Siko AG24 Manuale utente

225/18

AG24

Actuator with interface

User manual

AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 2 of 130

Table of contents

1General Information .................................................................................................. 8

1.1 Documentation ........................................................................................................8

2Display and control keys ............................................................................................ 8

2.1 LCD display..............................................................................................................8

2.2 LED display..............................................................................................................9

2.2.1 Status LED 1.........................................................................................................9

2.2.2 Status LED 2.........................................................................................................9

2.2.3 Network status LED 4.............................................................................................9

2.2.4 Link/Activity LED 5, 6..........................................................................................10

2.2.5 Module status LED 7 ............................................................................................10

2.3 Control keys...........................................................................................................10

2.3.1 Key lock and enable time .....................................................................................10

2.3.2 Value input ........................................................................................................11

2.3.3 Value selection ...................................................................................................11

2.4 Menu control .........................................................................................................12

2.4.1 Menu selection ...................................................................................................12

2.4.2 Changeable parameters menu................................................................................13

2.4.2.1 PCM menu ......................................................................................................13

2.4.3 Readable parameters menu ...................................................................................13

2.4.4 Error memory menu .............................................................................................14

3Functional description ............................................................................................. 14

3.1 User units .............................................................................................................14

3.1.1 Example of spindle drive ......................................................................................15

3.1.2 Example of toothed rod/pinion, straight toothing, metric division .............................15

3.1.3 Example external gear..........................................................................................15

3.2 Protective functions................................................................................................16

3.2.1 Current limiting ..................................................................................................16

3.2.2 I2t monitoring....................................................................................................17

3.2.3 Temperature monitoring.......................................................................................17

3.2.4 Overvoltage protection with energetic recovery .......................................................17

3.2.5 Contouring error monitoring .................................................................................17

3.3 Warnings / Errors....................................................................................................18

3.3.1 Warnings ...........................................................................................................18

3.3.2 Errors ................................................................................................................18

3.3.2.1 Error codes .....................................................................................................18

3.4 Operating modes ....................................................................................................19

3.4.1 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 3 of 130

3.4.1.3 Loop positioning .............................................................................................22

3.4.1.4 Inching operation............................................................................................23

3.4.1.4.1 Inching operation 1 .....................................................................................23

3.4.1.4.2 Inching operation 2 .....................................................................................24

3.4.1.5 Travel Against Load .........................................................................................24

3.4.1.6 Control word: Positioning mode (master slave)................................................25

3.4.1.7 Status word: Positioning mode (slave master) .................................................26

3.4.1.8 Flow chart: Operating mode Positioning mode .....................................................27

3.4.2 Local control (Stand-Alone Operation) ...................................................................28

3.4.2.1 Inching operation 2.........................................................................................28

3.4.2.2 Specifying the set point ...................................................................................28

3.4.3 Digital inputs and outputs....................................................................................29

3.4.3.1 Examples of digital input configurations.............................................................30

3.4.3.2 Example of digital output configuration..............................................................31

3.4.4 Position Control Mode..........................................................................................31

3.4.4.1 Examples of configuration of the digital inputs for the PCM...................................32

3.4.5 Calibration .........................................................................................................33

3.4.6 Sense of Rotation ...............................................................................................34

3.4.7 Rotational speed mode ........................................................................................34

3.4.7.1 Control word Operating mode: Speed mode..........................................................35

3.4.7.2 Status word Operating mode: Speed mode...........................................................36

3.4.7.3 Flow chart: Operating mode Speed mode.............................................................37

4EtherNet/IP™ .......................................................................................................... 38

4.1 Description............................................................................................................38

4.1.1 IP-Configuration .................................................................................................38

4.1.2 I/O Messages......................................................................................................40

4.1.3 Explicit Messages ................................................................................................40

4.1.4 ADI Object (Class A2h).........................................................................................40

4.2 CIP objects ............................................................................................................41

4.2.1 Identity Object (Class 01h)...................................................................................42

4.2.1.1 Class attributes of the Identity Object ................................................................42

4.2.1.2 Instance attributes of the Identity Object...........................................................42

4.2.1.3 Status............................................................................................................43

