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Siko AG24 User Manual

Actuator with ethernet/ip interface
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AG24
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Summary of Contents for Siko AG24

  • Page 1 AG24 Actuator with interface User manual 225/18...

  • Page 2: Table Of Contents

    Positioning mode ....................19 3.4.1.1 Limiting values ....................20 3.4.1.2 Limit switch....................21 3.4.1.2.1 Example of a configuration ................21 3.4.1.2.2 Assembly of the limit switches ............... 22 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 2 of 130...
  • Page 3 5.1.2 Spindle Pitch ...................... 45 5.1.3 Gear Ratio Numerator ..................46 5.1.4 Gear Ratio Denominator ..................47 5.1.5 Pos Window ......................47 5.1.6 Offset Value ....................... 48 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 3 of 130...
  • Page 4 Inching 2 Acceleration Type ................. 71 5.5.4 Inching 2 Stop Mode ................... 72 5.5.5 PIN Change ......................72 5.5.6 Generic Mapping Parameter .................. 73 5.5.7 Configuration ..................... 74 5.5.8 S-Command ......................75 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 4 of 130...
  • Page 5 5.8.22 PCM Deceleration 1 ..................... 99 5.8.23 PCM Deceleration 2 ................... 100 5.8.24 PCM Deceleration 3 ................... 101 5.8.25 PCM Deceleration 4 ................... 101 5.8.26 PCM Deceleration 5 ................... 102 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 5 of 130...
  • Page 6 6.2.2 Start of inching mode1 ..................121 6.2.3 Start inching mode 2 positive travel direction ............121 6.2.4 Start inching mode 2 negative travel direction ............121 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 6 of 130...
  • Page 7 Commissioning aids ....................127 Ethernet Functions ....................128 Web server ......................128 FTP-Server ......................129 Secure Host IP Configuration Protocol (Secure HICP) ..........129 Block diagram ......................130 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 7 of 130...

  • Page 8: General Information

     User manual describing the migration of the actuator into an Industrial Ethernet network and its commissioning. You can also download these documents at http://www.siko-global.com/p/ag24. Display and control keys The actuator features a two-line display  with special characters and three operating keys The actuator can be configured and controlled via the keys.

  • Page 9: Led Display

    On-line, one or multiple connections established (CIP Class 1 or 3). green, flashing On-line, no connection established. Double IP address, fatal error. red, flashing On-line, one or multiple connections timeout (CIP Class 1 or 3). AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 9 of 130...

  • Page 10: Link/Activity Led 5, 6

    Bit 9. The Key Enable Time parameter (see chapter 5.5.1) defines the necessary period of holding down the asterisk key until you get to the menu or until the set point setting via the display is enabled, respectively. AG24 Date: 09.07.2018 Art. No. 89255 Mod.

  • Page 11: Value Input

    For some parameters you can select values from a list. Direct value input is not possible there. Pressing the key, the value can be selected from the list. By pressing the key, the selection is confirmed. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 11 of 130...

  • Page 12: Menu Control

    PIN entry required PARAM CHANGE Changeable PIN correct? parameters menu Read-only parameters Readable PARAM parameters RoPARA menu Error memory Error memory PARAM menu ErrBuF Fig. 2: Menu selection AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 12 of 130...

  • Page 13: Changeable Parameters Menu

    5.9.8 Gear Reduction REduc 5.9.10 Encoder Resolution EncRES 5.9.11 Digital Inputs State DI4321 5.7.7 Digital Output State SW Motor Controller VErDrv 5.9.13 SW Ethernet Module VErMod 5.9.14 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 13 of 130...

  • Page 14: Error Memory Menu

    The external gear ratio is calculated as follows (see chapter 3.1.3): Value jumps will occur if scaling exceeds the absolute encoder's basic resolution of 1024 steps per revolution. The following condition shall be met for this reason: AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 15: Example Of Spindle Drive

    3) with transmission reduction of 5:1. For this purpose, the parameters must be programmed as follows:  Parameter Gear Ratio Numerator = 5  Parameter Gear Ratio Denominator = 1 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 15 of 130...

