Afag SE-24 User manual

Servo Controller
SE-24
▪Software Manual
Complementary document to the
Operating Instructions
© Copyright by Afag Automation AG

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This manual is a complementary document to the operating instructions and applies
to:
Software
Version
afagTools
V1.00.00.02
Firmware
1.89.00.64
Servo controller
Order No.
SE-24 I/O
50315434
SE-24 Profibus
50315435
SE-24 EtherCAT
50315436
SE-24 CANopen
50315437
Accessories
Order No.
SE-24 programming cable, 3m
50315431
SE-24 stick
50315432
Installation and start-up is to be performed only by qualified personnel in accordance
with the operating instructions.
Version of this
documentation:
SE-24-Software-Manual vers. 1.3 en. 01.06.2022
CAUTION
As this manual is a complementary document to the operating
instructions it alone is not sufficient to carry out installation and
commissioning of the device.
Please pay attention to the notes in:
1.1 Documentation

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Symbols:
DANGER
Indicates imminent danger.
Disregard of this information can result in death or serious
personal injuries (invalidity).
WARNING
Indicates a possible dangerous situation.
Disregard of this information can result in death or serious personal
injuries (invalidity).
CAUTION
Indicates a possibly dangerous situation.
Disregard of this information can result in damage to property or light
to medium personal injuries.
NOTE
Indicates general notes, useful operator tips and operating
recommendations which don't affect safety and health of the
personnel.

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Table of Contents
1General 6
1.1 Documentation.....................................................................................................................6
2Safety instructions 8
3Introduction to afagTools 8
3.1 Overview of the tools and functions.....................................................................................8
4Installation 9
4.1 Hardware requirements .......................................................................................................9
4.2 Installation of the afagTools program...................................................................................9
4.3 Connection.........................................................................................................................10
4.3.1 SE-24 programming cable, 3m (50315431).......................................................................10
4.3.2 SE-24 stick (50315432) .....................................................................................................10
4.3.3 Installation of the SE-24 stick.............................................................................................11
5Working with afagTools 16
5.1 Starting the program ..........................................................................................................16
5.2 Main window ......................................................................................................................16
5.2.1 Support...............................................................................................................................17
5.2.2 Language...........................................................................................................................17
5.2.3 Connection.........................................................................................................................18
5.2.4 Device informations ...........................................................................................................20
5.2.5 Tools ..................................................................................................................................20
5.3 Status.................................................................................................................................22
5.4 CAN configuration..............................................................................................................27
5.4.1 CAN baudrate ....................................................................................................................27
5.5 Profibus configuration ........................................................................................................28
5.5.1 Profibus baud rate..............................................................................................................28
5.6 Firmware update................................................................................................................29
5.7 Parameters Download .......................................................................................................31
5.8 Manual operation ...............................................................................................................33
5.8.1 Commands.........................................................................................................................34
5.8.2 Actual application status ....................................................................................................35
5.8.3 Actual device status...........................................................................................................36
5.8.4 Actual values......................................................................................................................38
5.8.5 Jog mode ...........................................................................................................................39
5.8.6 Settings ..............................................................................................................................40
5.8.7 Moving data sets................................................................................................................42
5.8.8 Reverse mode....................................................................................................................45
5.8.9 Saving position values to a file...........................................................................................46
5.8.10 Loading position values from a file.....................................................................................47
6Quick guide for commissioning 48
6.1 Checklist for commissioning ..............................................................................................48

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List of Figures
Figure 1: SE-24 programming cable ......................................................................................................10
Figure 2: SE-24 stick ..............................................................................................................................10
Figure 3: Positioning mode.....................................................................................................................40
Figure 4: Current mode ..........................................................................................................................41
Table 1: Checklist for commissioning.....................................................................................................48

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1 General
1.1 Documentation
For the Servo Controllers of the SE-24 series are considerably documentations
available. There are main documents and complementary documents.
The documents contain safety instructions that must be followed
Main document:
present
documentation / description
☐
▪SE-24 Operating Manual
Description of the technical data and the functions of the device as well as
notes on the plug assignment, installation and operation of the SE-24 servo
controller.
It is meant for persons who want to get familiar with the SE-24 servo controller.
CAUTION
The operating manual is the main document and must be read
by all means before installation and start-up of all devices of the
SE-24 series independent of the respective model.

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Complementary documents to the operating manual:
present
documentation / description
☒
▪SE-24 Software Manual
Description of the “afagTools” parameterization program.
☐
▪SE-24 IO Manual
Description of the I/O control of the SE-24 servo controller.
☐
▪SE-24 Profibus Manual
Description of the fieldbus control of the SE-24 servo controller under
PROFIBUS-DP.
☐
▪SE-24 programming example Siemens S7 V5.5
Description to the programming example for Siemens S7 V5.5.
☐
▪SE-24 programming example Siemens TIA V12.0
Description to the programming example for Siemens TIA V12.0.
☐
▪SE-24 EtherCAT Manual
Description of the fieldbus control of the SE-24 servo controller under
EtherCAT.
☐
▪SE-24 programming example Beckhoff TwinCAT 2
Description to the programming example for Beckhoff TwinCAT 2.
☐
▪SE-24 CANopen Manual
Description of the fieldbus control of the SE-24 servo controller under
CANopen.
These documents are available for download on our homepage:
www.afag.com

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2 Safety instructions
CAUTION
The safety instructions in the operating manual must be
followed.
The operating manual is the main document and must be read
by all means before installation and start-up of all devices of the
SE-24 series independent of the respective model.
3 Introduction to afagTools
3.1 Overview of the tools and functions
The afagTools program provides a parameterization software that makes
commissioning of the SE-24 servo controller with the corresponding Afag module
easy and more convenient. Commissioning is possible even when no higher
level controller (PLC) is connected. The afagTools program is easy to operate
and enables a quick and comfortable commissioning. It contains the following tools:
❖Status
Display of device information and actual values.
❖CAN configuration
Setting of communication parameters and of the CAN node address.
❖Profibus configuration
Setting of the Profibus slave address.
❖Firmware update
Execution of the firmware update.
❖Download of parameters
Loading of a configuration file.
❖Manual operation
Commissioning functions for enable, referencing, Jog mode and approach and
saving of positions.
❖Supported languages: English, German (in preparation: French, Italian, Spanish,
Polish).