4.2.1.4 Reset service of the Identity Object ...................................................................44

4.3 Commissioning aids ................................................................................................44

5Parameters.............................................................................................................. 44

5.1 Positioning............................................................................................................45

5.1.1 Sense of Rotation ...............................................................................................45

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 4 of 130

5.1.7 Delta Inch..........................................................................................................48

5.1.8 Inpos Mode........................................................................................................49

5.1.9 Pos Type............................................................................................................50

5.1.10 Loop Length.......................................................................................................50

5.1.11 Calibration Value.................................................................................................51

5.1.12 Control Word ......................................................................................................51

5.1.13 Status Word .......................................................................................................52

5.1.14 Target Value.......................................................................................................53

5.1.15 Actual Value.......................................................................................................53

5.1.16 System Status Word.............................................................................................54

5.2 Actuator................................................................................................................56

5.2.1 Operating Mode ..................................................................................................56

5.2.2 A-Pos ................................................................................................................57

5.2.3 V-Pos ................................................................................................................57

5.2.4 D-Pos ................................................................................................................58

5.2.5 A-Inch...............................................................................................................59

5.2.6 V-Inch...............................................................................................................59

5.2.7 Inching 2 Offset .................................................................................................60

5.2.8 A-Rot ................................................................................................................60

5.3 Limiting values ......................................................................................................61

5.3.1 Software Limit 1 .................................................................................................61

5.3.2 Software Limit 2 .................................................................................................62

5.3.3 Peak Current Limit...............................................................................................62

5.3.4 Peak Current Time ...............................................................................................63

5.3.5 Continuous Current..............................................................................................63

5.3.6 Contouring Error Limit .........................................................................................64

5.3.7 Travel Against Load Trigger ..................................................................................64

5.3.8 Travel Against Load Direction ...............................................................................65

5.4 Visualization..........................................................................................................66

5.4.1 Display Orientation .............................................................................................66

5.4.2 Display Divisor....................................................................................................66

5.4.3 Display Divisor Application...................................................................................67

5.4.4 Decimal Places....................................................................................................67

5.4.5 Direction Indication Function ...............................................................................68

5.4.6 Displayed Value 2nd Line .....................................................................................69

5.5 Options.................................................................................................................70

5.5.1 Key Enable Time..................................................................................................70

5.5.2 Key Function Enable ............................................................................................70

5.5.3 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 5 of 130

5.6 Controller parameter ...............................................................................................76

5.6.1 Controller Parameter P .........................................................................................76

5.6.2 Controller Parameter I .........................................................................................76

5.6.3 Controller Parameter D.........................................................................................77

5.7 Digital input/output ...............................................................................................78

5.7.1 Digital Input 1 Functionality ................................................................................78

5.7.2 Digital Input 2 Functionality ................................................................................79

5.7.3 Digital Input 3 Functionality ................................................................................79

5.7.4 Digital Input 4 Functionality ................................................................................80

5.7.5 Digital Inputs Polarity .........................................................................................81

5.7.6 Digital Input Functionalities State.........................................................................82

5.7.7 Digital Inputs State.............................................................................................83

5.7.8 Digital Output 1 Functionality...............................................................................83

5.7.9 Digital Outputs Polarity........................................................................................84

5.7.10 Digital Output Functionalities State.......................................................................85

5.7.11 Digital Outputs Control ........................................................................................86

5.7.12 Service Interface Baud Rate..................................................................................86

5.8 Position Control Mode .............................................................................................87

5.8.1 PCM Position 1 ...................................................................................................87

5.8.2 PCM Position 2 ...................................................................................................88

5.8.3 PCM Position 3 ...................................................................................................88

5.8.4 PCM Position 4 ...................................................................................................89

5.8.5 PCM Position 5 ...................................................................................................89

5.8.6 PCM Position 6 ...................................................................................................90

5.8.7 PCM Position 7 ...................................................................................................91

5.8.8 PCM Acceleration 1..............................................................................................91

5.8.9 PCM Acceleration 2..............................................................................................92

5.8.10 PCM Acceleration 3..............................................................................................92