  • Page 16: Protective Functions

    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 (see chapter 5.3.6): contouring error. AG24 Date: 09.07.2018 Art. No. 89255 Mod.

  • Page 17: I2T Monitoring

    If the control deviation of the PID-positioning controller exceeds the value defined by the Contouring Error Limit parameter (see chapter 5.3.6), the contouring error will be triggered. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 18: Warnings / Errors

    Output shaft blocked disengage shaft Q1OVR EEPROM queue overrun internal error CSEEP EEPROM check sum reset parameters to factory settings M WDER Ethernet module watchdog internal error AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 18 of 130...

  • Page 19: Operating Modes

    Parameter P (see chapter 5.6.1), Controller Parameter I (see chapter 5.6.2) and Controller Parameter D (see chapter 5.6.3) controller parameters. Changing controller parameters during a positioning process does not influence the current positioning operation. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 20: Limiting Values

    If the drive's position is outside the operating range defined by Software Limit 1 and Software Limit 2, then traveling is only enabled in inching mode in the direction of the operating range. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 21: Limit Switch

    Digital input 2 Digital Input 2 Functionality Value = 2 Digital Inputs Polarity Bit 31 Bit 1 = 1 Fig. 6: Example of a limit switch configuration AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 21 of 130...

  • Page 22: 3.4.1.2.2 Assembly Of The Limit Switches

     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. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 23: Inching Operation

    The following conditions must be met for enabling the start of inching operations 1 and 2:  Supply voltage of the output stage is applied  Operation enabled  Drive stands still AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 24: Inching Operation 2

    Against Load Trigger parameter (see chapter 5.3.7). Thus, the motor is able to build up torque before the brake is opened. The Travel Against Load Direction parameter (see chapter 5.3.8) defines the travel direction where the function is intended to be active. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 25: Control Word: Positioning Mode (Master  Slave)

    1 = relative positioning Bit 11 … 14 Reserved, always 0 Bit 15 Positive edge calibrates the drive (see chapter 3.4.5) Calibration Table 2: Positioning mode control word AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 25 of 130...

  • Page 26: Status Word: Positioning Mode (Slave  Master)

    The bit is set when calibration has been completed successfully. If Bit 15 is reset in the control word, this bit is reset as well. Table 3: Status word of positioning mode AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 27: Flow Chart: Operating Mode Positioning Mode

    SW = 000x 0101 01x1 0001 Intermediate stop Resume positioning CW.3 = 1 CW.3 = 0 Intermediate stop active SW = 0000 0101 01x0 0011 Fig. 9: Flowchart positioning mode AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 27 of 130...

  • Page 28: Local Control (Stand-Alone Operation)

    The third decimal place is active. 000000 Press the key 5 times. TARGET Value 500 will be displayed. 000500 Confirm by pressing the key to start positioning. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 28 of 130...

  • Page 29: Digital Inputs And Outputs

    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 Outputs Functionalities State (see chapter 5.7.10). AG24 Date: 09.07.2018 Art. No. 89255 Mod.

  • Page 30: Examples Of Digital Input Configurations

    Bit 2 = 0 Bit 31 Digital input 4 Digital Input 4 Functionality Value = 4 Digital Inputs Polarity Bit 3 = 0 Fig. 10: Examples of digital input configurations AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 30 of 130...

  • Page 31: Example Of Digital Output Configuration

    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 0 does not exist. AG24 Date: 09.07.2018 Art. No. 89255 Mod.

  • Page 32: Examples Of Configuration Of The Digital Inputs For The Pcm

    Digital input 4 Digital Input 4 Functionality Value = 11 Digital Inputs Polarity Bit 3 = 0 Fig. 12: Examples of configuration of the digital inputs for the PCM AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 32 of 130...

