Home

User manual

1. 1 Battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Current limiting 0 current limiting inactive 1 current limiting active Motor current exceeds the value set under parameter Ox2C Date 15 08 2011 Page 53 of 61 Art No 85677 Mod status 289 11 10 9 6 Flow chart Operating mode Speed mode CW Control word SIKONETZ5 SW Status word SIKONETZ5 x Bit can be 0 or 1 Start Error ZSW 7 1 Acknowledge error STW 5 1 Supply voltage ON STW 0000 0000 0000 0000 Switch lock ZSW 9 1 Enable operation STW 0000 0000 0000 01 11 y Operation enabled ZSW 0000 x001 00x0 00x1 Yv Ready to travel ZSW 0000 x001 00x0 0011 Sollwert freigeben 8 STW 0000 0000 0001 01 11 N Change set point STW 4 1 Set point enabled ZSW 0000 x101 01xx 0001 AGO Date 15 08 2011 Disable set point NS OFF1 STW 0 1 0 or OFF2 STW 1 1 0 or OFF3 STW 2 1 0 STW 4 0 Page 54 of 61 Art No 85677 Precision in Motion Mod status 289 11 10 10 Parameterization via SIKONETZ5 Precision in Motion On principle the actuator sends a telegram acknowledging write and read commands of the master With the command executable the value adopted is in the reply telegram I
2. gt Enter operation mode y 0 Positioning mode y 1 Speed mode see chapter 8 Parameter description Parameter no 20 2 Start of inching mode 1 only in positioning mode gt 1 gt 1 10 DKK Output position value see chapter 8 Parameter description gt Parameter no 55 2Chex 1 Travelling in inching mode 2 positive Actuator travels in positive direction as long as sign is permanently sent only in positioning mode 1 a Travelling in inching mode 2 negative Actuator travels in negative direction as long as sign is 9 4 Error number encoding Ty V W Xy Y Z 0 0 permanently sent only in positioning mode Code Description 201 Input of illegal parameter number 202 Illegal value range 203 No authorization active control via Profibus CAN Bus 204 Input disabled due to operating state 207 Upper software limit exceeded 208 Lower software limit exceeded 209 Set point entered exceeds limiting value 210 Error 11 EEPROM write access active 12 Set point lt range limit 13 Set point gt range limit AG05 Date 15 08 2011 Page 43 of 61 Art No 85677 Mod status 289 11 9 5 Flow chart Operating mode Positioning mode Precision in Motion The flow chart below shows the control of positioning in the positioning mode via standard protocol see chapter 9 Standard protocol SW System status word x Bit can be
3. 0 or 1 Start Supply voltage ON Error Status word bit 8 1 d Read status word command R d Acknowledge error command S11103 Start inching 1 2 command Y il Operation enabled SW 000x 0000 x000 x000 e Inching order active SW x0xx 1000 0001 0000 Inching order finished SW 000x 0000 0000 x000 d Send set point command FO y Start positioning Befehl Mi AA Finish travelling order command I Target position reached SW 000x 0000 0000 1000 Travelling order active A Intermediate stop command N or Or SW x1xx 10x0 0001 0000 en Continue positioning command Mi Intermediate stop active SW x10x 00x0 0000 0000 Fig 9 Flow chart positioning mode standard protocol AG05 Date 15 08 2011 Page 44 of 61 Art No 85677 Mod status 289 11 gt a A mss Precision in Motion 9 6 Flow chart Operating mode Speed mode The flow chart below illustrates the control in the rotational speed mode via standard protocol see chapter 9 Standard Protocol SW System status word Start Error x Bit can be gr or 1 Supply voltage ON Status word Bit 8 1 i Nk i Read status wordn Acknow
4. Value range 1 60 see chapter 8 Parameter description gt Parameter no 37 bliEEn Key function enable Selection on Enable all key functions OFF All key functions disabled see chapter 8 Parameter description gt Parameter no 38 OPLYP Operating mode Selection 05 Positioning mode UEL D Rotational speed mode see chapter 8 Parameter description gt Parameter no 20 d InCH Delta Inch Value range 19999 99999 see chapter 8 Parameter description Parameter no 17 IPODS Inpos mode Selection LntrL Position control to set point SHart Position control Off and short circuit of all motor windings FrEE Position control Off and drive enable see chapter 8 Parameter description gt Parameter no 26 AGO5 Date 15 08 2011 Page 18 of 61 Art No 85677 Mod status 289 11 Precision in Motion Parameter Description A EYF Inching mode 2 acceleration type Selection SEAL static acceleration dn incremental acceleration see chapter 8 Parameter description gt Parameter no 31 StoPe Stop mode inching 2 Selection HAr d stop with maximum deceleration SOFE stop with programmed deceleration see chapter 8 Parameter description Parameter no 25 co Ss ma Tu Inching 2 Offset Value range 10 100 see chapter 8 Parameter description gt Parameter no 30 PIN change Value range 0 99999 see chapter 8 Parameter description gt Paramet
5. 0 Set point 1 Output stage temperature 2 Control voltage 3 Output stage voltage 4 Battery voltage 5 Motor current 6 Actual position 7 Actual rotational speed see chapter 8 Parameter description gt Parameter no 49 0x60 Output stage temperature ro Integer16 Temperature values in 1 10 C see chapter 8 Parameter description gt Parameter no 50 0x61 Voltage of control ro Integer16 Voltage values in 1 10 V see chapter 8 Parameter description gt Parameter no 51 0x62 Voltage of output stage ro Integer16 Voltage values in 1 10 V see chapter 8 Parameter description gt Parameter no 52 0x63 Voltage of battery ro Integer16 Voltage values in 1 100 V see chapter 8 Parameter description gt Parameter no 53 0x64 Motor current ro Integer16 Current values in mA see chapter 8 Parameter description gt Parameter no 54 0x65 Device code ro Unsigned8 0 AGO5 0x66 Display controller software version ro Unsigned16 Version number e g 103 corresponds to V1 03 see chapter 8 Parameter description gt Parameter no 60 Date 15 08 2011 Page 58 of 61 Art No 85677 Mod status 289 11 Precision in Motion Para e Gg Name Access Format Description hex 0x67 Motor controller ro Unsigned16 Version number software version e g 108 corresponds to V1 08 see chapter 8
6. 0000 0000 0111 or X STW 0000 0001 0000 0111 N J Operation enabled gt ZSW 0000 x001 00x0 xxx1 Inching 1 2 active i ZSW 000x x001 00x1 0001 Ready to travel gt x ZSW 0000 x001 00x0 0011 Inching OFF y STW 0000 0000 0000 0111 ini 8 J a Activate travel job l Travel order finished L STW 0000 0000 0001 0111 y Travel order active ZSW 000x x101 01x1 0001 _____ Intermediate stop Continue positioning STW 3 1 STW 3 0 Intermediate stop active ZSW 0000 x101 01x0 0011 AGO5 Date 15 08 2011 Page 51 of 61 Art No 85677 Mod status 289 11 10 9 4 AGO Precision in Motion Control word Operating mode Speed mode Bit Description Bit 0 OFF1 enable 0 OFF1 active Current travel job is cancelled The actuator is activated 1 OFF1 inactive Bit 1 OFF2 max deceleration 0 OFF2 active Current travel job is cancelled The actuator is decelerated with max deceleration the actuator continues to be controlled 1 OFF2 inactive Bit 2 OFF3 progr deceleration 0 OFFS active Current travel job is cancelled The actuator is decelerated with progr deceleration the actuator continues tie be controlled 1 OFF3 inactive Bit 3 no function Bit 4 Positive flank starts a travel job Start travel job Bit 5 Positive flank acknowledges an error
7. Limiting values bound eee Visualization u5 i Dir H Options ope ae Controller parameter Lontr daal Exit menu Lit Table 2 Changeable parameters menu overview Bus parameters Menu PArA Submenu PArA LHPAr bu Parameter Description id Node address Value range 0 31 see chapter 8 Parameter description gt Parameter no 22 bAU Baud rate Selection 5 16 57600 baud 15E 115200 baud Je 19200 baud see chapter 8 Parameter description gt Parameter no 33 Preece Protocol Selection 5n5 SIKONETZ5 Dro Standard protocol see chapter 8 Parameter description gt Parameter no 34 buUSEG Bus Timeout Value range 0 20 see chapter 8 Parameter description Parameter no 35 Table 3 Bus parameter menu Date 15 08 2011 Page 14 of 61 Art No 85677 Mod status 289 11 4 3 1 2 Positioning AGO Menu PArA bere PArA LHPAr U5 IE Precision in Motion Parameter Description EH dE Pos window Value range 0 1000 see chapter 8 Parameter description gt Parameter no 10 Spindle pitch Value range 0 30000 see chapter 8 Parameter description Parameter no 13 Display divisor Selection 1 10 0 100 i oi 1000 see chapter 8 Parameter description gt Parameter no 43 5 5 5 gt ma ao F Calibration value Value range 19999 99999
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 DDMMYYYY format see chapter 8 Parameter description gt Parameter no 58 Ox6A Gear reduction ro Unsigned16 98 gear 98 1 173 gear 173 1 Ox6B 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 rpm speed see chapter 8 Parameter description gt Parameter no 56 0x80 Number of ro Unsigned 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 Parameter 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
9. Parameter no 4 yy 04 v Pos see chapter 8 Parameter description Parameter no 5 yy 05 a rot see chapter 8 Parameter description gt Parameter no 6 Page 35 of 61 Art No 85677 Mod status 289 11 Length Reply AGO Date 15 08 2011 Page 36 of 61 Art No 85677 Precision in Motion Description yy 06 reserved yy 07 a inch see chapter 8 Parameter description gt Parameter no 8 yy 08 v inch see chapter 8 Parameter description Parameter no 9 yy 09 Pos window Spindle pitch 0 gt increments spindle pitch gt 0 gt 1 100 mm see chapter 8 Parameter description Parameter no 10 yy 10 numerator see chapter 8 Parameter description gt Parameter no 11 yy 11 denominator see chapter 8 Parameter description Parameter no 12 yy 12 reserved yy 13 Spindle pitch in 1 100 m see chapter 8 Parameter description gt Parameter no 13 yy 14 Node address see chapter 8 Parameter description gt Parameter no 22 yy 15 Stop mode inching 2 0 Hard Stop 1 Soft Stop see chapter 8 Parameter description gt Parameter no 25 yy 16 Inpos mode 0 position control 1 Emf brake 2 Enable see chapter 8 Parameter description Parameter no 26 yy 17 Loop length Spindle pitch 0 gt increments spindle pitch gt 0 gt 1 100 mm see chapter 8 Parameter description gt Parameter no 27 yy 18 Contouring error limit see chapter 8 Parameter
