Siko AG25 User manual

305/15
AG25, AG25
Actuator with interface
User manual

AG25, AG25 Date: 12.08.2015 Art. No. 88121 Mod. status 305/15 Page 2 of 102
Table of contents
1General Information .................................................................................................. 9
1.1 Documentation ........................................................................................................9
2Display and controls .................................................................................................. 9
2.1 General Information..................................................................................................9
2.2 Displays ..................................................................................................................9
2.2.1 Ethernet module statuses .....................................................................................10
2.2.1.1 Module status LED 1.........................................................................................10
2.2.1.2 Link/Activity LED 2, 3 ......................................................................................10
2.2.1.3 Network status 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 Controls ................................................................................................................12
2.3.1 Control keys .......................................................................................................12
2.3.2 DIP switch .........................................................................................................13
3Digital inputs and outputs ....................................................................................... 14
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 ...............................20
4.1.2 Current limiting ..................................................................................................21
4.1.3 Limit switch .......................................................................................................22
4.1.3.1 Example of limit switch configuration.................................................................22
4.1.3.2 Arrangement of the limit switches .....................................................................22
5Calibration.............................................................................................................. 23
6External transmission .............................................................................................. 23
7Warnings / Errors..................................................................................................... 24
7.1 Warnings...............................................................................................................24
7.2 Errors....................................................................................................................24

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7.2.1 Error codes.........................................................................................................25
8PROFINET IO............................................................................................................ 26
8.1 Description............................................................................................................26
8.1.1 Cyclic data exchange ...........................................................................................26
8.1.2 Acyclic data exchange .........................................................................................26
8.1.3 Operating modes and synchronization....................................................................26
8.1.4 Diagnostics alarms ..............................................................................................26
8.1.5 Control lines when IOPS = BAD .............................................................................27
8.1.6 Response of outputs to disconnect ........................................................................27
8.1.7 Response of outputs to a network .........................................................................27
8.2 Overview of parameters ...........................................................................................28
8.2.1 Parameter description..........................................................................................30
8.2.1.1 Digital Outputs Control.....................................................................................30
8.2.1.2 Control Word...................................................................................................30
8.2.1.2.1 Control word: Positioning mode (master slave) ............................................31
8.2.1.2.2 Flow chart: Operating mode: Positioning mode.................................................32
8.2.1.2.3 Control word Operating mode: Speed mode ......................................................33
8.2.1.2.4 Flow chart: Speed mode ................................................................................34
8.2.1.3 Target Value ...................................................................................................35
8.2.1.4 Digital Inputs State .........................................................................................35
8.2.1.5 Status Word ....................................................................................................35
8.2.1.5.1 Status word: Positioning mode (slave master)..............................................36
8.2.1.5.2 Status word: Speed mode ..............................................................................37
8.2.1.6 Actual Value ...................................................................................................38
8.2.1.7 LED Functionality ............................................................................................38
8.2.1.8 Service Interface Baud rate...............................................................................40
8.2.1.9 Digital Output 1 Functionality ...........................................................................40
8.2.1.10 Digital Output Functionalities State ...................................................................41
8.2.1.11 Digital Outputs Polarity ....................................................................................41
8.2.1.12 Digital Input 1 Functionality.............................................................................42
8.2.1.13 Digital Input 2 Functionality.............................................................................43
8.2.1.14 Digital Input 3 Functionality.............................................................................43
8.2.1.15 Digital Input 4 Functionality.............................................................................43
8.2.1.16 Digital Input Functionalities State .....................................................................44
8.2.1.17 Digital Inputs Polarity......................................................................................45
8.2.1.18 Controller Parameter P .....................................................................................45
8.2.1.19 Controller Parameter I......................................................................................45
8.2.1.20 Controller Parameter D .....................................................................................46
8.2.1.21 A-Pos.............................................................................................................46
8.2.1.22 V-Pos.............................................................................................................46
8.2.1.23 D-Pos.............................................................................................................47
8.2.1.24 A-Rot.............................................................................................................47
8.2.1.25 A-Inch ...........................................................................................................47