  • Page 33: Calibration

    The following equation is applied in case of calibration:  Position value = 0 + calibration value + offset value (see chapter 5.1.6) Changes to the offset value are immediately included in the calculation of the position value. AG24 Date: 09.07.2018 Art. No. 89255 Mod.

  • Page 34: Sense Of Rotation

    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. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 35: Control Word Operating Mode: Speed Mode

    Start travel job Bit 5 Positive flank acknowledges an error Acknowledge error Afterwards, the actuator changes to the switch-lock state. Bit 6 … 8 Reserved, always 0 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 35 of 130...

  • Page 36: Status Word Operating Mode: Speed Mode

    The bit is set when calibration was completed successfully. If bit 15 is reset in the control word, this bit is reset as well. Table 5: Status word of speed mode AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 37: Flow Chart: Operating Mode Speed Mode

    CW = 0000 0000 0001 0111 Target value enabled Change target value SW = 0000 0101 01xx 0001 Lock target value CW.4 = 0 Fig. 15: Flow chart speed mode AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 37 of 130...

  • Page 38: Ethernet/Ip

    The active IP configuration can be indicated via the display. IP address PARAM RoPARA \ IP Subnet mask PARAM RoPARA \ SNM Gateway PARAM RoPARA \ GW AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 38 of 130...
  • Page 39 Start PARAM NETW NW SET DEVICE IP 1.2 IP 3.4 SNM 1.2 SNM 3.4 GW 1.2 GW 3.4 RESET RESET Fig. 16: Setting of the IP address AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 39 of 130...

  • Page 40: I/O Messages

    Revision Object revision index UINT Max. instances Maximum number of object UINT instances in this class Number of Number of object instances in UINT instances this class AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 40 of 130...

  • Page 41: Cip Objects

    ADI Object Enables access to the parameters of the actuator TCP/IP Interface Object Enables configuration of the TCP/IP interface Ethernet Link Object Contains connections-specific counters and status information AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 41 of 130...

  • Page 42: Identity Object (Class 01H)

    Revision Struct of: Major Revision USINT Minor Revision USINT Status WORD Serial Number UDINT Product Name SHORT_STRING SIKO DriveLine AG24 Active Language Struct of: USINT USINT USINT AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 42 of 130...

  • Page 43: Status

    0 = no serious error Recoverable 1 = resettable serious error Fault Major 0 = no serious error Unrecoverable 1 = non-resettable serious error Fault 12 … 15 Reserved AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 43 of 130...

  • Page 44: Reset Service Of The Identity Object

    Standard parameters Visualization parameters Process data Chapter starting with page Positioning Actuator Limiting values Visualization Options Controller parameters Digital input/output Position Control Mode Device information Error memory AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 44 of 130...

  • Page 45: Positioning

    5.1.2 Spindle Pitch General characteristics EEPROM Class Unit EtherNet/IP Data type DINT Access Get/Set Instance 1549d / 60Dh Web server 1549 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 45 of 130...

  • Page 46: Gear Ratio Numerator

    Service protocol Read command G010 Write command H010xxxxx Display Menu PARAM CHANGE \ POSIT \ GEAR N Value range Value Display Description 1 … 10000 1 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 46 of 130...

  • Page 47: Gear Ratio Denominator

    Data type Access Get/Set Instance 1546d / 60Ah Web server 1546 Service protocol Read command G009 Write command H009xxxxx Display Menu PARAM CHANGE \ POSIT \ InPoSW AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 47 of 130...

  • Page 48: Offset Value

    -999999 … 999999 0 (default) 5.1.7 Delta Inch General characteristics EEPROM Class Unit User units EtherNet/IP Data type DINT Access Get/Set Instance 1553d / 611h Web server 1553 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 48 of 130...

  • Page 49: Inpos Mode

    Permanent positioning regulation to set point Short H0160001 Positioning control OFF and short circuit of the motor windings FrEE H0160002 Positioning control OFF and activation of the drive AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 49 of 130...