10. Position 1 Actual position is within the positioning window of the programmed set point 0 Actual position is beyond the positioning window of the programmed set point Date 15 08 2011 Page 32 of 61 Art No 85677 Mod status 289 11 Precision in Motion Bit State Description Operating mode Speed mode In Position T Actual rotational speed is within the specified tolerance window of the target speed OR Actual speed is outside the specified tolerance window Bit 4 Actuator travels 1 Actuator travels 0 Drive stands still rotational speed lt 2 rpm Bit 5 Operating mode Positioning mode upper limit 1 Actual position is above the programmed limiting value Travelling is possible only in negative direction in inching mode ON Actual position is below the programmed limiting value 0 Operating mode Speed mode irrelevant Bit 6 Operating mode Positioning mode lower limit 1 Actual position is below the programmed limiting value Travelling is possible only in positive direction in inching mode ON Actual position is above the programmed limiting value 0 Operating mode Speed mode irrelevant Bit 7 Driver state II Motor is enabled 0 Motor in control Bit 8 Error 1 Actuator has switched to error The cause of the error must be removed and acknowledged 0 No error present Bit 9 Operating mode Positioning mode Loop travel 1 If travel direction
11. Queue 1 overrun Zour 0x11 Queue 2 overrun HUEDE 0x12 Response doesn t match question ESEEP 0x13 Check sum EEPROM ob 0x80 Check sum SIKONETZ5 tobi 0x81 Timeout SIKONETZ5 Input errors Input errors inform the user abaut errors that occurred during menu entries Entries that produce errors are not adopted Input errors are not saved in the error memory Display Description UDO UE Value range exceeded inappropriate Li UP Input value exceeds upper limit Li 10 Input value exceeds lower limit ACCES Access nor supported Perera Write on read only rd2PO Read on write only StALE Error caused by device status bUSY Input disabled due to ongoing EEPROM write access JAck Input disabled due to active travelling job naPr Programming lock activated Date 15 08 2011 Page 24 of 61 Art No 85677 Mod status 289 11 8 Parameter description Precision in Motion Column Explanation s S Parameter transferred is saved in the device non volatilely Parameter transferred is saved in the device volatilely Parameter class 1 Standard parameter 2 Controller parameter C 3 Display parameter 4 Bus parameter 5 general parameter No Name eek 1 Default Description SIC 1 Controller 1 500 300 P gain of controller S2 parameter valid for all operating modes positioning P mode speed mode
12. RS485 interface 2 115200 Parameter changes become active only after cold start or software reset 34 Protocol Protocol of the RS485 interface 0 SIKONETZ5 1 Standard protocol Parameter changes become active only after cold start or software reset 35 Bus Timeout 20 SIKONETZ5 Bus Timeout values in x100 ms Standard protocol no function 36 Write reply parameter to set point SIKONETZ5 This parameter defines the reply to the Write set point command 0 Set point 1 Actual value 2 Output stage temperature 3 Control voltage 4 Output stage voltage 5 Battery voltage 6 Motor current 7 Actual position 8 Actual rotational speed Standard protocol no function 37 Key enable time 1 60 Display key control Time in seconds the asterisk key must be held down until menu can be entered or the set point specification is enabled via display AGO Date 15 08 2011 Page 29 of 61 Art No 85677 Mod status 289 11 Precision in Motion No Name Seen i Default Description SIC 38 Key 0 1 0 Display key control Ss 3 function The access to inching mode 2 positioning enable mode and rotational speed mode functions via keys can be set with this parameter 0 all functions via key enabled 1 All functions via key disabled 39 LED 2 0 1 1 LED 2 orange function S 3 ora
13. beyond the range defined by limit 1 and limit 2 travel range travelling will only be possible in inching mode in the direction of the travel range Caution Limit monitoring is deactivated if limit 1 is equal limit 2 Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded Operating mode Speed mode irrelevant AGO Date 15 08 2011 Page 26 of 61 Art No 85677 Mod status 289 11 Precision in Motion No Name Selection value Default Description S C 16 Limit 2 9999999 to 9999999 19999 Operating mode Positioning mode Limit 2 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Information refers to travel distance in 1 100 mm If actuator s position is beyond the range defined by limit 1 and limit 2 travel range travelling will only be possible in inching mode in the direction of the travel range Caution Limit monitoring is deactivated if limit 1 is equal limit 2 Please note that there is a jump of the actual position if the resolution of the absolute encoder is exceeded Operating mode Speed mode irrelevant S 4 Delta inch 1000000 to 1000000 720 delta travelling distance with inching operation 1 indicates the relative travelling distance positive value gt positive travelling direction negative value gt negative travelling directio
14. chapter 8 Parameter description Parameter no 40 yy 38 Green LED 1 0 Off 1 On see chapter 8 Parameter description gt Parameter no 41 yy 39 Inching mode 2 acceleration type 0 constant acceleration to final speed value 1 incremental acceleration to final speed value see chapter 8 Parameter description Parameter no 31 AG05 Date 15 08 2011 Page 40 of 61 Art No 85677 Mod status 289 11 gg S mss Precision in Motion Length Reply Description yy 40 Protocol 0 SIKONETZ5 1 Standard protocol see chapter 8 Parameter description gt Parameter no 34 yy 41 PIN change see chapter 8 Parameter description Parameter no 48 yy 42 Temporary key function enable 0 Access as defined under Key function enable 1 Access inverted as defined under Key function enable yy 43 Displayed value of ge display line 0 Set point 1 Output stage temperature 2 Control voltage 3 Output stage voltage 4 Battery voltage 5 Motor current 6 Actual position 7 Actual rotational speed see chapter 8 Parameter description gt Parameter no 49 1 2 gt Cancel current travel job in positioning mode Motor remains in control state Jyy 2 4 Oxhh Read out error memory yy 00 number of errors in the error memory see chapter 8 Parameter description Parameter no 61 yy 01 Error 1 see chapter 8 Parameter description Parameter no 62 yy 02 Error 2 see chapter 8 Parameter descrip
15. control state Caution If a contouring error is pending at the time of the O command the motor will be enabled gt Enable motor ENC flag register yy value hex XXXXXXXX binary representation of yy 76543210 bit BitO Sense of rotation Bit 1 2 Type of positioning Bit 3 not assigned Bit 4 Operating mode Bits 5 6 7 not assigned Output system status word hex for the meaning of the individual bits see the Status word table xx High Byte yy Low Byte Reset device to basic state system data x 11100 all parameters into basic state Caution All parameter classes will be reset Page 42 of 61 Art No 85677 Mod status 289 11 Precision in Motion Length Reply Description After restart the factory settings will be active this applies to protocol and baud rate as well x 11101 only standard parameters into basic state x 11102 only controller parameters into basic state x 11003 only display parameters into basic state x 11103 reset error x 11104 calibrate AGO5 x 11105 delete primary error memory gt Enter sense of rotation y 0 i sense of rotation cw y 1 e sense of rotation ccw see chapter 8 Parameter description Parameter no 18 Doo Output actual rotational speed Unit rom see chapter 8 Parameter description Parameter no 56 Binary position value XXXX 4 bytes in 2 complement MSB LSB see chapter 8 Parameter description gt Parameter no 55
16. description gt Parameter no 28 yy 19 reserved yy 20 reserved yy 21 reserved yy 22 reserved yy 23 reserved Mod status 289 11 gt a S mss Precision in Motion Description yy 24 Current limiting Range 25 110 of nominal torque see chapter 8 Parameter description gt Parameter no 29 yy 25 Baud rate RS485 0 19200 1 57600 2 115200 see chapter 8 Parameter description gt Parameter no 33 yy 26 Bus Timeout Range 0 20 x100 ms see chapter 8 Parameter description gt Parameter no 35 yy 27 Inching 2 Offset Range 10 100 of inching speed see chapter 8 Parameter description gt Parameter no 30 yy 28 Key function enable 0 all functions via key enabled 1 All functions via key disabled see chapter 8 Parameter description gt Parameter no 38 yy 29 Key enable time Range 1 60 seconds see chapter 8 Parameter description gt Parameter no 37 yy 30 Display orientation 0 0 1 rotated by 180 see chapter 8 Parameter description gt Parameter no 45 yy 31 Display divisor 0 1 1 10 2 100 3 1000 see chapter 8 Parameter description Parameter no 43 see chapter 8 Parameter description gt Parameter no 42 yy 33 Direction indication function 0 On 1 inverted 2 Off see chapter 8 Parameter description gt Parameter no 44 yy 34 Encoder resolution see chapter 8 Parameter description gt Parameter no 72 yy 35 reserve
