rpm PCM Velocity 4 0905h Positioning mode via digital inputs Velocity 4 1 Data type Interger16 Default w 0 Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 max 15 rpm SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 62 of 102 PROFINET 10 8 2 1 64 8 2 1 65 8 2 1 66 PCM Velocity 5 Yes Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 max 15 rpm PCM Velocity 6 Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 max 15 rpm PCM Velocity 7 0968h Positioning mode via digital inputs Velocity 7 1 Data type Interger16 Default w 0 Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 max 15 rpm
29. CTAUION To E E EEE TEA 59 PUMAC ETON Laicos 59 POM ACCA O en AEO EAE OE 60 PUMAC EO A e E E E E 60 PCM ACCO ENDON D ranr e oO UE E TAT EEE 60 PCM AC EN DOMO ea iio 61 PEM FCCC palo q 1 roerei irr EEES 61 PEM VGIOCIEY E E A SE E E sucia 61 POM VELO O e PR io E 62 PANELON O rra rc 62 PM VEO CA iii 62 A a o 63 REM VELOC Dura aia 63 REM VELOC Taca 63 PON DEGGIE AOU Tarna dadas 64 PEM Decelera ON Lena gs 64 PEN Declara OM O maicena air tiara lote 65 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 4 of 102 8 2 1 70 PCM DSC Stel AION Ai ticos 65 Se TE PEM Dec lera On O pride 66 DLT A A EEE E EE 66 Stella PCM Deceleration Tirar inarun ane EO NEURE ER 67 8 2 1 74 Output Stage Temperature sseesseesosesosssoessoresosssosseesseosseessoessoessoessoeesoeeseeesoee 67 Bee lal VOE 0 OnT O ar E E E rc 67 8 2170 Voltage of YUU STAGE rra 68 ll VOe OT BO nan ad 68 8 21 73 Morore eneren i E E EEE iar 68 PAI APOS O N E ENEE E EE EE E EEE E E 68 8 2 1 80 Actual Rotational Speed essesessssessesesoesesessesesseseseesescesescssesoesesoesesossesoeseseesese 69 Sl o L ena NOMO T escarceos EE E ES 69 Bee IN os Ce oE E AN E AN EE 69 Sl 109 SW Moor CONT Oda 69 Sie o Gai R A OM rx tarcapns ad 70 SI A O o EE E Ra 71 S L 1580 Encouer RESOLU Ona iaa 73 AN A e o OU O O A 73 Bele doo NUME Ol TON e A e Pe II N E NEE 73 AS A AE O II e AN EEN 73 Sd ENO NODOT 2d 74 SL ENOFNUMDE gt rr abs 74 Se FEOF NUDE ridad ceba 74 38 2 193
30. Digital Output Functionalities State The functional states that can be assigned to the digital output can be read from this register PNU 0302h Description Status of the digital output functionalities Access ro Data type Unsigned32 Default Fault 0 no error 1 fault active 1 Inpos 0 actual value outside the positioning window 1 actual value inside the positioning window 2 Output on The bit is permanently set Not assigned Digital Outputs Polarity This parameter determines the switching behavior individually for every digital output A bit that defines the switching logics is assigned to every digital output Dee O Value of the assigned bits 0 positive logics high active 1 negative logics low active o Digital output 1 polarity Not assigned SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 41 of 102 PROFINET 10 8 2 1 12 Digital Input 1 Functionality This parameter determines the functionality of digital input 1 With a value greater than 0 set a function is assigned to the digital input The functional state can be read from the Digital Input Functionalities State register eee O p E ate OOO No function is assigned to the digital input 6 Acknowledge ear e ems OOO o Pmi S Table 7 Configuration of digital inputs SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 42 of 102 PROFINET 10 8 2 1 13 8 2 1 14 8 2 1 15
31. EVO ING MIDED eran 74 Bele JELMOM NMIMPET e o PRO UE OO ronntansoiasasearaennsears 75 Sil Eo NONIDET ositos cier ici tao 15 Se Loo Eror NUDOS seucacacacesntiveeatecuneresniicesccduaveceintimecalasauesuamivecatacuiestmiiaesatatanesutees 75 Sl ad Er NDE dsc TEENE TEE 75 Cream ENOC NUMO TO ba 76 Bee COMUN EAE E AE O AE NE O OAA E E A 77 a TOO OE EE E E AE E A E ET 78 9 SEV E DOLO OL A EE E NN 79 9 1 Canea Oa A E E E E UE O E E O 79 ll COC O il ea E EE E u rigido 79 oe E e E E EE 79 Vila ASCH COGS anssen nE EE R ci o iavrcataoS 79 PLA REPON GCS e EE EE E EE EA EEE E ES 79 9 2 NE NP E O O O E A ET 80 9 3 KEIEN E e LEA A E A e A A AE 80 3 POO E A E E E EE 80 SaL Fae Valls E E E E E ropiccas 80 Sole AAPO ON ee AE E EE EE 80 9 3 1 3 Actual Rotational Speed sssessesesessesessesescsesescesescesesorsesorsesorsesoseesereeseseesesessesee 80 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 5 of 102 Ole CAM Ga LlOM y E e io E E nea 81 e LOOP RO WG EM PA RO In e a OE A E E E 81 DBO ONGC Valeria 81 Do ROS INDEC airis 81 la POS WINDOW narcos EE E E EE E ES 81 OBO DENSE OF ROO a E I E A 82 lO Sonde PI andaba 82 de AO a E A E E A EE 82 l A o E A a 82 De RS 82 De DFO A E A AE A AA EEA cesses 82 DA O A E E E PU a 83 Bee PVC PRO Io POTES OE A E 83 OSE el AE A e CO PU IA 83 93 2 7 Gear Ratio Denomina Of iesesescacesnacsaseessuenasodaescavcsavncawsensacweeensasecceueassessenesesaceedes 83 9 3 2 8 Gear Ratio NUMELAatOF
32. KO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 28 of 102 PROFINET 10 E 7 0944h PCM Acceleration 3 o Lonas PCM Acceleration 4 o 0946h PCM Acceleration 5 o 0986h PCM Deceleraion 5 0987h PCM Deceleration 6 Fonoah Voltage of Output Stage Fonodh Voltage of Battery OOOO e Fonosh Motor Cament OO Fono6h Actual Postion O Fono7h Actual Rotational Speed ronoeh Serial Mamber O o onon Production Date SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 29 of 102 PROFINET 10 8 2 1 8 2 1 1 8 2 1 2 FoRoAn SW Motor Controler es 7 oaoDh Encoder Resolution A ooh owen A DBT 0B02t 0B03t 0804 2 0B06t oorh Emor Mamber OOOO osh Emor Mamber 7 oh Emor Mamber E OBA 0808 xo Stomme OOOO y Parameter description Digital Outputs Control rw Component of process data C a ET Cn o o Digital output 1 Reserved always O Control Word PNU 0002h Control word rw Component of process data Data type Unsigned16 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 30 of 102 PROFINET 10 CT CN Unsigned 8 2 1 2 1 Control word Positioning mode master gt slave Bit 0 0 OFF1 active OFF1 enable Current travel job is canceled The actuator is activated Bit 1 0 OFF2 active OFF2 max delay Current travel job is canceled The actuator is decelerated with max delay the actuator con
