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AG24
Actuator with interface
User manual
225/18
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Table of contents
1 General Information .................................................................................................. 8
1.1 Documentation ........................................................................................................8
2 Display and control keys ............................................................................................ 8
2.1 LCD display ..............................................................................................................8
2.2 LED display ..............................................................................................................9
2.2.1 Status LED 1 .........................................................................................................9
2.2.2 Status LED 2 .........................................................................................................9
2.2.3 Network status LED 4 .............................................................................................9
2.2.4 Link/Activity LED 5, 6 .......................................................................................... 10
2.2.5 Module status LED 7 ............................................................................................ 10
2.3 Control keys ........................................................................................................... 10
2.3.1 Key lock and enable time ..................................................................................... 10
2.3.2 Value input ........................................................................................................ 11
2.3.3 Value selection ................................................................................................... 11
2.4 Menu control ......................................................................................................... 12
2.4.1 Menu selection ................................................................................................... 12
2.4.2 Changeable parameters menu ................................................................................ 13
2.4.2.1 PCM menu ...................................................................................................... 13
2.4.3 Readable parameters menu ................................................................................... 13
2.4.4 Error memory menu ............................................................................................. 14
3 Functional description ............................................................................................. 14
3.1 User units ............................................................................................................. 14
3.1.1 Example of spindle drive ...................................................................................... 15
3.1.2 Example of toothed rod/pinion, straight toothing, metric division ............................. 15
3.1.3 Example external gear .......................................................................................... 15
3.2 Protective functions ................................................................................................ 16
3.2.1 Current limiting .................................................................................................. 16
3.2.2 I2t monitoring.................................................................................................... 17
3.2.3 Temperature monitoring ....................................................................................... 17
3.2.4 Overvoltage protection with energetic recovery ....................................................... 17
3.2.5 Contouring error monitoring ................................................................................. 17
3.3 Warnings / Errors.................................................................................................... 18
3.3.1 Warnings ........................................................................................................... 18
3.3.2 Errors ................................................................................................................ 18
3.3.2.1 Error codes ..................................................................................................... 18
3.4 Operating modes .................................................................................................... 19
3.4.1 Positioning mode ................................................................................................ 19
3.4.1.1 Limiting values ............................................................................................... 20
3.4.1.2 Limit switch.................................................................................................... 21
3.4.1.2.1 Example of a configuration ............................................................................ 21
3.4.1.2.2 Assembly of the limit switches ....................................................................... 22
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3.4.1.3 Loop positioning ............................................................................................. 22
3.4.1.4 Inching operation............................................................................................ 23
3.4.1.4.1 Inching operation 1 ..................................................................................... 23
3.4.1.4.2 Inching operation 2 ..................................................................................... 24
3.4.1.5 Travel Against Load ......................................................................................... 24
3.4.1.6 Control word: Positioning mode (master slave) ................................................ 25
3.4.1.7 Status word: Positioning mode (slave master) ................................................. 26
3.4.1.8 Flow chart: Operating mode Positioning mode ..................................................... 27
3.4.2 Local control (Stand-Alone Operation) ................................................................... 28
3.4.2.1 Inching operation 2 ......................................................................................... 28
3.4.2.2 Specifying the set point ................................................................................... 28
3.4.3 Digital inputs and outputs .................................................................................... 29
3.4.3.1 Examples of digital input configurations ............................................................. 30
3.4.3.2 Example of digital output configuration .............................................................. 31
3.4.4 Position Control Mode.......................................................................................... 31
3.4.4.1 Examples of configuration of the digital inputs for the PCM ................................... 32
3.4.5 Calibration ......................................................................................................... 33
3.4.6 Sense of Rotation ............................................................................................... 34
3.4.7 Rotational speed mode ........................................................................................ 34
3.4.7.1 Control word Operating mode: Speed mode.......................................................... 35
3.4.7.2 Status word Operating mode: Speed mode ........................................................... 36
3.4.7.3 Flow chart: Operating mode Speed mode ............................................................. 37
4 EtherNet/IP™ .......................................................................................................... 38
4.1 Description ............................................................................................................ 38
4.1.1 IP-Configuration ................................................................................................. 38
4.1.2 I/O Messages ...................................................................................................... 40
4.1.3 Explicit Messages ................................................................................................ 40
4.1.4 ADI Object (Class A2h) ......................................................................................... 40
4.2 CIP objects ............................................................................................................ 41
4.2.1 Identity Object (Class 01h) ................................................................................... 42
4.2.1.1 Class attributes of the Identity Object ................................................................ 42
4.2.1.2 Instance attributes of the Identity Object ........................................................... 42
4.2.1.3 Status ............................................................................................................ 43
4.2.1.4 Reset service of the Identity Object ................................................................... 44
4.3 Commissioning aids ................................................................................................ 44
5 Parameters .............................................................................................................. 44
5.1 Positioning ............................................................................................................ 45
5.1.1 Sense of Rotation ............................................................................................... 45
5.1.2 Spindle Pitch ...................................................................................................... 45
5.1.3 Gear Ratio Numerator .......................................................................................... 46
5.1.4 Gear Ratio Denominator ....................................................................................... 47
5.1.5 Pos Window ........................................................................................................ 47
5.1.6 Offset Value ....................................................................................................... 48
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5.1.7 Delta Inch .......................................................................................................... 48
5.1.8 Inpos Mode ........................................................................................................ 49
5.1.9 Pos Type ............................................................................................................ 50
5.1.10 Loop Length ....................................................................................................... 50
5.1.11 Calibration Value ................................................................................................. 51
5.1.12 Control Word ...................................................................................................... 51
5.1.13 Status Word ....................................................................................................... 52
5.1.14 Target Value ....................................................................................................... 53
5.1.15 Actual Value ....................................................................................................... 53
5.1.16 System Status Word ............................................................................................. 54
5.2 Actuator ................................................................................................................ 56
5.2.1 Operating Mode .................................................................................................. 56
5.2.2 A-Pos ................................................................................................................ 57
5.2.3 V-Pos ................................................................................................................ 57
5.2.4 D-Pos ................................................................................................................ 58
5.2.5 A-Inch ............................................................................................................... 59
5.2.6 V-Inch ............................................................................................................... 59
5.2.7 Inching 2 Offset ................................................................................................. 60
5.2.8 A-Rot ................................................................................................................ 60
5.3 Limiting values ...................................................................................................... 61
5.3.1 Software Limit 1 ................................................................................................. 61
5.3.2 Software Limit 2 ................................................................................................. 62
5.3.3 Peak Current Limit ............................................................................................... 62
5.3.4 Peak Current Time ............................................................................................... 63
5.3.5 Continuous Current .............................................................................................. 63
5.3.6 Contouring Error Limit ......................................................................................... 64
5.3.7 Travel Against Load Trigger .................................................................................. 64
5.3.8 Travel Against Load Direction ............................................................................... 65
5.4 Visualization .......................................................................................................... 66
5.4.1 Display Orientation ............................................................................................. 66
5.4.2 Display Divisor .................................................................................................... 66
5.4.3 Display Divisor Application ................................................................................... 67
5.4.4 Decimal Places .................................................................................................... 67
5.4.5 Direction Indication Function ............................................................................... 68
5.4.6 Displayed Value 2nd Line ..................................................................................... 69
5.5 Options ................................................................................................................. 70
5.5.1 Key Enable Time.................................................................................................. 70
5.5.2 Key Function Enable ............................................................................................ 70
5.5.3 Inching 2 Acceleration Type ................................................................................. 71
5.5.4 Inching 2 Stop Mode ........................................................................................... 72
5.5.5 PIN Change ........................................................................................................ 72
5.5.6 Generic Mapping Parameter .................................................................................. 73
5.5.7 Configuration ..................................................................................................... 74
5.5.8 S-Command ........................................................................................................ 75
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5.6 Controller parameter ............................................................................................... 76
5.6.1 Controller Parameter P ......................................................................................... 76
5.6.2 Controller Parameter I ......................................................................................... 76
5.6.3 Controller Parameter D ......................................................................................... 77
5.7 Digital input/output ............................................................................................... 78
5.7.1 Digital Input 1 Functionality ................................................................................ 78
5.7.2 Digital Input 2 Functionality ................................................................................ 79
5.7.3 Digital Input 3 Functionality ................................................................................ 79
5.7.4 Digital Input 4 Functionality ................................................................................ 80
5.7.5 Digital Inputs Polarity ......................................................................................... 81
5.7.6 Digital Input Functionalities State ......................................................................... 82
5.7.7 Digital Inputs State ............................................................................................. 83
5.7.8 Digital Output 1 Functionality ............................................................................... 83
5.7.9 Digital Outputs Polarity........................................................................................ 84
5.7.10 Digital Output Functionalities State ....................................................................... 85
