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Siko AG25 User Manual
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EtherCAT®
AG25, AG26
Date: 09
.0
7.2018
Art. No. 88094
Mod. status
225
/
18
Page
31
of 109
8.2.1
Parameter description o
f manufactu
rer-specific objec
ts
8.2.1.1
Digital Outputs Contr
ol
Object
2001h
Description
Digital output control b
yte
Access
rw (component of proc
ess data)
Data type
UNSIGNED8
Default
No
EEPROM
No
Value range
UNSIGNED8
Bit
Description
0
Digital output 1:
1 … 7
Reserved, alwa
ys 0
8.2.1.2
Control Word
Object
2002h
Description
Control word
Access
rw (component of proc
ess data)
Data type
UNSIGNED16
Default
No
EEPROM
No
Value range
UNSIGNED16
30
32
Table of Contents
Default Chapter
2
Table of Contents
2
1 General Information
9
Documentation
9
2 Displays and Operating Elements
9
Displays
9
Ethernet Module Statuses
10
Error Led 1
10
Link/Activity LED 2, 3
10
Run Led 4
10
Drive Status
11
Status LED 5
11
Status LED 8
11
Status Leds 6, 7
11
Operating Elements
12
Operating Keys
12
DIP Switch
13
3 Digital Inputs and Outputs
13
Examples of Digital Input Configurations
14
Example of Digital Output Configuration
15
4 Functional Description
16
Control of the Drive
16
Operating Modes
16
Positioning Mode
16
4.1.1.1.1 Loop Positioning
17
Inching Mode
18
Inching Mode 1
18
Inching Mode 2
19
Rotational Speed Mode
19
Position Control Mode
20
4.1.1.4.1 Examples of Configuration of the Digital Inputs for the PCM
21
Current Limiting
22
Limit Switch
23
Arrangement of the Limit Switches
23
Example of Limit Switch Configuration
23
5 Calibration
24
6 External Gear
24
7 Warnings / Errors
25
Warnings
25
Errors
25
Error Codes
26
8 Ethercat
27
Description
27
Cyclic Data Exchange
27
Acyclic Data Exchange
27
Operating Modes and Synchronization
27
Emergency Messages
27
Object Directory (Canopen over Ethercat®)
28
Parameter Description of Manufacturer-Specific Objects
31
Control Word
31
Digital Outputs Control
31
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
Digital Inputs State
36
Status Word
36
Target Value
36
Status Word: Positioning Mode (Slave Master)
37
8.2.1.5.2 Status Word: Speed Mode
38
Actual Value
39
LED Functionality
39
Digital Output 1 Functionality
41
Service Interface Baud Rate
41
Digital Output Functionalities State
42
Digital Outputs Polarity
42
Digital Input 1 Functionality
43
Digital Input 2 Functionality
43
Digital Input 3 Functionality
44
Digital Input 4 Functionality
44
Digital Input Functionalities State
45
Controller Parameter I
46
Controller Parameter P
46
Digital Inputs Polarity
46
A-Pos
47
Controller Parameter D
47
V-Pos
47
A-Inch
48
A-Rot
48
D-Pos
48
Gear Ratio Numerator
49
Pos Window
49
V-Inch
49
Gear Ratio Denominator
50
Spindle Pitch
50
Calibration Value
50
Software Limit 1
51
Software Limit 2
51
Delta Inch
52
Sense of Rotation
52
Pos Type
53
Operating Mode
53
Inching 2 Stop Mode
54
Inpos Mode
54
Loop Length
55
Contouring Error Limit
55
Current Limiting
56
Inching 2 Offset
56
Inching 2 Acceleration Type
57
Offset Value
57
PCM Position 1
58
PCM Position 2
58
PCM Position 3
58
PCM Position 4
59
PCM Position 5
59
PCM Position 6
59
PCM Position 7
60
PCM Acceleration 1
60
PCM Acceleration 2
60
PCM Acceleration 3
61
PCM Acceleration 4
61
PCM Acceleration 5
61
PCM Acceleration 6
62
PCM Acceleration 7