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8.2.1.26 V-Inch ...........................................................................................................48
8.2.1.27 Pos Window ....................................................................................................48
8.2.1.28 Gear Ratio Numerator.......................................................................................48
8.2.1.29 Gear Ratio Denominator....................................................................................49
8.2.1.30 Spindle Pitch ..................................................................................................49
8.2.1.31 Calibration Value .............................................................................................49
8.2.1.32 Software Limit 1..............................................................................................50
8.2.1.33 Software Limit 2..............................................................................................50
8.2.1.34 Delta Inch ......................................................................................................51
8.2.1.35 Sense of Rotation ............................................................................................51
8.2.1.36 Pos Type ........................................................................................................52
8.2.1.37 Operating Mode...............................................................................................52
8.2.1.38 Inching 2 Stop Mode........................................................................................53
8.2.1.39 Inpos Mode ....................................................................................................53
8.2.1.40 Loop Length ...................................................................................................54
8.2.1.41 Contouring Error Limit......................................................................................54
8.2.1.42 Current Limiting ..............................................................................................55
8.2.1.43 Inching 2 Offset..............................................................................................55
8.2.1.44 Inching 2 Acceleration Type..............................................................................56
8.2.1.45 Offset Value....................................................................................................56
8.2.1.46 PCM Position 1................................................................................................57
8.2.1.47 PCM Position 2................................................................................................57
8.2.1.48 PCM Position 3................................................................................................57
8.2.1.49 PCM Position 4................................................................................................58
8.2.1.50 PCM Position 5................................................................................................58
8.2.1.51 PCM Position 6................................................................................................58
8.2.1.52 PCM Position 7................................................................................................59
8.2.1.53 PCM Acceleration 1 ..........................................................................................59
8.2.1.54 PCM Acceleration 2 ..........................................................................................59
8.2.1.55 PCM Acceleration 3 ..........................................................................................60
8.2.1.56 PCM Acceleration 4 ..........................................................................................60
8.2.1.57 PCM Acceleration 5 ..........................................................................................60
8.2.1.58 PCM Acceleration 6 ..........................................................................................61
8.2.1.59 PCM Acceleration 7 ..........................................................................................61
8.2.1.60 PCM Velocity 1 ................................................................................................61
8.2.1.61 PCM Velocity 2 ................................................................................................62
8.2.1.62 PCM Velocity 3 ................................................................................................62
8.2.1.63 PCM Velocity 4 ................................................................................................62
8.2.1.64 PCM Velocity 5 ................................................................................................63
8.2.1.65 PCM Velocity 6 ................................................................................................63
8.2.1.66 PCM Velocity 7 ................................................................................................63
8.2.1.67 PCM Deceleration 1 ..........................................................................................64
8.2.1.68 PCM Deceleration 2 ..........................................................................................64
8.2.1.69 PCM Deceleration 3 ..........................................................................................65

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8.2.1.70 PCM Deceleration 4 ..........................................................................................65
8.2.1.71 PCM Deceleration 5 ..........................................................................................66
8.2.1.72 PCM Deceleration 6 ..........................................................................................66
8.2.1.73 PCM Deceleration 7 ..........................................................................................67
8.2.1.74 Output Stage Temperature ................................................................................67
8.2.1.75 Voltage of Control ...........................................................................................67
8.2.1.76 Voltage of Output Stage ...................................................................................68
8.2.1.77 Voltage of Battery ...........................................................................................68
8.2.1.78 Motor Current..................................................................................................68
8.2.1.79 Actual Position ...............................................................................................68
8.2.1.80 Actual Rotational Speed ...................................................................................69
8.2.1.81 Serial Number .................................................................................................69
8.2.1.82 Production Date ..............................................................................................69
8.2.1.83 SW Motor Controller .........................................................................................69
8.2.1.84 Gear Reduction................................................................................................70
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 .............................................................................................73
8.2.1.89 Error Number 1................................................................................................73
8.2.1.90 Error Number 2................................................................................................74
8.2.1.91 Error Number 3................................................................................................74
8.2.1.92 Error Number 4................................................................................................74
8.2.1.93 Error Number 5................................................................................................74
8.2.1.94 Error Number 6................................................................................................75
8.2.1.95 Error Number 7................................................................................................75
8.2.1.96 Error Number 8................................................................................................75
8.2.1.97 Error Number 9................................................................................................75
8.2.1.98 Error Number 10 ..............................................................................................76
8.2.1.99 Configuration..................................................................................................77
8.2.1.100 S-Command ....................................................................................................78
9Service protocol....................................................................................................... 79
9.1 General Information................................................................................................79
9.1.1 Communication...................................................................................................79
9.1.2 Settings.............................................................................................................79
9.1.3 ASCII commands.................................................................................................79
9.1.4 Responses..........................................................................................................79
9.2 Overview of parameters ...........................................................................................80
9.3 Parameters ............................................................................................................80
9.3.1 Positioning ........................................................................................................80
9.3.1.1 Target Value ...................................................................................................80
9.3.1.2 Actual Position ...............................................................................................80
9.3.1.3 Actual Rotational Speed ...................................................................................80

