Siko AG25 User manual

225/18
AG25, AG26
Actuator with interface
User manual

AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 2 of 109
Table of contents
1General Information .................................................................................................. 9
1.1 Documentation ........................................................................................................9
2Displays and operating elements ................................................................................ 9
2.1 General Information..................................................................................................9
2.2 Displays ..................................................................................................................9
2.2.1 Ethernet module statuses .....................................................................................10
2.2.1.1 ERROR LED 1 ...................................................................................................10
2.2.1.2 Link/Activity LED 2, 3 ......................................................................................10
2.2.1.3 RUN LED 4 ......................................................................................................10
2.2.2 Drive status........................................................................................................11
2.2.2.1 Status LED 5 ...................................................................................................11
2.2.2.2 Status LEDs 6, 7 ..............................................................................................11
2.2.2.3 Status LED 8 ...................................................................................................11
2.3 Operating elements.................................................................................................12
2.3.1 Operating keys....................................................................................................12
2.3.2 DIP switch: ........................................................................................................13
3Digital inputs and outputs ....................................................................................... 13
3.1 Examples of digital input configurations ....................................................................14
3.2 Example of digital output configuration.....................................................................15
4Functional description ............................................................................................. 16
4.1 Control of the drive ................................................................................................16
4.1.1 Operating modes.................................................................................................16
4.1.1.1 Positioning mode ............................................................................................16
4.1.1.1.1 Loop positioning..........................................................................................17
4.1.1.2 Inching mode .................................................................................................18
4.1.1.2.1 Inching mode 1 ...........................................................................................18
4.1.1.2.2 Inching mode 2 ...........................................................................................19
4.1.1.3 Rotational speed mode.....................................................................................19
4.1.1.4 Position Control Mode ......................................................................................20
4.1.1.4.1 Examples of configuration of the digital inputs for the PCM ...............................21
4.1.2 Current limiting ..................................................................................................22
4.1.3 Limit switch .......................................................................................................23
4.1.3.1 Example of limit switch configuration.................................................................23
4.1.3.2 Arrangement of the limit switches .....................................................................23
5Calibration.............................................................................................................. 24
6External gear........................................................................................................... 24
7Warnings / Errors..................................................................................................... 25
7.1 Warnings...............................................................................................................25
7.2 Errors....................................................................................................................25

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7.2.1 Error codes.........................................................................................................26
8EtherCAT® ............................................................................................................... 27
8.1 Description............................................................................................................27
8.1.1 Cyclic data exchange ...........................................................................................27
8.1.2 Acyclic data exchange .........................................................................................27
8.1.3 Operating modes and synchronization....................................................................27
8.1.4 Emergency Messages............................................................................................27
8.2 Object directory (CANopen over EtherCAT®)................................................................28
8.2.1 Parameter description of manufacturer-specific objects ............................................31
8.2.1.1 Digital Outputs Control.....................................................................................31
8.2.1.2 Control Word...................................................................................................31
8.2.1.2.1 Control word Positioning mode (master slave) .............................................32
8.2.1.2.2 Flow chart: Operating mode: Positioning mode.................................................33
8.2.1.2.3 Control word: Speed mode.............................................................................34
8.2.1.2.4 Flow chart: Speed mode ................................................................................35
8.2.1.3 Target Value ...................................................................................................36
8.2.1.4 Digital Inputs State .........................................................................................36
8.2.1.5 Status Word ....................................................................................................36
8.2.1.5.1 Status word: Positioning mode (slave master)..............................................37
8.2.1.5.2 Status word: Speed mode ..............................................................................38
8.2.1.6 Actual Value ...................................................................................................39
8.2.1.7 LED Functionality ............................................................................................39
8.2.1.8 Service Interface Baud Rate ..............................................................................41
8.2.1.9 Digital Output 1 Functionality ...........................................................................41
8.2.1.10 Digital Output Functionalities State ...................................................................42
8.2.1.11 Digital Outputs Polarity ....................................................................................42
8.2.1.12 Digital Input 1 Functionality .............................................................................43
8.2.1.13 Digital Input 2 Functionality .............................................................................43
8.2.1.14 Digital Input 3 Functionality .............................................................................44
8.2.1.15 Digital Input 4 Functionality .............................................................................44
8.2.1.16 Digital Input Functionalities State .....................................................................45
8.2.1.17 Digital Inputs Polarity......................................................................................46
8.2.1.18 Controller Parameter P .....................................................................................46
8.2.1.19 Controller Parameter I ......................................................................................46
8.2.1.20 Controller Parameter D .....................................................................................47
8.2.1.21 A-Pos.............................................................................................................47
8.2.1.22 V-Pos.............................................................................................................47
8.2.1.23 D-Pos.............................................................................................................48
8.2.1.24 A-Rot.............................................................................................................48
8.2.1.25 A-Inch ...........................................................................................................48
8.2.1.26 V-Inch ...........................................................................................................49
8.2.1.27 Pos Window ....................................................................................................49
8.2.1.28 Gear Ratio Numerator.......................................................................................49