33. ROFINET 10 8 2 1 94 Error Number 6 PNU OBO7h Uni ee Data type Unsigned8 Default Noo EEPROM Yes Access 8 2 1 95 Error Number 7 w Default No EEPROM Yes 8 2 1 96 Error Number 8 w Dei e eo EEPROM 8 2 1 97 Error Number 9 wo Data type Unsigned8 Default No EEPROM Yes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 75 of 102 PROFINET 10 8 2 1 98 Error Number 10 C Data type Unsigned8 Default Noo EEPROM Yes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 76 of 102 PROFINET 10 8 2 1 99 Configuration Various functions of the actuator can be configured via this parameter SHICP Secure Host IP Configuration Protocol 0 off 1 on factory setting Changes will take effect after a reset Web server 0 off 1 on factory setting Changes will take effect after a reset Parameter access via web 0 off 1 on factory setting Changes will take effect after a reset FTP server 0 off 1 on factory setting Changes will take effect after a reset FTP server administrator rights 0 no factory setting 1 yes Changes will take effect after a reset PROFINET diagnostics alarms 0 no factory setting 1 yes Reserved always O SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 77 of 102 PROFINET 10 8 2 1 100 S Command uit CdS Data ype Dert C Data ty
34. SCII command structure see chapter 8 2 1 76 Voltage of Output Stage 9 3 6 5 Voltage of Battery B03 see chapter 9 8 ASCII command structure see chapter 8 2 1 77 Voltage of Battery 9 3 6 6 Flag Register Read command Ja see chapter 9 8 ASCII command structure Description X X X X X X X X binary representation of the flag register 76543210 Bit Bit 0 Sense of rotation 0 1 cw 1T e ccw Bit 1 2 Type of positioning 00 direct 01 loop 10 loop Bit 3 not assigned Bit 4 Operating mode 0 positioning mode 1 speed mode Bit 5 6 7 not assigned SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 87 of 102 Service protocol 9 3 6 7 System Status Word Read command R see chapter 9 8 ASCII command structure see chapter 8 2 1 85 System Status Word 9 3 6 8 Device Type Mo M see chapter 9 8 ASCII command structure Response format AG25 gt 9 3 6 9 Gear Reduction M CS see chapter 9 8 ASCII command structure Response format 98 gt 9 3 6 10 Motor Type A7 AT see chapter 9 8 ASCII command structure Response format SOW gt 9 3 6 11 Network Type i Bo see chapter 9 8 ASCII command structure Response format EPN gt 9 3 6 12 Production Date AS A6 see chapter 9 8 ASCII command structure Response format DDMMYYYY gt SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305
35. SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 63 of 102 PROFINET 10 8 2 1 67 PCM Deceleration 1 Yes Tor Value range 101 the delay is determined by the PCM Acceleration 1 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 68 PCM Deceleration 2 Yes or Value range 101 the delay is determined by the PCM Acceleration 2 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 64 of 102 PROFINET 10 8 2 1 69 PCM Deceleration 3 Yes Tor Value range 101 the delay is determined by the PCM Acceleration 3 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 70 PCM Deceleration 4 Yes or Value range 101 the delay is determined by the PCM Acceleration 4 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 65 of 102 PROFINET 10 8 2 1 71 PCM Deceleration 5 Yes Tor Value range 101 the delay is determi
36. agram onmandength access Rep OR length eea o read XXXX gt Actual rotational speed XxXxx decimal value with arithmetical sign Position value in binary format bbbb binary value in the Big Endian format i i write Operating mode y decimal value 1 write rite gt 2 start of inching mode 1 read XXXXXXX gt Position value XXxxxxx decimal value write Start inching mode 2 positive travel direction write Start inching mode 2 negative travel direction 10 Block diagram Ethernet Ethernet module Digital 1 70 reverse UB polarity Control protection reverse UB polarity Output stage Encoder Output protection Fig 18 Block diagram SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 100 of 102 Web server 11 Web server No parameters that are components of process data can be changed Drive control via web server is not possible Only an authorized network master can access the process data via the network The inbuilt web server enables configuration and parameterization without network master via the Ethernet interface The web server can be accessed via the set IP address Settings for IP and Ethernet can be made via the Configuration menu gt Actuators length angle and speed measur
37. al Input 3 Functionality Bit 9 Digital input 3 XOR PNU 0406h bit 2 0 PNU 0403h value 10 Digital Inputs Polarity Digital Input 4 Functionality Bit 10 Digital input 4 XOR PNU 0406h bit 3 0 PNU 0404h value 11 Bit 31 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 20 of 102 Functional description Fig 9 Examples of configuration of the digital inputs for the PCM Example of the parameter set of travel data set no 3 Parameter PCM Position 3 PCM Acceleration 3 PCM Velocity 3 PCM Deceleration 3 After applying the coding to the inputs the desired travel job can be started by a positive flank on the PCM Start input Resetting the PCM Start input during an active positioning process will result in cancellation of the travel job but the drive will continue to be controlled An example of calling travel data set no 3 is shown below Step 1 Create number of travel data set PCM Start PCM input 1 PCM input 2 PCM input 3 Step 2 Start the positioning job PCM Start PCM input 1 PCM input 2 PCM input 3 4 1 2 Current limiting The actual motor current cannot be indicated by measuring the supply current With cycled output stages the supply current does not correspond to the motor current Actual motor current can be read via the interface The current limit is set via Parameter Current Limiting PNU 0619h which serves primarily for protecting the drive against over