17. for actuator parameterization and control Two LEDs 1 2 inform about the actuator s operating state SERS LC display LED1 Fig 2 Control elements LCD Anzeige With supply voltage applied to the control the actual value is displayed in the first line and the set point value with factory settings in the second line The value displayed in the 2nd line can be adjusted via parameters LED displays LED Colour State Description on Actuator is within the programmed position window Supply voltage of the output stage is applied green blinking Actuator is within the programmed position window Supply voltage of the output stage is missing off Actuator is outside the programmed position window LED1 on Actuator is outside the programmed position window Supply voltage of the output stage is applied red blinking Actuator is outside the programmed position window Supply voltage of the output stage is missing off Actuator is within the programmed position window on Active bus operation pepe jiorange off No bus operation Table 1 LED displays Date 15 08 2011 Page 5 of 61 Art No 85677 Mod status 289 11 Precision in Motion 4 Functional Description 4 1 AGO Control of the drive The drive can be controlled manually stand alone and completely parameterized via the keys In bus operation you can disable drive control via the keys Value input Enter values via
18. the A key and the key Confirm entered values by pressing the key O decimal place selection key 4 Value input key With value input via the keys the display range is limited to 19999 99999 NOTICE When entering values beyond this range via SIKONETZ5 or the standard protocol FULL will be displayed when you select the parameter Value selection For some parameters you can select values from a list Direct value input is not possible You can select a value from the list via the A key Confirm the value by pressing the key Operating modes The following operating modes are distinguished positioning mode and speed mode In the positioning mode there is the additional option of travelling in the inching mode Date 15 08 2011 Page 6 of 61 Art No 85677 Mod status 289 11 Precision in Motion 4 1 3 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 value of deceleration to the set point is defined by the parameter a Pos as well If the actual position is within the programmed window this will be sign
19. unequal start direction with loop travel OR If travel direction equal start direction 0 Operating mode Speed mode irrelevant Bit 10 Output stage supply voltage 1 No voltage no travelling possible OR Voltage applied Bit 11 Ready for travel 1 Not ready for travel OR Ready for travel e Actuator notin error state 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 1 Battery voltage lt 2 6 V OR Battery voltage OK Bit 13 Current limiting 1 Current limiting active ON Current limiting not active Bit 14 Operating mode Positioning mode Status 1 Positioning active in positioning mode OU Positioning inactive Operating mode Speed mode Status 1 Enable target speed OR Target speed disabled Bit 15 Contouring error 1 Contouring error gt the actuator cannot reach the pre set speed due to too high load The actuator switches the contouring error fault Remedy reduce programmed speed 0 No contouring error gt actual speed corresponds to target speed Table 12 System Status Word AGO5 Date 15 08 2011 Page 33 of 61 Art No 85677 Mod status 289 11 Precision in Motion 9 3 Standard protocol commands list Length Reply Description Ay 2 10 XXXXXXXX gt Device type software version y 0 hardware version y 1 Motor controller software version see chapter 8 Parameter description gt Parameter no 59 y
20. 10 9 6 Flowchart Operating mode Speed mode 54 10 10 PARAMETERIZATION VIA GIRONET ZE 55 10 10 1 Example Read parameier 61 10 10 2 Example Write parameter nnnnn nnee eennnnnneereneerennnennneerrneeenennnnnnneeenne eenen 61 AGO5 Date 15 08 2011 Page 3 of 61 Art No 85677 Mod status 289 11 gn mss Precision in Motion 1 General Information 1 1 Symbols and their meaning 1 2 Documentation The following documents are associated with this document e The Product data sheet describes the technical data the dimensions the pin assignment the accessories and the order key e The mounting 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 fieldbus system You can also download these documents at http Awww siko de service downloads ausgewaehite downloads details ag05 2 Block Diagram RS485 Bus electronics UB control Inverse polarity Mains Control protectio adapter UB output stage E 9 Inverse Encod polarity Output stage EEN protectio Battery Fig 1 Block diagram AGO5 Date 15 08 2011 Page 4 of 61 Art No 85677 Mod status 289 11 Precision in Motion 3 Display and Control Keys 3 1 3 2 3 3 AGO General The actuator has a two line display with special characters and three control keys The keys serve
21. 2 Display controller software version see chapter 8 Parameter description Parameter no 60 y 3 Bus version y 4 Gear reduction see chapter 8 Parameter description gt Parameter no 72 y 5 Serial number see chapter 8 Parameter description Parameter no 57 y 6 Production date see chapter 8 Parameter description Parameter no 58 3 14 hex xxxxxxxx hex gt Diagnosis yy 0 Output stage temperature 1 10 C 1 S ae STE ER see chapter 8 Parameter description Parameter no 50 yy 1 Control unit voltage 1 10 V see chapter 8 Parameter description gt Parameter no 51 yy 2 Output stage voltage 1 10 V see chapter 8 Parameter description gt Parameter no 52 yy 3 Battery voltage 1 100 V see chapter 8 Parameter description gt Parameter no 53 yy 4 Motor current mA see chapter 8 Parameter description gt Parameter no 54 XXXXXXX gt Output values with spindle pitch 0 XXXXXXX decimal value in increments with spindle pitch gt 0 XXXXXXX decimal value 1 100 mm y 0 Current set point see chapter 8 Parameter description Parameter no 24 y 1 Limit 1 see chapter 8 Parameter description Parameter no 15 y 2 Limit 2 see chapter 8 Parameter description gt Parameter no 16 y 3 Calibration value see chapter 8 Parameter description gt Parameter no 14 AG05 Date 15 08 2011 Page 34 of 61 Art No 85677 Mod status 289 11 Length Reply FytX
22. 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 0x88 Error 8 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 69 0x89 Error 9 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 70 AG05 Date 15 08 2011 Page 59 of 61 Art No 85677 Mod status 289 11 Precision in Motion Para meter no hex Ox8A Error 10 ro Unsigned8 see chapter 7 2 1 Error codes see chapter 8 Parameter description gt Parameter no 71 DNA S command wo Unsigned16 1 all parameters to default Caution All parameter classes will be reset After restart the factory settings will be active this applies to node address and baud rate as well 2 only standard parameters to default 3 controller parameters to default 4 display parameters to default 5 bus parameters to default 6 reset error 7 Calibration 8 delete error memory 9 software reset OxA8 Programming mode wo Unsigned8 depending on the programming mode On Off configuration parameter temporary Programming mode configuration 0 no function Programming mode configuration 1 0 Programming mode Off Write parameter dis
23. 77 Mod status 289 11 Precision in Motion No Name eee i Default Description Ss C 69 Error 8 Read Error 8 Sl only 70 Error 9 Read Error 9 S only 71 Error 10 Read Error 10 Sl only 72 Gear Read Gear reduction S reduction only 73 System Read System status word Status Word only 9 Standard Protocol 9 1 9 2 9 2 1 AGO General This user manual is valid with Motor controller firmware version V1 08 The PC sends a letter and additional parameters if required ASCII Subsequently the AGO5 sends a reply with a concluding lt CR gt Parameters 19200 57600 115200 baud no parity 8 data bits 1 stop bit no handshake System Status Word The system status word consists of 2 bytes and reflects the state of the actuator see chapter 8 Parameter description Parameter no 73 High Byte Low Byte Bit number 15 14 13 12 11 1101 9 1876543210 ON BON EE RON EE RON RORE RON EI ECE RON EN RON RON RO 2 9 4 8 Fig 1 Structure of system status word Example grey background binary 0010 1001 0100 1000 hex gt 2 9 4 8 Meaning of the bits The table below informs about the meaning of the individual bits of the status word Bit State Description Bit 0 0 irrelevant Bit 1 0 irrelevant Bit 2 OI irrelevant Bit 3 Operating mode Positioning mode In
24. Acknowledge error Afterwards the actuator changes to the switch lock state Bit 6 no function Bit 7 no function Bit 8 no function Bit 9 0 key enable as defined by parameter 0x05 Key enable 1 key enable inverted as defined by parameter 0x05 Bit 10 15 Reserved always 0 Date 15 08 2011 Page 52 of 61 Art No 85677 Mod status 289 11 10 9 5 AGO Precision in Motion Status word Speed mode 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 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 acknowledgement Travel job acknowledgement 1 acknowledgement 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 0 no warning battery loading state is OK
