AG25, AG26. User manual 225/18

Transcription

1 AG25, AG26 Actuator with User manual interface 225/18

2 Table of contents 1 General Information Documentation Displays and operating elements General Information Displays Ethernet module statuses ERROR LED Link/Activity LED 2, RUN LED Drive status Status LED Status LEDs 6, Status LED Operating elements Operating keys DIP switch: Digital inputs and outputs Examples of digital input configurations Example of digital output configuration Functional description Contl of the drive Operating modes Positioning mode Loop positioning Inching mode Inching mode Inching mode Rotational speed mode Position Contl Mode Examples of configuration of the digital inputs for the PCM Current limiting Limit switch Example of limit switch configuration Arrangement of the limit switches Calibration External gear Warnings / Errs Warnings Errs AG25, AG26 Date: Art Mod. status 225/18 Page 2 of 109

3 7.2.1 Err codes EtherCAT Cyclic data exchange Acyclic data exchange Operating modes and synchnization Emergency Messages directory (CApen over EtherCAT ) Parameter description of manufacturer-specific objects Digital Outputs Contl Contl Word Contl word Positioning mode (master slave) Flow chart: Operating mode: Positioning mode Contl word: Speed mode Flow chart: Speed mode Target Value Digital Inputs State Status Word Status word: Positioning mode (slave master) Status word: Speed mode Actual Value LED Functionality Service Interface Baud Rate Digital Output 1 Functionality Digital Output Functionalities State Digital Outputs Polarity Digital Input 1 Functionality Digital Input 2 Functionality Digital Input 3 Functionality Digital Input 4 Functionality Digital Input Functionalities State Digital Inputs Polarity Contller Parameter P Contller Parameter I Contller Parameter D A-Pos V-Pos D-Pos A-Rot A-Inch V-Inch Pos Window Gear Ratio Numerator AG25, AG26 Date: Art Mod. status 225/18 Page 3 of 109

4 Gear Ratio Denominator Spindle Pitch Calibration Value Software Limit Software Limit Delta Inch Sense of Rotation Pos Type Operating Mode Inching 2 Stop Mode Inpos Mode Loop Length Contouring Err Limit Current Limiting Inching 2 Offset Inching 2 Acceleration Type Offset Value PCM Position PCM Position PCM Position PCM Position PCM Position PCM Position PCM Position PCM Acceleration PCM Acceleration PCM Acceleration PCM Acceleration PCM Acceleration PCM Acceleration PCM Acceleration PCM Velocity PCM Velocity PCM Velocity PCM Velocity PCM Velocity PCM Velocity PCM Velocity PCM Deceleration PCM Deceleration PCM Deceleration PCM Deceleration PCM Deceleration PCM Deceleration AG25, AG26 Date: Art Mod. status 225/18 Page 4 of 109

5 PCM Deceleration Output Stage Temperature Voltage of Contl Voltage of Output Stage Voltage of Battery Motor Current Actual Position Actual Rotational Speed Serial Number Pduction Date SW Motor Contller Gear Reduction System Status Word Encoder Resolution Device ID Number of Errs Err Number Err Number Err Number Err Number Err Number Err Number Err Number Err Number Err Number Err Number Configuration S-Command Standard objects parameter description Device Type Err Register Pre-defined err field Manufacturer Device Name Manufacturer Hardware Version Manufacturer Software Version Restore default parameters Identity Receive PDO Mapping Transmit PDO Mapping Sync Manager Communication Type Sync Manager Rx PDO assign Sync Manager Tx PDO assign SM output parameters SM input parameters AG25, AG26 Date: Art Mod. status 225/18 Page 5 of 109

6 9 Service ptocol General Information Communication Settings ASCII commands Responses Overview of parameters Parameters Positioning Target Value Actual Position Actual Rotational Speed Calibration Value Loop Length Offset Value Pos Type Pos Window Sense of Rotation Spindle Pitch Actuator A-Pos V-Pos D-Pos A-Rot A-Inch V-Inch Gear Ratio Denominator Gear Ratio Numerator Limiting values Software Limit Software Limit Current Limiting Contouring Err Limit Options Operating Mode Inpos Mode Delta Inch Inching 2 Acceleration Type Inching 2 Offset Inching 2 Stop Mode LED Functionality Service Interface Baud Rate Configuration Contller parameters AG25, AG26 Date: Art Mod. status 225/18 Page 6 of 109

7 Contller Parameter P Contller Parameter I Contller Parameter D Device information Motor Current Output Stage Temperature Voltage of Contl Voltage of Output Stage Voltage of Battery Flag Register System Status Word Device Type Gear Reduction Motor Type Network Type Pduction Date Serial Number SW Ethernet Module SW Motor Contller Digital input/output Digital Input 1 Functionality Digital Input 2 Functionality Digital Input 3 Functionality Digital Input 4 Functionality Digital Input Functionalities State Digital Inputs Polarity Digital Inputs State Digital Output 1 Functionality Digital Outputs Contl Digital Output Functionalities State Digital Outputs Polarity Err memory Number of Errs Err Number Err Number Err Number Err Number Err Number Err Number Err Number Err Number Err Number Err Number Commands AG25, AG26 Date: Art Mod. status 225/18 Page 7 of 109

