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Siko AG06 User Manual
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Communication via CAN b
us
AG
06
Date: 07.02.2018
Art. No. 85674
Mod. status
055
/1
8
Page
73
of
114
9.13.2.15
1400
h
: 1
st
Receive PDO Parameter
Durch das Objekt 1400
h
werden d
ie Kommunikat
ionsparameter des
ersten Receive-PDOs
(RPDO1) eingest
ellt.
Sub-index
00
h
Description
largest sub-index sup
ported
Access
read-only
PDO mapping
no
Data type
Unsigned8
Default
5
EEPROM
no
Sub-index
01
h
Description
COB-
ID
Access
read-write (recordabl
e in the "Pre-Operation
al" state)
PDO mapping
no
Data type
Unsigned
32
Default
200
h
+ Node-
ID
EEPROM
no
Sub-index
02
h
Description
Transfer type (se
e chapter
9.3.6.4
:
Transfer t
ypes of the Receiv
e PDOs
)
Access
read-write (recordabl
e in the "Pre-Operational"
state)
PDO mapping
no
Data type
Unsigned8
Default
255
EEPROM
no
Sub-index
03
h
Description
Inhibit Time (no functio
n: Compat
ibility entry)
Access
read
PDO mapping
no
Data type
Unsigned
16
Default
0
EEPROM
no
72
74
Table of Contents
Default Chapter
2
Table of Contents
2
General Information
6
Documentation
6
Block Diagram
6
Display and Control Keys
7
General
7
LCD Display
7
LED Displays
7
Functional Description
8
Control of the Drive
8
Value Input
8
Value Selection
8
Operating Modes
8
Positioning Mode
8
Loop Positioning
9
Inching Mode 1
10
Inching Mode2
10
Inching Operation
10
Rotational Speed Mode
10
Current Limiting
11
Manual Control (Stand-Alone Operation)
12
Start Inching Mode 2
12
Specifying the Set Point and Starting the Travel Order
12
Example: Starting Positioning Order to Position 500
12
Menu Selection
14
Changeable Parameters
15
Bus Parameters
15
Positioning
16
Actuator
17
Limiting Values
17
Visualization
18
Options
19
Controller Parameters
21
Readable Parameters
21
Error Memory
22
Calibration
22
External Gear
23
Warnings / Errors
23
Warnings
23
Errors
24
Error Codes
24
Input Errors
25
Parameter Description
25
Communication Via CAN Bus
33
General Remarks
33
Interface
33
System Status Word
34
Meaning of the Bits
34
Canopen Protocol
36
Telegram Setup
36
Network Management (NMT)
37
NMT Status 'INITIALISATION
37
NMT Status 'PRE-OPERATIONAL
37
State Diagramm
37
NMT Status 'OPERATIONAL
38
NMT Status 'STOPPED
38
Switching between Communication States
38
SYNC-Objekt
38
Process Data Objects (Pdos)
39
Transmit-Pdos
39
Rd Transmit PDO (TPDO3)
39
St Transmit PDO (TPDO1)
39
Th Transmit PDO (TPDO4)
40
Transfer Types of the Transmit Pdos
40
Receive-Pdos
41
Rd Receive PDO (RPDO3)
41
St Receive PDO (RPDO1)
41
Th Receive PDO (RPDO4)
42
Transfer Types of the Receive Pdos
42
Service Data Objects (Sdos)
43
Error Code
44
Example: Parameterization
44
Example: Read Parameter
44
Example: Write Parameter
45
Emergency Object (EMCY)
46
Error Code
46
Heartbeat Protocol
48
Node Guarding
49
State Machine
50
Status Word
52
Control Word
54
Flowchart of the Profile Position Mode (Positioning Mode)
56
Flowchart of the Profile Velocity Mode Operation Mode (Velocity Mode)
57
Examples
58
Example of the Profile Position Mode (Positioning Mode)
58
Example of the Profile Velocity Mode (Velocity Mode)
58
Overview of Canopen Identifiers
59
Setting the CAN Baud Rate
59
EDS File
60
Directory of Objects
60
Overview of Objects
60
Description of Objects
63
Device Type
63
1001 : Error Register
64
1002 : Manufacturer Status Register
64
COB-ID Sync Message
65
Pre-Defined Error Field
65
Manufacturer Device Name
66
Manufacturer Software Version
66
Guard Time
67
Life Time Factor
67
Restore Default Parameters
67
COB-ID Emergency Message
69
1018 : Identity Object
70
Producer Heartbeat Time
70
Server SDO Parameter
72
St Receive PDO Parameter
73
Nd Receive PDO Parameter
75
Rd Receive PDO Parameter
76
1403 Receive PDO Parameter
78
Nd Receive PDO Mapping Parameter
80
St Receive PDO Mapping Parameter
80
Rd Receive PDO Mapping Parameter
81
Th Receive PDO Mapping Parameter
82
St Transmit PDO Parameter
83
Nd Transmit PDO Parameter
85
Rd Transmit PDO Parameter
86
Th Transmit PDO Parameter
88
1A00 Transmit PDO Mapping Parameter
91
1A01 Transmit PDO Mapping Parameter
91
CAN Baud Rate
94
Manufacturer Offset
94
Gear Reduction
95
Node-ID
95
Display and Operation Parameter Set
95
Motor Parameter Set
99
Spindle Pitch
102
Pos Type
102
Delta Jog
103
2416 : Stop Mode Inching Mode 2
103
Inpos Mode
103
Loop Length
104
Contouring Error Limit
104
Contouring Error
104
241B : Power Supply Voltage
105
241C : Output Stage Temperature
105
Motor Current
106
Motor Current Limit
106
Battery Voltage
106
Inching 2 Offset
107
2451 : Type of Acceleration Inching Mode 2
107
Production Date
107
Display Software Version
108
Control Word
108
Status Word
109
Modes of Operation
109
Modes of Operation Display
110
Position Actual Value
110
Position Window
111
606C : Velocity Actual Value
111
Target Position
111
607C : Calibration Value
112
Software Position Limit
112
Polarity
113
Gear Ratio
113
60FF : Target Velocity
114
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Siko AG06 Specifications
General
Brand
Siko
Model
AG06
Category
Controller
Language
English
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