25. EECHEN 13 4 3 1 Changeable parameters nennen nnee eneen neer eennnnnneeennenennnnnnneenneneenennnn 14 4 3 1 1 Bus parameters reana T E 14 4 3 1 2 POSITIONING EE 15 4 3 1 3 eg tel EE 16 4 3 1 4 CIA CREE 16 4 3 1 5 VASUaZ aI OM ses at AAA AA AA AA A A A A AAA AS AA A A A NANN 17 4 3 1 6 el 18 4 3 1 7 Controller DESEN 19 AS2 Readable parameters ccc cccicccaes cei scecet ceeds ei eascncad ica eh st bask cia heed ask ete td egal aaan iaaa 20 493 MRO Ee EE 21 5 CGalbraton ee 22 GN E e GE 22 Z VARIAN SF ELO E 23 7 1 WARNINGS weectetetstctceststatntetetctstetetadetctatetetstetadetetetetetetetadetetatetetatst tetetatetatstat tetatatetetststscatete 23 7 2 ERRORS xc betetceteptectetctssateteteccte tates ste stat ctetetes ett stet ated sts ste stet ted ates stctsteteted ates ste E 23 7 2 1 ES 24 7 3 INPUT le 24 8 ParAaMetenrGeSCnplOnccc catscetscstetatetetatetatetatatetadedetetetatatetetatetatatetatetstetetatetetatetstetetatatsdatetatatadss 25 9 Standard ProtOGolisssscsccccccccacscccececacadacadacadatedacadatadacadatadacedatatacedatatacatatadatadatadatedetadatetetadatetatecadegas 32 9 1 EIN 32 9 2 SYSTEM STATUS WORDS cscststrtscttetetetetstetetatetetetetetetetatetatetetetatetatetetetetetatetatetetetstetatetaetatatetis 32 9 2 1 Meaning ofthe TTT 32 9 3 STANDARD PROTOCOL COMMANDS LIST cceeeeeeeeeeccneeeeeeeeeeeeeccaaeeeeeeeeegecccaaeeeeeeeeeneencneeeeeees 34 9 4 ERROR NUMBER ENCODING eeeeeeeeeeeeeeeeee eee eee eee eee eee aaee eee e
26. No 85677 Mod status 289 11 Precision in Motion 4 1 3 2 Inching operation Inching operat ion is enabled in the positioning mode only You can program via parameters acceleration as well as speed in the inching mode NOTICE Ein Ausgleich der Spindelspieles Schleifenpositionierung erfolgt in dieser Betriebsart nicht 4 1 3 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 lt 0 negative travel direction Delta Tipp gt 0 positive travel direction NOTICE If the Spindle pitch parameter is programmed to zero then the travelling way 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 Reaching of the target position will be signalled accordingly The following conditions must be met for enabling the start of inching modes 1 and 2 e The actu ator must not be switched to error e No active travel job e Supply voltage of the output stage is applied NOTICE If the actual position is outside the programmed limiting values then travelling from this position in the respective direction is possible by means of inching mode 1 or 2 4 1 3 2 2 Inching mode 2 The actuator travels from the current position as long as the releva
27. XXXXXX AGO 10 2 Date 15 08 2011 XXXXX gt gg S mss Precision in Motion Description y 4 delta travelling distance with inching operation 1 see chapter 8 Parameter description gt Parameter no 17 y 5 Offset see chapter 8 Parameter description gt Parameter no 32 Enter values with spindle pitch 0 XXXXXXX decimal value in increments with spindle pitch gt 0 XXXXXXX decimal value 1 100 mm y 0 Positioning mode target position volatile with spindle pitch 0 Values refer to increments with spindle pitch gt 0 values refer to travel distance in 1 100 mm Speed mode target speed volatile y 1 Limit 1 see chapter 8 Parameter description gt Parameter no 15 y 2 Limit 2 see chapter 8 Parameter description gt Parameter no 16 y 3 Calibration value see chapter 8 Parameter description gt Parameter no 14 y 4 Travel distance inching mode 1 see chapter 8 Parameter description gt Parameter no 17 y 5 Offset see chapter 8 Parameter description Parameter no 32 Output 2 byte value yy Address XXXXX decimal value yy 00 Controller parameter P see chapter 8 Parameter description Parameter no 1 yy 01 Controller parameter see chapter 8 Parameter description gt Parameter no 2 yy 02 Controller parameter D see chapter 8 Parameter description gt Parameter no 3 yy 03 a Pos see chapter 8 Parameter description gt
28. abled 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 OxCA Switching the wo Unsigned Configuration of bus protocol bus protocol 0 SIKONETZ5 1 Standard protocol Parameter changes become active only after cold start or software reset OxFA System status word ro Unsigned16 see chapter 9 2 System Status Word OxFE Actual value ro 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 Name Access Format Description AGO5 Date 15 08 2011 Page 60 of 61 Art No 85677 Mod status 289 11 10 10 1 Example Read parameter Reading the parameter Limit 1 of node address 1 Precision in Motion NOTICE With read commands the data range shall be set to value 0 Read command 0x00 Node ID 0x01 Parameter address 0x29 Limit 1 Data 0x00 00 00 00 Telegram from master to slave Je Ger 277 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 b
29. alled by LED1 in the system status word and in the SIKONETZ5 status word You can define the behaviour of the actuator upon reaching the programmed window Changing controller parameters during a positioning process does not influence the current positioning operation Speed Speed Parameter no 5 Ki ye Acceleration deceleration Parameter no 4 Start position Target position Time Fig 4 Ramp travel direct positioning mode AGO5 Date 15 08 2011 Page 7 of 61 Art No 85677 Mod status 289 11 gt a S mss Precision in Motion 4 1 3 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 travelling to the target value is always from the same direction This direction of approach can be defined Example The direction from which every target position shall be driven to is positive e Case 1 gt new position is greater than actual position Direct travel to the target position H Case 2 new position is smaller than actual position The actuator drives beyond the target position by the loop length afterwards the set point is approached in positive direction Positioning loop Loop length Positioning in positive direction Positioning in negative direction Set point db Fig 5 Positioning Loop AGO5 Date 15 08 2011 Page 8 of 61 Art
30. ameter no 27 yy 18 Contouring error limit see chapter 8 Parameter description gt Parameter no 28 yy 19 reserved yy 20 reserved yy 21 reserved yy 22 reserved AG05 Date 15 08 2011 Page 39 of 61 Art No 85677 Mod status 289 11 gt a S mss Precision in Motion Length Reply Description yy 23 reserved yy 24 Current limiting see chapter 8 Parameter description gt Parameter no 29 yy 25 Baud rate RS485 see chapter 8 Parameter description Parameter no 33 yy 26 Bus Timeout see chapter 8 Parameter description Parameter no 35 yy 27 Inching 2 Offset see chapter 8 Parameter description gt Parameter no 30 yy 28 Key function enable 0 all functions via key enabled 1 all functions via key disabled see chapter 8 Parameter description gt Parameter no 38 yy 29 Key enable time see chapter 8 Parameter description gt Parameter no 37 yy 30 Display orientation see chapter 8 Parameter description gt Parameter no 45 yy 31 Display divisor see chapter 8 Parameter description gt Parameter no 43 yy 32 Display Decimal places see chapter 8 Parameter description Parameter no 42 yy 33 Display Direction indication function see chapter 8 Parameter description gt Parameter no 44 yy 34 reserved yy 35 reserved yy 36 LED 2 orange 0 Off 1 On see chapter 8 Parameter description gt Parameter no 39 yy 37 Red LED 1 0 Off 1 On see
31. apter 8 Parameter description gt Parameter no 39 rEd Red LED 1 function Selection on Indication of the operating status OFF Off see chapter 8 Parameter description gt Parameter no 40 Grn Green LED 1 function Selection on Indication of the operating status OFF Off see chapter 8 Parameter description gt Parameter no 41 Decimal places Selection 0 Z 0 00 UU 0 000 OOTY 0 0000 see chapter 8 Parameter description gt Parameter no 42 CH I H m LI rn CH CH CH 3 c c E ES DL F5 Direction indication function Selection an On intir5 inverted OFF Off see chapter 8 Parameter description gt Parameter no 44 Date 15 08 2011 Page 17 of 61 Art No 85677 Mod status 289 11 Precision in Motion Parameter Description L Ine Displayed value of 2 display line Selection EAr GE Set point dE Output stage temperature LUloLt Control voltage Ho E Output stage voltage UbAEE Battery voltage dru Motor current 05 Actual position UEL D Actual rotational speed see chapter 8 Parameter description gt Parameter no 49 LEGE Display test Selection na no display test YES Start display test pressing the LJ key stops display test Table 7 Visualization menu 4 3 1 6 Options Menu PAr A Sub menu PAPA LHPAr OPE id Parameter Description CdELA Key enable time
32. ave 1 byte 27 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Node Parameter Check Command ID address CW Data s m 0x01 0x01 0x14 0x00 0x00 0x00 0x00 0x03 OxE8 OxFF Reply telegram from slave 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Node Parameter SW Data Check ID address Code 2 Code 1 sum 0x01 0x01 OxFD 0x00 0x21 0x00 0x00 0x02 0x82 0x5C Command 10 7 SIKONETZ5 error codes Code 1 Description Code 2 Description Value rage exceeded 0x00 no further information available 0x82 inadequate 0x01 Value lt MIN 0x02 Value gt MAX 0x83 Unknown parameter 0x00 no further information available 0x00 no further information available 0x84 Access is not supported 0x01 write attempt to read only 0x02 read attempt to write only 0x00 no further information available 0x85 Error due to device status oo FEP RUM wie Se 0x02 Positioning active 0x03 Programming locked AGO5 Date 15 08 2011 Page 48 of 61 Art No 85677 Mod status 289 11 Precision in Motion 10 8 Functional description of the control units 10 9 10 9 1 AGO Errors If a slave is in the error state the slave signals this state with SW 7 1 Errors must be acknowledged by CW 5 0 1 If the cause of the error