38. ance window Bit 4 Actuator travels Actuator travels Actuator stands still rotational speed lt 2 rpm Bit 5 Positioning mode Upper limit Actual position is above the programmed limiting value Traveling is possible only in negative direction in inching mode Actual position is below the programmed limiting value Positioning mode Irrelevant SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 71 of 102 PROFINET 10 Bit 6 Positioning mode Lower limit Actual position is below the programmed limiting value Traveling is possible only in positive direction in inching mode Actual position is above the programmed limiting value 0 Positioning mode Irrelevant Bit 7 Driver state Motor is enabled Motor in control Bit 8 Error Actuator has switched to error The cause of the error must be removed and acknowledged No error present Bit 9 Positioning mode Loop travel If travel direction unequal start direction with loop travel If travel direction equal start direction 0 Positioning mode Irrelevant Bit 10 Output stage supply voltage No voltage no travelling possible Voltage applied Bit 11 Ready for travel Not ready for travel Ready for travel Actuator not in error state No active positioning Supply voltage of the output stage is applied Actual position within limits only positioning mode Bit 12 Battery voltage Battery voltage lt 2 6 V Battery voltage OK Bit 13 Cu
39. ass2 and RT_Class3 are supported The device cycle of the actuator is not synchronized 8 1 4 Diagnostics alarms Diagnosis alarms are only transmitted if bit 5 of the Configuration PNU 0B21h parameter is set With factory settings no diagnosis alarms are transmitted Diagnosis alarms result in an interruption of the program run on a Siemens control unit and in invocation of the OB82 or 0B86 functional modules If the selected modules are not available on the CPU the CPU will switch over to the STOP condition The actuator s PROFINET interface supports diagnosis alarms in case of a device error For displaying diagnosis information the USI User Structure Identifier 8000h is used for channel diagnosis The error codes are converted into the ChannelErrorType according to the following table SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 26 of 102 PROFINET 10 0 om ot ot T Deh a Dbh o 1h E it 15h Ethernet module in the ERROR state while travel job is active Ethernet module in the EXCEPTION state 8 1 5 Control lines when IOPS BAD All output data are set to zero 8 1 6 Response of outputs to disconnect All output data are set to zero 8 1 7 Response of outputs to a network All output data are set to zero SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 27 of 102 PROFINET 10 8 2 Overview of parameters PNU Parameter number PN E SI
40. e is applied e Operation enabled e Drive stands still SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 19 of 102 Functional description 4 1 1 4 Position Control Mode Via the control word in the process data the superordinate control can cancel travel jobs started by the position control mode For this purpose a negative flank must be created on bits OFF1 OFF2 or OFF3 in the control word Conversely the PCM mode cannot cancel a travel order initiated via the superordinate control The position control mode enables travel data sets to be called via the digital inputs A total of 7 travel data sets can be saved The use of the position control mode requires previous configuration of the digital inputs The desired travel data set can be selected via PCM inputs 1 to 3 in binary addressing Travel data set O does not exist 4 1 1 4 1 Examples of configuration of the digital inputs for the PCM Digital input 1 PCM Start high active Digital input 2 PCM input 1 high active Digital input 3 PCM input 2 high active Digital input 4 PCM input 3 high active Digital Input Functionalities State PNU 0405h Digital Inputs Polarity PNU 0406h bit 0 0 Digital Input 1 Functionality PNU 0401h value 8 Digital input 1 XOR Bit 7 Digital Inputs Polarity PNU 0406h bit 1 0 Digital Input 2 Functionality PNU 0402h value 9 Digital input 2 XOR Bit 8 Digital Inputs Polarity Digit
41. electronics voltage gt check control operating voltage Control electronics overvoltage gt check control operating voltage Power electronics overvoltage gt check output stage operating voltage Output stage excess temperature gt reduce ambient temperature gt reduce load Contouring error 0Bh gt reduce load gt reduce acceleration gt reduce speed och Output shaft blocked gt disengage shaft Power electronics not supplied gt check output stage operating voltage SIN COS monitoring gt shield from stray magnetic fields gt check EMC measures EEPROM queue overrun gt internal error EEPROM check sum gt reset parameters to factory settings Ethernet module watchdog gt internal error Ethernet module in the ERROR status while travel job is active gt internal error Ethernet module in the EXCEPTION status gt internal error power on reset necessary Table 1 Error codes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 25 of 102 PROFINET 10 8 PROFINET 10 8 1 Description The drive has been designed as PROFINET I0 Device 8 1 1 Cyclic data exchange Process data of the actuator are exchanged as 7 byte input and output data each time The mapping is static and cannot be changed 8 1 2 Acyclic data exchange All parameters of the object directory data record can be accessed acyclically 8 1 3 Operating modes and synchronization RT classes RT_Class1 RT_Cl
42. er key e The installation instructions describe the mechanical and electrical installation with all safety relevant conditions and the associated technical specifications e The User manual for actuator commissioning and integration into a Industrial Ethernet network You can also download these documents at http www siko global com p AG25 2 Display and controls 2 1 General Information The drive has various LEDs that indicate the statuses of the drive and of the Ethernet module The controls are located below the cover 2 2 Displays Fig 1 Displays SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 9 of 102 Display and controls 2 2 1 2 2 1 1 2 2 1 2 2 2 1 3 Ethernet module statuses The LEDs inform about the statuses of the Ethernet module The Ethernet module LEDs functions are permanently defined and cannot be changed Display and controls Modul status LED Link Activity LED Port 2 Link Activity LED Port 1 Network status LED Module status LED 1 No error or no operating voltage Normal operation Green flashing Diagnostic event 1x Fatal event Link Activity LED 2 3 Network status LED 4 OFF No error or no operating voltage On line RUN Green flashing On line STOP 1x Green flackert Blink DCP Service Set Signal Red flashing 1x Station name error Station name not set Red flashing 2x IP address error no IP address