  • Page 50: Pos Type

    5.1.10 Loop Length General characteristics EEPROM Class Unit User units EtherNet/IP Data type Access Get/Set Instance 1559d / 617h Web server 1559 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 50 of 130...

  • Page 51: Calibration Value

    F03+xxxxxxx Display Menu PARAM CHANGE \ POSIT \ CALVAL Value range Value Display Description -999999 … 999999 0 (default) 5.1.12 Control Word General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 51 of 130...

  • Page 52: Status Word

    EtherNet/IP Data type UINT Access Instance 258d / 102h Web server Service protocol Read command Write command Display Menu Data type UINT Value Display Description no default AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 52 of 130...

  • Page 53: Target Value

    Positioning mode: User units Speed mode: rpm EtherNet/IP Data type DINT Access Instance 259d / 103h Web server Service protocol Read command Write command Display Menu Line 1 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 53 of 130...

  • Page 54: System Status Word

    Actual speed is inside the specified tolerance window of target speed. Actual speed is outside the specified tolerance window. Bit 4 Actuator travels Actuator travels Actuator stands still (rotational speed <2 rpm) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 54 of 130...
  • Page 55 Current limiting not active. Bit 14 Operating mode: Positioning mode: Status Positioning active in positioning mode. Positioning inactive. Operating mode: Speed mode: Status Enable target speed Target speed disabled AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 55 of 130...

  • Page 56: Actuator

    General characteristics EEPROM Class Unit EtherNet/IP Data type USINT Access Get/Set Instance 1556d / 614h Web server 1556 Service protocol Read command Write command X0 / X1 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 56 of 130...

  • Page 57: A-Pos

    Display Menu PARAM CHANGE \ DRIVE \ A POS Value range Value Display Description 1 … 100 50 (default) 5.2.3 V-Pos General characteristics EEPROM Class Unit U/min AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 57 of 130...

  • Page 58: D-Pos

    PARAM CHANGE \ DRIVE \ D POS Value range Value Display Description 1 … 101 101 % = the delay is determined by the A-Pos parameter. 101 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 58 of 130...

  • Page 59: A-Inch

    Data type Access Get/Set Instance 1545d / 609h Web server 1545 Service protocol Read command G008 Write command H008xxxxx Display Menu PARAM CHANGE \ DRIVE \ V INCH AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 59 of 130...

  • Page 60: Inching 2 Offset

    100 (default) 5.2.8 A-Rot General characteristics EEPROM Class Unit %, 100 % ≙ 4 U/s² EtherNet/IP Data type Access Get/Set Instance 1543d / 607h Web server 1543 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 60 of 130...

  • Page 61: Limiting Values

    Web server 1551 Service protocol Read command Write command F01±xxxxxxx Display Menu PARAM CHANGE \ BOUNDS \ SwLIM1 Value range Value Display Description -2097152 … 2097151 999999 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 61 of 130...

  • Page 62: Software Limit 2

    EtherNet/IP Data type Access Get/Set Instance 577d / 241h Web server Service protocol Read command G080 Write command H080xxxxx Display Menu PARAM CHANGE \ BOUNDS \ PKCurL AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 62 of 130...

  • Page 63: Peak Current Time

    Value Display Description 0 … 40 40 (default) 5.3.5 Continuous Current General characteristics EEPROM Class Unit EtherNet/IP Data type Access Get/Set Instance 579d / 243h Web server AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 63 of 130...

  • Page 64: Contouring Error Limit

    Menu PARAM CHANGE \ BOUNDS \ CoErrL Value range Value Display Description 1 … 30000 1024 (default) 5.3.7 Travel Against Load Trigger General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 64 of 130...

  • Page 65: Travel Against Load Direction

    G071 Write command H071xxxxx Display Menu PARAM CHANGE \ BOUNDS \ TALDir Value range Value Display Description 0 (default) positive sense of rotation negative sense of rotation AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 65 of 130...

  • Page 66: Visualization

    Divisor diminishing the display accuracy vs the measurement resolution. General characteristics EEPROM Class Unit EtherNet/IP Data type USINT Access Get/Set Instance 1793d / 701h Web server 1793 Service protocol Read command G031 Write command H031xxxxx AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 66 of 130...