33. crements 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 signalled by setting bit 3 in the system status word of the actuator S 4 numerator 1 10000 Numerator gear ratio a gear factor can be programmed here when a gear is used e denominator 1 10000 Denominator gear ratio a gear factor can be programmed here when a gear is used Spindle pitch 0 30000 Spindle pitch Spindle pitch parameter 0 Position value is output in increments 720 increments per revolution of the driving shaft Spindle pitch parameter gt 0 when operating the actuator on a spindle The position value is output as travelling distance in 1 100 mm not in increments Input of target position is now in 1 100 mm as well e g spindle with a pitch of 2mm gt 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 S command only after calibration Position value 0 calibration value offset value Limit 1 9999999 bis 9999999 99999 Operating mode Positioning mode Limit 1 Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Values refer to travelling distance in 1 100 mm If actuator s position is
34. d AGO5 Date 15 08 2011 Page 37 of 61 Art No 85677 Mod status 289 11 Length Reply Hyyxxxxx AGO 8 2 Date 15 08 2011 gt a S mss Precision in Motion Description yy 36 LED 2 orange 0 Off 1 On see chapter 8 Parameter description gt Parameter no 39 yy 37 LED1 red 0 Off 1 On see chapter 8 Parameter description Parameter no 40 yy 38 LED 1 green 0 Off 1 On see chapter 8 Parameter description gt Parameter no 41 yy 39 Inching mode 2 acceleration type 0 static acceleration 1 incremental acceleration see chapter 8 Parameter description gt Parameter no 31 yy 40 Protocol 0 SIKONETZ5 1 Standard protocol see chapter 8 Parameter description gt Parameter no 34 yy 41 PIN change see chapter 8 Parameter description gt Parameter no 48 yy 42 Temporary key function enable 0 Access as defined under Key function enable 1 Access inverted as defined under Key function enable yy 43 Displayed value of an display line 0 Set point 1 Output stage temperature 2 Control voltage 3 Output stage voltage 4 Battery voltage 5 Motor current 6 Actual position 7 Actual rotational speed see chapter 8 Parameter description gt Parameter no 49 Enter 2 byte value yy address XXXXX decimal value yy 00 Controller parameter P see chapter 8 Parameter description gt Parameter no 1 yy 01 Controller parameter see chapter 8 Parameter de
35. d down DER After expiry of the key enable time the input field is released The first decimal place is active and blinks III UO Press the 0 key twice to change the active decimal place barge The third decimal place is active and blinks DOOD Press the A key 5 times for entering the value tA Value 500 will be displayed nos500 Press the O key twice to change the active decimal place EH dt The fifth decimal place is active and blinks nos500 Press the A key 11 times for setting the arithmetical sign EAr Yet Value 500 will be displayed 0500 Confirm by pressing the key to start positioning AG05 Date 15 08 2011 Page 12 of 61 Art No 85677 Mod status 289 11 4 3 Menu selection Hold down the key Key enable time expired Changeable PIN input parameters required PR A A key CHPAr key Only readable parameters PArA roPAr Error memory PArA Err bF A Fig 7 Menu selection Precision in Motion see menu changeable parameters see menu only readable parameters see menu error memory AGO5 Date 15 08 2011 Page 13 of 61 Art No 85677 Mod status 289 11 4 3 1 Changeable parameters The Changeable parameters menu is subdivided into further sub menus Precision in Motion 4 3 1 1 AGO Menu Sub menu Description DH PAr A Bus parameters CHPAr bul Dir H Positionin POS E ent Actuator dru PHER
36. 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 Parameter Check Command Node ID ad ress CW Data s m Reply telegram by slave nd 1 byte oe 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Node Parameter Check Reply ID address SW pala sum AGO5 Date 15 08 2011 Page 46 of 61 Art No 85677 Mod status 289 11 gg S mss Precision in Motion 10 3 1 Command 0x00 read 0x01 write 0x02 broadcast 10 3 2 Node ID Node address see chapter 8 Parameter description Parameter no 22 10 3 3 Parameter address Description see chapter 10 10 Parameterization via SIKONETZ5 10 3 4 Control word Control word CW master to slave 10 3 5 Status word Status word SW slave to master 10 3 6 Data Range for data exchange Size 4 bytes 10 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 Byt
37. e9 XOR Byte 10 0 With a result unequal 0 a transmission error is to be assumed 10 4 Synchronization Byte telegram synchronization is via Timeout The intervals between the individual bytes of a telegram must not exceed the value of 10 ms If an addressed device does not respond the master must not send another telegram earlier than after 30 ms AGO5 Date 15 08 2011 Page 47 of 61 Art No 85677 Mod status 289 11 Precision in Motion 10 5 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 cancelled 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 10 6 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 section of the reply telegram The error code is divided in two bytes Code 1 describes the error proper and code 2 contains additional information if available In the following example an attempt was made at writing 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 sl
38. ee chapter 8 Parameter description gt Parameter no 38 0x07 LED 2 orange rw Unsigned8 0 LED2 Off 1 LED2 On see chapter 8 Parameter description gt Parameter no 39 AGO Date 15 08 2011 Page 55 of 61 Art No 85677 Mod status 289 11 Precision in Motion Para meter no hex Name Access Format Description 0x08 LED 1 red Unsigned8 0 LED1 red Off 1 LED1 red On see chapter 8 Parameter description gt Parameter no 40 0x09 LED 1 green Unsigned8 0 LED1 green Off 1 LED1 green On see chapter 8 Parameter description gt Parameter no 41 Ox0A Decimal places Unsigned8 Value range 0 4 see chapter 8 Parameter description gt Parameter no 42 0x0B Display divisor Unsigned8 Value range 0 3 see chapter 8 Parameter description gt Parameter no 43 OxOC Direction indication function Unsigned8 Value range 0 2 see chapter 8 Parameter description gt Parameter no 44 0x0D Display orientation Unsigned8 0 normal 1 rotated by 180 see chapter 8 Parameter description gt Parameter no 45 OxOE Programming mode Configuration Unsigned8 0 no programming mode 1 apply programming mode see chapter 8 Parameter description gt Parameter no 46 OxOF PIN change Unsigned32 Value range 0 99999 see chapter 8 Parameter desc
39. er no 48 S commands Selection na execute no S command ALL set all parameters to default 5tAnd Set standard parameters to default dr Ju Set controller parameters to default d SPL Set display parameters to default DD Set bus parameters to default LAL Ib Calibration dLErr Delete error memory Table 8 Options menu 4 3 1 7 Controller parameters Menu Dr H PArA Sub menu CHPAr Contr Parameter Description CPA P Controller parameter P Value range 1 500 see chapter 8 Parameter description gt Parameter no 1 Controller parameter Value range 0 500 see chapter 8 Parameter description Parameter no 2 LPArd Controller parameter D Value range 0 500 see chapter 8 Parameter description gt Parameter no 3 Table 9 Controller parameters menu AGO5 Date 15 08 2011 Page 19 of 61 Art No 85677 Mod status 289 11 4 3 2 Readable parameters AGO Precision in Motion Menu PReR roPAr Parameter Description dE Output stage temperature Cuole Control voltage PuoLE Output stage voltage UbBAEE Battery voltage l dru Motor current g5 Actual position UEL U Actual speed reduc Gear reduction EntrE Encoder resolution U LEd Display controller software version U dru Motor controller software version 5Erno Serial number dProd Production date Table 10 Readable parameters
40. f the actuator was unable to execute the command e g because it 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 meter no hex Name Access Format Description 0x00 Node address rw Unsigned8 Value range 0 31 Setting of node address Parameter changes become active only after cold start or software reset see chapter 8 Parameter description gt Parameter no 22 0x01 Baud rate rw Unsigned8 Setting the baud rate 0 19200 1 57600 2 115200 Parameter changes become active only after cold start or software reset 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 to Write set point command rw Unsigned8 0 Set point 1 Actual value 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 0x04 Enable keys time rw Unsigned8 Value range 1 60 see chapter 8 Parameter description gt Parameter no 37 0x05 Key function enable rw Unsigned8 0 key function free 1 key function locked s
41. hanges to the switch lock state Bit 6 0 no inching mode1 If the travel job is not completed yet it will be cancelled 1 inching operation 1 As soon as this bit is set the actuator travels the distance specified in parameter xx Bit 7 Inching mode 2 positive 0 no inching mode 2 positive 1 inching mode 2 positive The actuator travels in positive direction Bit 8 Inching mode 2 negative 0 no inching mode 2 negative 1 inching mode 2 negative The actuator travels in negative direction Bit 9 0 key enable as defined by parameter 0x05 Key enable 1 key enable inverted as defined by parameter 0x05 Bit 10 15 Reserved always 0 Date 15 08 2011 Page 49 of 61 Art No 85677 Mod status 289 11 10 9 2 AGO Precision in Motion Status word Positioning mode slave gt master 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 upper limit exceeded Bit 3 0 no violation of limit Lower limit 1 lower limit undercut Bit 4 0 actuator stands still Actuator travels stands still 1 actuator travels Bit 5 0 Actuator is outside the positioning window Inpos 1 Actuator is inside the positioning window Bi