43. ing systems 3 SIKO A MODULE IP Configuration Overview DHCP Disabled we Parameters IP Address 192 168 1 164 FW Update Subnet Mask 255 255 255 0 NETWORK Gateway Address 192 168 1 1 Status Host Mame i 7 o SERVICES DNS Server 1 paaa SMTP DNS Serwer 0 0 00 Ethernet Configuration Port 1 Auto le Port 2 Amo me SIKO GmbH Driveline Digital Outputs Control 0 0 FW Update 2 Control Word 0 0 NETWORK Target Value 0 0 Status 257 Digital Inputs State 0 0 Configuration 258 Status Word 0 33 259 Actual Value 0 0 SMTP 513 LED Functionality 0 0 Ea 545 Service Interface Baudrate 0 1 Ea 769 Digital Output 1 Functionality 0 0 EN 770 Digital Output Functionalities State 0 6 SIRO GmbH DrreLine The web server can be activated or deactivated via the parameter Configuration PNU 0B21h With factory settings the web server is activated SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 101 of 102 FTP Server 12 FTP Server The integrated FTP server enables access to the file system of the Ethernet module via a FTP client Thus the firmware of the Ethernet module can be updated via the network The following port numbers are used for FTP communication TCP Port 20 FTP data t
44. ion 368 1 0 54 rps SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 59 of 102 PROFINET 10 8 2 1 55 PCM Acceleration 3 es 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 56 PCM Acceleration 4 es 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 57 PCM Acceleration 5 es 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 60 of 102 PROFINET 10 8 2 1 58 8 2 1 59 8 2 1 60 PCM Acceleration 6 es 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps PCM Acceleration 7 es 1 Value range 100 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps PCM Velocity 1 es Value range Transmission 66 1 max 75 rpm Transmission 98 1 max 50 rpm Transmission 188 1 max 30 rpm Transmission 368 1 max 15 rpm SIKO
45. ircuit of the motor windings 1 Positioning control Off and drive enable SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 53 of 102 PROFINET 10 8 2 1 40 Loop Length This parameter determines the loop length for the loop and loop positioning types Positioning mode Spindle pitch 0 Values refer to increments Spindle pitch gt O values refer to travel distance as 1 100 mm Speed mode Irrelevant Default 360 EEPROM yes 8 2 1 41 Contouring Error Limit Upon starting a travel job the ramp generator generates position setpoints in order to reach the target position with the desired speed profile A Pos V Pos D Pos Position regulation attempts to readjust the drive s actual position and to keep the control deviation as small as possible Disturbance variables such as load or friction can disable the drive s following the position values Control deviation contouring error will increase steadily If control deviation exceeds the value of the contouring error limit this will result in the contouring error fault The maximum admissible contouring error is indicated as increments Default 400 EEPROM Yes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 54 of 102 PROFINET 10 8 2 1 42 Current Limiting This parameter determines the setting for limiting the motor current The values are indicated as of nominal current Default 110 EEPROM Yes Value
46. it is used Default EEPROM Yes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 48 of 102 PROFINET 10 8 2 1 29 Gear Ratio Denominator a transmission factor can be programmed here when an external gear unit is used Default EEPROM yes 8 2 1 30 Spindle Pitch Spindle pitch parameter 0 Position value is output in increments 720 increments per revolution of the output shaft Spindle pitch parameter gt 0 when operating the actuator on a spindle Position value is output as traveling distance in 1 100 mm rather than in increments Input of the target position is now in 1 100 mm as well e g spindle with a pitch of 2 mm gt spindle pitch parameter 200 Dee O 8 2 1 31 Calibration Value Changes to the calibration value are adopted for calculation of the position value only after calibration via S command Position value 0 calibration value offset value Default oo EEPROM Yes Value range 999999 999999 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 49 of 102 PROFINET 10 8 2 1 32 8 2 1 33 Software Limit 1 NOTICE Positioning mode Software limit value monitoring is deactivated if Software Limit 1 is equal Software Limit 2 Exceeding the resolution of the absolute encoder results in a jump of the actual position Speed mode Irrelevant Positioning mode Spindle pitch 0 Values refer to increments Spindle pitch gt
47. ital inputs independent of the chosen operating mode 4 1 1 1 Positioning mode In the positioning mode positioning to the specified set point is executed by means of a ramp function see Fig 5 Ramp travel direct positioning mode calculated on the basis of the actual position as well as the programmed controller parameters P proportional factor I integral factor D differential factor acceleration and speed Upon activation of the travel job the actuator accelerates to the specified speed with the acceleration programmed The measure of delay to the setpoint is defined by the parameter A Pos PNU 0604h as well Alternately a value deviating from acceleration can be chosen for delay by means of parameter D Pos PNU 0606h Changing controller parameters during a positioning process does not influence the current positioning operation Velocity V Pos PNU 0605h A Pos PNU 0604h N A Pos D Pos PNU 0604h PNU 0606h Start position target position Fig 5 Ramp travel direct positioning mode SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 16 of 102 Functional description The status word indicates whether the actual position is within the window defined by parameter Pos Window PNU 060Ah Upon reaching the programmed window via parameter Inpos Mode PNU 0616h you can define the behavior of the actuator Travel range Software Limit 2 Software Limit 1 Travel range Lower limit