  • Page 67: Display Divisor Application

    Application to the displayed value and the true value of the target and actual positions. DISPL Application only to the displayed value of the target and actual positions. 5.4.4 Decimal Places General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 67 of 130...

  • Page 68: Direction Indication Function

    Data type USINT Access Get/Set Instance 1797d / 705h Web server 1797 Service protocol Read command G033 Write command H033xxxxx Display Menu PARAM CHANGE \ VISUAL \ IndIcF AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 68 of 130...

  • Page 69: Displayed Value 2Nd Line

    5.9.3 P VOLT Voltage of Output Stage 5.9.4 MotCur Motor Current 5.9.5 Actual Position 5.9.6 Actual Rotational Speed 5.9.7 OVLOAd Overload 5.9.8 ConErr Actual Contouring Error 5.9.9 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 69 of 130...

  • Page 70: Options

    Key Function Enable General characteristics EEPROM Class Unit EtherNet/IP Data type USINT Access Get/Set Instance 1800d / 708h Web server 1800 Service protocol Read command G028 Write command H028xxxxx AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 70 of 130...

  • Page 71: Inching 2 Acceleration Type

    Inch (see chapter 5.2.5) 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 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 72: Inching 2 Stop Mode

    Required PIN to enable changing of parameters via keys and display. General characteristics EEPROM Class Unit EtherNet/IP Data type DINT Access Get/Set Instance 1801d / 709h Web server 1801 Service protocol Read command G041 Write command H041xxxxx AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 72 of 130...

  • Page 73: Generic Mapping Parameter

    Voltage of Output Stage 5.9.4 MotCur Motor Current 5.9.5 Actual Position 5.9.6 Actual Rotational Speed 5.9.7 OVLOAd Overload 5.9.8 ConErr Actual Contouring Error 5.9.9 ERROR Actual Error 3.3.2.1 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 73 of 130...

  • Page 74: Configuration

    1 = switched on (default) Changes are only adopted after reset. FTP Server administrator rights 0 = no (default) 1 = yes Changes are only adopted after reset. Reserved, always 0 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 74 of 130...

  • Page 75: S-Command

    NETW S11004 Reset only network parameters (Class N) to factory settings AckErr S11103 Acknowledge error CALIb S11104 Calibrate dLErr S11105 Delete error memory (Class E) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 75 of 130...

  • Page 76: Controller Parameter

    PARAM CHANGE \ CONTR \ CPAr P Value range Value Display Description 1 … 500 300 (default) 5.6.2 Controller Parameter I The setting applies to all operating modes. General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 76 of 130...

  • Page 77: Controller Parameter D

    Service protocol Read command G002 Write command H002xxxxx Display Menu PARAM CHANGE \ CONTR \ CPAr D Value range Value Display Description 0 … 500 0 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 77 of 130...

  • Page 78: Digital Input/Output

    PCM input 1 PCMIN2 PCM input 2 PCMIN3 PCM input 3 INch1P Inching operation 1 positive direction INch1N Inching operation 1 negative direction PCMREL PCM Start relative AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 78 of 130...

  • Page 79: Digital Input 2 Functionality

    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. General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 79 of 130...

  • Page 80: Digital Input 4 Functionality

    Get/Set Instance 1028d / 404h Web server 1028 Service protocol Read command G052 Write command H052xxxxx Display Menu PARAM CHANGE \ DIG IO \ F DI 4 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 80 of 130...

  • Page 81: Digital Inputs Polarity

    PARAM CHANGE \ DIG IO \ P DI 4 Digital input 4 polarity 4 … 7 Not assigned Bit-Wert Display Description 0 (default) HIGH positive logics negative logics AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 81 of 130...

  • Page 82: Digital Input Functionalities State

    Inching operation 1 positive direction Inching operation 1 negative direction PCM Start relative Execute soft start 15 … 31 Not assigned no default Table 8: States of the digital inputs AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 82 of 130...