42. hapter 8 Parameter description gt Parameter no 17 0x25 Acceleration type with Inching mode 2 Unsigned8 0 static acceleration 1 incremental acceleration see chapter 8 Parameter description gt Parameter no 31 0x26 Inching 2 Offset Unsigned8 Value range 10 100 see chapter 8 Parameter description gt Parameter no 30 AGO5 Date 15 08 2011 Page 57 of 61 Art No 85677 Mod status 289 11 AGO Precision in Motion Para meter no hex Name Access Format Description 0x27 Stop mode inching 2 Unsigned8 0 maximum deceleration 1 programmed deceleration see chapter 8 Parameter description gt Parameter no 25 0x28 Operating mode Unsigned8 0 positioning mode 1 speed mode see chapter 8 Parameter description gt Parameter no 20 0x29 Limit 1 Integer32 Value range 9999999 9999999 see chapter 8 Parameter description gt Parameter no 15 Ox2A Limit 2 Integer32 Value range 9999999 9999999 see chapter 8 Parameter description gt Parameter no 16 0x2C Current limiting Unsigned8 Value range 25 110 see chapter 8 Parameter description gt Parameter no 29 0x2D Contouring error limit Unsigned16 Value range 1 30000 see chapter 8 Parameter description gt Parameter no 28 0x30 Display value of 2 line Unsigned8
43. has not ben resolved at the time of acknowledgement the error will not be reset After acknowledgement 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 is found see chapter 7 2 1 Error codes Control word Positioning mode master gt slave Bit Description Bit 0 OFF1 enable 0 OFF1 active Current travel job is cancelled The actuator is activated 1 OFF1 inactive Bit 1 OFF2 max deceleration 0 OFF2 active Current travel job is cancelled The actuator is decelerated with max deceleration the actuator continues to be controlled 1 OFF2 inactive Bit 2 OFF3 program deceleration 0 OFFS active Current travel job is cancelled The actuator is decelerated with progr deceleration the actuator continues to be controlled 1 OFF3 inactive Inching mode 1 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 Acknowledge error Afterwards the actuator c
44. inching mode 2 Controller 0 500 2 gain of controller S2 parameter valid for all operating modes positioning mode speed mode inching mode 3 Controller 0 500 0 D gain of controller S2 parameter valid for all operating modes positioning D mode speed mode inching mode 4 a pos 1 100 50 Acceleration in the positioning mode KR values in 100 correspond to Gear 98 1 gt 2 05 rps Gear 173 1 1 16 rps 5 V pos 1 30 10 Maximum speed ER 1 16 in the positioning mode values in rpm gear 98 1 max 30 rpm gear 173 1 max 16 rom 6 a rot 1 100 50 Acceleration in rotational speed mode S2 values in 100 correspond to Gar 98 1 2 05 rps Gar 173 1 1 16 rps 7 reserved 8 a inch 1 100 50 Acceleration in inching mode 1 2 S 2 values in 100 correspond to Gear 98 1 gt 2 05 rps Gear 173 1 1 16 rps 9 v inch 1 30 10 Maximum speed KR 1 16 in inching mode 1 2 values in revolutions min Gear 98 1 gt max 30 rpm Gear 173 1 max 16 rpm AGO5 Date 15 08 2011 Page 25 of 61 Art No 85677 Mod status 289 11 Precision in Motion No Name Selection value Default Description S C 10 Pos window 0 1000 10 Operating mode Positioning mode Positioning window If the actual position of the actuator is within the programmed set point this window this is signalled by setting bit 3 in the status word of the actuator Spindle pitch 0 Values refer to in
45. ing 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 Parameter no 32 NOTICE Calibration is only possible when no travel job is active External gear If an external gear is used a factor can be programmed via the parameters no 11 numerator and parameter no 12 0 denominator in order to include the gear ratio in position sensing Example see fig 7 The actuator is operated on a gear with transmission reduction of 5 1 For this purpose the parameters numerator and U denominator must be programmed as follows e Parameter numerator 5 e Parameter denominator 1 external ee Sie tte EE 5 revolution oe ST 1 revolution e A internal drive Gear output Fig 8 External gear Date 15 08 2011 Page 22 of 61 Art No 85677 Mod status 289 11 gt a A mss Precision in Motion 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 denominato
46. iption gt Parameter no 11 0x19 Denominator Unsigned16 Value range 1 10000 see chapter 8 Parameter description gt Parameter no 12 Ox1A Encoder resolution ro Unsigned16 Constant Value 720 0x1B Sense of rotation 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 Unsigned16 Value range 0 30000 see chapter 8 Parameter description gt Parameter no 13 Ox1E Offset Integer32 Value range 999999 999999 see chapter 8 Parameter description gt Parameter no 32 Ox1F Calibration value Integer32 Value range 999999 999999 see chapter 8 Parameter description gt Parameter no 14 0x20 Pos window Unsigned16 Value range 0 1000 see chapter 8 Parameter description gt Parameter no 10 0x21 Pos type Unsigned8 0 direct 1 loop 2 loop see chapter 8 Parameter description gt Parameter no 19 0x22 Loop length Unsigned16 Value range 0 30000 see chapter 8 Parameter description gt Parameter no 27 0x23 Inpos mode Unsigned8 0 position control 1 short circuit of the motor windings 2 motor activated see chapter 8 Parameter description gt Parameter no 26 0x24 Delta Inch Integer32 Value range 1000000 1000000 see c
47. ledge error C command R L command S11103 d Operation enabled e SW 00xx 0000 x000 x000 d Enter target speed A command FO Enable target speed command M Change target speed Target speed enabled command FO SW 01xx x000 000x x000 l Stop travel order command N or 0 Fig 10 Flow chart Totational soeed mode standard protocol AGO5 Date 15 08 2011 Page 45 of 61 Art No 85677 Mod status 289 11 gt a A mss Precision in Motion 10 Communication via SIKONETZ5 10 1 Interface RS485 interface Available baud rates 19 2 Kbit 57 6 Kbit 115 2 Kbit No parity 8 data bits 1 stop bit no handshake 10 2 Data exchange The protocol functions according to the master slave principle The actuator acts as a slave Every instance of communication must be initiated by the master When the master has sent a command telegram the 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 10 3 Telegram setup CW SW and
48. ly voltage of the output stage is applied NOTICE Limits 1 2 are inactivated in this operational mode AGO5 Date 15 08 2011 Page 10 of 61 Art No 85677 Mod status 289 11 Precision in Motion 4 1 4 Current limiting 4 2 4 2 1 AGO The actuator is equipped with adjustable current limiting which serves primarily for protecting the actuator against overload With the default value set the nominal speed indicated on the product data sheet is achieved Actuator overload results in limiting the motor current to the set value As aconsequence the actuator cannot maintain the speed set the contouring error increases With the contouring error exceeding the contouring error limit the actuator will enter the state of error contouring error The actual motor current cannot be stated by measuring the supply current With cycled NOTICE output stages the supply current does not correspond to the motor current The actual motor current can be read out via the interface or indicated on the display Manual control stand alone operation Start inching mode 2 After applying supply voltage the actuator will be on the uppermost level of the menu structure default delivery state Positioning mode is active Pressing the A key starts left hand motion inching operation 2 Pressing the 0 key starts right hand motion inching operation 2 Releasing the respective key stops travel movement Pres
49. menu Date 15 08 2011 Page 20 of 61 Art No 85677 Mod status 289 11 4 3 3 Error memory AGO Precision in Motion Menu Dir H ErrbF Parameter Description Errno Number of errors in the error memory g see chapter 8 Parameter description Parameter no 61 Err Error 1 XXXXX see chapter 8 Parameter description gt Parameter no 62 Err d Error 2 XXXXX see chapter 8 Parameter description Parameter no 63 Err J Error 3 XXXXX see chapter 8 Parameter description gt Parameter no 64 Err 4 Error 4 XXXXX see chapter 8 Parameter description gt Parameter no 65 Err Error 5 XXXXX see chapter 8 Parameter description Parameter no 66 Err 5 Error 6 XXXXX see chapter 8 Parameter description Parameter no 67 Err 1 Error 7 XXXXX see chapter 8 Parameter description Parameter no 68 Err H Error 8 XXXXX see chapter 8 Parameter description Parameter no 69 Err 9 Error 9 XXXXX see chapter 8 Parameter description Parameter no 70 Err ig Error 10 XXXXX see chapter 8 Parameter description gt Parameter no 71 Table 11 Error memory menu XXXXX Plain text display of error codes see chapter 7 2 1 Error codes Date 15 08 2011 Page 21 of 61 Art No 85677 Mod status 289 11 AGO Precision in Motion Calibration Two steps are required for executing calibration 1 Write the calibration value 2 Execute calibration Since the measur
50. n value Default Description S C 23 reserved 24 Set point see Description column Operating mode Positioning mode indicates absolute target position Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Information refers to travel distance in 1 100 mm Value range depends on the preprogrammed target values parameters 15 16 Operating mode Speed mode indicates the target rotational speed in rom Value range Gear 98 1 max 30 rpm Gear 173 1 gt max 16 rpm 25 Stop mode Inch 2 Stop mode inching mode 2 inching key operation Stopping behaviour of inching mode 2 or inching key mode resp can be parameterized differently Stop mode 0 stop with maximum deceleration Stop mode 1 stop with programmed deceleration parameter no 8 26 Inpos mode Operating mode Positioning mode With this parameter you can define the behaviour of the actuator upon reaching the position window Inpos mode 0 Position control to set point Inpos mode 1 Position control OFF and short circuit of the motor windings Inpos mode 2 Position control OFF and drive enable Operating mode Speed mode irrelevant 27 Loop length 0 30000 360 Operating mode Positioning mode Spindle pitch 0 Values refer to increments Spindle pitch gt 0 values refer to travel distance in 1 100 mm Operating mode Speed mode irrelevant 28 Contouring err