5.8.11 PCM Acceleration 4..............................................................................................93

5.8.12 PCM Acceleration 5..............................................................................................93

5.8.13 PCM Acceleration 6..............................................................................................94

5.8.14 PCM Acceleration 7..............................................................................................95

5.8.15 PCM Velocity 1....................................................................................................95

5.8.16 PCM Velocity 2....................................................................................................96

5.8.17 PCM Velocity 3....................................................................................................96

5.8.18 PCM Velocity 4....................................................................................................97

5.8.19 PCM Velocity 5....................................................................................................98

5.8.20 PCM Velocity 6....................................................................................................98

5.8.21 PCM Velocity 7....................................................................................................99

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 6 of 130

5.8.27 PCM Deceleration 6 ........................................................................................... 102

5.8.28 PCM Deceleration 7 ........................................................................................... 103

5.9 Device information ............................................................................................... 104

5.9.1 Output Stage Temperature .................................................................................. 104

5.9.2 Virtual Motor Temperature.................................................................................. 104

5.9.3 Voltage of Control............................................................................................. 105

5.9.4 Voltage of Output Stage..................................................................................... 105

5.9.5 Motor Current ................................................................................................... 106

5.9.6 Actual Position ................................................................................................. 107

5.9.7 Actual Rotational Speed..................................................................................... 107

5.9.8 Overload .......................................................................................................... 108

5.9.9 Actual Contouring Error...................................................................................... 108

5.9.10 Gear Reduction ................................................................................................. 109

5.9.11 Encoder Resolution............................................................................................ 109

5.9.12 Serial Number................................................................................................... 110

5.9.13 SW Motor Controller........................................................................................... 111

5.9.14 SW Ethernet Module .......................................................................................... 111

5.9.15 Production Date................................................................................................ 112

5.9.16 Device ID......................................................................................................... 112

5.9.17 Generic Mapping Channel ................................................................................... 113

5.10 Error memory ....................................................................................................... 114

5.10.1 Number of Errors............................................................................................... 114

5.10.2 Error Number 1 ................................................................................................. 114

5.10.3 Error Number 2 ................................................................................................. 115

5.10.4 Error Number 3 ................................................................................................. 115

5.10.5 Error Number 4 ................................................................................................. 116

5.10.6 Error Number 5 ................................................................................................. 117

5.10.7 Error Number 6 ................................................................................................. 117

5.10.8 Error Number 7 ................................................................................................. 118

5.10.9 Error Number 8 ................................................................................................. 118

5.10.10 Error Number 9 ................................................................................................. 119

5.10.11 Error Number 10................................................................................................ 119

6Service protocol......................................................................................................120

6.1 General Information.............................................................................................. 120

6.1.1 Communication................................................................................................. 120

6.1.2 Settings........................................................................................................... 120

6.1.3 ASCII commands............................................................................................... 120

6.1.4 Responses........................................................................................................ 121

6.2 Commands........................................................................................................... 121

6.2.1 Start travel job ................................................................................................. 121

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 7 of 130

6.2.5 Cancel current travel job in positioning mode ....................................................... 121

6.2.6 Motor stop fast................................................................................................. 122

6.2.7 Motor stop ....................................................................................................... 122

6.2.8 Activate motor ................................................................................................. 122

6.2.9 Factory setting: all parameters............................................................................ 122

6.2.10 Factory setting: Standard parameter .................................................................... 122

6.2.11 Factory setting: Controller parameter ................................................................... 122

6.2.12 Factory setting: Visualization parameters.............................................................. 123

6.2.13 Factory setting: Network parameters .................................................................... 123

6.2.14 Acknowledge error............................................................................................. 123

6.2.15 Calibrate.......................................................................................................... 123

6.2.16 Delete error memory .......................................................................................... 123

6.2.17 Software reset .................................................................................................. 123

6.3 Flow charts.......................................................................................................... 124

6.3.1 Flow chart: Operating mode: Positioning mode...................................................... 124

6.3.2 Flow chart: Operating mode: Speed mode ............................................................. 125

6.4 Error number encoding .......................................................................................... 125

6.5 Examples............................................................................................................. 126