  • Page 83: Digital Inputs State

    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. General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 83 of 130...

  • Page 84: Digital Outputs Polarity

    A bit that defines the switching logics is assigned to every digital output. General characteristics EEPROM Class Unit EtherNet/IP Data type USINT Access Get/Set Instance 771d / 303h Web server Service protocol Read command G048 Write command H048xxxxx AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 84 of 130...

  • Page 85: Digital Output Functionalities State

    0 = actual value outside the positioning window 1 = actual value inside the positioning window Output on The bit is permanently set. Operation enabled 0 = operation not enabled 1 = operation enabled AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 85 of 130...

  • Page 86: Digital Outputs Control

    H060xxxxx Display Menu Value range Description Digital output 1 1 … 15 Reserved, always 0 no default 5.7.12 Service Interface Baud Rate General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 86 of 130...

  • Page 87: Position Control Mode

    Instance 2338d / 922h Web server 2338 Service protocol Read command Write command F10+xxxxxxx Display Menu PARAM CHANGE \ PCM \ PCM SET 1 \ POS 1 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 87 of 130...

  • Page 88: Pcm Position 2

    -2097152 … 2097151 0 (default) 5.8.3 PCM Position 3 General characteristics EEPROM Class Unit User units EtherNet/IP Data type DINT Access Get/Set Instance 2340d / 924h Web server 2340 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 88 of 130...

  • Page 89: Pcm Position 4

    PARAM CHANGE \ PCM \ PCM SET 4 \ POS 4 Value range Value Display Description -2097152 … 2097151 0 (default) 5.8.5 PCM Position 5 General characteristics EEPROM Class Unit User units AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 89 of 130...

  • Page 90: Pcm Position 6

    Read command Write command F15+xxxxxxx Display Menu PARAM CHANGE \ PCM \ PCM SET 6 \ POS 6 Value range Value Display Description -2097152 … 2097151 0 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 90 of 130...

  • Page 91: Pcm Position 7

    2370d / 942h Web server 2370 Service protocol Read command G100 Write command H100xxxxx Display Menu PARAM CHANGE \ PCM \ PCM SET 1 \ ACC 1 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 91 of 130...

  • Page 92: Pcm Acceleration 2

    5.8.10 PCM Acceleration 3 General characteristics EEPROM Class Unit %, 100 % ≙ 4 U/s² EtherNet/IP Data type Access Get/Set Instance 2372d / 944h Web server 2372 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 92 of 130...

  • Page 93: Pcm Acceleration 4

    PARAM CHANGE \ PCM \ PCM SET 4 \ ACC 4 Value range Value Display Description 1 … 100 50 (default) 5.8.12 PCM Acceleration 5 General characteristics EEPROM Class Unit %, 100 % ≙ 4 U/s² AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 93 of 130...

  • Page 94: Pcm Acceleration 6

    G105 Write command H105xxxxx Display Menu PARAM CHANGE \ PCM \ PCM SET 6 \ ACC 6 Value range Value Display Description 1 … 100 50 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 94 of 130...

  • Page 95: Pcm Acceleration 7

    2402d / 962h Web server 2402 Service protocol Read command G120 Write command H120xxxxx Display Menu PARAM CHANGE \ PCM \ PCM SET 1 \ VEL 1 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 95 of 130...

  • Page 96: Pcm Velocity 2

    Value range Value Display Description i=30.6: 1 … 150 i=50.0: 1 … 90 i=70.8: 1 … 64 10 (default) 5.8.17 PCM Velocity 3 General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 96 of 130...

  • Page 97: Pcm Velocity 4

    PARAM CHANGE \ PCM \ PCM SET 4 \ VEL 4 Value range Value Display Description i=30.6: 1 … 150 i=50.0: 1 … 90 i=70.8: 1 … 64 10 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 97 of 130...