5.7.11 Digital Outputs Control ........................................................................................ 86
5.7.12 Service Interface Baud Rate .................................................................................. 86
5.8 Position Control Mode ............................................................................................. 87
5.8.1 PCM Position 1 ................................................................................................... 87
5.8.2 PCM Position 2 ................................................................................................... 88
5.8.3 PCM Position 3 ................................................................................................... 88
5.8.4 PCM Position 4 ................................................................................................... 89
5.8.5 PCM Position 5 ................................................................................................... 89
5.8.6 PCM Position 6 ................................................................................................... 90
5.8.7 PCM Position 7 ................................................................................................... 91
5.8.8 PCM Acceleration 1 .............................................................................................. 91
5.8.9 PCM Acceleration 2 .............................................................................................. 92
5.8.10 PCM Acceleration 3 .............................................................................................. 92
5.8.11 PCM Acceleration 4 .............................................................................................. 93
5.8.12 PCM Acceleration 5 .............................................................................................. 93
5.8.13 PCM Acceleration 6 .............................................................................................. 94
5.8.14 PCM Acceleration 7 .............................................................................................. 95
5.8.15 PCM Velocity 1 .................................................................................................... 95
5.8.16 PCM Velocity 2 .................................................................................................... 96
5.8.17 PCM Velocity 3 .................................................................................................... 96
5.8.18 PCM Velocity 4 .................................................................................................... 97
5.8.19 PCM Velocity 5 .................................................................................................... 98
5.8.20 PCM Velocity 6 .................................................................................................... 98
5.8.21 PCM Velocity 7 .................................................................................................... 99
5.8.22 PCM Deceleration 1 ............................................................................................. 99
5.8.23 PCM Deceleration 2 ........................................................................................... 100
5.8.24 PCM Deceleration 3 ........................................................................................... 101
5.8.25 PCM Deceleration 4 ........................................................................................... 101
5.8.26 PCM Deceleration 5 ........................................................................................... 102
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5.8.27 PCM Deceleration 6 ........................................................................................... 102
5.8.28 PCM Deceleration 7 ........................................................................................... 103
5.9 Device information ............................................................................................... 104
5.9.1 Output Stage Temperature .................................................................................. 104
5.9.2 Virtual Motor Temperature .................................................................................. 104
5.9.3 Voltage of Control ............................................................................................. 105
5.9.4 Voltage of Output Stage ..................................................................................... 105
5.9.5 Motor Current ................................................................................................... 106
5.9.6 Actual Position ................................................................................................. 107
5.9.7 Actual Rotational Speed ..................................................................................... 107
5.9.8 Overload .......................................................................................................... 108
5.9.9 Actual Contouring Error ...................................................................................... 108
5.9.10 Gear Reduction ................................................................................................. 109
5.9.11 Encoder Resolution ............................................................................................ 109
5.9.12 Serial Number ................................................................................................... 110
5.9.13 SW Motor Controller ........................................................................................... 111
5.9.14 SW Ethernet Module .......................................................................................... 111
5.9.15 Production Date ................................................................................................ 112
5.9.16 Device ID ......................................................................................................... 112
5.9.17 Generic Mapping Channel ................................................................................... 113
5.10 Error memory ....................................................................................................... 114
5.10.1 Number of Errors ............................................................................................... 114
5.10.2 Error Number 1 ................................................................................................. 114
5.10.3 Error Number 2 ................................................................................................. 115
5.10.4 Error Number 3 ................................................................................................. 115
5.10.5 Error Number 4 ................................................................................................. 116
5.10.6 Error Number 5 ................................................................................................. 117
5.10.7 Error Number 6 ................................................................................................. 117
5.10.8 Error Number 7 ................................................................................................. 118
5.10.9 Error Number 8 ................................................................................................. 118
5.10.10 Error Number 9 ................................................................................................. 119
5.10.11 Error Number 10 ................................................................................................ 119
6 Service protocol ...................................................................................................... 120
6.1 General Information .............................................................................................. 120
6.1.1 Communication ................................................................................................. 120
6.1.2 Settings ........................................................................................................... 120
6.1.3 ASCII commands ............................................................................................... 120
6.1.4 Responses ........................................................................................................ 121
6.2 Commands ........................................................................................................... 121
6.2.1 Start travel job ................................................................................................. 121
6.2.2 Start of inching mode1 ...................................................................................... 121
6.2.3 Start inching mode 2 positive travel direction ....................................................... 121
6.2.4 Start inching mode 2 negative travel direction ...................................................... 121
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6.2.5 Cancel current travel job in positioning mode ....................................................... 121
6.2.6 Motor stop fast ................................................................................................. 122
6.2.7 Motor stop ....................................................................................................... 122
6.2.8 Activate motor ................................................................................................. 122
6.2.9 Factory setting: all parameters ............................................................................ 122
6.2.10 Factory setting: Standard parameter .................................................................... 122
6.2.11 Factory setting: Controller parameter ................................................................... 122
6.2.12 Factory setting: Visualization parameters .............................................................. 123
6.2.13 Factory setting: Network parameters .................................................................... 123
6.2.14 Acknowledge error ............................................................................................. 123
6.2.15 Calibrate .......................................................................................................... 123
6.2.16 Delete error memory .......................................................................................... 123
6.2.17 Software reset .................................................................................................. 123
6.3 Flow charts .......................................................................................................... 124
6.3.1 Flow chart: Operating mode: Positioning mode ...................................................... 124
6.3.2 Flow chart: Operating mode: Speed mode ............................................................. 125
6.4 Error number encoding .......................................................................................... 125
6.5 Examples ............................................................................................................. 126
6.5.1 Write and read set point +500 ............................................................................. 126
6.5.2 Start travel job ................................................................................................. 126
6.6 ASCII command structure ...................................................................................... 126
6.7 Commissioning aids .............................................................................................. 127
7 Ethernet Functions ................................................................................................. 128
7.1 Web server ........................................................................................................... 128
7.2 FTP-Server ........................................................................................................... 129
7.3 Secure Host IP Configuration Protocol (Secure HICP) ................................................. 129
8 Block diagram ........................................................................................................ 130
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General Information
1 General Information
1.1 Documentation
The following documents are associated with this document:
The data sheet describes the technical data, the dimensions, the pin assignment, the
accessories and the order key.
The installation instructions describe the mechanical and electrical installation with all
safety-relevant conditions and the associated technical specifications.
User manual describing the migration of the actuator into an Industrial Ethernet network
and its commissioning.
You can also download these documents at http://www.siko-global.com/p/ag24.
2 Display and control keys
The actuator features a two-line display with special characters and three operating keys
, and .
The actuator can be configured and controlled via the keys.
The two LEDs and inform about the operating status of the actuator.
The four LEDs , , , and inform about the operating status of the Ethernet module.
Fig. 1: Display and control elements
2.1 LCD display
With operating voltage applied to the control unit, the actual value is displayed in the 1st line
and the target value is displayed in the 2nd line (factory setting). The value displayed in the
2nd line can be chosen by means of parameter setting (see chapter 5.4.6). In the positioning
mode, the direction indicators in the display indicate the key to be pressed for the inching
mode to get to the set positioning window (see chapter 5.4.5). For signaling the speed mode,
both direction indicators are activated in the display.
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Display and control keys
If the actual value is unequal after switching on the module and if it is
outside the programmed positioning window, then the LED status is "red" or
"red, flashing" due to volatile storage of the set point. The set point is
initialized with the value 0 after switching on.
LED state
Description
green
Actuator is within the programmed positioning window.
Operating voltage of the output stage is applied.
green, flashing
Actuator is within the programmed position window.
Operating voltage of the output stage missing.
red
Actuator is outside the programmed positioning window.
Operating voltage of the output stage is applied.
red, flashing
Actuator is outside the programmed positioning window.
Operating voltage of the output stage missing.
off
Operating voltage of control missing.
LED state
Description
green
Operating voltage applied to control, no fault.
red, flashing
Operating voltage applied to control, active fault.
flashing
red/green
Operating voltage of control is applied, switch lock active.
off
Operating voltage of control missing.
A test sequence is executed on this LED after switching on the device.
LED state
Description
off
No operating voltage or no IP address.
green
On-line, one or multiple connections established (CIP Class 1 or 3).
green, flashing
On-line, no connection established.
red
Double IP address, fatal error.
red, flashing
On-line, one or multiple connections timeout (CIP Class 1 or 3).
2.2 LED display
2.2.1 Status LED 1
2.2.2 Status LED 2
2.2.3 Network status LED 4
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Display and control keys
LED state
Description
off
no connection, no activity
green
connection (100 Mbit/s) established
green, flickers
activity (100 Mbit/s)
yellow
connection (10 Mbit/s) established
yellow, flickers
activity (10 Mbit/s)
A test sequence is executed on this LED after switching on the device.
LED state
Description
off
no operating voltage
green
control via scanner
green, flashing
not configured or scanner inactive
red
serious error
red, flashing
Correctable error. The module has been configured but the stored
parameters differ from the parameters presently used.
2.2.4 Link/Activity LED 5, 6
2.2.5 Module status LED 7
2.3 Control keys
After applying operating voltage to the control, the actuator will be on the highest level of
the menu structure, the positioning mode will be active (factory setting).
Pressing the - key starts leftward travel (inching operation 2).
Pressing the - key starts rightward travel (inching operation 2).
Releasing the respective key stops travel movement.
Pressing the - key starts the parameter / programming mode.
2.3.1 Key lock and enable time
The access via keys to the functions of Inching mode 2, positioning mode and speed mode
can be generally locked via the Key Function Enable parameter (see chapter 5.5.2). Temporary
locking or enabling is possible via the control word Bit 9. The Key Enable Time parameter
(see chapter 5.5.1) defines the necessary period of holding down the asterisk key until you
get to the menu or until the set point setting via the display is enabled, respectively.
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Display and control keys
When you enter values via the keys, the display range is limited to -199999
… 999999. If values beyond this range are entered via the network or
service protocol, "FULL" will be displayed when the parameter is called up.
2.3.2 Value input
Enter values via the key and the key.
Confirm values entered by pressing the key.
key: decimal place selection
key: value input
2.3.3 Value selection
For some parameters you can select values from a list. Direct value input is not possible there.
Pressing the key, the value can be selected from the list. By pressing the key, the
selection is confirmed.
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Display and control keys
Start
Hold down
key
Key enable time
exprired?