51. n Spindle pitch 0 Values refer to increments Spindle pitch gt 0 Information refers to travel distance in 1 100 mm Sense of rotation Counting direction of the measuring system With shaft rotating counter clockwise view on the clamping ring of the actuator i sense of rotation cw gt positive counting direction e sense of rotation ccw gt negative counting direction Pos Type direct loop sloop direct Operating mode Positioning mode Type of positioning direct direct travelling from actual position to set point loop travelling to the set point occurs always in positive direction to compensate for spindle play loop travelling to the set point occurs always in negative direction to compensate for spindle play Caution Loop positioning in positioning mode only Operating mode Speed mode irrelevant 20 Operating mode positioning mode speed mode positio ning mode Operating mode Positioning mode see chapter 4 1 3 1 Positioning mode Operating mode Speed mode see chapter 4 1 3 3 Speed mode 21 reserved 22 Node address 0 31 SIKONETZ5 Setting the SIKONETZ5 node address Parameter changes become active only after cold start or software reset Standard protocol no function AGO Date 15 08 2011 Page 27 of 61 Art No 85677 Mod status 289 11 Precision in Motion No Name Selectio
52. neeeaaaeeeee nennen 43 9 5 FLOW CHART OPERATING MODE POSITIONING MODE sssesssesssseietttsssttrtntttsssttrinnnrtssssrrrent 44 9 6 FLOW CHART OPERATING MODE SPEED MODE aanne ennennneeneneenvennnnneenenenennnnennneeenne nennen 45 10 Communication via GIRONETZR cece cece ee ee eee ee eee eee EEE EEE EEE LEAL LEAL EEE ennen ennen eneen nennen 46 10 1 INET e 46 10 2 Re 46 10 3 TELEGRAM SETUP ioneina aiana Eet 46 1031 Commande 47 EC EC MD Een a tala eae aca cca ab en ae a tate a aes ate a nt ace et 47 10 3 3 Parameter address ccc EEE EEE EEE EEE EEE E ELLE ELLE EE EEE EEE EEE EELS 47 10 3 4 Gontrol word EE 47 10 35 StaAlUS WONG DEE 47 AGO5 Date 15 08 2011 Page 2 of 61 Art No 85677 Mod status 289 11 Precision in Motion 103 6 Dalaman KEREN EERSTEN ec 47 103 7 ene En EE 47 10 4 SYNCHRONIZA MON eaten EEN 47 10 5 BUS TIMEOUTS a EE ee 48 10 6 ERROR TELEGRAM Zitten eee 48 10 7 SIKONETZo ERROR CODE Shanta n an e ee weit ets eee eee eEeN 48 10 8 FUNCTIONAL DESCRIPTION OF THE CONTROL UNITS nan arnenennnennenereennenereenneeereeeneeeeneennener vennen 49 10 9 Ee 49 10 9 1 Control word Positioning mode master gt gave 49 10 9 2 Status word Positioning mode slave gt master nnen eenennennnneeeene eenen 50 10 9 3 Flowchart Positioning mode eee eeeccceee eee e eee eeecaaeee sees seed eccaaeeeeeeeeeeeeeaaaes 51 10 9 4 Control word Operating mode Speed mode nnee nennnennneeeene eenen 52 10 9 5 Status word Speed mode ee 53
53. nge 0 Off 1 Bus operation indication 40 LED 1 red 0 1 1 Red LED 1 function Ss 3 0 Off 1 Indication of the operating status 41 LED 1 green 0 1 1 Green LED 1 function ER 0 Off 1 Indication of the operating status 42 Decimal 0 4 0 Display 3 places Input of decimal places 0 0 1 0 0 2 0 00 3 0 000 4 0 0000 43 Display 0 3 0 Display S 3 divisor Divisor by which the display accuracy is reduced compared with the measurement resolution 0 1 1 10 2 100 3 1000 44 Direction 0 2 0 Display 3 indication The direction indicators show the key to be function pressed to arrive at the set position window 0 On 1 Inverted 2 Off 45 Display 0 1 0 Display S 3 orientation Display orientation 0 0 1 rotated by 180 46 Programming 0 1 0 SIKONETZ5 KR mode 0 no programming mode configuration 1 apply programming mode Standard protocol no function 47 Programming 0 1 0 SIKONETZ5 1 mode 0 Programming mode Off 1 Programming mode On Standard protocol no function 48 PIN 0 99999 0 Display 3 Change Required PIN to be able to change parameters via keys and display AGO5 Date 15 08 2011 Page 30 of 61 Art No 85677 Mod status 289 11 Precision in Motion No Name eee i Default Description SIC 49 Displayed 0 7 0 Display S 3 value Parameter to be displayed in the 2nd line of 2 display the display line 0 set point 1 Output
54. nt 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 Tipp Parameter no 9 10 rpm can only be changed in the idle state Offset inching The resulting i Inching speed 2 Parameter no 30 85 can be changed during inching operation nching speed in this example will be V Tipp Offset inching 2 10 rpm 85 9 rpm The results are always rounded to integers The minimum AG05 Date 1 speed is 1 rpm 5 08 2011 Page 9 of 61 Art No 85677 Mod status 289 11 gt a S mss Precision in Motion 4 1 3 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 Speed Target speed set point Disable operation Disable set point or set point 0 Acceleration Parameter no 8 Set point enabled Stop Time Fig 6 Ramp rotational 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 Supp
55. ode 1 2 Gear 98 1 gt value range 1 30 Gear 173 1 value range 1 16 see chapter 8 Parameter description gt Parameter no 9 Sernu Numerator gear ratio Value range 1 10000 see chapter 8 Parameter description gt Parameter no 11 Jkr dE Denominator gear ratio Value range 1 10000 see chapter 8 Parameter description gt Parameter no 12 Table 5 Actuator menu 4 3 1 4 Grenzwerte Menu Dir H LHPAr Sub menu Dr H bound Parameter Description EndP Limit 1 Value range 19999 99999 see chapter 8 Parameter description Parameter no 15 EndPe Limit 2 Value range 19999 99999 see chapter 8 Parameter description Parameter no 16 tor TE Current limiting Value range 25 110 see chapter 8 Parameter description gt Parameter no 29 Conk Contouring error limit Value range 1 30000 see chapter 8 Parameter description gt Parameter no 28 Table 6 Limiting values menu Date 15 08 2011 Page 16 of 61 Art No 85677 Mod status 289 11 4 3 1 5 Visualization AGO Menu D H E D H LHPAr 510 c Precision in Motion Parameter Description d SPL Display orientation Selection 0 0 lH 180 see chapter 8 Parameter description gt Parameter no 45 O A d LED 2 orange function Selection on Bus operation display OFF Off see ch
56. or limit 1 30000 400 Contouring error limit Exceeding the contouring error limit during on going positioning results in a Contouring error fault 29 Current limiting 25 110 110 Current limiting Limiting of surge current Current limiting setup in 100 1 1A 30 Inching 2 Offset 10 100 100 Inching operation 2 The inching speed in Inching operation 2 can be influenced via this parameter Values in percentage of parameter no 9 AGO Date 15 08 2011 Page 28 of 61 Art No 85677 Mod status 289 11 Precision in Motion No Name Selection value Default Description Ss C 31 Type of acceleration Inching mode 2 0 1 0 Inching operation 2 The type of acceleration can be set with this parameter 0 static acceleration Acceleration to final speed in one step as defined under parameter no 8 1 incremental acceleration Acceleration to final speed as defined under parameter no 8 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 ER 32 Offset 999999 to 999999 Offset value Changes to the offset value are immediately entered in the calculation of the position value The following equation is applied in case of calibration Position value 0 calibration value offset value 33 Baud rate RS485 Baud rate of the
57. r 100 7 Warnings Errors 7 1 7 2 AGO Warnings Warnings do not influence the operation of the positioning drive Warnings disappear after removing the cause Possible warnings e Battery voltage for absolute encoder is below limit exchange battery within the next 6 months e Current limiting active Errors Errors cause an immediate stop of the positioning drive Error states are signalled via display Via interface errors can also be detected 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 Date 15 08 2011 Page 23 of 61 Art No 85677 Mod status 289 11 7 2 1 7 3 AGO Error codes Precision in Motion Display Error code Error noErr 0x00 No error boll 0x01 Timeout client ot 0x02 Timeout host CD 0x03 Check sum client cSHU 0x04 Check sum host dEFI o 0x05 Define mismatch bAEE 0x06 Low battery voltage Cu 0x07 Low control electronics voltage Cou E 0x08 Excess control electronics voltage Duuk 0x09 Excess power electronics voltage ouErk Ox0A Output stage excess temperature LAY 0x0B Contouring error bloc 0x0C Shaft blocked noSu 0x0D Power electronics not supplied bEYPE OxOE Unknown bus type Si aCi OxOF SIN COS monitoring error H four 0x10
58. ri AE t SIKO eee vull peril RENNEN Precision in Motion User manual Actuator with SIKONETZ5 interface AG05 Precision in Motion 1 General Information 0 0 0 nn nnn nnn nnn nn I In III II III III III II I nnn E RARA E RAIRA RERAN ERARE 4 1 1 SYMBOLS AND THEIR MEANING tete eee eet ete et eaten 4 1 2 Reie DIS el EE A 2 BloekDiagra ee EE EE EE EE EE Ee 4 3 Display and ControlK ceca ate ete aaa tete 5 3 1 GENERAL Bet eerie tierce rte einer A eter eer ere ere EE EE 5 3 2 ECD ANZEIGE eee eer ete eer eer nn 5 3 3 EED DISPLAYS tenten 5 de FUNC OM alll DEsenPHON ze tete 6 4 1 ONT ROL OF THE DRIVE ihe e es ae E EE EE eet 6 4 1 1 VEITH le EE 6 LZ Value SClECHON ivsisisissesstassveriveraierieersverdaersieideeisieidiviseerdeeiseeidaeisierdaersierdaersnerdeeraiersendernsans 6 41 3 Operating modes sirrim enana aa aaaea aani aaa e ARa 6 4 1 3 1 Positioning MOB nansrnrnarnerenenrdernnn ed eaanrteknnen aten aap tae hanen aanvaarden kenne hanneke naan 7 4 1 3 2 INCHING OPEL le BEE 9 4 1 3 3 Rotational speed mode 10 4 1 4 Current IMNO ssena nra aaa NERE aR ariii 11 4 2 MANUAL CONTROL STAND ALONE OPERATION 2 c ceeeeeeeeeeeeeecceeeeeeeeeeeeeecaeeeeeeeeseeeescaeeeeeees 11 4 2 1 Start INCHING fale TER 11 4 2 2 Specifying the set point and starting the travel order 12 4 2 2 1 Example Starting positioning order to position BOO eneen 12 4 2 2 2 Example Starting positioning order to position PO 12 4 3 MENG ER