8 9.4.1 Start travel job Start of inching mode Start inching mode 2 positive travel direction Start inching mode 2 negative travel direction Cancel current travel job in positioning mode Motor stop fast Motor stop Enable motor Factory setting: all parameters Factory setting: Standard parameter Factory setting: Contller parameters Acknowledge err Calibrate Delete err memory Software Reset Flow charts Flow chart: Positioning mode Flow chart: Speed mode Err number encoding Examples Write and read setpoint Start travel job ASCII command structure Block diagram AG25, AG26 Date: Art Mod. status 225/18 Page 8 of 109

9 General Information 1 General Information 1.1 Documentation The following documents are associated with this pduct: Pduct data sheet; describes the technical data, the dimensions, the pin assignment, the accessories and the order key. Installation instructions, describe the mechanical and electrical installation with all safetyrelevant conditions and the associated technical specifications. User manual describing the migration of the actuator into an Industrial Ethernet network and its commissioning. These documents can also be found at EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Deutschland 2 Displays and operating elements 2.1 General Information The drive has various LEDs that indicate the statuses of the drive and of the Ethernet module. The operating elements are located below the cover. 2.2 Displays Fig. 1: Displays AG25, AG26 Date: Art Mod. status 225/18 Page 9 of 109

10 Displays and operating elements Ethernet module statuses The,,, LEDs inform about the status of the Ethernet module. The Ethernet module LEDs functions are permanently defined and cannot be changed. LED 1 ERROR LED 2 Link/Activity LED OUT 3 Link/Activity LED IN 4 RUN LED ERROR LED 1 This LED indicates EtherCAT communication errs. LED state Off Red, flashing Red, flashing 1x Red, flashing 2x Red Red, flickering err or no operating voltage Invalid configuration Unrequested status change Sync manager watchdog timeout Ethernet module in the EXCEPTION status Boot err detected Link/Activity LED 2, 3 These LEDs indicate EtherCAT connection status and activity. LED state Off Green Green, flickering connection or no operating voltage Connection detected, no activity Connection detected, activity RUN LED 4 This LED indicates the EtherCAT communication status. LED state Off Green Green, flashing Green, flashing 1x Green, flashing Red EtherCAT in the INIT state or no operating voltage EtherCAT in the OPERATIONAL state EtherCAT in the PRE-OPERATIONAL state EtherCAT in the SAFE-OPERATIONAL state EtherCAT in the BOOT state Fatal err AG25, AG26 Date: Art Mod. status 225/18 Page 10 of 109

11 Displays and operating elements Drive status In factory setting, the,,, LEDs inform about the drive s status. The function of the drive status LEDs can be configured Status LED 5 LED statuses valid with factory setting. LED state Green Red, flashing Red/green, flashing Off Operating voltage applied to contl, no fault Operating voltage applied to contl, active fault Operating voltage applied to contl, switch lock active Operating voltage of contl missing Status LEDs 6, 7 LED statuses valid with factory setting. LED state Off function Status LED 8 If the actual value is unequal 0 after switching on the module and if it is outside the pgrammed positioning window, then the LED status is red or red, flashing due to volatile storage of the setpoint. The setpoint is initialized with the value 0 after switching on. LED statuses valid with factory setting. LED state Green Green, flashing Red Red, flashing Off Actuator is within the pgrammed positioning window. Operating voltage of the output stage is applied. Actuator is within the pgrammed positioning window. Operating voltage of final stage missing Actuator is outside the pgrammed positioning window. Operating voltage of the output stage is applied. Actuator is outside the pgrammed positioning window. Operating voltage of final stage missing Operating voltage of contl missing. AG25, AG26 Date: Art Mod. status 225/18 Page 11 of 109

12 Displays and operating elements 2.3 Operating elements Fig. 2: Operating elements Operating keys Manual setup operation is only available if there is no pcess data exchange Manual setup mode (corresponding to inching mode 2) can be started by means of the operator keys. This makes it possible to move the actuator without a superdinate contl. Key : Inching mode 2 in e direction Key : Inching mode 2 in i direction AG25, AG26 Date: Art Mod. status 225/18 Page 12 of 109

13 Digital inputs and outputs DIP switch: Switch SW1-SW8 SW9-SW10 Assignment Setting of low byte of the 2-byte device ID in binary format The high byte of the device ID is always 00h. 0 = not configured = device ID function, always off SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 Device ID OFF OFF OFF OFF OFF OFF OFF OFF 0 ON OFF OFF OFF OFF OFF OFF OFF 1 OFF ON OFF OFF OFF OFF OFF OFF 2 OFF ON ON ON ON ON ON ON 254 ON ON ON ON ON ON ON ON 255 You can assign an Explicit Device ID to the actuator by means of the DIPswitch, enabling addressing independent of the physical position in the network. 3 Digital inputs and outputs The actuator has four configurable digital inputs and one configurable digital output. Function and switching behavior can be set. function has been assigned to the digital inputs in the factory setting. The logical status of the digital inputs is mapped in the pcess data independent of the assigned function. If a function was assigned to the digital input, the functional conditions of the digital inputs can be read in the register Digital Input Functionalities State ( 2405h). With factory settings, the digital output can be actuated via the pcess data. If a function is assigned to the digital output, it is actuated via register Digital Output Functionalities State ( 2302h). AG25, AG26 Date: Art Mod. status 225/18 Page 13 of 109