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8.2.1.29 Gear Ratio Denominator....................................................................................50
8.2.1.30 Spindle Pitch ..................................................................................................50
8.2.1.31 Calibration Value .............................................................................................50
8.2.1.32 Software Limit 1..............................................................................................51
8.2.1.33 Software Limit 2..............................................................................................51
8.2.1.34 Delta Inch ......................................................................................................52
8.2.1.35 Sense of Rotation ............................................................................................52
8.2.1.36 Pos Type ........................................................................................................53
8.2.1.37 Operating Mode...............................................................................................53
8.2.1.38 Inching 2 Stop Mode........................................................................................54
8.2.1.39 Inpos Mode ....................................................................................................54
8.2.1.40 Loop Length ...................................................................................................55
8.2.1.41 Contouring Error Limit......................................................................................55
8.2.1.42 Current Limiting ..............................................................................................56
8.2.1.43 Inching 2 Offset..............................................................................................56
8.2.1.44 Inching 2 Acceleration Type..............................................................................57
8.2.1.45 Offset Value....................................................................................................57
8.2.1.46 PCM Position 1................................................................................................58
8.2.1.47 PCM Position 2................................................................................................58
8.2.1.48 PCM Position 3................................................................................................58
8.2.1.49 PCM Position 4................................................................................................59
8.2.1.50 PCM Position 5................................................................................................59
8.2.1.51 PCM Position 6................................................................................................59
8.2.1.52 PCM Position 7................................................................................................60
8.2.1.53 PCM Acceleration 1 ..........................................................................................60
8.2.1.54 PCM Acceleration 2 ..........................................................................................60
8.2.1.55 PCM Acceleration 3 ..........................................................................................61
8.2.1.56 PCM Acceleration 4 ..........................................................................................61
8.2.1.57 PCM Acceleration 5 ..........................................................................................61
8.2.1.58 PCM Acceleration 6 ..........................................................................................62
8.2.1.59 PCM Acceleration 7 ..........................................................................................62
8.2.1.60 PCM Velocity 1 ................................................................................................62
8.2.1.61 PCM Velocity 2 ................................................................................................63
8.2.1.62 PCM Velocity 3 ................................................................................................63
8.2.1.63 PCM Velocity 4 ................................................................................................63
8.2.1.64 PCM Velocity 5 ................................................................................................64
8.2.1.65 PCM Velocity 6 ................................................................................................64
8.2.1.66 PCM Velocity 7 ................................................................................................64
8.2.1.67 PCM Deceleration 1 ..........................................................................................65
8.2.1.68 PCM Deceleration 2 ..........................................................................................65
8.2.1.69 PCM Deceleration 3 ..........................................................................................66
8.2.1.70 PCM Deceleration 4 ..........................................................................................66
8.2.1.71 PCM Deceleration 5 ..........................................................................................67
8.2.1.72 PCM Deceleration 6 ..........................................................................................67