Changeable parameters
PARAM
CHANGE
Read-only parameters
PARAM
RoPARA
Error memory
PARAM
ErrBuF
Changeable
parameters
menu
PIN entry required
Readable
parameters
menu
Error memory
menu
End
yes
no
PIN correct?
yes
no
2.4 Menu control
2.4.1 Menu selection
Fig. 2: Menu selection
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Display and control keys
Description
Display
Page
EtherNet/IP
EIP
38
Positioning
POSIT
45
Actuator
DRIVE
56
Limiting values
BOUNDS
61
Visualization
VISUAL
66
Options
OPTION
70
Controller parameter
CONTR
76
Digital input/output
DIG IO
77
Position Control Mode
PCM
87
Description
Display
PCM Position 1
POS 1
PCM Acceleration 1
ACC 1
PCM Velocity 1
VEL 1
PCM Deceleration 1
DEC 1
Description
Display
Chapter
Output Stage Temperature
OS DEG
5.9.1
Virtual Motor Temperature
VM DEG
5.9.2
Voltage of Control
C VOLT
5.9.3
Voltage of Output Stage
P VOLT
5.9.4
Motor Current
MotCur
5.9.5
Actual Position
POS
5.9.6
Actual Rotational Speed
VEL
5.9.7
Overload
OVLOAD
5.9.8
Gear Reduction
REduc
5.9.10
Encoder Resolution
EncRES
5.9.11
Digital Inputs State
DI4321
5.7.7
Digital Output State
DO 1
SW Motor Controller
VErDrv
5.9.13
SW Ethernet Module
VErMod
5.9.14
2.4.2 Changeable parameters menu
The changeable parameters menu is structured as follows:
2.4.2.1 PCM menu
The PCM menu is divided into single sets of parameters. A set of parameters contains a travel
dataset, e. g. PARAM CHANGE \ PCM \ PCM SET 1 \.
2.4.3 Readable parameters menu
The readable parameters menu contains device information.
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Functional description
Description
Display
Chapter
Serial Number
SEr No
5.9.12
Production Date
DtProd
5.9.15
IP Address
IP 1.2 / 3.4
4.1.1
Subnet Mask
SNM 1.2 / 3.4
4.1.1
Gateway Address
GW 1.2 / 3.4
4.1.1
Description
Display
Number of errors
Err No
Error number 1
Err 01
: : Error number 10
Err 10
2.4.4 Error memory menu
The error memory menu contains the number and type of errors that occurred
(see chapter 3.3.2.1). Up to ten errors are stored non-volatilely in the error memory. Empty
memory locations are not listed in the menu. The last error is at the lowest position in the
menu.
Example: Err No = 6 > The last error is in the menu entry Err 06.
3 Functional description
If there is no upstream control, you can control the drive via keys or digital inputs and service
interface, respectively. You can configure the drive via display and service interface.
3.1 User units
With factory settings, the drive works with 1024 steps per revolution.
If scaling is desired, with no need to consider the internal gearbox, the Spindle Pitch
(see chapter 5.1.2), Gear Ratio Numerator (see chapter 5.1.3) and Gear Ratio Denominator
(see chapter 5.1.4) parameters must be set correspondingly.
The scaled position value is calculated as follows:
The external gear ratio is calculated as follows (see chapter 3.1.3):
Value jumps will occur if scaling exceeds the absolute encoder's basic resolution of 1024 steps
per revolution.
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The following condition shall be met for this reason:
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Functional description
The travel range expressed as user units is calculated with the following formula:
3.1.1 Example of spindle drive
Spindle pitch p = 2 mm
The drive is mounted directly to a spindle.
The desired unit of the position value is 1/100 mm.
The Spindle Pitch parameter (see chapter 5.1.2) is calculated with the following formula:
3.1.2 Example of toothed rod/pinion, straight toothing, metric division
Division p = 5 mm
Number of pinion teeth z = 20
The desired unit of the position value is 1/10 mm.
The Spindle Pitch parameter (see chapter 5.1.2) is calculated with the following formula:
3.1.3 Example external gear
If an external gear is used, a factor can be programmed via the parameters Gear Ratio
Numerator (see chapter 5.1.3) and Gear Ratio Denominator (see chapter 5.1.4) in order to
include the gear ratio in position sensing.
The actuator is operated on a gear (Fig. 3) with transmission reduction of 5:1. For this
purpose, the parameters must be programmed as follows:
Parameter Gear Ratio Numerator = 5
Parameter Gear Ratio Denominator = 1
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Functional description
The actual motor current cannot be indicated by measuring the supply
current. With cycled output stages, the supply current does not correspond
to the motor current. Actual motor current can be read via the interface.
5 revolution
1 revolution
Gear output
external
gear unit
5:1
M
internal drive
Fig. 3: External gear
Input of an odd gear transmission reduction value is possible according to the following
example:
Transmission reduction = 3.78
Parameter Gear Ratio Numerator = 378
Parameter Gear Ratio Denominator = 100
3.2 Protective functions
3.2.1 Current limiting
The current limit is set via parameter Peak Current Limit (see chapter 5.3.3), which serves
primarily for protecting the drive against overload.
With default set, nominal speed indicated on the data sheet is achieved.
Actuator overload results in limiting the motor current to the set value.
As a consequence, the actuator cannot maintain the speed set, the contouring error increases.
The actuator changes to the error status if the contouring error exceeds the contouring error
limit defined by the Contouring Error Limit parameter (see chapter 5.3.6): contouring error.
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Functional description
Active overvoltage protection of the operating voltage of the output stage
is effective only with operating voltage of the control switched on.
The response of active overvoltage protection causes immediate
sluggishness of the driving shaft. This shall be considered when the driving
shaft is adjusted manually.
3.2.2 I2t monitoring
I2t monitoring serves the protection of the output stage and gear.
The I2t limit is calculated with the following formula:
The resulting peak current time is calculated with the following formula:
3.2.3 Temperature monitoring
The temperature of the output stage is measured directly on the output stage board. The
output stage is switched off at 90 °C.
The motor temperature is calculated from the motor current based on a thermal model. An
error is triggered when the motor temperature exceeds 105 °C.
3.2.4 Overvoltage protection with energetic recovery
Besides overvoltage protection by means of passive overvoltage protection elements, the
actuator offers also active overvoltage protection of the operating voltage +UB output stage.
In case of voltage rise caused by energetic recovery (e. g., foreign adjustment), the motor
coils will be short-circuited for at least 4 s if the voltage of 32 V is exceeded. Excess energy
will be converted to heat in the motor coils.
3.2.5 Contouring error monitoring
Disturbance variables such as load and friction may lead to the actuator's inability to follow
the calculated travel profile. If the control deviation of the PID-positioning controller exceeds
the value defined by the Contouring Error Limit parameter (see chapter 5.3.6), the contouring
error will be triggered.
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Functional description
If the error cannot be acknowledged after removal of the cause of error and
the error persists after power-on reset, then the drive must be inspected in
the factory.
Error code
Display
Fault
Trouble shooting
00h - No error
07h
C UVLT
Low control electronics voltage
check control operating voltage
08h
C OVLT
Control electronics overvoltage
check control operating voltage
09h
P OVLT
Power electronics overvoltage
check output stage operating
voltage
0Ah
TMP OS
Output stage excess temperature
reduce ambient temperature
reduce load
0Bh
LAG
Contouring error
reduce load
reduce acceleration or speed
0Ch
BLOCK
Output shaft blocked
disengage shaft
10h
Q1OVR
EEPROM queue overrun
internal error
13h
CSEEP
EEPROM check sum
reset parameters to factory
settings
14h
M WDER
Ethernet module watchdog
internal error
3.3 Warnings / Errors
3.3.1 Warnings
Warnings do not influence the operation of the actuator.
Warnings disappear after removing the cause.
Possible warnings:
Current limiting active. The current limiting bit (bit 12) is set in the status word
(see chapter 3.4.1.7).
3.3.2 Errors
Errors cause an immediate stop of drive movement. For drives with the brake option, the brake
is activated. The drive will be activated if there is no brake option.
An error is indicated via the drive status LEDs and the display.
The error bit (Bit 7) is set in the status word
The error messages are entered in the error memory in the order of their detection. The last
10 error messages are displayed when the error memory is full.
The cause of error can be tracked down with the help of the error codes.
3.3.2.1 Error codes
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Functional description
Error code
Display
Fault
Trouble shooting
15h
M ERRO
Ethernet module in the ERROR
status while travel job is active
internal error
16h
M EXCE
Ethernet module in EXCEPTION state
internal error
The behavior of the drive when
this fault occurs can be set with
the parameter configuration, bit
6 (see chapter 5.5.7).
17h
ACYTO
Timeout in acyclic data exchange
check cycle time of the control
20h
I2T
I2T limit exceeded
reduce load
reduce acceleration or velocity
21h
TMO MO
Motor overtemperature
reduce load or duty cycle
22h
ENCODR
Encoder error
internal error
Table 1: Error codes
3.4 Operating modes
The following operating modes are distinguished: positioning mode and speed mode.
In the positioning mode, inching operation is additionally available. Drive control via digital
inputs and Position Control Mode is possible independent of the chosen operating mode.
3.4.1 Positioning mode
In the positioning mode, positioning to the specified set point is executed by means of a
ramp function (Fig. 4) calculated on the basis of the actual position as well as the
programmed controller parameters acceleration and speed.
After activating the travel job, the actuator accelerates with the acceleration A-Pos
(see chapter 5.2.2) to velocity V-Pos (see chapter 5.2.3). The measure of delay until reaching
the set point is also A-Pos.
Alternately, the delay D-Pos (see chapter 5.2.4) can also be used to configure a value that
deviates from the acceleration.