14 Digital inputs and outputs 3.1 Examples of digital input configurations The following configuration deviates fm the factory setting and requires parameterization by the user. Digital input 1: Limit switch 1 (low-active) pximity switch DC PNP NC Digital input 2: Limit switch 2 (low-active) pximity switch DC PNP NC Digital input 3: Inching mode 2 positive travel direction (high-active) pushbutton Digital input 4: Inching mode 2 negative travel direction (high-active) pushbutton Digital Input Functionalities State 2405h Digital input 1 Digital Inputs Polarity Digital Input 1 Functionality XOR 2406h, bit 0 = h, value = 1 Bit 0 Digital input 2 XOR Digital Inputs Polarity 2406h, bit 1 = 1 Digital Input 2 Functionality 2402h, value = 2 Bit 1 Digital input 3 XOR Digital Inputs Polarity 2406h, bit 2 = 0 Digital Input 3 Functionality 2403h, value = 3 Bit 2 Digital input 4 XOR Digital Inputs Polarity 2406h, bit 3 = 0 Digital Input 4 Functionality 2404h, value = 4 Bit 3 : Bit 31 Fig. 3: Examples of digital input configurations AG25, AG26 Date: Art Mod. status 225/18 Page 14 of 109

15 Digital inputs and outputs 3.2 Example of digital output configuration Digital output 1: Inpos (high-active) Digital Output Functionalities State 2302h Bit 0 Digital Output 1 Functionality 2301h, value = 2 Digital Outputs Polarity XOR Digital output 1: 2303h, Bit 0 = 0 : Bit 31 Fig. 4: Example of digital output configuration AG25, AG26 Date: Art Mod. status 225/18 Page 15 of 109

16 Functional description 4 Functional description 4.1 Contl of the drive The drive can be moved manually via the keys or digital inputs without upstream contl. The drive can be contlled and configured in the bus mode and via the service interface Operating modes The following operating modes are distinguished: positioning mode and speed mode. In the positioning mode there is the additional option of traveling in the inching mode. The position contl mode can be started via the digital inputs independent of the operating mode chosen Positioning mode In the positioning mode, positioning to the specified set point is executed by means of a ramp function (see Fig. 5: Ramp travel, direct positioning mode) calculated on the basis of the actual position as well as the pgrammed contller parameters P (pportional factor), I (integral factor), D (differential factor), acceleration and velocity. Upon activation of the travel order, the actuator accelerates to the specified velocity with the acceleration pgrammed. The measure of delay until reaching the setpoint is defined by the parameter A-Pos ( 2604h) as well. Alternately, a value deviating fm acceleration can be chosen for delay by means of parameter D-Pos ( 2606h). Changing contller parameters during a positioning pcess does not influence the current positioning operation. Velocity V-Pos ( 2605h) A-Pos ( 2604h) A-Pos ( 2604h) D-Pos ( 2606h) Start position target position Time Fig. 5: Ramp travel, direct positioning mode The status word indicates whether the actual position is within the window defined by parameter Pos Window ( 260Ah). You can define the behavior of the actuator upon reaching the pgrammed window via parameter Inpos Mode ( 2616h). AG25, AG26 Date: Art Mod. status 225/18 Page 16 of 109

17 Functional description Travel range Lower limit Software Limit 2 ( 2610h) Software Limit 1 ( 260Fh) Travel range Upper limit - 0 Pos Window ( 260Ah) + Inpos Mode ( 2616h) Fig. 6: Positioning mode The max. travel range depends on gear and scaling. The number of revolutions specified in the pduct data sheet must not be exceeded Loop positioning A travel order will not be executed if a loop positioning would exceed the limiting values specified by parameters Software Limit 1 ( 260Fh) and Software Limit 2 ( 2610h) although the setpoint is within the limiting values. If the actuator is operated on a spindle or an additional transmission gear, the spindle or external gear backlash can be compensated by means of loop positioning. In this case, traveling to the target value is always fm the same direction. This travel direction can be determined via parameter Pos Type ( 2613h). The loop length is set via parameter Loop Length ( 2617h). Example: The direction fm which every target position shall be driven to is positive. Case 1 new position is greater than actual position: Direct travel to required position Case 2 new position is smaller than actual position: The actuator drives beyond the target position by the loop length; afteards, the set point is appached in positive direction. AG25, AG26 Date: Art Mod. status 225/18 Page 17 of 109

18 Functional description Loop Length ( 2617h) Positioning: Loop + Positioning in positive direction Positioning in negative direction - Setpoint + Fig. 7: Loop+ positioning Inching mode There is no compensation for spindle backlash (loop positioning) in this operating mode. Inching mode is enabled in the positioning mode only. You can pgram via parameters acceleration as well as speed in the inching mode Inching mode 1 If the Spindle pitch parameter is pgrammed to ze, then the traveling distance occurs by steps. If Spindle pitch is unequal ze, then the information of the Delta Tipp parameter refers to the travel distance in 1/100 mm. If the actual position is outside the pgrammed limiting values, then traveling fm this position in the respective direction must be performed by means of inching mode 1 or 2! The drive travels once fm the current actual position by the value Delta Inch ( 2611h) depending on the mathematical sign of the value entered. Delta Inch < 0: negative travel direction Delta Inch > 0: positive travel direction Reaching of the target position will be indicated accordingly. A digital input can be configured for starting inching mode 1. The following conditions must be met for enabling the start of inching modes 1 and 2: Supply voltage of the output stage is applied. Operation enabled Drive stands still AG25, AG26 Date: Art Mod. status 225/18 Page 18 of 109