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8.2.1.73 PCM Deceleration 7 ..........................................................................................68
8.2.1.74 Output Stage Temperature ................................................................................68
8.2.1.75 Voltage of Control ...........................................................................................68
8.2.1.76 Voltage of Output Stage ...................................................................................69
8.2.1.77 Voltage of Battery ...........................................................................................69
8.2.1.78 Motor Current..................................................................................................69
8.2.1.79 Actual Position ...............................................................................................69
8.2.1.80 Actual Rotational Speed ...................................................................................70
8.2.1.81 Serial Number .................................................................................................70
8.2.1.82 Production Date ..............................................................................................70
8.2.1.83 SW Motor Controller .........................................................................................70
8.2.1.84 Gear Reduction................................................................................................71
8.2.1.85 System Status Word .........................................................................................71
8.2.1.86 Encoder Resolution ..........................................................................................73
8.2.1.87 Device ID .......................................................................................................73
8.2.1.88 Number of Errors .............................................................................................74
8.2.1.89 Error Number 1................................................................................................74
8.2.1.90 Error Number 2................................................................................................74
8.2.1.91 Error Number 3................................................................................................74
8.2.1.92 Error Number 4................................................................................................75
8.2.1.93 Error Number 5................................................................................................75
8.2.1.94 Error Number 6................................................................................................75
8.2.1.95 Error Number 7................................................................................................75
8.2.1.96 Error Number 8................................................................................................76
8.2.1.97 Error Number 9................................................................................................76
8.2.1.98 Error Number 10 ..............................................................................................76
8.2.1.99 Configuration..................................................................................................77
8.2.1.100 S-Command ....................................................................................................77
8.2.2 Standard objects parameter description..................................................................78
8.2.2.1 Device Type ....................................................................................................78
8.2.2.2 Error Register..................................................................................................78
8.2.2.3 Pre-defined error field......................................................................................78
8.2.2.4 Manufacturer Device Name................................................................................79
8.2.2.5 Manufacturer Hardware Version..........................................................................79
8.2.2.6 Manufacturer Software Version ..........................................................................79
8.2.2.7 Restore default parameters ...............................................................................79
8.2.2.8 Identity Object ...............................................................................................80
8.2.2.9 Receive PDO Mapping.......................................................................................81
8.2.2.10 Transmit PDO Mapping .....................................................................................82
8.2.2.11 Sync Manager Communication Type ....................................................................82
8.2.2.12 Sync Manager Rx PDO assign .............................................................................83
8.2.2.13 Sync Manager Tx PDO assign .............................................................................84
8.2.2.14 SM output parameters ......................................................................................84
8.2.2.15 SM input parameters ........................................................................................86

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9Service protocol....................................................................................................... 88
9.1 General Information................................................................................................88
9.1.1 Communication...................................................................................................88
9.1.2 Settings.............................................................................................................88
9.1.3 ASCII commands.................................................................................................88
9.1.4 Responses..........................................................................................................88
9.2 Overview of parameters ...........................................................................................88
9.3 Parameters ............................................................................................................89
9.3.1 Positioning ........................................................................................................89
9.3.1.1 Target Value ...................................................................................................89
9.3.1.2 Actual Position ...............................................................................................89
9.3.1.3 Actual Rotational Speed ...................................................................................89
9.3.1.4 Calibration Value .............................................................................................89
9.3.1.5 Loop Length ...................................................................................................90
9.3.1.6 Offset Value....................................................................................................90
9.3.1.7 Pos Type ........................................................................................................90
9.3.1.8 Pos Window ....................................................................................................90
9.3.1.9 Sense of Rotation ............................................................................................90
9.3.1.10 Spindle Pitch ..................................................................................................91
9.3.2 Actuator ............................................................................................................91
9.3.2.1 A-Pos.............................................................................................................91
9.3.2.2 V-Pos.............................................................................................................91
9.3.2.3 D-Pos.............................................................................................................91
9.3.2.4 A-Rot.............................................................................................................91
9.3.2.5 A-Inch ...........................................................................................................91
9.3.2.6 V-Inch ...........................................................................................................92
9.3.2.7 Gear Ratio Denominator....................................................................................92
9.3.2.8 Gear Ratio Numerator.......................................................................................92
9.3.3 Limiting values...................................................................................................92
9.3.3.1 Software Limit 1..............................................................................................92
9.3.3.2 Software Limit 2..............................................................................................92
9.3.3.3 Current Limiting ..............................................................................................92
9.3.3.4 Contouring Error Limit......................................................................................93
9.3.4 Options .............................................................................................................93
9.3.4.1 Operating Mode...............................................................................................93
9.3.4.2 Inpos Mode ....................................................................................................93
9.3.4.3 Delta Inch ......................................................................................................93
9.3.4.4 Inching 2 Acceleration Type..............................................................................93
9.3.4.5 Inching 2 Offset..............................................................................................93
9.3.4.6 Inching 2 Stop Mode........................................................................................94
9.3.4.7 LED Functionality ............................................................................................94
9.3.4.8 Service Interface Baud Rate ..............................................................................94
9.3.4.9 Configuration..................................................................................................94
9.3.5 Controller parameters ..........................................................................................94