  • Page 98: Pcm Velocity 5

    2407d / 967h Web server 2407 Service protocol Read command G125 Write command H125xxxxx Display Menu PARAM CHANGE \ PCM \ PCM SET 6 \ VEL 6 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 98 of 130...

  • Page 99: Pcm Velocity 7

    1 … 150 i=50.0: 1 … 90 i=70.8: 1 … 64 10 (default) 5.8.22 PCM Deceleration 1 General characteristics EEPROM Class Unit %, 100 % ≙ 4 U/s² AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 99 of 130...

  • Page 100: Pcm Deceleration 2

    PARAM CHANGE \ PCM \ PCM SET 2 \ DEC 2 Value range Value Display Description 1 … 101 101 % = the delay is determined by the PCM Acceleration 2 parameter. 101 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 100 of 130...

  • Page 101: Pcm Deceleration 3

    2437d / 985h Web server 2437 Service protocol Read command G143 Write command H143xxxxx Display Menu PARAM CHANGE \ PCM \ PCM SET 4 \ DEC 4 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 101 of 130...

  • Page 102: Pcm Deceleration 5

    5.8.27 PCM Deceleration 6 General characteristics EEPROM Class Unit %, 100 % ≙ 4 U/s² EtherNet/IP Data type Access Get/Set Instance 2439d / 987h Web server 2439 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 102 of 130...

  • Page 103: Pcm Deceleration 7

    PARAM CHANGE \ PCM \ PCM SET 7 \ DEC 7 Value range Value Display Description 1 … 101 101 % = the delay is determined by the PCM Acceleration 7 parameter. 101 (default) AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 103 of 130...

  • Page 104: Device Information

    General characteristics EEPROM Class Unit 1/10 °C EtherNet/IP Data type Access Instance 2575d / A0Fh Web server 2575 Service protocol Read command B007 Write command AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 104 of 130...

  • Page 105: Voltage Of Control

    Write command Display Menu PARAM RoPARA \ C VOLT Value range Value Display Description no default 5.9.4 Voltage of Output Stage General characteristics EEPROM Class Unit 1/10 V AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 105 of 130...

  • Page 106: Motor Current

    Instance 2565d / A05h Web server 2565 Service protocol Read command B004 Write command Display Menu PARAM RoPARA \ MotCur Value range Value Display Description no default AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 106 of 130...

  • Page 107: Actual Position

    General characteristics EEPROM Class Unit EtherNet/IP Data type Access Instance 2567d / A07h Web server 2567 Service protocol Read command Write command Display Menu PARAM RoPARA \ VEL AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 107 of 130...

  • Page 108: Overload

    Value Display Description no default 5.9.9 Actual Contouring Error General characteristics EEPROM Class Unit Steps EtherNet/IP Data type DINT Access Instance 2577d / A11h Web server 2577 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 108 of 130...

  • Page 109: Gear Reduction

    Service protocol Read command Write command Display Menu PARAM RoPARA \ REduc Value range Value Display Description no default 5.9.11 Encoder Resolution General characteristics EEPROM Class Unit Steps AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 109 of 130...

  • Page 110: Serial Number

    Instance 2568d / A08h Web server 2568 Service protocol Read command Write command Display Menu PARAM RoPARA \ SEr No Value range Value Display Description no default AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 110 of 130...

  • Page 111: Sw Motor Controller

    SW Ethernet Module General characteristics EEPROM Class Unit EtherNet/IP Data type DINT Access Instance Web server Service protocol Read command Write command Display Menu PARAM RoPARA \ VErMod AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 111 of 130...

  • Page 112: Production Date

    Value range Value Display Description no default 5.9.16 Device ID General characteristics EEPROM Class Unit EtherNet/IP Data type USINT Access Instance 2574d / A0Eh Web server 2574 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 112 of 130...

  • Page 113: Generic Mapping Channel

    Parameters Service protocol Read command Write command Display Menu Value range Value Display Description AG24 5.9.17 Generic Mapping Channel Device information can be transmitted in the Generic Mapping Channel (see chapter 5.5.6). General characteristics EEPROM Class Unit EtherNet/IP Data type...