19 Functional description Inching mode 2 The actuator travels fm the current position as long as the relevant command is active. You can influence the inching speed via two parameters and it will be calculated in the actuator as illustrated in the example below: V-Inch ( 2609h) = 10 rpm (can only be changed in the idle state) Inching 2 Offset ( 261Ah) = 85 % (can be changed during inching operation) The resulting inching speed in this example will be: Inching speed= v - Tipp * Offset inching 2 = 10 rpm * 85 % = 9 rpm The results are always unded to integers. The minimum speed is 1 rpm Rotational speed mode Limits are inactivated in this operational mode Exceeding the resolution of the absolute encoder results in a jump of the actual position. With the set point enabled, the actuator when in the tational speed mode accelerates to the target speed and maintains this speed until the set point is disabled or a different target speed specified. The speed is adjusted immediately to the new value when the tational target speed is changed. The arithmetical sign of the set point determines the travel direction in the tational speed mode. Velocity Target speed (set point) Disable operation A-Rot ( 2607h) Disable target value or set point = 0 Set point enabled 'Stop' Time Fig. 8: Ramp speed mode The following conditions must be met for enabling the start of the tational speed mode: Supply voltage of the output stage is applied. Operation enabled AG25, AG26 Date: Art Mod. status 225/18 Page 19 of 109

20 Functional description Drive stands still Position Contl Mode Via the contl word in the pcess data, the superdinate contl can cancel travel orders started by the position contl mode. For this purpose, a negative slope must be created on bits OFF1, OFF2, or OFF3 in the contl word. Conversely, the PCM mode cannot cancel a travel order initiated via the superdinate contl. The position contl mode enables travel data sets to be called via the digital inputs. A total of 7 travel data sets can be saved. The use of the position contl mode requires previous configuration of the digital inputs. The desired travel data set can be selected via inputs PCM input 1 to 3 in binary addressing. Travel data set 0 does not exist. AG25, AG26 Date: Art Mod. status 225/18 Page 20 of 109

21 Functional description Examples of configuration of the digital inputs for the PCM Digital input 1: PCM Start (high-active) Digital input 2: PCM input 1 (high-active) Digital input 3: PCM input 2 (high-active) Digital input 4: PCM input 3 (high-active) Digital Input Functionalities State 2405h Bit 0 : Digital input 1 XOR Digital Inputs Polarity 2406h, bit 0 = 0 Digital Input 1 Functionality 2401h, value = 8 Bit 7 Digital input 2 XOR Digital Inputs Polarity 2406h, bit 1 = 0 Digital Input 2 Functionality 2402h, value = 9 Bit 8 Digital input 3 XOR Digital Inputs Polarity 2406h, bit 2 = 0 Digital Input 3 Functionality 2403h, value = 10 Bit 9 Digital input 4 XOR Digital Inputs Polarity 2406h, bit 3 = 0 Digital Input 4 Functionality 2404h, value = 11 Bit 10 : Bit 31 Fig. 9: Examples of configuration of the digital inputs for the PCM Example of the parameter set of travel data set no. 3 Parameter PCM Position 3 PCM Acceleration 3 PCM Velocity 3 PCM Deceleration h 2944h 2964h 2984h AG25, AG26 Date: Art Mod. status 225/18 Page 21 of 109

22 Functional description After applying the coding to the inputs, the desired travel job can be started by a positive slope on the PCM Start input. Resetting the PCM Start input during an active positioning pcess will result in cancellation of the travel job but the drive will continue to be contlled. An example of calling travel data set no. 3 is shown below Step 1: Create number of travel data set Input PCM Start 0 PCM input 1 1 PCM input 2 1 PCM input 3 0 Step 2: Starting the positioning job Input State State PCM Start 0/1 PCM input 1 1 PCM input 2 1 PCM input Current limiting Measuring the supply current cannot indicate the actual motor current. With cycled output stages, the supply current does not correspond to the motor current. Actual motor current can be read via the interface. The current limit is set via Parameter Current Limiting ( 2619h), which serves primarily for ptecting the drive against overload. With the default set, the nominal torque indicated on the pduct data sheet is achieved. Drive overload results in limiting the motor current to the set value. As a consequence, the actuator cannot maintain the speed set, the contouring err increases. The actuator changes to the err status if the contouring err exceeds the contouring err limit defined by the Contouring Err Limit parameter ( 2618h): Contouring err. AG25, AG26 Date: Art Mod. status 225/18 Page 22 of 109

23 Functional description Limit switch Two digital inputs must be configured correspondingly if the limit switch function is to be used Example of limit switch configuration Exemplary configuration for the connection of pximity switches DC PNP NC. Digital Input Functionalities State 2405h Digital input 1 XOR Digital Inputs Polarity 2406h, bit 0 = 1 Digital Input 1 Functionality 2401h, value = 1 Bit 0 Digital input 2 XOR Digital Inputs Polarity 2406h, bit 1 = 1 Digital Input 2 Functionality 2402h, value = 2 Bit 1 : Bit 31 Fig. 10: Example of limit switch configuration Arrangement of the limit switches The limit switches are arranged according to the following pattern independent of the configured sense of tation: limit switch 2: limit switch 1: Fig. 11: Arrangement of the limit switches AG25, AG26 Date: Art Mod. status 225/18 Page 23 of 109