48. load With default set nominal speed indicated on the product data sheet is achieved Actuator overload results in limiting the motor current to the set value As a consequence the actuator cannot maintain the speed set the contouring error increases The actuator changes to the error status if the contouring error exceeds the contouring error limit defined by the Contouring Error Limit parameter PNU 0618h contouring error SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 21 of 102 Functional description 4 1 3 Limit switch Two digital inputs must be configured correspondingly if the limit switch function is to be used 4 1 3 1 Example of limit switch configuration Exemplary configuration for the connection of proximity switches DC PNP NC Digital Input Functionalities State PNU 0405h PEPEE Digital Inputs Polarity Digital Input 1 Functionality Bit 0 Digital input 1 PNU 0406h bit 0 1 PNU 0401h value 1 pe Digital Inputs Polarity Digital Input 2 Functionality Bit 1 Digital input 2 PNU 0406h bit 1 1 PNU 0402h value 2 Bit 31 Fig 10 Example of limit switch configuration 4 1 3 2 Arrangement of the limit switches The arrangement of the limit switches is independent of the configured sense of rotation according to the following pattern limit switch 2 limit switch 1 Fig 11 Arrangement of the limit switches SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305
49. mand structure see chapter 9 3 4 6 Inching 2 Stop Mode 9 3 4 7 LED Functionality see chapter 9 8 ASCII command structure see chapter 8 2 1 7 LED Functionality 9 3 4 8 Service Interface Baud Rate see chapter 9 8 ASCII command structure see chapter 8 2 1 8 Service Interface Baud rate 9 3 4 9 Configuration see chapter 9 8 ASCII command structure see chapter 8 2 1 99 Configuration SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 85 of 102 Service protocol 9 3 5 Controller parameter 9 3 5 1 Controller Parameter P see chapter 9 8 ASCII command structure see chapter 8 2 1 18 Controller Parameter P 9 3 5 2 Controller Parameter I see chapter 9 8 ASCII command structure see chapter 8 2 1 19 Controller Parameter I 9 3 5 3 Controller Parameter D see chapter 9 8 ASCII command structure see chapter 8 2 1 20 Controller Parameter D 9 3 6 Device information 9 3 6 1 Motor Current see chapter 9 8 ASCII command structure see chapter 8 2 1 78 Motor Current 9 3 6 2 Output Stage Temperature Boo see chapter 9 8 ASCII command structure see chapter 8 2 1 740utput Stage Temperature SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 86 of 102 Service protocol 9 3 6 3 Voltage of Control Bor see chapter 9 8 ASCII command structure see chapter 8 2 1 75 Voltage of Control 9 3 6 4 Voltage of Output Stage Bo2 see chapter 9 8 A
50. n positioning MOE csccececscsccecececsccececscsccecececsceeees 93 oy ROUGE SCO TAS Las ios 94 OE MOO O A A un E rescues 94 due Enable Mota pacta 94 9 4 9 Factory setting all parameter id 94 94 10 Factory setting Standard Parameter asista 94 9 4 11 Factory setting Controller parameter ai tots 94 AR A o e 95 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 7 of 102 DAS Maia be a E 95 GAAS Delete error MEMON asteriscos 95 db SOU Wale RES eras 95 9 5 oe alq PUOo OOAOPA0 C70 O SP A PPP oe OI II II IA 96 9 5 1 Flow chart Operating mode Positioning MOAEC ceccececscsccececscscececscscecscecsceeees 96 9 5 2 Flow chart Operating mode Speed mode ccececsccecscecscsccecececsccececscsccecesecseseees 97 9 6 EOI reco IM rd iia 98 9 7 A e A e A In A 98 97 1 Write and read setpoint 4500 vns trio 98 A O E E II N 98 9 8 ASCII commana SUCCES repasa ic arcoiris EE ENEE EEEIEE 99 TO BLOCK AAA ir ici EEEE EEEE 100 DD WED SCI E COORD Ie 0 U 101 12 ld a PPP RA OL LA 102 13 Secure Host IP Configuration Protocol Secure HICP oocoooccccooccnonccnocccnccnonccnocinos 102 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 8 of 102 General Information 1 General Information 1 1 Documentation The following documents are associated with this document e The data sheet describes the technical data the dimensions the pin assignment the accessories and the ord
51. ned by the PCM Acceleration 5 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 72 PCM Deceleration 6 Yes or Value range 101 the delay is determined by the PCM Acceleration 6 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 66 of 102 PROFINET 10 8 2 1 73 PCM Deceleration 7 Yes Tor Value range 101 the delay is determined by the PCM Acceleration 7 parameter 100 correspond to Transmission 66 1 3 04 rps Transmission 98 1 2 05 rps Transmission 188 1 1 06 rps Transmission 368 1 0 54 rps 8 2 1 74 Output Stage Temperature Dee e C 8 2 1 75 Voltage of Control Data type Interger16 Default Noo SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 67 of 102 PROFINET 10 8 2 1 76 Voltage of Output Stage Data type Interger16 Default Noo 8 2 1 77 Voltage of Battery Default No 8 2 1 78 Motor Current Default Mo ET SCNOSSOSOS SSCS 8 2 1 79 Actual Position PNU OAO06h Unit Spindle pitch 0 Increments Spindle pitch gt 0 1 100 mm CT CA CT CN SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 68 of 102 PROFINET 10 8
52. ob SW 000x x101 01x1 0001 Inching Off CW 0000 0000 0000 0111 Activate travel job CW 0000 0000 0001 0111 Active travel job SW 000x x101 01x1 0001 Travel job finished Intermediate stop CW 3 1 Continue positioning CW 3 0 Intermediate stop active SW 0000 x101 01x0 0011 Fig 13 Flow chart of PROFINET positioning mode SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 32 of 102 PROFINET 10 8 2 1 2 3 Control word Operating mode Speed mode Bit 0 0 OFF1 active OFF1 enable Current travel job is canceled The actuator is activated Bit 1 0 OFF2 active OFF2 max delay Current travel job is canceled The actuator is decelerated with max delay the actuator continues to be controlled Bit 2 0 OFF3 active OFF3 progr delay Current travel job is canceled The actuator is decelerated with prog delay the actuator continues to be controlled 1 OFF3 inactive Bit 3 Reserved always 0 Bit 4 Positive flank starts a travel job Start travel job Bit 5 Positive flank acknowledges an error Acknowledge error Afterwards the actuator changes to the switch lock state Bit 6 15 Reserved always 0 Table 3 Control word speed mode SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 33 of 102 PROFINET 10 8 2 1 2 4 Flow chart Speed mode SW 0000 x001 00x0 0011 CW Control word Fault Start SW Status word x