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4 Installation
4.1 Hardware requirements
Minimum requirements on the PC:
Processor:
Pentium I or higher
Operating system:
Windows 2000 / ME / XP / Vista / 7
Graphics card:
Windows compatible, colour
Drives:
hard disk (min. 400MB free space)
Main memory:
min. 512MB
Interface:
one free USB interface (V2.0 downward compatible with V1.1)
4.2 Installation of the afagTools program
The afagTools program can be downloaded and saved free of charge from the Afag
Automation AG website using the following link:
http://www.afag.com/produkte/download/download-handling-elektrisch.html
Unpack the file afagTools-V1.xx.yy.zz-Setup.zip with a suitable program (WinZip, 7-
Zip or similar).
Now execute the file afagTools- V1.xx.yy.zz-Setup.exe. Follow the installation
instructions of the Setup wizard.

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4.3 Connection
The following accessories are required to connect the SE-24 servo controller to a PC.
4.3.1 SE-24 programming cable, 3m (50315431)
The SE-24 programming cable is needed together with the SE-24 stick if the
“afagTools” parameterization program is used to access the controller.
The SE-24 programming cable is the connecting cable between the SE-24 servo
controller and the SE-24 stick and can be used for all types of the SE-24 servo
controller.
Figure 1: SE-24 programming cable
4.3.2 SE-24 stick (50315432)
The SE-24 stick is needed together with the SE-24 programming cable if the
“afagTools” parameterization program is used to access the controller.
The SE-24 stick is the gateway from USB to CANopen and can be used for all types
of the SE-24 servo controller.
Figure 2: SE-24 stick

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4.3.3 Installation of the SE-24 stick
This chapter describes the installation of the SE-24 stick.
NOTE
Make sure that the „afagTools“ software from version V1.00.00.00
was installed on the computer before you connect the SE-24 stick.
Administrator rights are required on the corresponding PC.
After the „afagTools“ software was installed on the computer, the SE-24 stick can be
plugged into a free USB connection.
The following window will open when the device is recognized:
Select “No, not this time” and click on “Continue >”.

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The following window will be displayed:
Select option “Install software from a list or a specific location (for advanced users)”
and click “Continue >”.

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The following window appears:
Select options “Search the following locations for matching driver”and also “Search
the following location”.
Then click on “Browse”.

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The following window appears:
In the installation directory select the “USB” folder of the “afagTools” program.
The default path is: „C:\Programs\miControl\mPLC\Drivers\USB“
Then click on “OK”.

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The path will also be displayed in the following window:
Click on “Continue >” when the path is displayed correctly.
The following window opens:
Click on “Complete”. This finishes the installation of the SE-24 stick.

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5 Working with afagTools
5.1 Starting the program
You can start the “afagTools” program by clicking on the corresponding desktop link
which was created automatically during installation
or by selecting the program under: Start/Programs/miControl mPLC/afagTools.
5.2 Main window
After starting the program the main window will open.
The main window is divided in a number of areas which are explained hereafter.

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5.2.1 Support
The Mikogo program is started via the "Support -> Join session" function which
enables a remote desktop connection to the software developer of miControl who
has developed the afagTools program. He however first has to specify a code so that
a session can be started and is contact person only for program-technical questions
and not for an application-oriented support which is guaranteed by Afag Automation
AG.
5.2.2 Language
The language can be selected via the function “Configuration -> Settings”.
The following languages are implemented in the current version of afagTools:
Default: German (Swiss), English, German.

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5.2.3 Connection
NOTE
A connection can only be established if the SE-24 stick is inserted in
the PC and is correctly connected to the SE-24 servo controller via
the SE-24 programming cable.
The required settings for establishing a connection to the SE-24 servo controller can be
made in the “Connection” area.
Node ID
CANopen address of the SE-24 servo
controller with which a connection is
to be established.
The default node ID of the SE-24
servo controller upon delivery is: 127
Baudrate
Communication speed for the
connection to the SE-24 servo
controller.
The baud rate can be set from 10k to
1M baud.
SDO for
communication
Selection of the SDOs (Service Data
Object) which are to be used for
communication with the afagTools
parameterization program.
Connect device
Starts communication with the SE-24
servo controller whose address is
entered in the “Node ID” box.
Scan baudrate
If this option was activated the
connection establishment is tested at
different speeds upon clicking the
“Scan devices” button.
Scan devices
The connection is tested and all
devices connected are displayed in
the “List of devices” area.
List of devices
All devices connected are faded in
after the “Scan devices” function was
selected.

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The devices found are displayed in the “List of devices” area after the “Scan devices”
button was clicked.
Enter the ID of the device with which a connection is to be established in the “Node
ID” box and press the “Connect device” button.
If only one device was found a connection will already be established without
entering the ID in the “Node ID” box and without pressing the “Connect device”
button.
Enter the Node ID found and
press „Connect device“.

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5.2.4 Device informations
Information about the connected device are displayed in the “Device informations” area.
Firmware version
Version of the currently loaded
firmware.
Device code
Individual code with which every
device can be identified.
5.2.5 Tools
The “Tools” area provides the overview of all functions available.