24 Calibration 5 Calibration Calibration is only possible when no travel job is active! Two steps are required for executing calibration: Write calibration value: see Calibration Value ( 260Eh) Execute calibration (software command or calibration input) Calibration can be performed by a positive edge at contl word bit 15, or initiated by writing the value 7 to parameter S-Command ( 2C01h) Alternately, a digital input can be configured as calibration input as well. Since the measuring system is an absolute system, calibration is necessary only once with commissioning. With calibration, the calibration value is adopted for calculation of the position value. The following equation is applied in case of calibration: Position value = 0 + Calibration Value ( 260Eh) + Offset Value ( 261Ch) 6 External gear If an external gear is used, a factor can be pgrammed via the parameters Gear Ratio Numerator ( 260Bh) and Gear Ratio Denominator ( 260Ch) in order to include the gear ratio in position sensing. Example (see Fig. 12: external ): The actuator is operated on a gear with transmission reduction of 5:1. For this purpose, the Gear Ratio Numerator and Gear Ratio Denominator parameters must be pgrammed as follows: Parameter Gear Ratio Numerator = 5 Parameter Gear Ratio Denominator = 1 external 5 revolutions gear revolution M Internal gear Gear output Fig. 12: external gear Input of an odd transmission reduction value is possible according to the following example: Transmission reduction = 3.78 Parameter Gear Ratio Numerator = 378 Parameter Gear Ratio Denominator = 100 AG25, AG26 Date: Art Mod. status 225/18 Page 24 of 109

25 Warnings / Errs 7 Warnings / Errs 7.1 Warnings Warnings do not influence the operation of the actuator. Warnings disappear after removing the cause. Possible warnings: Battery voltage for absolute encoder is below the limit exchange battery within the next 6 months. Current limiting active 7.2 Errs Errs cause an immediate stop of drive movement. Errs are indicated via the drive status LEDs. The err bit is set in the status word. The err messages are entered in the err memory in the order of their detection. The last 10 err messages are displayed when the err memory is full. The cause of err can be tracked down with the help of the err codes. AG25, AG26 Date: Art Mod. status 225/18 Page 25 of 109

26 Warnings / Errs Err codes If the err cannot be acknowledged after removal of the cause of err and the err persists after power-on reset, then the drive must be inspected in the factory. Err code 00h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Fh 10h 13h 14h 15h 16h Fault err Low battery voltage: Empty battery, replace battery Bonding err, check battery bonding Wng battery type inserted, insert correct battery type Low voltage of contl electnic system Check contl operating voltage Overvoltage of contl electnic system Check contl operating voltage Overvoltage of power electnic system Check output stage operating voltage Output stage excess temperature Reduce ambient temperature Reduce load Contouring err Reduce load Reduce acceleration Reduce velocity Output shaft blocked Disengage shaft Power electnic system not supplied Check output stage operating voltage SIN COS monitoring Shield fm stray magnetic fields Check EMC measures queue overrun Internal err check sum Reset parameters to factory settings Ethernet module watchdog Internal err Ethernet module in the ERROR state while travel job is active Internal err Ethernet module in the EXCEPTION state Internal err The behavior of the drive when this fault occurs can be set with the parameter configuration, bit 6 (see chapter ). Table 1: Err codes AG25, AG26 Date: Art Mod. status 225/18 Page 26 of 109

27 8 EtherCAT 8.1 The actuator is an EtherCAT slave. The actuator supports the CApen over EtherCAT ptocol (CoE) according to the DS301 communication pfile Cyclic data exchange Cyclic pcess data is exchanged via PDO frames. Mapping is static and cannot be changed Acyclic data exchange Acyclic data is exchanged via SDO frames Operating modes and synchnization The actuator supports only the Free Run operating mode. The actuator is not synchnized Emergency Messages Any errs occurring trigger emergency messages in the drive, which are sent to the EtherCAT master via mailbox communication. A drive-internal err code is converted into the Emergency Err Code according to the following table and transmitted as part of the CoE Emergency Frame. Code Emergency Err Code 06h FF06h Low battery voltage: 07h FF07h Low voltage of contl electnic system 08h FF08h Overvoltage of contl electnic system 09h FF09h Overvoltage of power electnic system 0Ah FF0Ah Output stage excess temperature 0Bh FF0Bh Contouring err 0Ch FF0Ch Output shaft blocked 0Dh FF0Dh Power electnic system not supplied 0Fh FF0Fh SIN COS monitoring 10h FF10h queue overrun 13h FF13h check sum 14h FF14h Ethernet module watchdog 15h FF15h Ethernet module in the ERROR state while travel job is active 16h FF16h Ethernet module in the EXCEPTION state AG25, AG26 Date: Art Mod. status 225/18 Page 27 of 109

28 8.2 directory (CApen over EtherCAT ) The actuator uses the following object areas: 1000h - 1FFFh standard objects according to DS h - 5FFFh manufacturer-specific objects Index Parameter name Page 1000h Device Type h Err Register h Pre-defined err field h Manufacturer Device Name h Manufacturer Hardware Version Ah Manufacturer Software Version h Restore default parameters h Identity h Receive PDO Mapping 81 1A00h Transmit PDO Mapping 82 1C00h Sync Manager Communication Type 82 1C12h Sync Manager Rx PDO assign 83 1C13h Sync Manager Tx PDO assign 84 1C32h SM output parameter 84 1C33h SM input parameter h Digital Outputs Contl h Contl Word h Target Value h Digital Inputs State h Status Word h Actual Value h LED Functionality h Service Interface Baud Rate h Digital Output 1 Functionality h Digital Output Functionalities State h Digital Outputs Polarity h Digital Input 1 Functionality h Digital Input 2 Functionality h Digital Input 3 Functionality h Digital Input 4 Functionality h Digital Input Functionalities State h Digital Inputs Polarity h Contller Parameter P h Contller Parameter I h Contller Parameter D h A-Pos h V-Pos 47 AG25, AG26 Date: Art Mod. status 225/18 Page 28 of 109