The actuator is repositioned to the calculated path by means of PID position controller.
The controller can be optimized and adjusted to the local conditions via the Controller
Parameter P (see chapter 5.6.1), Controller Parameter I (see chapter 5.6.2) and Controller
Parameter D (see chapter 5.6.3) controller parameters.
Changing controller parameters during a positioning process does not influence the current
positioning operation.
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Functional description
Positioning operating mode:
If Software Limit 1 (see chapter 5.3.1) is equal Software Limit 2
(see chapter 5.3.2), then monitoring of the software limiting value is
deactivated. If the resolution of the absolute encoder is exceeded, there will
be a jump of the actual position.
Speed operating mode: insignificant
If the drive's position is outside the operating range defined by Software
Limit 1 and Software Limit 2, then traveling is only enabled in inching mode
in the direction of the operating range.
Start position
Target position
Time
Speed
V-Pos
A-Pos
D-Pos
A-Pos
Software Limit 1
Software Limit 2
Travel range
Upper limit
Travel range
Lower limit
+
-
0
Pos Window
Inpos Mode
-10
+10
Operating range
Fig. 4: Ramp travel, direct positioning mode
If the actual position is inside the window defined by the Pos Window parameter
(see chapter 5.1.5), this will be signaled by Bit 5 = 1 in the status word. Upon reaching the
programmed window via parameter (see chapter 5.1.8), you can define the behavior of the
actuator.
Fig. 5: Positioning mode
3.4.1.1 Limiting values
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Functional description
Parameter
Value
Chapter
Digital Input 1 Functionality
1
5.7.1
Digital Input 2 Functionality
2
5.7.2
Digital Inputs Polarity
3
5.7.5
Digital Input Functionalities State
-
5.7.6
Bit 0
Bit 1
Bit 31
Digital Input Functionalities
State
Digital Input 1 Functionality
Value = 1
Digital Input 2 Functionality
Value = 2
Digital input 1
Digital Inputs Polarity
Bit 0 = 1
XOR
Digital input 2
Digital Inputs Polarity
Bit 1 = 1
XOR
The Software Limit 1 (see chapter 5.3.1) and Software Limit 2 parameters (see chapter 5.3.2)
define the operating range of the drive. Travel jobs with target positions outside the
operating range or which are equal the limiting value will not be executed. If the operating
range is left in inching operation, the drive will be stopped. If the brake option is available
for the drive, it will be activated whereas the drive will be activated if there is no brake
option.
3.4.1.2 Limit switch
If the limit switch function is to be used, two digital inputs must be configured
correspondingly.
3.4.1.2.1 Example of a configuration
Example of a configuration for the connection of proximity switches DC PNP N/C contacts
(NC).
Fig. 6: Example of a limit switch configuration
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Functional description
A travel order will not be executed if loop positioning would exceed the
limiting values specified by parameters Software Limit 1 (see chapter 5.3.1)
and Software Limit 2 (see chapter 5.3.2) although the set point is within
the limiting values.
Limit switch 2
Limit switch 1
3.4.1.2.2 Assembly of the limit switches
The limit switches are assembled according to the following pattern independent of the
configured sense of rotation:
Fig. 7: Assembly of the limit switches
3.4.1.3 Loop positioning
If the actuator is operated on a spindle or an additional transmission, 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 (see chapter 5.1.9). Loop length is set via parameter Loop Length
(see chapter 5.1.10).
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.
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Functional description
There is no compensation for spindle backlash (loop positioning) in this
operating mode.
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 operation 1 or 2.
Set point
+
-
Positioning in positive
direction
Positioning in negative
direction
Positioning: loop +
Loop Length
Fig. 8: Positioning Loop+
3.4.1.4 Inching operation
Inching operation is enabled in the positioning mode only. You can program via parameters
acceleration as well as speed in the inching operation.
3.4.1.4.1 Inching operation 1
The drive travels once from the current actual position by the value Delta Inch
(see chapter 5.1.7) 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 operation 1.
The following conditions must be met for enabling the start of inching operations 1 and 2:
Supply voltage of the output stage is applied
Operation enabled
Drive stands still
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Functional description
This function is only available in connection with the spring force brake
option.
The Travel Against Load function, if activated, is only available in inching
operation 1, inching operation 2 and in the positioning mode.
3.4.1.4.2 Inching operation 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 (see chapter 5.2.6)= 10 rpm (can only be changed in the idle state)
Inching 2 Offset (see chapter 5.2.7) = 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.
3.4.1.5 Travel Against Load
Traveling against a pressing load causes temporary displacement of the axis contrary to the
direction of movement when the brake is opened because the motor had not been able to
build up torque. This effect can be counteracted via the Travel Against Load function. The
spring force brake will not be opened until the motor current exceeds the value of the Travel
Against Load Trigger parameter (see chapter 5.3.7). Thus, the motor is able to build up torque
before the brake is opened.
The Travel Against Load Direction parameter (see chapter 5.3.8) defines the travel direction
where the function is intended to be active.
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Functional description
Bit
Description
Bit 0
OFF1 (activate)
0 = OFF1 active
Current travel job is canceled.
The actuator is activated.
1 = OFF1 inactive
Bit 1
OFF2 (max. delay)
0 = OFF2 active
Current travel job is canceled.
The actuator is decelerated with max. delay, the actuator
continues to be controlled.
1 = OFF2 inactive
Bit 2
OFF3 (progr. delay)
0 = OFF3 active
Current travel job is canceled.
The actuator is decelerated with programmed delay, the
actuator continues to be controlled.
1 = OFF3 inactive
Bit 3
Intermediate stop
0 = no intermediate stop
1 = intermediate stop active
Bit 4
Start travel job
Positive flank starts a travel job
Bit 5
Acknowledge error
Positive flank acknowledges an error
Afterwards, the actuator changes to the switch-lock state.
Bit 6
Inching operation 1
0 = no inching operation 1
If the inching operation is not completed yet it will be
canceled.
1 = inching operation 1
As long as this bit is set, the actuator travels the distance
specified in parameter Delta Tipp.
Bit 7
Inching operation 2 positive
0 = no inching operation 2 positive
1 = inching operation 2 positive
The actuator travels in positive direction
Bit 8
Inching operation 2 negative
0 = no inching operation 2 negative
1 = inching operation 2 negative
inching operation 2 negative
Bit 9
Key enable
0 = Key enable as defined by the Key Function Enable
parameter (see chapter 5.5.2)
1 = Key enable inverted as defined by the Key Function
Enable parameter
Bit 10
Relative positioning
0 = absolute positioning
1 = relative positioning
Bit 11 … 14
Reserved, always 0
Bit 15
Calibration
Positive edge calibrates the drive (see chapter 3.4.5)
3.4.1.6 Control word: Positioning mode (master slave)
Table 2: Positioning mode control word
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Functional description
Bit
Description
Bit 0
Operating voltage
0 = output stage operating voltage missing
1 = operating voltage of the output stage is applied
Bit 1
Readiness to travel
0 = not ready to travel
1 = ready to travel
Bit 2
Upper limit
0 = no violation of limit
1 = upper limit exceeded
Bit 3
Lower limit
0 = no violation of limit
1 = lower limit undercut
Bit 4
Actuator travels/stands still
0 = actuator stands still
1 = actuator travels
Bit 5
Inpos
0 = actuator is outside the position window
1 = actuator is inside the position window
Bit 6
Active travel job
0 = no active travel job
1 = active travel job
Bit 7
Error
0 = no error
1 = Error
Acknowledgment with positive flank on Control word bit 5
Bit 8
Operation enabled
0 = operation not enabled
1 = operation enabled
Bit 9
Switch-lock
0 = no switch-lock
1 = switch-lock
Bit 10
Travel job acknowledgment
0 = no acknowledgment
1 = acknowledgment
The bit is set when the travel job was adopted. If bit 4 is
reset in the control word, this bit will be reset as well.
Bit 11
no function
Bit 12
Current limiting
0 = current limiting inactive
1 = current limiting active
Motor current exceeds the value set under parameter Peak
Current Limit (see chapter 5.3.3).
Bit 13
Limit switch 1
0 = Limit switch inactive
1 = Limit switch active (Configuration of a digital input
required) (see chapter 5.7.1).
Bit 14
Limit switch 2
0 = Limit switch inactive
1 = Limit switch active (Configuration of a digital input
required).
Bit 15
Calibration acknowledgment
0 = no acknowledgment
1 = Acknowledgment
The bit is set when calibration has been completed
successfully. If Bit 15 is reset in the control word, this bit is
reset as well.
3.4.1.7 Status word: Positioning mode (slave master)
Table 3: Status word of positioning mode
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Functional description
Operation enabled
SW = 0000 0001 00x0 xxx1
Ready for traveling
SW = 0000 0001 00x0 0011
Supply voltage ON
CW = 0000 0000 0000 0000
Enable operation
CW = 0000 0000 0000 0111
Activate travel job
CW = 0000 0000 0001 0111
Travel job active
SW = 000x 0101 01x1 0001
Intermediate stop active
SW = 0000 0101 01x0 0011
Intermediate stop
CW.3 = 1
Resume positioning
CW.3 = 0
Inching 1 or 2 ON
CW = 0000 0000 0100 0111
or
CW = 0000 0000 1000 0111
or
CW = 0000 0001 0000 0111
Inching 1 or 2 active
SW = 000x 0001 00x1 0001
Inching OFF
CW = 0000 0000 0000 0111
Start
Release switch lock
OFF1 CW.0 = 1/0 or
OFF2 CW.1 = 1/0 or
OFF3 CW.2 = 1/0 or
Asterisk key
or
DI Acknowledge Error 0/1
Switch lock
SW.9 = 1
Acknowledge error
CW.5 = 1
Error
SW.7 = 1
CW = Control Word
SW = Status Word
x = Bit can be 0 or 1
Cancel travel job
OFF1 CW.0 = 1/0 or
OFF2 CW.1 = 1/0 or
OFF3 CW.2 = 1/0
Target position reached
SW = 0000 0001 0010 0011
Specify target position
3.4.1.8 Flow chart: Operating mode Positioning mode
Fig. 9: Flowchart positioning mode
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Functional description
Travel jobs started in stand-alone operation can be canceled anytime by
pressing the key.