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9.3.1.4 Calibration Value .............................................................................................81
9.3.1.5 Loop Length ...................................................................................................81
9.3.1.6 Offset Value....................................................................................................81
9.3.1.7 Pos Type ........................................................................................................81
9.3.1.8 Pos Window ....................................................................................................81
9.3.1.9 Sense of Rotation ............................................................................................82
9.3.1.10 Spindle Pitch ..................................................................................................82
9.3.2 Actuator ............................................................................................................82
9.3.2.1 A-Pos.............................................................................................................82
9.3.2.2 V-Pos.............................................................................................................82
9.3.2.3 D-Pos.............................................................................................................82
9.3.2.4 A-Rot.............................................................................................................83
9.3.2.5 A-Inch ...........................................................................................................83
9.3.2.6 V-Inch ...........................................................................................................83
9.3.2.7 Gear Ratio Denominator....................................................................................83
9.3.2.8 Gear Ratio Numerator.......................................................................................83
9.3.3 Limiting values...................................................................................................83
9.3.3.1 Software Limit 1..............................................................................................83
9.3.3.2 Software Limit 2..............................................................................................84
9.3.3.3 Current Limiting ..............................................................................................84
9.3.3.4 Contouring Error Limit......................................................................................84
9.3.4 Options .............................................................................................................84
9.3.4.1 Operating Mode...............................................................................................84
9.3.4.2 Inpos Mode ....................................................................................................84
9.3.4.3 Delta Inch ......................................................................................................84
9.3.4.4 Inching 2 Acceleration Type..............................................................................85
9.3.4.5 Inching 2 Offset..............................................................................................85
9.3.4.6 Inching 2 Stop Mode........................................................................................85
9.3.4.7 LED Functionality ............................................................................................85
9.3.4.8 Service Interface Baud Rate ..............................................................................85
9.3.4.9 Configuration..................................................................................................85
9.3.5 Controller parameter............................................................................................86
9.3.5.1 Controller Parameter P .....................................................................................86
9.3.5.2 Controller Parameter I......................................................................................86
9.3.5.3 Controller Parameter D .....................................................................................86
9.3.6 Device information..............................................................................................86
9.3.6.1 Motor Current..................................................................................................86
9.3.6.2 Output Stage Temperature ................................................................................86
9.3.6.3 Voltage of Control ...........................................................................................87
9.3.6.4 Voltage of Output Stage ...................................................................................87
9.3.6.5 Voltage of Battery ...........................................................................................87
9.3.6.6 Flag Register...................................................................................................87
9.3.6.7 System Status Word .........................................................................................88
9.3.6.8 Device Type ....................................................................................................88

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9.3.6.9 Gear Reduction................................................................................................88
9.3.6.10 Motor Type .....................................................................................................88
9.3.6.11 Network Type ..................................................................................................88
9.3.6.12 Production Date ..............................................................................................88
9.3.6.13 Serial Number .................................................................................................89
9.3.6.14 SW Ethernet Module.........................................................................................89
9.3.6.15 SW Motor Controller .........................................................................................89
9.3.7 Digital input/output............................................................................................89
9.3.7.1 Digital Input 1 Functionality.............................................................................89
9.3.7.2 Digital Input 2 Functionality.............................................................................89
9.3.7.3 Digital Input 3 Functionality.............................................................................89
9.3.7.4 Digital Input 4 Functionality.............................................................................90
9.3.7.5 Digital Input Functionalities State .....................................................................90
9.3.7.6 Digital Inputs Polarity......................................................................................90
9.3.7.7 Digital Inputs State .........................................................................................90
9.3.7.8 Digital Output 1 Functionality ...........................................................................90
9.3.7.9 Digital Outputs Control.....................................................................................90
9.3.7.10 Digital Output Functionalities State ...................................................................91
9.3.7.11 Digital Outputs Polarity ....................................................................................91
9.3.8 Error memory......................................................................................................91
9.3.8.1 Number of Errors .............................................................................................91
9.3.8.2 Error Number 1................................................................................................91
9.3.8.3 Error Number 2................................................................................................91
9.3.8.4 Error Number 3................................................................................................91
9.3.8.5 Error Number 4................................................................................................92
9.3.8.6 Error Number 5................................................................................................92
9.3.8.7 Error Number 6................................................................................................92
9.3.8.8 Error Number 7................................................................................................92
9.3.8.9 Error Number 8................................................................................................92
9.3.8.10 Error Number 9................................................................................................92
9.3.8.11 Error Number 10 ..............................................................................................93
9.4 Commands.............................................................................................................93
9.4.1 Start travel job ...................................................................................................93
9.4.2 Start of inching mode 1 .......................................................................................93
9.4.3 Start inching mode 2 positive travel direction.........................................................93
9.4.4 Start inching mode 2 negative travel direction ........................................................93
9.4.5 Cancel current travel job in positioning mode .........................................................93
9.4.6 Motor stop fast...................................................................................................94
9.4.7 Motor stop .........................................................................................................94
9.4.8 Enable motor......................................................................................................94
9.4.9 Factory setting: all parameters..............................................................................94
9.4.10 Factory setting: Standard parameter ......................................................................94
9.4.11 Factory setting: Controller parameter .....................................................................94
9.4.12 Acknowledge error...............................................................................................95