29 Index Parameter name Page 2606h D-Pos h A-Rot h A-Inch h V-Inch Ah Pos Window Bh Gear Ratio Numerator Ch Gear Ratio Denominator Dh Spindle Pitch Eh Calibration Value Fh Software Limit h Software Limit h Delta Inch h Sense of Rotation h Pos Type h Operating Mode h Inching 2 Stop Mode h Inpos Mode h Loop Length h Contouring Err Limit h Current Limiting Ah Inching 2 Offset Bh Inching 2 Acceleration Type Ch Offset h PCM Position h PCM Position h PCM Position h PCM Position h PCM Position h PCM Position h PCM Position h PCM Acceleration h PCM Acceleration h PCM Acceleration h PCM Acceleration h PCM Acceleration h PCM Acceleration h PCM Acceleration h PCM Velocity h PCM Velocity h PCM Velocity h PCM Velocity h PCM Velocity 5 64 AG25, AG26 Date: Art Mod. status 225/18 Page 29 of 109

30 Index Parameter name Page 2967h PCM Velocity h PCM Velocity h PCM Deceleration h PCM Deceleration h PCM Deceleration h PCM Deceleration h PCM Deceleration h PCM Deceleration h PCM Deceleration A01h Output Stage Temperature 68 2A02h Voltage of Contl 68 2A03h Voltage of Output Stage 69 2A04h Voltage of Battery 69 2A05h Motor Current 69 2A06h Actual Position 69 2A07h Actual Rotational Speed 70 2A08h Serial Number 70 2A09h Pduction Date 70 2A0Ah SW Motor Contller 70 2A0Bh Gear Reduction 71 2A0Ch System Status Word 71 2A0Dh Encoder Resolution 73 2A0Eh Device ID 73 2B01h Number of Errs 74 2B02h Err Number B03h Err Number B04h Err Number B05h Err Number B06h Err Number B07h Err Number B08h Err Number B09h Err Number B0Ah Err Number B0Bh Err Number C01h S-Command 77 AG25, AG26 Date: Art Mod. status 225/18 Page 30 of 109

31 8.2.1 Parameter description of manufacturer-specific objects Digital Outputs Contl Value range 2001h Digital output contl byte (component of pcess data) UNSIGNED8 UNSIGNED8 Bit 0 Digital output 1: 1 7 Reserved, always Contl Word Value range 2002h Contl word (component of pcess data) UNSIGNED16 UNSIGNED16 AG25, AG26 Date: Art Mod. status 225/18 Page 31 of 109

32 Contl word Positioning mode (master slave) Bit Bit 0 0 = OFF1 active OFF1 (enable ) Current travel job is canceled. The actuator is enabled. 1 = OFF1 inactive Bit 1 0 = OFF2 active OFF2 (max. delay) Current travel job is canceled. The actuator is decelerated with max. delay; the actuator continues to be contlled. 1 = OFF2 inactive Bit 2 0 = OFF3 active OFF3 (pgr. delay) Current travel job is canceled. The actuator is decelerated with pg. delay, the actuator continues to be contlled. 1 = OFF3 inactive Bit 3 0 = no intermediate stop Intermediate stop 1 = intermediate stop active Bit 4 Positive slope starts a travel job Start travel job Bit 5 Positive slope acknowledges an err Acknowledge err Afteards, the actuator changes to the switch-lock state. Bit 6 0 = no inching mode 1 Inching mode 1 If the travel job is not completed yet it will be canceled. 1 = inching mode 1 As long as this bit is set, the actuator travels over the distance specified in parameter Delta Tipp. Bit 7 0 = no inching mode 2 positive Inching mode 2 positive 1 = inching mode 2 positive The actuator travels in positive direction Bit 8 0 = no inching mode 2 negative Inching mode 2 negative 1 = inching mode 2 negative The actuator travels in negative direction Bit 9 Reserved, always 0 Bit 10 0 = absolute positioning Relative positioning 1 = relative positioning Bit Reserved, always 0 Bit 15 Positive edge calibrates the drive (see chapter 5). Calibration Table 2: Contl word of positioning mode AG25, AG26 Date: Art Mod. status 225/18 Page 32 of 109

33 Flow chart: Operating mode: Positioning mode CW = Contl word SW = Status word x = bit can be 0 or 1 Start Fault SW.7 = 1 Acknowledge err CW.5 = 1 Supply voltage On CW = Switch-lock SW.9 = 1 Disengage switch lock Inching 1/2 On CW = or CW = or CW = Enable operation CW = OFF1 CW.0 = 1/0 or OFF2 CW.1 = 1/0 or OFF3 CW.2 = 1/0 Cancel travel job Inching 1/2 active SW = 000x x001 00x Inching Off CW = Operation enabled SW = 0000 x001 00x0 xxx1 Active travel job SW = 000x x101 01x Activate travel job CW = Travel job finished Active travel job SW = 000x x101 01x Intermediate stop CW.3 = 1 Continue positioning CW.3 = 0 Intermediate stop active SW = 0000 x101 01x Fig. 13: Flowchart positioning mode EtherCAT AG25, AG26 Date: Art Mod. status 225/18 Page 33 of 109