6.5.1 Write and read set point +500............................................................................. 126

6.5.2 Start travel job ................................................................................................. 126

6.6 ASCII command structure ...................................................................................... 126

6.7 Commissioning aids .............................................................................................. 127

7Ethernet Functions .................................................................................................128

7.1 Web server........................................................................................................... 128

7.2 FTP-Server ........................................................................................................... 129

7.3 Secure Host IP Configuration Protocol (Secure HICP) ................................................. 129

8Block diagram ........................................................................................................130

General Information

AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 8 of 130

1General Information

1.1 Documentation

The following documents are associated with this document:

The data sheet describes the technical data, the dimensions, the pin assignment, the

accessories and the order key.

The installation instructions describe the mechanical and electrical installation with all

safety-relevant conditions and the associated technical specifications.

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.

2Display and control keys

The actuator features a two-line display with special characters and three operating keys

, and .

The actuator can be configured and controlled via the keys.

The two LEDs and inform about the operating status of the actuator.

The four LEDs , , , and inform about the operating status of the Ethernet module.

Fig. 1: Display and control elements

2.1 LCD display

With operating voltage applied to the control unit, the actual value is displayed in the 1st line

and the target value is displayed in the 2nd line (factory setting). The value displayed in the

2nd line can be chosen by means of parameter setting (see chapter 5.4.6). In the positioning

mode, the direction indicators in the display indicate the key to be pressed for the inching

mode to get to the set positioning window (see chapter 5.4.5). For signaling the speed mode,

both direction indicators are activated in the display.

Display and control keys

AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 9 of 130

2.2 LED display

2.2.1 Status LED 1

If the actual value is unequal after switching on the module and if it is

outside the programmed positioning window, then the LED status is "red" or

"red, flashing" due to volatile storage of the set point. The set point is

initialized with the value 0 after switching on.

LED state

Description

green

Actuator is within the programmed positioning window.

Operating voltage of the output stage is applied.

green, flashing

Actuator is within the programmed position window.

Operating voltage of the output stage missing.

red

Actuator is outside the programmed positioning window.

Operating voltage of the output stage is applied.

red, flashing

Actuator is outside the programmed positioning window.

Operating voltage of the output stage missing.

off

Operating voltage of control missing.

2.2.2 Status LED 2

LED state

Description

green

Operating voltage applied to control, no fault.

red, flashing

Operating voltage applied to control, active fault.

flashing

red/green

Operating voltage of control is applied, switch lock active.

off

Operating voltage of control missing.

2.2.3 Network status LED 4

A test sequence is executed on this LED after switching on the device.

LED state

Description

off

No operating voltage or no IP address.

green

On-line, one or multiple connections established (CIP Class 1 or 3).

green, flashing

On-line, no connection established.

red

Double IP address, fatal error.

red, flashing

On-line, one or multiple connections timeout (CIP Class 1 or 3).

Display and control keys

AG24 Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 10 of 130

2.2.4 Link/Activity LED 5, 6

LED state

Description

off

no connection, no activity

green

connection (100 Mbit/s) established

green, flickers

activity (100 Mbit/s)

yellow

connection (10 Mbit/s) established

yellow, flickers

activity (10 Mbit/s)

2.2.5 Module status LED 7

A test sequence is executed on this LED after switching on the device.

LED state

Description

off

no operating voltage

green

control via scanner

green, flashing

not configured or scanner inactive

red

serious error

red, flashing

Correctable error. The module has been configured but the stored

parameters differ from the parameters presently used.

2.3 Control keys

After applying operating voltage to the control, the actuator will be on the highest level of

the menu structure, the positioning mode will be active (factory setting).

Pressing the - key starts leftward travel (inching operation 2).

Pressing the - key starts rightward travel (inching operation 2).

Releasing the respective key stops travel movement.

Pressing the - key starts the parameter / programming mode.

2.3.1 Key lock and enable time

The access via keys to the functions of Inching mode 2, positioning mode and speed mode

can be generally locked via the Key Function Enable parameter (see chapter 5.5.2). Temporary

locking or enabling is possible via the control word 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.

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