53. ode 2 The actuator travels from the current position as long as the relevant command is active You can influence the inching speed via two parameters and it will be calculated in the actuator as illustrated in the example below V Inch PNU 0609h 10 rpm can only be changed in the idle state Inching 2 Offset PNU 061Ah 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 Results are always rounded to integers Minimum speed is 1 rpm 4 1 1 3 Rotational speed mode NOTICE Limits 1 2 are inactivated in this operational mode NOTICE Exceeding the resolution of the absolute encoder results in a jump of the actual position With the set point enabled the actuator when in the rotational speed mode accelerates to the target speed and maintains this speed until the set point is disabled or a different target speed specified Speed is adjusted immediately to the new value when the rotational target speed is changed The arithmetical sign of the set point determines the travel direction in the rotational speed mode Velocity Target speed set point Disable operation Disable target value or set point 0 A Rot PNU 0607h Set point enabled Fig 8 Ramp speed mode The following conditions must be met for enabling the start of the rotational speed mode e Supply voltage of the output stag
54. on Input of an odd transmission reduction value is possible according to the following example Transmission reduction 3 78 Parameter Gear Ratio Numerator 378 Parameter Gear Ratio Denominator 100 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 23 of 102 Warnings Errors 7 Warnings Errors 7 1 Warnings Warnings do not influence the operation of the actuator Warnings disappear after removing the cause Possible warnings e Battery voltage for absolute encoder is below limit gt exchange battery within the next 6 months e Current limiting active 7 2 Errors Errors cause an immediate stop of drive movement Errors are indicated via the drive status LEDs The error bit is set in the status word The error messages are entered in the error memory in the order of their detection The last 10 error messages are displayed when the error memory is full The cause of error can be tracked down with the help of the error codes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 24 of 102 Warnings Errors 7 2 1 Error codes NOTICE If the error cannot be acknowledged after removal of the cause of error and the error persists after power on reset then the drive must be inspected in the factory Low battery voltage gt empty battery replace battery gt bonding error check battery bonding gt wrong battery type inserted insert correct battery type Low control
55. oning in negative direction direction Setpoint 4 1 1 2 4 1 1 2 1 Fig 7 Loop positioning Inching mode There is no compensation for spindle backlash loop positioning in this operating mode Inching mode is enabled in the positioning mode only You can program via parameters acceleration as well as speed in the inching mode Inching mode 1 If the Spindle pitch parameter is programmed to zero then the traveling distance occurs by increments If Spindle pitch is unequal zero then the information of the Delta Tipp parameter refers to the travel distance in 1 100 mm If the actual position is outside the programmed limiting values then traveling from this position in the respective direction must be performed by means of inching mode 1 or 2 The drive travels once from the current actual position by the value Delta Inch PNU 0611h depending on the mathematical sign of the value entered Delta Inch lt 0 negative travel direction Delta Inch gt 0 positive travel direction Reaching of the target position will be signaled accordingly The digital input can be configured for starting inching mode 1 The following conditions must be met for enabling the start of inching modes 1 and 2 e Supply voltage of the output stage is applied e Operation enabled e Drive stands still SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 18 of 102 Functional description 4 1 1 2 2 Inching m
56. onononororororncnononononono 89 9 372 Digital Input 2 F ncHONda I arica 89 9 3 7 3 Digital Input 3 Functionallty o oooooonononononononononncnononononononononononororornonononononono 89 9 3 7 4 Digital Input 4 Functionality cscscssaccsasasvareccverarsarssceesasaedaouasenececdousacadsacsdesaesesasnn 90 0 3 7 5 Digital Input Functionalities State eii otero 90 A Digal Iput POLAN Vieren oo II 90 05d DOL TA SALE pirita ta 90 9 3 7 8 Digital Output 1 Functionality essesesessesessesescesescesesorsesossesorsescssesereeseseesesessesee 90 9379 Digtal OUPS CONTO laa 90 9 3 7 10 Digital Output Functionalities State cccccececececscscscsccececececececececscecscseseseeees 91 Oxo DIG p AW OUTOUTS POLICY scene Decora 91 oO EMO MENO aaa br ico 91 E o A A ee o E A 91 050 2 ENOrNUNDSE Darse nad 91 0 ENO NOMD lr aires 91 oo EMO NUDE ear 91 A pol UL o e A ES o A 92 A A q macenseqnsmesene steeases desatese eecweseanemaseane 92 do FAOL NUM esoo ro 92 05 0 0 ENO NUMMEN Torena A EE AT E A TEE EEA 92 00d Enor i NUMMER Irae 92 DeO ENO NOMDOF Dooren tea iene EEE EEEE E E EEE E EEE 92 RA FEO NDT A E E EE O N 93 9 4 A E PPP e 93 A A PU OE II 93 942 Startofimchng MOLA Lidia 93 9 4 3 Start inching mode 2 positive travel direction csccececscsccecececsccececscsccecececsceeees 93 9 4 4 Start inching mode 2 negative travel CirectiOn csccececscsececececsccecececsccecscecsceeees 93 9 4 5 Cancel current travel job i