34 Contl word: Speed mode Bit Bit 0 0 = OFF1 active OFF1 (enable ) Current travel job is canceled. The actuator is enabled. 1 = OFF1 inactive Bit 1 0 = OFF2 active OFF2 (max. delay) Current travel job is canceled. The actuator is decelerated with max. delay, the actuator continues to be contlled. 1 = OFF2 inactive Bit 2 0 = OFF3 active OFF3 (pgr. delay) Current travel job is canceled. The actuator is decelerated with pg. delay, the actuator continues to be contlled. 1 = OFF3 inactive Bit 3 Reserved, always 0 Bit 4 Positive slope starts a travel job Start travel job Bit 5 Positive slope acknowledges an err Acknowledge err Afteards, the actuator changes to the switch-lock state. Bit 6 15 Reserved, always 0 Table 3: Contl word of speed mode AG25, AG26 Date: Art Mod. status 225/18 Page 34 of 109

35 Flow chart: Speed mode CW = Contl word SW = Status word x = Bit can be 0 or 1 Start Fault SW7 = 1 CW.5 = 1 Supply voltage On CW = Switch-lock SW.9 = 1 Unlock switch-lock OFF1 CW.0 = 1/0 or OFF2 CW.1 = 1/0 or OFF3 CW.2 = 1/0 Enable operation CW = Cancel travel job Operation enabled SW = 0000 x001 00x0 00x1 Ready for travel SW = 0000 x001 00x Enable setpoint CW = Change target value Setpoint enabled SW = 0000 x101 01xx 0001 Disable setpoint CW.4 = 0 Fig. 14: Flowchart of speed mode EtherCAT AG25, AG26 Date: Art Mod. status 225/18 Page 35 of 109

36 Target Value Positioning mode: Target position (volatile) with spindle pitch = 0: Indicated as steps with spindle pitch > 0: Indicated as 1/100 mm Speed mode: Target speed (volatile) indicated as min -1 Value range 2003h Setpoint (component of pcess data) INTEGER32 INTEGER Digital Inputs State 2101h States of the digital inputs (component of pcess data) UNSIGEND8 Bit 0 State of digital input 1 1 State of digital input 2 2 State of digital input 3 3 State of digital input Status Word 2102h Status word: (component of pcess data) UNSIGNED16 AG25, AG26 Date: Art Mod. status 225/18 Page 36 of 109

37 Status word: Positioning mode (slave master) Bit Bit 0 Supply Bit 1 Readiness to travel Bit 2 upper limit Bit 3 lower limit: Bit 4 Actuator travels/stands still Bit 5 Inpos Bit 6 Active travel job Bit 7 Fault Bit 8 Operation enabled Bit 9 Switch-lock Bit 10 Travel job acknowledgment Bit 11 Battery warning Bit 12 Current limiting Bit 13 Limit switch 1 Bit 14 Limit switch 2 Bit 15 Calibration acknowledgment Table 4: Status word of positioning mode 0 = Output stage supply voltage missing 1 = Supply voltage of the output stage is applied 0 = not ready to travel 1 = ready to travel 0 = no violation of limit 1 = upper limit exceeded 0 = no violation of limit 1 = lower limit undercut 0 = actuator stands still 1 = actuator travels: 0 = actuator is outside the position window. 1 = actuator is inside the position window. 0 = no active travel job 1 = active travel job 0 = no err 1 = err Acknowledgment with positive slope on Contl word bit 5 0 = operation not enabled 1 = operation enabled 0 = no switch-lock 1 = switch-lock 0 = no acknowledgment 1 = acknowledgment The bit is set when the travel job was accepted. If bit 4 is reset in the contl word, this bit will be reset as well. 0 = no warning, battery loading state is OK 1 = battery warning Battery voltage is below 2.6 V. Battery change is required. 0 = current limiting inactive 1 = current limiting active Motor current exceeds the value set under parameter Current Limiting ( 2619h). 0 = Limit switch not active 1 = Limit switch active (configuration of a digital input required, see chapter 4.1.3) 0 = Limit switch not active 1 = Limit switch active (configuration of a digital input required, see chapter 4.1.3) 0 = acknowledgment 1 = Acknowledgment The bit is set when the calibration has been performed successfully. If bit 15 is reset in the contl parameter, this bit is also reset. AG25, AG26 Date: Art Mod. status 225/18 Page 37 of 109

38 Status word: Speed mode Bit Bit 0 Supply Bit 1 Readiness to travel Bit 2 Bit 3 Bit 4 Actuator travels/stands still Bit 5 Inpos Bit 6 Active travel job Bit 7 Fault Bit 8 Operation enabled Bit 9 Switch-lock Bit 10 Travel job acknowledgment Bit 11 Battery warning Bit 12 Current limiting Table 5: Status word of speed mode 0 = output stage supply voltage missing 1 = supply voltage of the output stage is applied 0 = not ready to travel 1 = ready to travel no function no function 0 = actuator stands still 1 = actuator travels 0 = actuator is outside the position window. 1 = actuator is inside the position window. 0 = no active travel job 1 = active travel job 0 = no err 1 = err Acknowledgment with positive slope on contl word bit 5 0 = operation not enabled 1 = operation enabled 0 = no switch-lock 1 = switch-lock 0 = no acknowledgment 1 = acknowledgment The bit is set when the travel job was accepted. If bit 4 is reset in the contl word, this bit will be reset as well. 0 = no warning, battery loading state is OK 1 = battery warning Battery voltage is below 2.6 V. Battery change is required. 0 = current limiting inactive 1 = current limiting active Motor current exceeds the value set under parameter Current Limiting ( 2619h). AG25, AG26 Date: Art Mod. status 225/18 Page 38 of 109