The set point setting submenu can also be quit without starting a travel
job. For this purpose, you must wait a period of 30 seconds without
actuating a key. Afterwards, there will be an automatic return to the normal
display.
0
0
Initial state: normal display
First press the key, then the key and hold down together.
TARGET
3
The Key Enable Time (see chapter 5.5.1) is counted down.
TARGET
000000
After expiry of the Key Enable Time, the input field is released.
The first decimal place is active (flashing).
Press the key 2x to change to the third decimal place.
TARGET
000000
The third decimal place is active.
Press the key 5 times.
TARGET
000500
Value 500 will be displayed.
Confirm by pressing the key to start positioning.
3.4.2 Local control (Stand-Alone Operation)
3.4.2.1 Inching operation 2
After applying the operating voltage to the control, the actuator will be on the uppermost
level of the menu structure, positioning mode is active (factory setting).
Pressing the - key starts leftward travel (inching operation 2).
Pressing the - key starts rightward travel (inching operation 2).
Releasing the respective key stops travel movement.
Pressing the - key starts the parameter / programming mode.
3.4.2.2 Specifying the set point
Example: Starting positioning order to position 500
Preconditions:
The display is at the uppermost level of the menu structure (basic state).
Operating mode: Positioning mode
Key functions: enabled
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Functional description
0
0
Initial state: normal display
First press the key, then the key and hold down together.
TARGET
3
The Key Enable Time (see chapter 5.5.1) is counted down.
TARGET
000000
After expiry of the Key Enable Time, the input field is released.
The first decimal place is active (flashing).
Press the key 2x to change to the third decimal place.
TARGET
000000
The third decimal place is active.
Press the key 5 times.
TARGET
000500
Value 500 will be displayed.
Press the key 3x to change to the sixth decimal place.
TARGET
000500
The sixth decimal place is active and flashes.
Press the key 11 times for setting the arithmetical sign.
TARGET
-00500
Value -500 will be displayed.
Confirm by pressing the key to start positioning.
Example: Starting positioning order to position -500
3.4.3 Digital inputs and outputs
The actuator has four configurable digital inputs and one configurable digital output.
Function and switching behavior can be set. The statuses of the digital inputs and outputs
cannot be overwritten via software.
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 (see chapter 5.7.6).
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 Outputs
Functionalities State (see chapter 5.7.10).
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Functional description
Parameter
Value
Chapter
Digital Input 1 Functionality
1
5.7.1
Digital Input 2 Functionality
2
5.7.2
Digital Input 3 Functionality
3
5.7.3
Digital Input 4 Functionality
4
5.7.4
Digital Inputs Polarity
3
5.7.5
Digital Input Functionalities State
-
5.7.6
Bit 0
Bit 1
Bit 2
Bit 3
Bit 31
Digital Input Functionalities
State
Digital Input 1 Functionality
Value = 1
Digital Input 2 Functionality
Value = 2
Digital Input 3 Functionality
Value = 3
Digital Input 4 Functionality
Value = 4
Digital input 1
Digital Inputs Polarity
Bit 0 = 1
XOR
Digital input 2
Digital Inputs Polarity
Bit 1 = 1
XOR
Digital input 3
Digital Inputs Polarity
Bit 2 = 0
XOR
Digital input 4
Digital Inputs Polarity
Bit 3 = 0
XOR
3.4.3.1 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 operation 2 positive travel direction (high-active) pushbutton
Digital input 4: Inching operation 2 negative travel direction (high-active) pushbutton
Fig. 10: Examples of digital input configurations
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Functional description
Parameter
Value
Chapter
Digital Output 1 Functionality
2
5.7.8
Digital Outputs Polarity
0
5.7.9
Digital Output Functionalities State
-
5.7.10
Bit 1
Bit 31
Digital Output Functionalities
State
XOR
Digital Outputs Polarity
Bit 0 = 0
Digital output 1
Digital Output 1 Functionality
Value = 2
Bit 0
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.
3.4.3.2 Example of digital output configuration
Digital output 1: Inpos (high-active)
Fig. 11: Example of digital output configuration
3.4.4 Position Control Mode
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.
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Functional description
Parameter
Value
Chapter
Digital Input 1 Functionality
8
5.7.1
Digital Input 2 Functionality
9
5.7.2
Digital Input 3 Functionality
10
5.7.3
Digital Input 4 Functionality
11
5.7.4
Digital Inputs Polarity
0
5.7.5
Digital Input Functionalities State
-
5.7.6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 0
Bit 31
Digital Input Functionalities
State
Digital Input 1 Functionality
Value = 8
Digital Input 2 Functionality
Value = 9
Digital Input 3 Functionality
Value = 10
Digital Input 4 Functionality
Value = 11
Digital input 1
Digital Inputs Polarity
Bit 0 = 0
XOR
Digital input 2
Digital Inputs Polarity
Bit 1 = 0
XOR
Digital input 3
Digital Inputs Polarity
Bit 2 = 0
XOR
Digital input 4
Digital Inputs Polarity
Bit 3 = 0
XOR
3.4.4.1 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)
Fig. 12: Examples of configuration of the digital inputs for the PCM
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Functional description
Parameter
Chapter
PCM Position 3
5.8.3
PCM Acceleration 3
5.8.10
PCM Velocity 3
5.8.17
PCM Deceleration 3
5.8.24
Input
State
PCM Start
0
PCM input 1
1
PCM input 2
1
PCM input 3
0
Input
State
PCM Start
0/1
PCM input 1
1
PCM input 2
1
PCM input 3
0
Calibration is only possible when no travel job is active and the drive is idle
(no foreign adjustment).
Example of the parameter set of travel data set no. 3.
After applying the coding to the inputs, the desired travel job can be started by a positive
flank on the PCM Start input.
Resetting the PCM Start input during an active positioning process will result in cancellation
of the travel job but the drive will continue to be controlled.
An example of calling travel data set no. 3 is shown below.
Step 1: Create number of travel data set.
Step 2: Start the positioning job.
3.4.5 Calibration
Two steps are required for executing calibration:
Write calibration value: Parameter Calibration Value (see chapter 5.1.11)
Execute calibration (software command or calibration input)
Calibration can be triggered by a positive flank to control word 15 or by writing the value 7 to
the S-Command parameter (see chapter 5.5.8). Alternately, a digital input can be configured
as calibration input as well.
Since the measuring system is an absolute system, calibration is necessary only once with
commissioning. With calibration, the calibration value is adopted for calculation of the
position value. The following equation is applied in case of calibration:
Position value = 0 + calibration value + offset value (see chapter 5.1.6)
Changes to the offset value are immediately included in the calculation of the position value.
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Functional description
With a change of the sense of rotation, the arithmetic sign of the actual
position will be changed.
Limits 1 + 2 are inactivated in this operational mode.
For signaling the speed mode, both direction indicators are activated in the
display.
Exceeding the resolution of the absolute encoder results in a jump of the
actual position.
Left-hand motion
Right-hand motion
3.4.6 Sense of Rotation
With the Sense of Rotation parameter (see chapter 5.1.1), the travel direction can be adjusted
to the mechanical conditions.
Fig. 13: Sense of rotation
3.4.7 Rotational speed mode
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.
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Functional description
Bit
Description
Bit 0
OFF1 (activate)
0 = OFF1 active
Current travel job is canceled.
The actuator is activated.
1 = OFF1 inactive
Bit 1
OFF2 (max. delay)
0 = OFF2 active
Current travel job is canceled.
The actuator is decelerated with max. delay, the actuator
continues to be controlled.
1 = OFF2 inactive
Bit 2
OFF3 (progr. delay)
0 = OFF3 active
Current travel job is canceled.
The actuator is decelerated with prog. delay, the actuator
continues to be controlled.
1 = OFF3 inactive
Bit 3
Reserved, always 0
Bit 4
Start travel job
Positive flank starts a travel job
Bit 5
Acknowledge error
Positive flank acknowledges an error
Afterwards, the actuator changes to the switch-lock state.
Bit 6 … 8
Reserved, always 0
Speed
Time
Target speed
(set point)
A-Rot
'Stop'
Set point enabled
Disable set point
Disable operation
Fig. 14: 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
If the actual speed is inside the window defined by the Pos Window parameter
(see chapter 5.1.5), this will be signaled in the status word Bit 5 = 1.
3.4.7.1 Control word Operating mode: Speed mode
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Functional description
Bit
Description
Bit 9
Key enable
0 = Key enable as defined by Key Function Enable parameter
(see chapter 5.5.2)
1 = Key enable inverted as defined by Key Function Enable
parameter
Bit 10 … 14
Reserved, always 0
Bit 15
Calibration
Positive flank calibrates the drive (see chapter 3.4.5)
Bit
Description
Bit 0
Operating voltage
0 = output stage operating voltage missing
1 = operating voltage of the output stage is applied
Bit 1
Readiness to travel
0 = not ready to travel
1 = ready to travel
Bit 2
no function
Bit 3
no function
Bit 4
Actuator travels/stands still
0 = actuator stands still
1 = actuator travels
Bit 5
Inpos
0 = actuator is outside the position window
1 = actuator is inside the position window
Bit 6
Active travel job
0 = no active travel job
1 = active travel job
Bit 7
Error
0 = no error
1 = Error
Acknowledgment with positive flank on Control word bit 5
Bit 8
Operation enabled
0 = operation not enabled
1 = operation enabled
Bit 9
Switch-lock
0 = no switch-lock
1 = switch-lock
Bit 10
Travel job acknowledgment
0 = no acknowledgment
1 = acknowledgment
The bit is set when the travel job was adopted. If bit 4 is
reset in the control word, this bit will be reset as well.