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9.4.13 Calibrate............................................................................................................95
9.4.14 Delete error memory ............................................................................................95
9.4.15 Software Reset....................................................................................................95
9.5 Flow charts............................................................................................................96
9.5.1 Flow chart: Operating mode: Positioning mode........................................................96
9.5.2 Flow chart: Operating mode: Speed mode ...............................................................97
9.6 Error number encoding ............................................................................................98
9.7 Examples...............................................................................................................98
9.7.1 Write and read setpoint +500................................................................................98
9.7.2 Start travel job ...................................................................................................98
9.8 ASCII command structure ........................................................................................99
10 Block diagram ........................................................................................................100
11 Web server.............................................................................................................101
12 FTP-Server..............................................................................................................102
13 Secure Host IP Configuration Protocol (Secure HICP).................................................102

General Information
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1General Information
1.1 Documentation
The following documents are associated with this document:
The data sheet describes the technical data, the dimensions, the pin assignment, the
accessories and the order key.
The installation instructions describe the mechanical and electrical installation with all
safety-relevant conditions and the associated technical specifications.
The User manual for actuator commissioning and integration into a Industrial Ethernet
network.
You can also download these documents at http://www.siko-global.com/p/AG25.
2Display and controls
2.1 General Information
The drive has various LEDs that indicate the statuses of the drive and of the Ethernet module.
The controls are located below the cover.
2.2 Displays
Fig.. 1: Displays

Display and controls
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2.2.1 Ethernet module statuses
The , , , LEDs inform about the statuses of the Ethernet module. The Ethernet
module LEDs' functions are permanently defined and cannot be changed.
LED
Display and controls
1
Modul status LED
2
Link/Activity LED Port 2
3
Link/Activity LED Port 1
4
Network status LED
2.2.1.1 Module status LED 1
LED state
Description
Off
No error or no operating voltage
Green
Normal operation
Green, flashing
1x
Diagnostic event
Red
Fatal event
2.2.1.2 Link/Activity LED 2, 3
LED state
Description
Off
No connection or no operating voltage
Green
Connection established, no activity
Green, flashing
Connection established, activity
2.2.1.3 Network status LED 4
LED state
Description
OFF
No error or no operating voltage
Green
On-line (RUN)
Green, flashing
1x
On-line (STOP)
Green, flackert
Blink (DCP Service Set Signal)
Red
Fatal event
Red, flashing 1x
Station name error (Station name not set)
Red, flashing 2x
IP-address error (no IP-address)
Red, flashing 3x
Correctable error. The module has been configured but the stored
parameters differ from the parameters presently used.

Display and controls
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2.2.2 Drive status
With factory setting, the , , , inform about the drive's status.
The functions 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
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 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 position window.
Operating voltage of the output stage missing.
Red
Actuator is outside the programmed positioning window.
Operating voltage of the output stage is applied.
Red, flashing
Actuator is outside the programmed positioning window.
Operating voltage of the output stage missing.
Off
Operating voltage of control missing.

Display and controls
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2.3 Controls
Fig. 2: Controls
2.3.1 Control keys
Manual setup operation is only available if there is no process data
exchange going on.
Manual setup mode (corresponding to inching mode 2) can be started by means of the control
keys. This enables actuator movement without a superordinate control.
Key : Inching mode 2 in e direction
Key : Inching mode 2 in i direction

Display and controls
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2.3.2 DIP switch
DIP-switch is only read in when supply voltage of PLC is switched on. Any
modification will hence only become effective after a power-on reset of the
PLC’s supply voltage.
If station name setting was made via DIP-switch, a subsequent change in
DIP-switch setting to position DCP will lead to a reset of all network
parameter (eg. station name and IP-address) to parameter setting as made
ex factory.
Switch
Assigment
SW1-SW8
Setting of PROFINET station name in format”siko-ag2x-yyy”
yyy = set value in decimal format
SW9, SW10
No Function
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8
PROFINET Station name
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
Station name is allocated via
the DCP-protocol
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
"siko-ag2x-001"
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
"siko-ag2x-002"
…
…
…
…
…
…
…
…
…
OFF
ON
ON
ON
ON
ON
ON
ON
"siko-ag2x-254"
ON
ON
ON
ON
ON
ON
ON
ON
"siko-ag2x-255"

