Siko AG25 - Page 3

AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 3 of 109
7.2.1 Error codes ......................................................................................................... 26
8 EtherCAT® ............................................................................................................... 27
8.1 Description ............................................................................................................ 27
8.1.1 Cyclic data exchange ........................................................................................... 27
8.1.2 Acyclic data exchange ......................................................................................... 27
8.1.3 Operating modes and synchronization .................................................................... 27
8.1.4 Emergency Messages ............................................................................................ 27
8.2 Object directory (CANopen over EtherCAT®) ................................................................ 28
8.2.1 Parameter description of manufacturer-specific objects ............................................ 31
8.2.1.1 Digital Outputs Control ..................................................................................... 31
8.2.1.2 Control Word ................................................................................................... 31
8.2.1.2.1 Control word Positioning mode (master  slave) ............................................. 32
8.2.1.2.2 Flow chart: Operating mode: Positioning mode ................................................. 33
8.2.1.2.3 Control word: Speed mode ............................................................................. 34
8.2.1.2.4 Flow chart: Speed mode ................................................................................ 35
8.2.1.3 Target Value ................................................................................................... 36
8.2.1.4 Digital Inputs State ......................................................................................... 36
8.2.1.5 Status Word .................................................................................................... 36
8.2.1.5.1 Status word: Positioning mode (slave  master) .............................................. 37
8.2.1.5.2 Status word: Speed mode .............................................................................. 38
8.2.1.6 Actual Value ................................................................................................... 39
8.2.1.7 LED Functionality ............................................................................................ 39
8.2.1.8 Service Interface Baud Rate .............................................................................. 41
8.2.1.9 Digital Output 1 Functionality ........................................................................... 41
8.2.1.10 Digital Output Functionalities State ................................................................... 42
8.2.1.11 Digital Outputs Polarity .................................................................................... 42
8.2.1.12 Digital Input 1 Functionality ............................................................................. 43
8.2.1.13 Digital Input 2 Functionality ............................................................................. 43
8.2.1.14 Digital Input 3 Functionality ............................................................................. 44
8.2.1.15 Digital Input 4 Functionality ............................................................................. 44
8.2.1.16 Digital Input Functionalities State ..................................................................... 45
8.2.1.17 Digital Inputs Polarity ...................................................................................... 46
8.2.1.18 Controller Parameter P ..................................................................................... 46
8.2.1.19 Controller Parameter I ...................................................................................... 46
8.2.1.20 Controller Parameter D ..................................................................................... 47
8.2.1.21 A-Pos ............................................................................................................. 47
8.2.1.22 V-Pos ............................................................................................................. 47
8.2.1.23 D-Pos ............................................................................................................. 48
8.2.1.24 A-Rot ............................................................................................................. 48
8.2.1.25 A-Inch ........................................................................................................... 48
8.2.1.26 V-Inch ........................................................................................................... 49
8.2.1.27 Pos Window .................................................................................................... 49
8.2.1.28 Gear Ratio Numerator ....................................................................................... 49