Siko AG25 - 8.2.1.2.2 Flow Chart: Operating Mode: Positioning Mode

EtherCAT®
AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 33 of 109
8.2.1.2.2 Flow chart: Operating mode: Positioning mode
Fig. 13: Flowchart positioning mode EtherCAT®
OFF1 CW.0 = 1/0 or
OFF2 CW.1 = 1/0 or
OFF3 CW.2 = 1/0
Activate travel job
CW = 0000 0000 0001 0111
Operation enabled
SW = 0000 x001 00x0 xxx1
Enable operation
CW = 0000 0000 0000 0111
Active travel job
SW = 000x x101 01x1 0001
Active travel job
SW = 000x x101 01x1 0001
Intermediate stop
CW.3 = 1
Intermediate stop active
SW = 0000 x101 01x0 0011
Continue positioning
CW.3 = 0
Inching 1/2 On
CW = 0000 0000 0100 0111 or
CW = 0000 0000 1000 0111 or
CW = 0000 0001 0000 0111
Inching 1/2 active
SW = 000x x001 00x1 0001
Inching Off
CW = 0000 0000 0000 0111
Travel job finished
Fault
SW.7 = 1
Acknowledge error
CW.5 = 1
Switch-lock
SW.9 = 1
Start
Supply voltage On
CW = 0000 0000 0000 0000
CW = Control word
SW = Status word
x = bit can be ‘0‘ or ‘1‘
Disengage switch lock
Cancel travel job