62
PCM Velocity 1
62
PCM Velocity 2
63
PCM Velocity 3
63
PCM Velocity 4
63
PCM Velocity 5
64
PCM Velocity 6
64
PCM Velocity 7
64
PCM Deceleration 1
65
PCM Deceleration 2
65
PCM Deceleration 3
66
PCM Deceleration 4
66
PCM Deceleration 5
67
PCM Deceleration 6
67
PCM Deceleration 7
68
Output Stage Temperature
68
Voltage of Control
68
Voltage of Output Stage
69
Voltage of Battery
69
Motor Current
69
Actual Position
69
Actual Rotational Speed
70
Serial Number
70
Production Date
70
SW Motor Controller
70
Gear Reduction
71
System Status Word
71
Encoder Resolution
73
Device ID
73
Number of Errors
74
Error Number 1
74
Error Number 2
74
Error Number 3
74
Error Number 4
75
Error Number 5
75
Error Number 6
75
Error Number 7
75
Error Number 8
76
Error Number 9
76
Error Number 10
76
Configuration
77
S-Command
77
Standard Objects Parameter Description
78
Device Type
78
Error Register
78
Pre-Defined Error Field
78
Manufacturer Device Name
79
Manufacturer Hardware Version
79
Manufacturer Software Version
79
Restore Default Parameters
79
Identity Object
80
Receive PDO Mapping
81
Transmit PDO Mapping
82
Sync Manager Communication Type
82
Sync Manager Rx PDO Assign
83
Sync Manager Tx PDO Assign
84
SM Output Parameters
84
SM Input Parameters
86
9 Service Protocol
88
Parameters
89
Loop Length
90
Actuator
91
V-Inch
92
Contouring Error Limit
93
Controller Parameter P
94
Controller Parameter I
94
Inching 2 Stop Mode
94
Controller Parameter D
95
Device Information
95
Motor Current
95
Output Stage Temperature
95
Voltage of Battery
95
Voltage of Control
95
Voltage of Output Stage
95
Device Type
96
Flag Register
96
Gear Reduction
96
Motor Type
96
System Status Word
96
Digital Input 1 Functionality
97
Digital Input/Output
97
Network Type
97
Production Date
97
Serial Number
97
SW Ethernet Module
97
SW Motor Controller
97
Digital Input 2 Functionality
98
Digital Input 3 Functionality
98
Digital Input 4 Functionality
98
Digital Input Functionalities State
98
Digital Inputs Polarity
98
Digital Inputs State
98
Digital Output 1 Functionality
99
Digital Output Functionalities State
99
Digital Outputs Control
99
Digital Outputs Polarity
99
Error Memory
99
Error Number 1
99
Number of Errors
99
Error Number 2
100
Error Number 3
100
Error Number 4
100
Error Number 5
100
Error Number 6
100
Error Number 7
100
Error Number 10
101
Error Number 8
101
Error Number 9
101
Commands
101
Start Inching Mode 2 Positive Travel Direction
101
Start of Inching Mode 1
101
Start Travel Job
101
Cancel Current Travel Job in Positioning Mode
102
Enable Motor
102
Factory Setting: All Parameters
102
Motor Stop
102
Motor Stop Fast
102
Start Inching Mode 2 Negative Travel Direction
102
Acknowledge Error
103
Calibrate
103
Delete Error Memory
103
Factory Setting: Controller Parameters
103
Factory Setting: Standard Parameter
103
Software Reset
103
Flow Charts
104
Flow Chart: Positioning Mode
104
Flow Chart: Speed Mode
105
Error Number Encoding
106
Examples
107
Start Travel Job
107
Write and Read Setpoint +500
107
ASCII Command Structure
107
10 Block Diagram
109
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48 pages
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Siko AG25 Specifications
General
Brand
Siko
Model
AG25
Category
Controller
Language
English
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