  • Page 114: Error Memory

    5.10.2 Error Number 1 General characteristics EEPROM Class Unit EtherNet/IP Data type USINT Access Instance 2818d / B02h Web server 2818 Service protocol Read command Write command AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 114 of 130...

  • Page 115: Error Number 2

    Read command Write command Display Menu PARAM ErrBuF \ Err 02 Value range Value Display Description no default 5.10.4 Error Number 3 General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 115 of 130...

  • Page 116: Error Number 4

    Instance 2821d / B05h Web server 2821 Service protocol Read command Write command Display Menu PARAM ErrBuF \ Err 04 Value range Value Display Description no default AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 116 of 130...

  • Page 117: Error Number 5

    Class Unit EtherNet/IP Data type USINT Access Instance 2823d / B07h Web server 2823 Service protocol Read command Write command Display Menu PARAM ErrBuF \ Err 06 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 117 of 130...

  • Page 118: Error Number 7

    Value range Value Display Description no default 5.10.9 Error Number 8 General characteristics EEPROM Class Unit EtherNet/IP Data type USINT Access Instance 2825d / B09h Web server 2825 AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 118 of 130...

  • Page 119: Error Number 9

    Read command Write command Display Menu PARAM ErrBuF \ Err 09 Value range Value Display Description no default 5.10.11 Error Number 10 General characteristics EEPROM Class Unit AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 119 of 130...

  • Page 120: Service Protocol

    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. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 121: Responses

    Drive travels in negative direction as long as the "." ASCII character is permanently sent (only in positioning mode). 6.2.5 Cancel current travel job in positioning mode Command Description Chapter I (49) Motor remains in control state AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 121 of 130...

  • Page 122: Motor Stop Fast

    Command Description Chapter S11101 Reset only standard parameters to factory settings 6.2.11 Factory setting: Controller parameter Command Description Chapter S11102 Reset only controller parameters to factory settings AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 122 of 130...

  • Page 123: Factory Setting: Visualization Parameters

    Description Chapter S11104 Calibrate actuator 6.2.16 Delete error memory Command Description Chapter S11105 Deleting of the error memory 6.2.17 Software reset Command Description Chapter Execute software reset AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 123 of 130...

  • Page 124: Flow Charts

    Intermediate stop Resume traveling job Command N or O Command M Intermediate stop active SSW = x10x 00x0 0000 0000 Fig. 18: Flowchart positioning mode service protocol AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 124 of 130...

  • Page 125: Flow Chart: Operating Mode: Speed Mode

    Set point entered exceeds limiting value Error Active EEPROM write access Actual or target value < lower area limit Actual or target value > upper area limit Operating voltage of control missing AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 125 of 130...

  • Page 126: Examples

    Error memory yy = address hh = hexadecimal value write > Software reset write > Type of positioning x = decimal value write > Start travel job AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 126 of 130...

  • Page 127: Commissioning Aids

    Commissioning aids The ProTool DL programming software serves easy commissioning and analysis via the service protocol. The RS232 interface is connected via the AIF01 programming tool and the M12/RS232 cable adapter from the SIKO accessory program. AG24 Date: 09.07.2018 Art. No. 89255 Mod.

  • Page 128: Ethernet Functions

    Below, the parameter menu is shown. The process data is within the red mark. Fig. 21: Web server/Parameters The web server can be activated ore deactivated via the Configuration parameter (see chapter 5.5.7). AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 129: Ftp-Server

    IP address, subnet mask and DHCP via the network. The protocol can be activated ore deactivated via the Configuration parameter (see chapter 5.5.7). The protocol is activated in the factory settings. AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18...

  • Page 130: Block Diagram

    Block diagram Ethernet Ethernet module Digital Control reverse Power polarity pack Control protection reverse Output stage polarity Output protection stage Transmission Motor Encoder Fig. 22: Block diagram AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 130 of 130...

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