57. pe Unsigned8 Default Noo COCA 8 Delete enormenoy O SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 78 of 102 Service protocol 9 Service protocol NOTICE If there is process data exchange with a network master writing of parameters and execution of commands via the service protocol is disabled In this case the drive replies with the error code 203 no operating authorization 9 1 General Information The service protocol enables parameterization and control of the drive by ASCII commands via an ASCII terminal 9 1 1 Communication 9 1 2 Settings Available baud rates 9 6 kBit s 19 2 kBit s 57 6 kBit s factory setting 115 2 kBit s Additional settings no parity 8 data bits 1 stop bit no handshake 9 1 3 ASCII commands An ASCII command consists of an ASCII character and additional arguments such as parameter address mathematical sign and value Length and format of an ASCII command are defined unchangeably 9 1 4 Responses Except for a few cases the actuator responds to ASCII commands with a terminating string ASCII character gt Carriage Return lt CR gt The responses to read commands contain return values in addition Length and format of the response are defined unchangeably SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 79 of 102 Service protocol 9 2 Overview of parameters Positioning Digital input output Error memory
58. range 8 2 1 43 Inching 2 Offset The inching speed in Inching operation 2 can be influenced via this parameter Values are entered in percentage of parameter V Inch PNU 1545 Value range 10 100 Default 100 SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 55 of 102 PROFINET 10 8 2 1 44 Inching 2 Acceleration Type The acceleration type in Inching operation 2 can be influenced via this parameter eee O Static acceleration Acceleration occurs to final speed as defined under parameter A Inch PNU 1544 1 Incremental acceleration Acceleration occurs to final speed as defined under parameter A Inch PNU 1544 with the following increments 4 s to 20 of final speed 2 s to 50 of final speed 1 s to 100 of final speed 8 2 1 45 Offset Value Changes to the offset value are immediately considered in the calculation of the position value The following equation is applied in case of calibration Position value 0 calibration value offset value Default Oo EEPROM Yes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 56 of 102 PROFINET 10 8 2 1 46 PCM Position 1 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Default oT 8 2 1 47 PCM Position 2 Spindle pitch 0 values refer to increments Spindle pitch gt 0 values refer to travel distance as 1 100 mm Default O 8 2 1
59. ransmission TCP Port 21 FTP control The FTP server can be activated or deactivated via the parameter Configuration PNU 0B21h With factory settings the protocol is activated 13 Secure Host IP Configuration Protocol Secure HICP The drive supports the Secure HICP protocol which is used by the Anybus IPconfig application for changing the settings of IP address subnet mask and DHCP via the network The protocol can be activated or deactivated via the parameter Configuration PNU 0B21h With factory settings the protocol is activated SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 102 of 102
60. rrent limiting Current limiting active Current limiting not active Bit 14 Positioning mode Status Positioning active in positioning mode Positioning inactive Speed mode Status Enable target speed Target speed disabled Bit 15 Contouring error Contouring error gt the actuator cannot reach the preset speed due to too high load The actuator switches the contouring error fault Remedy reduce programmed speed No contouring error gt actual speed corresponds with required speed Table 9 System Status Word SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 72 of 102 PROFINET 10 8 2 1 86 8 2 1 87 Encoder Resolution OAODA Encoder resolution Increments per revolution of the output shaft ro Dee e Device ID 1 AG25 2 AG26 we Dee Ma 8 2 1 88 Number of Errors 8 2 1 89 w SSS Dee o C CN Error Number 1 002k uit Access ro Data type Unsigned8 Default No SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 73 of 102 PROFINET 10 8 2 1 90 Error Number 2 PNU 0B03h Unt pe Data type Unsigned8 Default wmo OOS EEPROM Yes Access 8 2 1 91 Error Number 3 w Default No EEPROM Yes 8 2 1 92 Error Number 4 CA CA SNS EEPROM EEPROM 8 2 1 93 Error Number 5 uit Data type Unsigned8 Default Noo EEPROM Yes SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 74 of 102 P
61. rvice protocol 9 4 12 Acknowledge error Command 511103 see chapter 9 8 ASCII command structure Description Acknowledge error 9 4 13 Calibrate Command 511104 see chapter 9 8 ASCII command structure Description Calibrate actuator 9 4 14 Delete error memory Command 511105 see chapter 9 8 ASCII command structure Description Deleting of the error mermory 9 4 15 Software Reset Command see chapter 9 8 ASCII command structure Description Execute software reset SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 95 of 102 Service protocol 9 5 Flow charts 9 5 1 Flow chart Operating mode Positioning mode The flow chart below shows the control of positioning in the positioning mode via service protocol see chapter 9 Service protocol me bie cane tor T Status word Bit 8 1 Read status word Acknowledge error R command S11103 command Operation enabled SW 000x 0000 x000 x000 start of inching mode 1 2 Y command Inching job finished SW 000x 0000 0000 x000 Inching job finished Start positioning SW 000x 0000 0000 x000 Mf command Active travel job SW x1xx 10x0 0001 0000 Intermediate stop Nor 0 command Send setpoint mo command Finish travel job TY command Required position reached SW 000x 0000 0000 1000 continue positioning M command Intermediate stop active SW x10x 00x0 0000 0000 Fig 16