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9.3.5.1 Controller Parameter P .....................................................................................94
9.3.5.2 Controller Parameter I ......................................................................................94
9.3.5.3 Controller Parameter D .....................................................................................95
9.3.6 Device information..............................................................................................95
9.3.6.1 Motor Current..................................................................................................95
9.3.6.2 Output Stage Temperature ................................................................................95
9.3.6.3 Voltage of Control ...........................................................................................95
9.3.6.4 Voltage of Output Stage ...................................................................................95
9.3.6.5 Voltage of Battery ...........................................................................................95
9.3.6.6 Flag Register...................................................................................................96
9.3.6.7 System Status Word .........................................................................................96
9.3.6.8 Device Type ....................................................................................................96
9.3.6.9 Gear Reduction................................................................................................96
9.3.6.10 Motor Type .....................................................................................................96
9.3.6.11 Network Type ..................................................................................................97
9.3.6.12 Production Date ..............................................................................................97
9.3.6.13 Serial Number .................................................................................................97
9.3.6.14 SW Ethernet Module.........................................................................................97
9.3.6.15 SW Motor Controller .........................................................................................97
9.3.7 Digital input/output............................................................................................97
9.3.7.1 Digital Input 1 Functionality .............................................................................97
9.3.7.2 Digital Input 2 Functionality .............................................................................98
9.3.7.3 Digital Input 3 Functionality .............................................................................98
9.3.7.4 Digital Input 4 Functionality .............................................................................98
9.3.7.5 Digital Input Functionalities State .....................................................................98
9.3.7.6 Digital Inputs Polarity......................................................................................98
9.3.7.7 Digital Inputs State .........................................................................................98
9.3.7.8 Digital Output 1 Functionality ...........................................................................99
9.3.7.9 Digital Outputs Control.....................................................................................99
9.3.7.10 Digital Output Functionalities State ...................................................................99
9.3.7.11 Digital Outputs Polarity ....................................................................................99
9.3.8 Error memory......................................................................................................99
9.3.8.1 Number of Errors .............................................................................................99
9.3.8.2 Error Number 1................................................................................................99
9.3.8.3 Error Number 2.............................................................................................. 100
9.3.8.4 Error Number 3.............................................................................................. 100
9.3.8.5 Error Number 4.............................................................................................. 100
9.3.8.6 Error Number 5.............................................................................................. 100
9.3.8.7 Error Number 6.............................................................................................. 100
9.3.8.8 Error Number 7.............................................................................................. 100
9.3.8.9 Error Number 8.............................................................................................. 101
9.3.8.10 Error Number 9.............................................................................................. 101
9.3.8.11 Error Number 10 ............................................................................................ 101
9.4 Commands........................................................................................................... 101

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9.4.1 Start travel job ................................................................................................. 101
9.4.2 Start of inching mode 1 ..................................................................................... 101
9.4.3 Start inching mode 2 positive travel direction....................................................... 101
9.4.4 Start inching mode 2 negative travel direction...................................................... 102
9.4.5 Cancel current travel job in positioning mode ....................................................... 102
9.4.6 Motor stop fast................................................................................................. 102
9.4.7 Motor stop ....................................................................................................... 102
9.4.8 Enable motor.................................................................................................... 102
9.4.9 Factory setting: all parameters............................................................................ 102
9.4.10 Factory setting: Standard parameter .................................................................... 103
9.4.11 Factory setting: Controller parameters.................................................................. 103
9.4.12 Acknowledge error............................................................................................. 103
9.4.13 Calibrate.......................................................................................................... 103
9.4.14 Delete error memory .......................................................................................... 103
9.4.15 Software Reset.................................................................................................. 103
9.5 Flow charts.......................................................................................................... 104
9.5.1 Flow chart: Positioning mode.............................................................................. 104
9.5.2 Flow chart: Speed mode ..................................................................................... 105
9.6 Error number encoding .......................................................................................... 106
9.7 Examples............................................................................................................. 107
9.7.1 Write and read setpoint +500.............................................................................. 107
9.7.2 Start travel job ................................................................................................. 107
9.8 ASCII command structure ...................................................................................... 107
10 Block diagram ........................................................................................................109