59. ription gt Parameter no 48 0x10 Controller parameter P Unsigned16 Value range 1 500 see chapter 8 Parameter description gt Parameter no 1 0x11 Controller parameter Unsigned16 Value range 0 500 see chapter 8 Parameter description gt Parameter no 2 0x12 Controller parameter D Unsigned16 Value range 0 500 see chapter 8 Parameter description gt Parameter no 3 0x13 a Pos Unsigned8 Value range 1 100 see chapter 8 Parameter description gt Parameter no 4 Ox14 v Pos Unsigned8 Value range Gear reduction 98 1 1 30 rpm Gear reduction 173 1 gt 1 16 rpm see chapter 8 Parameter description gt Parameter no 5 0x15 a rot Unsigned8 Value range 1 100 see chapter 8 Parameter description gt Parameter no 6 0x16 a inch Unsigned8 Value range 1 100 see chapter 8 Parameter description gt Parameter no 8 AGO Date 15 08 2011 Page 56 of 61 Art No 85677 Mod status 289 11 Precision in Motion Para meter no hex Name Access Format Description 0x17 v inch Unsigned8 Value range Gear reduction 98 1 1 30 rpm Gear reduction 173 1 gt 1 16 rpm see chapter 8 Parameter description gt Parameter no 9 0x18 Numerator Unsigned16 Value range 1 10000 see chapter 8 Parameter descr
60. scription Parameter no 2 yy 02 Controller parameter D see chapter 8 Parameter description Parameter no 3 Page 38 of 61 Art No 85677 Mod status 289 11 gt a S mss Precision in Motion Length Reply Description yy 03 a Pos see chapter 8 Parameter description gt Parameter no 4 yy 04 v Pos see chapter 8 Parameter description gt Parameter no 5 yy 05 a Rot see chapter 8 Parameter description Parameter no 6 yy 06 reserved yy 07 a Inch see chapter 8 Parameter description gt Parameter no 8 yy 08 v Inch see chapter 8 Parameter description Parameter no 9 yy 09 Enter positioning window Spindle pitch 0 gt increments spindle pitch gt 0 gt 1 100 mm see chapter 8 Parameter description Parameter no 10 yy 10 numerator see chapter 8 Parameter description gt Parameter no 11 yy 11 denominator see chapter 8 Parameter description gt Parameter no 12 yy 12 reserved yy 13 Enter spindle pitch in 1 100 m see chapter 8 Parameter description Parameter no 13 yy 14 Node address see chapter 8 Parameter description Parameter no 22 yy 15 Stop mode inching 2 see chapter 8 Parameter description gt Parameter no 25 yy 16 Inpos mode see chapter 8 Parameter description gt Parameter no 26 yy 17 Loop length Spindle pitch 0 gt increments spindle pitch gt 0 gt 1 100 mm see chapter 8 Parameter description Par
61. see chapter 8 Parameter description gt Parameter no 14 LUAdP Selection na no calibration CAL Ib Execute calibration OFFSE Offset Value range 19999 99999 see chapter 8 Parameter description gt Parameter no 32 rotAe Sense of rotation Selection Lr i sense of rotation cw LLr e sense of rotation ccw see chapter 8 Parameter description gt Parameter no 18 DEP Pos Type Selection d Ir direct 5 loop nE4 sloop see chapter 8 Parameter description Parameter no 19 Loop length Value range 0 30000 see chapter 8 Parameter description Parameter no 27 Table 4 Positioning menu Date 15 08 2011 Page 15 of 61 Art No 85677 Mod status 289 11 4 3 1 3 Actuator b Menu Dr H PArA Sub menu LHPAr dru Precision in Motion Parameter Description A POS Acceleration in the positioning mode Value range 1 100 see chapter 8 Parameter description Parameter no 4 Maximum speed in the positioning mode Gear 98 1 value range 1 30 Gear 173 1 value range 1 16 see chapter 8 Parameter description gt Parameter no 5 Acceleration in rotational speed mode Value range 1 100 see chapter 8 Parameter description Parameter no 6 Acceleration in inching mode 1 2 Value range 1 100 see chapter 8 Parameter description gt Parameter no 8 Ta Maximum speed in inching m
62. sing the key starts the parameterization programming mode Date 15 08 2011 Page 11 of 61 Art No 85677 Mod status 289 11 Precision in Motion 4 2 2 Specifying the set point and starting the travel order 4 2 2 1 Example Starting positioning order to position 500 Preconditions The display is at the uppermost level of the menu structure basic state Operating mode Positioning mode Key functions enabled o Initial state normal display g First press the key then the O key and hold down together tAr The key enable time is counted down After expiry of the key enable time the input field is released EAr Ye i j i patan The first decimal place is active UU Press the 0 key twice to change the active decimal place EAr Oct The third decimal place is active naan Press the A key 5 times m OILLL EAr Get Value 500 will be displayed Confirm by pressing the key to start positioning nnc mm LILA LIL 4 2 2 2 Example Starting positioning order to position 500 Preconditions The display is at the uppermost level of the menu structure basic state Operating mode Positioning mode Key functions enabled For negative values to be entered set first the value and only afterwards the NOTICE arithmetical sign The value 0 cannot be entered o Initial state normal display g First press the key then the OD key and hold down together EAr S The key enable time is counte
63. stage temperature 2 Control voltage 3 Output stage voltage 4 Battery voltage 5 Motor current 6 Actual position 7 Actual rotational speed 50 Output stage Read Output stage temperature temperature only Values in 1 10 C 51 Voltage Read Control voltage of control only Values in 1 10 V 52 Voltage of Read Output stage voltage output stage only Values in 1 10 V 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 rotational only Values in rpm speed 57 Serial Read Serial number Sl number only 58 Production Read Production date S date only Format DDMMYYYY 59 Software Read Motor controller software version S version only motor controller 60 Software Read Display controller software version Sl version only display controller 61 Number of Read Number of errors in the error memory S errors only 62 Error 1 Read Error 1 Sl only 63 Error 2 Read Error 2 S only 64 Error 3 Read Error 3 S only 65 Error 4 Read Error 4 Sl only 66 Error 5 Read Error 5 S only 67 Error 6 Read Error 6 S only 68 Error 7 Read Error 7 Sl only AG05 Date 15 08 2011 Page 31 of 61 Art No 856
64. t 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 acknowledgement Travel job acknowledgement 1 acknowledgement The bit is set after 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 0 no warning battery loading state is OK 1 Battery warning Battery voltage is below 2 6 V Battery change is required Bit 12 Current limiting 0 current limiting inactive 1 current limiting active Motor current exceeds the value set under parameter Ox2C Date 15 08 2011 Page 50 of 61 Art No 85677 Mod status 289 11 Precision in Motion 10 9 3 Flow chart Positioning mode CW Control word SIKONETZ5 Error Start SW Status word SIKONETZ5 ZSW 7 1 x Bit can be O or 1 p S Acknowledge error STW 5 1 Bi y y Supply voltage ON Switch lock STW 0000 0000 0000 0000 ZSW 9 1 y OFF1 STW 0 1 0 or e OFF2 STW 1 1 0 or ii OFF3 STW 2 1 0 J Inching V2ON STW 0000 0000 0100 0111 8 y or enable operation SOE STW 0000
65. tion gt Parameter no 63 yy 03 Error 3 see chapter 8 Parameter description gt Parameter no 64 yy 04 Error 4 see chapter 8 Parameter description gt Parameter no 65 yy 05 Error 5 see chapter 8 Parameter description gt Parameter oo Gel yy 06 Error 6 see chapter 8 Parameter description gt Parameter no 67 yy 07 Error 7 see chapter 8 Parameter description gt Parameter oo G yy 08 Error 8 see chapter 8 Parameter description gt Parameter no 69 yy 09 Error 9 see chapter 8 Parameter description gt Parameter no 70 AGO5 Date 15 08 2011 Page 41 of 61 Art No 85677 Mod status 289 11 Reply SXXXXX AGO Date 15 08 2011 gt a A mss Precision in Motion Description yy 10 Error 10 see chapter 8 Parameter description gt Parameter no 71 hh value represented as hex Software reset EE positioning type y 0 Direct positioning y 1 Positioning with loop positive y 2 Positioning with loop negative see chapter 8 Parameter description Parameter no 19 Start of travel job Positioning mode start positioning process to programmed set point Rotational speed mode start of speed mode Motor stop fast Motor brakes with maximum deceleration Motor remains in control state Caution If a contouring error is pending at the time of the N command the motor will be enabled Motor stop Motor brakes with programmed deceleration Motor remains in
66. yte 10 byte Com Node ID Parameter STW Data Check mand address sum 0x00 0x01 0x29 0x00 0x00 0x00 0x00 0x00 0x00 0x28 Reply telegram from slave nd 1 byte vie 3 byte 4 byte S byte 6 byte 7 byte 8 byte 9 byte 10 byte Command Node Parameter ZSW Data Check reply ID address 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 gee 10 10 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 ce 5 Ter byte 7 byte 8 byte gp byte 10 byte byte byte Command Node Parameter STW Data Check ID address sum 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 Comma na Nese Parmeter zow Data Reply 0x01 0x01 0x14 0x00 0x01 0x00 0x00 0x00 OxOF Ox1A Date 15 08 2011 Page 61 of 61 Art No 85677 Mod status 289 11 AGO

User manual

Contents

Download Pdf Manuals

Related Search

Related Contents