39 Actual Value Positioning mode: Actual position with spindle pitch = 0: Indicated as steps with spindle pitch > 0: Indicated as 1/100 mm Speed mode: Actual speed indicated as min h Actual value (component of pcess data) INTEGER LED Functionality This parameter determines the functions of the four system LEDs. With factory settings, the four LEDs indicate the operational states of the drive. Alternately, the LEDs can represent the states of the digital inputs h Functionality of the system LEDs UNSIGNED8 Value range 0 1, see chapter Table 6: Functionality of the system LEDs AG25, AG26 Date: Art Mod. status 225/18 Page 39 of 109

40 Value LED State 0 1 LED5 Green Red, flashing Off LED6 Off function LED7 Off function LED8 LED5 LED6 LED7 LED8 Green Green, flashing Red Red, flashing Off Red Red, flashing Green Off Red Red, flashing Green Off Red Red, flashing Green Off Red Red, flashing Green Off Table 6: Functionality of the system LEDs Operating voltage applied to contl. fault Operating voltage applied to contl. Err is active Operating voltage of contl missing Actuator is within the pgrammed positioning window. Operating voltage of the output stage is applied. Actuator is within the pgrammed positioning window. Operating voltage of the output stage missing. Actuator is outside the pgrammed positioning window. Operating voltage of the output stage is applied. Actuator is outside the pgrammed positioning window. Operating voltage of the output stage missing. Operating voltage of contl missing Digital input 1 inactive Err is active Digital input 1 active: Operating voltage of contl missing Digital input 2 inactive Err is active Digital input 2 active: Operating voltage of contl missing Digital input 3 inactive Err is active Digital input 3 active: Operating voltage of contl missing Digital input 4 inactive Err is active Digital input 4 active: Operating voltage of contl missing AG25, AG26 Date: Art Mod. status 225/18 Page 40 of 109

41 Service Interface Baud Rate h Baud rate of the service interface. UNSIGNED8 Value range = 19.2 Kbit/s 1 = 57.6 Kbit/s 2 = Kbit/s 3 = 9.6 Kbit/s Digital Output 1 Functionality This parameter determines the function of digital output 1. This setting determines the bit position in the Digital Outputs Status register, which governs the state of the digital output h Digital output 1 functionality UNSIGNED8 Value range 0 3 Value General use Contl of the digital output is directly via BIT DO1 in the pcess data. Fault The output is switched active in case of fault. Inpos The state of bit Inpos in the status word defines the state of the digital output. Output on The output is switched on permanently. AG25, AG26 Date: Art Mod. status 225/18 Page 41 of 109

42 Digital Output Functionalities State The functional states that can be assigned to the digital output can be read fm this register. 2302h Status of the digital output functionalities UNSIGNED32 Bit 0 Err 0 = no err 1 = err active 1 Inpos 0 = actual value outside the positioning window 1 = actual value inside the positioning window 2 Output on The bit is permanently set 3 31 t assigned Digital Outputs Polarity This parameter determines the switching behavior individually for every digital output. A bit that defines the switching logics is assigned to every digital output h Polarity of the digital output UNSIGNED8 Value range 0 15 Value of the assigned bits: 0 = positive logics (high-active) 1 = negative logics (low-active) Bit 0 Digital output 1 polarity 1 15 t assigned AG25, AG26 Date: Art Mod. status 225/18 Page 42 of 109

43 Digital Input 1 Functionality This parameter determines the functionality of digital input 1. With a value greater than 0 set, a function is assigned to the digital input. The functional state can be read fm the Digital Input Functionalities State register h Digital input 1 functionality UNSIGNED8 Value range 0 11 Value 0 General use function is assigned to the digital input. 1 Limit switch 1: 2 Limit switch 2: 3 Inching operation 2 positive direction 4 Inching operation 2 negative direction 5 Calibrate 6 Acknowledge err 7 Inching mode 1 8 PCM Start 9 PCM input 1 10 PCM input 2 11 PCM input 3 Table 7: Configuration of digital inputs Digital Input 2 Functionality This parameter determines the functionality of digital input 2. With a value greater than 0 set, a function is assigned to the digital input. The functional state can be read fm the Digital Input Functionalities State register h Digital input 2 functionality UNSIGNED8 Value range 0 11, see Table 7: Configuration of digital inputs. AG25, AG26 Date: Art Mod. status 225/18 Page 43 of 109

44 Digital Input 3 Functionality This parameter determines the functionality of digital input 3. With a value greater than 0 set, a function is assigned to the digital input. The functional state can be read fm the Digital Input Functionalities State register h Digital input 3 functionality UNSIGNED8 Value range 0 11, see Table 7: Configuration of digital inputs Digital Input 4 Functionality This parameter determines the functionality of digital input 4. With a value greater than 0 set, a function is assigned to the digital input. The functional state can be read fm the Digital Input Functionalities State register h Digital input 4 functionality UNSIGNED8 Value range 0 11, see Table 7: Configuration of digital inputs. AG25, AG26 Date: Art Mod. status 225/18 Page 44 of 109

45 Digital Input Functionalities State The states of the digital inputs are mapped in this register according to the functionalities set. A bit is assigned to every function. 2405h Status of the digital input functionalities UNSIGNED32 Bit 0 Limit switch 1: 1 Limit switch 2: 2 Inching operation 2 positive direction 3 Inching operation 2 negative direction 4 Calibrate 5 Acknowledge err 6 Inching mode 1 7 PCM Start 8 PCM input 1 9 PCM input 2 10 PCM input t assigned Table 8: States of the digital inputs AG25, AG26 Date: Art Mod. status 225/18 Page 45 of 109