General Information
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1General Information
1.1 Documentation
The following documents are associated with this product:
Product 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 safety-
relevant 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 http://www.siko-global.com/de-de/service-downloads.
“EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Deutschland”
2Displays 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

Displays and operating elements
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2.2.1 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
Description
1
ERROR LED
2
Link/Activity LED OUT
3
Link/Activity LED IN
4
RUN LED
2.2.1.1 ERROR LED 1
This LED indicates EtherCAT® communication errors.
LED state
Description
Off
No error or no operating voltage
Red, flashing
Invalid configuration
Red, flashing 1x
Unrequested status change
Red, flashing 2x
Sync manager watchdog timeout
Red
Ethernet module in the EXCEPTION status
Red, flickering
Boot error detected
2.2.1.2 Link/Activity LED 2, 3
These LEDs indicate EtherCAT® connection status and activity.
LED state
Description
Off
No connection or no operating voltage
Green
Connection detected, no activity
Green,
flickering
Connection detected, activity
2.2.1.3 RUN LED 4
This LED indicates the EtherCAT® communication status.
LED state
Description
Off
EtherCAT® in the INIT state or no operating voltage
Green
EtherCAT® in the OPERATIONAL state
Green, flashing
EtherCAT® in the PRE-OPERATIONAL state
Green, flashing
1x
EtherCAT® in the SAFE-OPERATIONAL state
Green, flashing
EtherCAT® in the BOOT state
Red
Fatal error

Displays and operating elements
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2.2.2 Drive status
In factory setting, the , , , LEDs inform about the drive’s status.
The function of the drive status LEDs can be configured.
2.2.2.1 Status LED 5
LED statuses valid with factory setting.
LED state
Description
Green
Operating voltage applied to control, no fault
Red, flashing
Operating voltage applied to control, active fault
Red/green,
flashing
Operating voltage applied to control, switch lock active
Off
Operating voltage of control missing
2.2.2.2 Status LEDs 6, 7
LED statuses valid with factory setting.
LED state
Description
Off
No function
2.2.2.3 Status LED 8
If the actual value is unequal 0 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 setpoint. The setpoint is
initialized with the value 0 after switching on.
LED statuses valid with factory setting.
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 positioning window.
Operating voltage of final 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 final stage missing
Off
Operating voltage of control missing.

Displays and operating elements
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2.3 Operating elements
Fig. 2: Operating elements
2.3.1 Operating keys
Manual setup operation is only available if there is no process 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 superordinate control.
Key : Inching mode 2 in e direction
Key : Inching mode 2 in i direction

Digital inputs and outputs
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2.3.2 DIP switch:
Switch
Assignment
SW1-SW8
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
1 … 255 = device ID
SW9-SW10
No 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.
3Digital inputs and outputs
The actuator has four configurable digital inputs and one configurable digital output.
Function and switching behavior can be set.
No function has been assigned to the digital inputs in the factory setting.
The logical status of the digital inputs is mapped in the process 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 (Object 2405h).
With factory settings, the digital output can be actuated via the process data.
If a function is assigned to the digital output, it is actuated via register Digital Output
Functionalities State (Object 2302h).

Digital inputs and outputs
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3.1 Examples of digital input configurations
The following configuration deviates from the factory setting and requires parameterization by
the user.
Digital input 1: Limit switch 1 (low-active) proximity switch DC PNP NC
Digital input 2: Limit switch 2 (low-active) proximity 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
Fig. 3: Examples of digital input configurations
Digital Input 1 Functionality
Object 2401h, value = 1
Digital Inputs Polarity
Object 2406h, bit 0 = 1
Digital input 1
Bit 0
Bit 1
Bit 2
Bit 3
Digital input 2
Digital Inputs Polarity
Object 2406h, bit 1 = 1
XOR
XOR
Digital Input Functionalities
State
Object 2405h
Digital Input 3 Functionality
Object 2403h, value = 3
Digital Inputs Polarity
Object 2406h, bit 2 = 0
Digital input 3
XOR
Digital Input 4 Functionality
Object 2404h, value = 4
Digital Inputs Polarity
Object 2406h, bit 3 = 0
Digital input 4
XOR
:
Bit 31
Digital Input 2 Functionality
Object 2402h, value = 2