Digital inputs and outputs
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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 functions' conditions of the digital inputs
can be read in the register Digital Input Functionalities State (PNU 0405h).
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 (PNU 0302h).
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
(PNU 0401h), value = 1
Digital Inputs Polarity
(PNU 0406h), bit 0 = 1
Digital input 1
Bit 0
Bit 1
Bit 2
Bit 3
Digital input 2
Digital Inputs Polarity
(PNU 0406h), bit 1 = 1
XOR
XOR
Digital Input Functionalities
State
(PNU 0405h)
Digital Input 3 Functionality
(PNU 0403h), value = 3
Digital Inputs Polarity
(PNU 0406h), bit 2 = 0
Digital input 3
XOR
Digital Input 4 Functionality
(PNU 0404h), value = 4
Digital Inputs Polarity
(PNU 0406h), bit 3 = 0
Digital input 4
XOR
:
Bit 31
Digital Input 2 Functionality
(PNU 0402h), 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
(PNU 0302h)
:
Bit 31
Digital Outputs Polarity
(PNU 0303h), bit 0 = 0
XOR
Digital output 1:
Digital Output 1 Functionality
(PNU 0301h), 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 operating 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 chosen operating mode.
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 speed.
Upon activation of the travel job, the actuator accelerates to the specified speed with the
acceleration programmed. The measure of delay to the setpoint is defined by the parameter
A-Pos (PNU 0604h) as well.
Alternately, a value deviating from acceleration can be chosen for delay by means of
parameter D-Pos (PNU 0606h).
Changing controller parameters during a positioning process does not influence the current
positioning operation.
Fig. 5: Ramp travel, direct positioning mode
Start position
target position
Time
Velocity
V-Pos
(PNU 0605h)
A-Pos
(PNU 0604h)
D-Pos
(PNU 0606h)
A-Pos
(PNU 0604h)

Functional description
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The status word indicates whether the actual position is within the window defined by
parameter Pos Window (PNU 060Ah). Upon reaching the programmed window via parameter
Inpos Mode (PNU 0616h), you can define the behavior of the actuator.
Fig. 6: Positioning mode
The max. travel range depends on transmission 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 loop positioning would exceed the
limiting values specified by parameters Software Limit 1 (PNU 060Fh) and
Software Limit 2 (PNU 0610h) although the setpoint is within the limiting
values.
If the actuator is operated on a spindle or an additional transmission, the spindle or external
transmission 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 (PNU 0613h). Loop length is set via parameter Loop
Length(PNU 0617h).
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
(PNU 060Fh)
Software Limit 2
(PNU 0610h)
Travel range
Upper limit
Travel range
Lower limit
+
-
0
Pos Window
(PNU 060Ah)
Inpos Mode
(PNU 0616h)
-10
+10

Functional description
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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 increments. 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 (PNU 0611h)
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 signaled accordingly.
The 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 (PNU 0617h)

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 (PNU 0609h) = 10 rpm (can only be changed in the idle state)
Inching 2 Offset (PNU 061Ah) = 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
Results are always rounded to integers.
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. 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
Drive stands still
Velocity
Time
Target speed (set
point)
A-Rot
(PNU 0607h)
'Stop'
Set point enabled
Disable target
value
or set point = 0
Disable operation

Functional description
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4.1.1.4 Position Control Mode
Via the control word in the process data, the superordinate control can
cancel travel jobs started by the position control mode.
For this purpose, a negative flank 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 PCM inputs 1 to 3 in binary addressing. Travel
data set 0 does not exist.
4.1.1.4.1 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 1 Functionality
PNU 0401h, value = 8
Digital Inputs Polarity
PNU 0406h, bit 0 = 0
Digital input 1
Bit 7
Bit 8
Bit 9
Bit 10
Digital input 2
Digital Inputs Polarity
PNU 0406h, bit 1 = 0
XOR
XOR
Digital Input
Functionalities State PNU
0405h
Digital Input 3 Functionality
PNU 0403h, value = 10
Digital Inputs Polarity
PNU 0406h, bit 2 = 0
Digital input 3
XOR
Digital Input 4 Functionality
PNU 0404h, value = 11
Digital Inputs Polarity
PNU 0406h, bit 3 = 0
Digital input 4
XOR
:
Bit 31
Bit 0
:
Digital Input 2 Functionality
PNU 0402h, value = 9