Bit 11
no function
Bit 12
Current limiting
0 = current limiting inactive
1 = current limiting active
Motor current exceeds the value set under parameter Peak
Current Limit (see chapter 5.3.3).
Bit 13 … 14
no function
Bit 15
Calibration acknowledgment
0 = no acknowledgment
1 = Acknowledgment
The bit is set when calibration was completed successfully. If
bit 15 is reset in the control word, this bit is reset as well.
Table 4: Control word speed mode
3.4.7.2 Status word Operating mode: Speed mode
Table 5: Status word of speed mode
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Page 37
Functional description
Start
Cancel travel job
OFF1 CW.0 = 1/0 or
OFF2 CW.1 = 1/0 or
OFFS3 CW.2 = 1/0
Release switch lock
OFF1 CW.0 = 1/0 or
OFF2 CW.1 = 1/0 or
OFF3 CW.2 = 1/0 or
Asterisk key
or
DI Acknowledge Error 0/1
Switch lock
SW.9 = 1
Acknowledge error
CW.5 = 1
Error
SW.7 = 1
Supply voltage ON
CW = 0000 0000 0000 0000
Enable operation
CW = 0000 0000 0000 0111
Operation enabled
SW = 0000 0001 00x0 00x1
Ready for traveling
SW = 0000 0001 00x0 0011
Enable target value
CW = 0000 0000 0001 0111
Target value enabled
SW = 0000 0101 01xx 0001
Lock target value
CW.4 = 0
Change target value
CW = Control Word
SW = Status Word
x = Bit can be 0 or 1
Specify target value
3.4.7.3 Flow chart: Operating mode Speed mode
Fig. 15: Flow chart speed mode
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Page 38
EtherNet/IP™
After completing the settings, reset (soft boot) is required to ensure that
the changed configuration is adopted.
The IP configuration can be reset to the factory setting by an S-Command
(see chapter 5.5.8).
The IP configuration is assigned to the parameter class N.
Display
Description
NETW
The setting is via the network (factory setting).
DEVICE
The setting is via the display menu.
IP address
0.0.0.0
Subnet mask
0.0.0.0
Gateway
0.0.0.0
DHCP
Enabled
IP address
192.168.1.124
Subnet mask
255.255.255.0
Gateway
192.168.1.1
DHCP
Disabled
IP address
PARAM RoPARA \ IP
Subnet mask
PARAM RoPARA \ SNM
Gateway
PARAM RoPARA \ GW
4 EtherNet/IP™
4.1 Description
The drive has been designed as CIP Generic Device (Type 2Bh).
4.1.1 IP-Configuration
The IP configuration of the actuator can be performed via the network or the display menu.
The selection in the PARAM CHANGE \ PARAM EIP \ NW SET menu determines the setting that
will be used.
With the factory setting, the IP configuration is done automatically via a DHCP server in the
network. The following basic setting applies:
The IP configuration can be switched over to static via the IPconfig HMS software tool or the
web server; i. e., DHCP is deactivated and the IP configuration set is stored non-volatilely.
If IP configuration is via the display menu (DEVICE selection), the following basic setting
applies:
The active IP configuration can be indicated via the display.
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EtherNet/IP™
Start
IP 1.2
IP 3.4
SNM 3.4
SNM 1.2
GW 1.2
GW 3.4
NW SET
RESET
End
DEVICE
NO
YES
NETW
PARAM
EIP
RESET
The IP configuration is in the PARAM CHANGE \ PARAM EIP display menu:
Fig. 16: Setting of the IP address
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EtherNet/IP™
Instance
Description
Type
259
Actual Value
DINT
260
Generic Mapping Channel
DINT
258
Status Word
UINT
257
Digital Inputs State
UINT
Instance
Description
Type
3
Target Value
DINT
2
Control Word
UINT
1
Digital Outputs Control
UINT
Number
Access
Name
Description
Data type
1
Get
Revision
Object revision index
UINT
2
Get
Max. instances
Maximum number of object
instances in this class
UINT
3
Get
Number of
instances
Number of object instances in
this class
UINT
4.1.2 I/O Messages
Cyclic process data exchange is via I/O messages (class-1 connection). Two assemblies are
available, which contain a collection of parameters required for the control of the drive.
Connection: Exclusive Owner
Target (drive) Origin (master)
Assembly Object (04h), instance 64h
Origin (master) Target (drive)
Assembly Object (04h), instance 96h
4.1.3 Explicit Messages
Acyclic exchange of parameter data is via explicit messages (class-3 connection).
The parameter values of the individual instances are accessed via class A2h, attribute 5.
4.1.4 ADI Object (Class A2h)
All drive parameters are contained in the Application Data Instance object. Every parameter
corresponds to an instance in this class. Access to the parameters is via explicit messages.
Class attributes of the ADI object
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EtherNet/IP™
Number
Access
Name
Description
Data type
1
Get
Name
Parameter name (including
length)
SHORT_STRING
2
Get
Data type
Data type of the instance value
USINT
3
Get
Number of
elements
Number of elements of the
specified Data type
USINT
4
Get Bit field describing the access
authorization for this instance
Bit Meaning:
0 set= Get access
1 set= Set access
USINT
5
Get/Set
Value
Instance value
defined by attribute
2
6
Get
Max. value
The maximum admissible
parameter value
7
Get
Min. value
The minimum admissible
parameter value
8
Get
Default value
Standard value
Class
Name
Description
01h
Identity Object
Contains device-specific data
02h
Message Router
04h
Assembly Object
The Assembly Object enables access to
process data
06h
Connection Manager
0Fh
Parameter Object
Contains the available ports, port names and
node addresses
47h
DLR Object
Contains status information of the DLR
protocol
48h
QoS Object
Contains mechanisms for handling data
streams with different priorities
53h
Power Management Object
A2h
ADI Object
Enables access to the parameters of the
actuator
F5h
TCP/IP Interface Object
Enables configuration of the TCP/IP interface
F6h
Ethernet Link Object
Contains connections-specific counters and
status information
Instance attributes of the ADI object
Access to the parameter values is via Get/Set Attribute Single, Attribute 5.
4.2 CIP objects
The following CIP objects are integrated in the actuator:
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EtherNet/IP™
Number
Access
Description
Data type
Default value
1
Get
Object revision index
UINT
0001h
2
Get
Maximum number of object instances
in this class
UINT
3 Get
Number of object instances in this
class
UINT
Number
Access
Name
Data type
Default value
1
Get
Vendor-ID
UINT
053Eh
2
Get
Device Type
UINT
002Bh
3
Get
Product Code
UINT
0102h
4
Get
Revision
Major Revision
Minor Revision
Struct of:
USINT
USINT
01h
02h 5 Get
Status
WORD
6 Get
Serial Number
UDINT
7
Get
Product Name
SHORT_STRING
SIKO DriveLine
AG24
11
Set
Active Language
Struct of:
USINT
USINT
USINT
4.2.1 Identity Object (Class 01h)
The Identity Object contains device-specific data.
Services supported:
Class:
Get_Attribute_Single
Get_Attributes_All
Instance:
Get_Attribute_Single
Set_Attribute_Single
Get_Attributes_All
Reset
4.2.1.1 Class attributes of the Identity Object
4.2.1.2 Instance attributes of the Identity Object
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EtherNet/IP™
Number
Access
Name
Data type
Default value
12
Get
Supported Language List
Array of:
Struct of:
USINT
USINT
USINT
Bit(s)
Name
Description
0
Owned
0 = no connection to master
1 = connection to master established
1 Reserved
2
Configured
0 = device with standard configuration
1 = no standard configuration
3 Reserved
4 … 7
Extended Device
Status
Manufacturer-specific status bits
Value Description
0000b Unknown
0010b At least one faulty I/O connection
0011b No I/O connection established
0100b Non-volatile configuration (EEPROM) faulty
0101b Serious error, bit 10 or bit 11 = 1
0110b At least one I/O connection in the "Run" mode
0111b At least one I/O connection established,
all in the "Idle" operating mode
Others reserved
8
Minor
Recoverable
Fault
0 = no error
1 = resettable error
9
Minor
Unrecoverable
Fault
0 = no error
1 = non-resettable error
10
Major
Recoverable
Fault
0 = no serious error
1 = resettable serious error
11
Major
Unrecoverable
Fault
0 = no serious error
1 = non-resettable serious error
12 … 15
Reserved
4.2.1.3 Status
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Parameters
Parameter classes
Character
Controller parameters
C
Error memory
E
Network parameters
N
Standard parameters
S
Visualization parameters
V
Process data
PD
Chapter
starting with page
Positioning
45
Actuator
56
Limiting values
61
Visualization
66
Options
70
Controller parameters
76
Digital input/output
77
Position Control Mode
87
Device information
104
Error memory
113
4.2.1.4 Reset service of the Identity Object
Type 0: Power Cycling Reset
The device carries out reset.
Type 1: Out of Box Reset
All parameters to factory settings; afterwards, the device carries out reset.