Digital inputs and outputs
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3.2 Example of digital output configuration
Digital output 1: Inpos (high-active)
Fig. 4: Example of digital output configuration
Bit 0
Digital Output
Functionalities State
Object 2302h
:
Bit 31
Digital Outputs Polarity
Object 2303h, Bit 0 = 0
XOR
Digital output 1:
Digital Output 1 Functionality
Object 2301h, value = 2

Functional description
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4Functional description
4.1 Control of the drive
The drive can be moved manually via the keys or digital inputs without upstream control. The
drive can be controlled and configured in the bus mode and via the service interface.
4.1.1 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
control mode can be started via the digital inputs independent of the operating mode chosen.
4.1.1.1 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 programmed controller parameters P (proportional 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 programmed. The measure of delay until reaching the setpoint is defined by the
parameter A-Pos (Object 2604h) as well.
Alternately, a value deviating from acceleration can be chosen for delay by means of
parameter D-Pos (Object 2606h).
Changing controller parameters during a positioning process does not influence the current
positioning operation.
Fig. 5: Ramp travel, direct positioning mode
The status word indicates whether the actual position is within the window defined by
parameter Pos Window (Object 260Ah). You can define the behavior of the actuator upon
reaching the programmed window via parameter Inpos Mode (Object 2616h).
Start position
target
position
Time
Velocity
V-Pos
(Object 2605h)
A-Pos
(Object 2604h)
D-Pos
(Object 2606h)
A-Pos
(Object 2604h)

Functional description
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Fig. 6: Positioning mode
The max. travel range depends on gear and scaling. The number of revolutions specified in the
product data sheet must not be exceeded.
4.1.1.1.1 Loop positioning
A travel order will not be executed if a loop positioning would exceed the
limiting values specified by parameters Software Limit 1 (Object 260Fh) and
Software Limit 2 (Object 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 from the same direction. This travel direction can be
determined via parameter Pos Type (Object 2613h). The loop length is set via parameter Loop
Length (Object 2617h).
Example:
The direction from 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; afterwards, the set point is
approached in positive direction.
Software Limit 1
(Object 260Fh)
Software Limit 2
(Object 2610h)
Travel range
Upper limit
Travel range
Lower limit
+
-
0
Pos Window
(Object 260Ah)
Inpos Mode
(Object 2616h)
-10
+10

Functional description
AG25, AG26 Date: 09.07.2018 Art. No. 88094 Mod. status 225/18 Page 18 of 109
Fig. 7: Loop+ positioning
4.1.1.2 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 program via parameters
acceleration as well as speed in the inching mode.
4.1.1.2.1 Inching mode 1
If the Spindle pitch parameter is programmed to zero, then the traveling
distance occurs by steps. If Spindle pitch is unequal zero, then the
information of the Delta Tipp parameter refers to the travel distance in
1/100 mm.
If the actual position is outside the programmed limiting values, then
traveling from this position in the respective direction must be performed
by means of inching mode 1 or 2!
The drive travels once from the current actual position by the value Delta Inch (Object 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
Setpoint
+
-
Positioning in positive
direction
Positioning in negative
direction
Positioning: Loop +
Loop Length (Object 2617h)

Functional description
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4.1.1.2.2 Inching mode 2
The actuator travels from 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 (Object 2609h) = 10 rpm (can only be changed in the idle state)
Inching 2 Offset (Object 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 rounded to integers.
The minimum speed is 1 rpm.
4.1.1.3 Rotational speed mode
Limits 1 + 2 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 rotational 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 rotational
target speed is changed.
The arithmetical sign of the set point determines the travel direction in the rotational speed
mode.
Fig. 8: Ramp speed mode
The following conditions must be met for enabling the start of the rotational speed mode:
Supply voltage of the output stage is applied.
Operation enabled
Velocity
Time
Target speed (set
point)
A-Rot
(Object 2607h)
'Stop'
Set point enabled
Disable target
value
or set point = 0
Disable operation

Functional description
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Drive stands still
4.1.1.4 Position Control Mode
Via the control word in the process data, the superordinate control can
cancel travel orders started by the position control mode.
For this purpose, a negative slope must be created on bits OFF1, OFF2, or
OFF3 in the control word.
Conversely, the PCM mode cannot cancel a travel order initiated via the
superordinate control.
The position control 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 control 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.