62. t only in positioning mode 9 4 5 Cancel current travel job in positioning mode I 49 see chapter 9 8 ASCII command structure Motor remains in control state SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 93 of 102 Service protocol 9 4 6 Motor stop fast NOTICE If a contouring error is pending at the time of the N command the motor will be enabled Command N o see chapter 9 8 ASCII command structure motor decelerates with maximum delay Motor remains in control state 9 4 7 Motor stop If a contouring error is pending at the time of the 0 command the motor will be enabled Command Oo see chapter 9 8 ASCII command structure Description motor decelerates with programmed delay Motor remains in control state 9 4 8 Enable motor Command Po see chapter 9 8 ASCII command structure Description Motor is enabled 9 4 9 Factory setting all parameters Command 511100 see chapter 9 8 ASCII command structure Description Reset all parameters to factory settings 9 4 10 Factory setting Standard parameter Command 511101 see chapter 9 8 ASCII command structure Description Reset only standard parameters to factory settings 9 4 11 Factory setting Controller parameter Command 511102 see chapter 9 8 ASCII command structure Description Reset only controller parameters to factory settings SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 94 of 102 Se
63. tal Input 2 Functionality Bit 1 Digital input 2 PNU 0406h bit 1 1 PNU 0402h value 2 Digital Inputs Polarity Digital Input 3 Functionality Bit 2 Digital input 3 XOR PNU 0406h bit 2 0 PNU 0403h value 3 Digital Inputs Polarity Digital Input 4 Functionality Bit 3 Digital input 4 XOR PNU 0406h bit 3 0 PNU 0404h value 4 Bit 31 Fig 3 Examples of digital input configurations SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 14 of 102 Digital inputs and outputs 3 2 Example of digital output configuration Digital output 1 Inpos high active Digital Output Functionalities State PNU 0302h Bit 31 Digital Output 1 Functionality PNU 0301h value 2 Digital Outputs Polarity a PNU 0303h bit 0 0 Digitar output d Fig 4 Example of digital output configuration SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 15 of 102 Functional description 4 Functional description 4 1 Control of the drive The drive can be moved manually via the keys or digital inputs without upstream control The drive can be controlled and configured in the bus operating mode and via the service interface 4 1 1 Operating modes The following operating modes are distinguished positioning mode and speed mode In the positioning mode there is the additional option of traveling in the inching mode The position control mode can be started via the dig
64. tinues to be controlled Bit 2 0 OFF3 active OFF3 progr delay Current travel job is canceled The actuator is decelerated with programmed delay the actuator continues to be controlled 1 OFF3 inactive Bit 3 0 no intermediate stop Intermediate stop 1 intermediate stop active Start travel job Acknowledge error Afterwards the actuator changes to the switch lock state Inching mode 1 If the travel job is not completed yet it will be canceled 1 inching operation 1 As long as this bit is set the actuator travels the distance specified in parameter Delta Tipp 5107 Inching mode 2 positive 1 inching mode 2 positive The actuator travels in positive direction Biba Inching mode 2 negative 1 inching mode 2 negative The actuator travels in negative direction Bit 10 Relative positioning Table 2 Positioning mode control word SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 31 of 102 PROFINET 10 8 2 1 2 2 Flow chart Operating mode Positioning mode Fault x bit can be 0 or 1 Acknowledge error CW 5 1 Supply voltage On Switch lock Disengage switch lock OFF1 CW O 1 0 or OFF2 CW 1 1 0 or OFF3 CW 2 1 0 Inching 1 2 On CW 0000 0000 0100 0111 or CW 0000 0000 1000 0111 or Enable operation PE CW 0000 0001 0000 0111 CW 0000 0000 0000 0111 i Operation enabled SW 0000 x001 00x0 xxx1 Inching 1 2 active SW 000x x001 00x1 0001 Active travel j
65. ve 0 Operating voltage of control missing Digital input 2 inactive Active error flashing Green Digital input 2 active Operating voltage of control missing A g Q Digital input 3 inactive 0 Active error flashing 0 A D oa Green Digital input 3 active Operating voltage of control missing Digital input 4 inactive Active error flashing LED8 Green Digital input 4 active LED5 LED6 1 LED7 LED8 Off Operating voltage of control missing Table 6 Functionality of the system LEDs ff ff ff ff A D a A g Q SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 39 of 102 PROFINET 10 8 2 1 8 Service Interface Baud rate Default Value range O 0 19 2 Kbit s 1 57 6 Kbit s 2 115 2 Kbit s 3 9 6 Kbit s 8 2 1 9 Digital Output 1 Functionality This parameter determines the function of digital output 1 This setting determines the bit position in the Digital Outputs Status register which governs the state of the digital output Default O General use Control of the control output is directly via bit DO1 in the process data Fault The output is switched active in case of fault 1 gt Inpos The state of bit Inpos in the status word defines the state of the digital output 3 Output on The output is switched on permanently SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 40 of 102 PROFINET 10 8 2 1 10 8 2 1 11
66. wledgment with positive flank on Control word bit 5 Operation enabled Switch lock 1 switch lock Bit 10 Travel job acknowledgment 1 acknowledgment The bit is set when the travel job was adopted If bit 4 is reset in the control word this bit will be reset as well Bit 11 Battery warning 1 battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Current limiting 1 current limiting active Motor current exceeds the value set under parameter Current Limiting PNU 0619h Table 4 Status word of positioning mode SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 36 of 102 PROFINET 10 8 2 1 5 2 Status word Speed mode Bit O Supply Bit 1 Bit 4 Inpos Active travel job Bit 7 Fault 1 Error Acknowledgment with positive flank on control word bit 5 Operation enabled Switch lock Bit 10 Travel job acknowledgment 1 acknowledgment The bit is set when the travel job was adopted If bit 4 is reset in the control word this bit will be reset as well Bit 11 Battery warning 1 battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Current limiting 1 current limiting active Motor current exceeds the value set under parameter Current Limiting PNU 0619h Table 5 Status word of speed mode SIKO AG25 AG25 Date 12 08 2015 Art No 88121 Mod status 305 15 Page 37 of 102 PROFINET 10 8 2 1 6 8 2 1 7 Actual Value Positioning mode

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