4.3 Commissioning aids
Service software, Add-On Instructions (AOI) or examples of projects including step-by-step
instructions are available as commissioning aids.
5 Parameters
Parameters are classified. The classes C, E, N, S, and V can be separately reset to factory
settings if necessary (see chapter 5.5.8).
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Page 45
Parameters
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1554d / 612h
Web server
1554
Read command
-
Write command
Tx
Menu
PARAM CHANGE \ POSIT \ SEnRot
Value
Display
Service protocol
Description
0 (default)
CW
T0
Sense of rotation i
ascending position values with clockwise
rotation
1
CCW
T1
Sense of rotation e
ascending position values with counterclockwise rotation
EEPROM
yes
Class
S
Unit
-
Data type
DINT
Access
Get/Set
Instance
1549d / 60Dh
Web server
1549
5.1 Positioning
5.1.1 Sense of Rotation
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.1.2 Spindle Pitch
General characteristics
EtherNet/IP
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Parameters
Read command
G013
Write command
H013xxxxx
Menu
PARAM CHANGE \ POSIT \ SPItch
Value
Display
Description
0 … 1000000
0 (default)
No scaling. For calculating the position value
in user units, the Spindle Pitch = 1024 value
must be used.
EEPROM
yes
Class
S
Unit
-
Data type
INT
Access
Get/Set
Instance
1547d / 60Bh
Web server
1547
Read command
G010
Write command
H010xxxxx
Menu
PARAM CHANGE \ POSIT \ GEAR N
Value
Display
Description
1 … 10000
1 (default)
Service protocol
Display
Value range
5.1.3 Gear Ratio Numerator
General characteristics
EtherNet/IP
Service protocol
Display
Value range
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Page 47
Parameters
EEPROM
yes
Class
S
Unit
-
Data type
INT
Access
Get/Set
Instance
1548d / 60Ch
Web server
1548
Read command
G011
Write command
H011xxxxx
Menu
PARAM CHANGE \ POSIT \ GEAR D
Value
Display
Description
1 … 10000
1 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
INT
Access
Get/Set
Instance
1546d / 60Ah
Web server
1546
Read command
G009
Write command
H009xxxxx
Menu
PARAM CHANGE \ POSIT \ InPoSW
5.1.4 Gear Ratio Denominator
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.1.5 Pos Window
General characteristics
EtherNet/IP
Service protocol
Display
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Page 48
Parameters
Value
Display
Description
0 … 1000
10 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
1564d / 61Ch
Web server
1564
Read command
E05
Write command
F05+xxxxxxx
Menu
PARAM CHANGE \ POSIT \ OFFSEt
Value
Display
Description
-999999 … 999999
0 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
1553d / 611h
Web server
1553
Value range
5.1.6 Offset Value
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.1.7 Delta Inch
General characteristics
EtherNet/IP
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Page 49
Parameters
Read command
E04
Write command
F04+xxxxxxx
Menu
PARAM CHANGE \ POSIT \ dInch
Value
Display
Description
-1000000 … 1000000
1024
(default)
Is only significant for drives without brake in the positioning operating
mode.
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1558d / 616h
Web server
1558
Read command
G016
Write command
H016xxxxx
Menu
PARAM CHANGE \ POSIT \ InPOS
Value
Display
Service protocol
Description
0 (default)
Cntrl
H0160000
Permanent positioning regulation to set point
1
Short
H0160001
Positioning control OFF and short circuit of
the motor windings
2
FrEE
H0160002
Positioning control OFF and activation of the
drive
Service protocol
Display
Value range
5.1.8 Inpos Mode
General characteristics
EtherNet/IP
Service protocol
Display
Value range
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Page 50
Parameters
Loop positioning is executed in the positioning mode only.
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1555d / 613h
Web server
1555
Read command
-
Write command
Lx
Menu
PARAM CHANGE \ POSIT \ PoSTYP
Value
Display
Service protocol
Description
0 (default)
DIRECT
L0
Direct traveling from actual position to target
value.
1
POS
L1
Traveling to the target value is always in
positive direction to compensate for spindle
play.
2
NEG
L2
Traveling to the target value is always in
negative direction to compensate for spindle
play.
EEPROM
yes
Class
S
Unit
User units
Data type
INT
Access
Get/Set
Instance
1559d / 617h
Web server
1559
5.1.9 Pos Type
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.1.10 Loop Length
General characteristics
EtherNet/IP
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Parameters
Read command
G017
Write command
H017xxxxx
Menu
PARAM CHANGE \ POSIT \ LooPLE
Value
Display
Description
0 … 30000
512 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
1550d / 60Eh
Web server
1550
Read command
E03
Write command
F03+xxxxxxx
Menu
PARAM CHANGE \ POSIT \ CALVAL
Value
Display
Description
-999999 … 999999
0 (default)
EEPROM
no
Class
PD
Unit
-
Service protocol
Display
Value range
5.1.11 Calibration Value
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.1.12 Control Word
General characteristics
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Page 52
Parameters
Data type
UINT
Access
Get/Set
Instance
2d / 2h
Web server
2
Read command
-
Write command
-
Menu
-
Value
Display
Description
-
no default
EEPROM
no
Class
PD
Unit
-
Data type
UINT
Access
Get
Instance
258d / 102h
Web server
258
Read command
-
Write command
-
Menu
-
Value
Display
Description
-
no default
EtherNet/IP
Service protocol
Display
Data type UINT
5.1.13 Status Word
General characteristics
EtherNet/IP
Service protocol
Display
Data type UINT
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Page 53
Parameters
EEPROM
no
Class
PD
Unit
Positioning mode: User units
Speed mode: rpm
Data type
DINT
Access
Get/Set
Instance
3d / 3h
Web server
3
Read command
E00
Write command
F00+xxxxxxx
Menu
TARGET
Value
Display
Description
-
no default
EEPROM
no
Class
PD
Unit
Positioning mode: User units
Speed mode: rpm
Data type
DINT
Access
Get
Instance
259d / 103h
Web server
259
Read command
Z
Write command
-
Menu
Line 1
5.1.14 Target Value
General characteristics
EtherNet/IP
Service protocol
Display
Data type DINT
5.1.15 Actual Value
General characteristics
EtherNet/IP
Service protocol
Display
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Page 54
Parameters
Value
Display
Description
-
no default
EEPROM
no
Class
-
Unit
-
Data type
UINT
Access
Get
Instance
2572d / A0Ch
Web server
2572
Read command
R
Write command
-
Menu
-
Bit
State
Description
Bit 0
0
Irrelevant
Bit 1
0
Irrelevant
Bit 2
0
Irrelevant
Bit 3
Operating mode: Positioning mode: In Position
1
Actual position is within the positioning window of the programmed
target value.
0
Actual position is outside the positioning window of the programmed
target value.
Operating mode: Speed mode: In Position
1
Actual speed is inside the specified tolerance window of target speed.
0
Actual speed is outside the specified tolerance window.
Bit 4
Actuator travels
1
Actuator travels
0
Actuator stands still (rotational speed <2 rpm)
Data type DINT
5.1.16 System Status Word
General characteristics
EtherNet/IP
Service protocol
Display
Data type UINT
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Parameters
Bit
State
Description
Bit 5
Operating mode: Positioning mode: Upper limit
1
Actual position is above the programmed limiting value. Traveling is
possible only in negative direction in inching operation.
0
Actual position is below the programmed limiting value.
0
Operating mode: Positioning mode: Irrelevant
Bit 6
Operating mode: Positioning mode: Lower limit
1
Actual position is below the programmed limiting value. Traveling is
possible only in positive direction in inching operation.
0
Actual position is above the programmed limiting value.
0
Operating mode: Positioning mode: Irrelevant
Bit 7
Driver state:
1
Motor is activated
0
Motor in control
Bit 8
Error:
1
Actuator has switched to error. The cause of the error must be removed
and acknowledged.
0
No error present
Bit 9
Operating mode: Positioning mode: Loop travel
1
If travel direction unequal start direction (with loop travel).
0
If travel direction equal start direction.
0
Operating mode: Positioning mode: Irrelevant
Bit 10
Output stage operating voltage
1
No voltage, no travelling possible
0
Voltage applied
Bit 11
Ready for travel:
1
Not ready for travel
0
Ready for travel:
Actuator not in error state
No active positioning
Operating voltage of the output stage is applied
Actual position within limits (only positioning mode)
Bit 12
0
Irrelevant
Bit 13
Current limiting:
1
Current limiting active.
0
Current limiting not active.
Bit 14
Operating mode: Positioning mode: Status
1
Positioning active in positioning mode.
0
Positioning inactive.
Operating mode: Speed mode: Status
1
Enable target speed
0
Target speed disabled
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Page 56
Parameters
Bit
State
Description
Bit 15
Contouring error:
1
Contouring error the actuator cannot reach the preset speed due to
too high load.
The actuator switches the contouring error fault.
Remedy: reduce programmed speed!
0
No contouring error actual speed corresponds with required speed
no
default
High Byte
Low Byte
Bit number
15
14
13
12
11
10 9 8 7 6 5 4 3 2 1 0 0 0 1 0 1 0 0 1 0 1 0 0 1 0 0 0 2 9 4 8
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1556d / 614h
Web server
1556
Read command
-
Write command
X0 / X1
Table 6: System Status Word
The system status word consists of 2 bytes and reflects the state of the drive.
Fig. 17: Structure of the system status word
Example (gray background):
binary: 0010 1001 0100 1000
hex: 2 9 4 8
5.2 Actuator
5.2.1 Operating Mode
General characteristics
EtherNet/IP
Service protocol
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Parameters
Menu
PARAM CHANGE \ DRIVE \ OPModE
Value
Display
Service protocol
Description
0 (default)
POS
X0
Positioning mode
1
VEL
X1
Speed mode
EEPROM
yes
Class
C
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
1540d / 604h
Web server
1540
Read command
G003
Write command
H003xxxxx
Menu
PARAM CHANGE \ DRIVE \ A POS
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
C
Unit
U/min
Display
Value range
5.2.2 A-Pos
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.2.3 V-Pos
General characteristics
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Page 58
Parameters
Data type
INT
Access
Get/Set
Instance
1541d / 605h
Web server
1541
Read command
G004
Write command
H004xxxxx
Menu
PARAM CHANGE \ DRIVE \ V POS
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EEPROM
yes
Class
C
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
1542d / 606h
Web server
1542
Read command
G044
Write command
H044xxxxx
Menu
PARAM CHANGE \ DRIVE \ D POS
Value
Display
Description
1 … 101
101 % = the delay is determined by the A-Pos
parameter.
101 (default)
EtherNet/IP
Service protocol
Display
Value range
5.2.4 D-Pos
General characteristics
EtherNet/IP
Service protocol
Display
Value range
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Parameters
EEPROM
yes
Class
C
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
1544d / 608h
Web server
1544
Read command
G007
Write command
H007xxxxx
Menu
PARAM CHANGE \ DRIVE \ A INCH
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
C
Unit
rpm
Data type
INT
Access
Get/Set
Instance
1545d / 609h
Web server
1545
Read command
G008
Write command
H008xxxxx
Menu
PARAM CHANGE \ DRIVE \ V INCH
5.2.5 A-Inch
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.2.6 V-Inch
General characteristics
EtherNet/IP
Service protocol
Display
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Parameters
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EEPROM
no
Class
S
Unit
%
Data type
USINT
Access
Get/Set
Instance
1562d / 61Ah
Web server
1562
Read command
G027
Write command
H027xxxxx
Menu
PARAM CHANGE \ DRIVE \ OFFIn2
Value
Display
Description
10 … 100
100 (default)
EEPROM
yes
Class
C
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
1543d / 607h
Web server
1543
Value range
5.2.7 Inching 2 Offset
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.2.8 A-Rot
General characteristics
EtherNet/IP
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 60 of 130
Page 61
Parameters
Read command
G005
Write command
H005xxxxx
Menu
PARAM CHANGE \ DRIVE \ A ROT
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
1551d / 60Fh
Web server
1551
Read command
E01
Write command
F01±xxxxxxx
Menu
PARAM CHANGE \ BOUNDS \ SwLIM1
Value
Display
Description
-2097152 … 2097151
999999 (default)
Service protocol
Display
Value range
5.3 Limiting values
5.3.1 Software Limit 1
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 61 of 130
Page 62
Parameters
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
1552d / 610h
Web server
1552
Read command
E02
Write command
F02±xxxxxxx
Menu
PARAM CHANGE \ BOUNDS \ SwLIM2
Value
Display
Description
-2097152 … 2097151
-199999 (default)
EEPROM
yes
Class
S
Unit
mA
Data type
INT
Access
Get/Set
Instance
577d / 241h
Web server
577
Read command
G080
Write command
H080xxxxx
Menu
PARAM CHANGE \ BOUNDS \ PKCurL
5.3.2 Software Limit 2
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.3.3 Peak Current Limit
General characteristics
EtherNet/IP
Service protocol
Display
AG24
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Page 63
Parameters
Value
Display
Description
0 … 12000
12000 (default)
EEPROM
yes
Class
S
Unit
x100 ms
Data type
INT
Access
Get/Set
Instance
578d / 242h
Web server
578
Read command
G081
Write command
H081xxxxx
Menu
PARAM CHANGE \ BOUNDS \ PKCurT
Value
Display
Description
0 … 40
40 (default)
EEPROM
yes
Class
S
Unit
mA
Data type
INT
Access
Get/Set
Instance
579d / 243h
Web server
579
Value range
5.3.4 Peak Current Time
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.3.5 Continuous Current
General characteristics
EtherNet/IP
AG24
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Page 64
Parameters
Read command
G082
Write command
H082xxxxx
Menu
PARAM CHANGE \ BOUNDS \ CoCurL
Value
Display
Description
0 … 7500
7500 (default)
EEPROM
yes
Class
S
Unit
Steps
Data type
INT
Access
Get/Set
Instance
1560d / 618h
Web server
1560
Read command
G018
Write command
H018xxxxx
Menu
PARAM CHANGE \ BOUNDS \ CoErrL
Value
Display
Description
1 … 30000
1024 (default)
EEPROM
yes
Class
S
Unit
mA
Service protocol
Display
Value range
5.3.6 Contouring Error Limit
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.3.7 Travel Against Load Trigger
General characteristics
AG24
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Page 65
Parameters
Data type
INT
Access
Get/Set
Instance
2049d / 801h
Web server
2049
Read command
G070
Write command
H070xxxxx
Menu
PARAM CHANGE \ BOUNDS \ TALTrG
Value
Display
Description
0 … 7500
0 (default)
Load approach function deactivated
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
2050d / 802h
Web server
2050
Read command
G071
Write command
H071xxxxx
Menu
PARAM CHANGE \ BOUNDS \ TALDir
Value
Display
Description
0 (default)
POS
positive sense of rotation
1
NEG
negative sense of rotation
EtherNet/IP
Service protocol
Display
Value range
5.3.8 Travel Against Load Direction
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
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Page 66
Parameters
EEPROM
yes
Class
V
Unit
-
Data type
USINT
Access
Get/Set
Instance
1795d / 703h
Web server
1795
Read command
G030
Write command
H030xxxxx
Menu
PARAM CHANGE \ VISUAL \ dISP O
Value
Display
Description
0 (default)
0
Orientation 0°
1
180
Orientation 180°
EEPROM
yes
Class
V
Unit
-
Data type
USINT
Access
Get/Set
Instance
1793d / 701h
Web server
1793
Read command
G031
Write command
H031xxxxx
5.4 Visualization
5.4.1 Display Orientation
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.4.2 Display Divisor
Divisor diminishing the display accuracy vs the measurement resolution.
General characteristics
EtherNet/IP
Service protocol
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 66 of 130
Page 67
Parameters
Menu
PARAM CHANGE \ VISUAL \ DIV
Value
Display
Divisor
0 (default)
1 1 1
10
10 2 100
100 3 1000
1000
EEPROM
yes
Class
V
Unit
-
Data type
USINT
Access
Get/Set
Instance
1794d / 702h
Web server
1794
Read command
G035
Write command
H035xxxxx
Menu
PARAM CHANGE \ VISUAL \ DIVAPL
Value
Display
Description
0 (default)
ALL
Application to the displayed value and the true value of the target
and actual positions.
1
DISPL
Application only to the displayed value of the target and actual
positions.
EEPROM
yes
Class
V
Unit
-
Display
Value range
5.4.3 Display Divisor Application
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.4.4 Decimal Places
General characteristics
AG24
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Page 68
Parameters
Data type
USINT
Access
Get/Set
Instance
1796d / 704h
Web server
1796
Read command
G032
Write command
H032xxxxx
Menu
PARAM CHANGE \ VISUAL \ dECI P
Value
Display
Number of decimal place
0 (default)
0 0 1
0.1 1 2
0.02
2 3 0.003
3 4 0.0004
4
EEPROM
yes
Class
V
Unit
-
Data type
USINT
Access
Get/Set
Instance
1797d / 705h
Web server
1797
Read command
G033
Write command
H033xxxxx
Menu
PARAM CHANGE \ VISUAL \ IndIcF
EtherNet/IP
Service protocol
Display
Value range
5.4.5 Direction Indication Function
General characteristics
EtherNet/IP
Service protocol
Display
AG24
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Page 69
Parameters
Value
Display
Description
0 (default)
ON
On 1 InVErt
inverted
2
OFF
Off
EEPROM
yes
Class
V
Unit
-
Data type
USINT
Access
Get/Set
Instance
1798d / 706h
Web server
1798
Read command
G043
Write command
H043xxxxx
Menu
PARAM CHANGE \ VISUAL \ LinE2
Value
Display
Description
Chapter
0 (default)
TARGET
Target Value
5.1.14
1
OS DEG
Output Stage Temperature
5.9.1
2
VM DEG
Virtual Motor Temperature
5.9.2
3
C VOLT
Voltage of Control
5.9.3
4
P VOLT
Voltage of Output Stage
5.9.4
5
MotCur
Motor Current
5.9.5
6
POS
Actual Position
5.9.6
7
VEL
Actual Rotational Speed
5.9.7
8
OVLOAd
Overload
5.9.8
9
ConErr
Actual Contouring Error
5.9.9
Value range
5.4.6 Displayed Value 2nd Line
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
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Page 70
Parameters
EEPROM
yes
Class
V
Unit
s
Data type
USINT
Access
Get/Set
Instance
1799d / 707h
Web server
1799
Read command
G029
Write command
H029xxxxx
Menu
PARAM CHANGE \ OPTION \ CdELAY
Value
Display
Description
1 … 60
3 (default)
EEPROM
yes
Class
V
Unit
-
Data type
USINT
Access
Get/Set
Instance
1800d / 708h
Web server
1800
Read command
G028
Write command
H028xxxxx
5.5 Options
5.5.1 Key Enable Time
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.5.2 Key Function Enable
General characteristics
EtherNet/IP
Service protocol
AG24
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Page 71
Parameters
Menu
PARAM CHANGE \ OPTION \ bUTTON
Value
Display
Description
0 (default)
ON
All functions enabled via key
1
OFF
All functions disabled via key
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1563d / 61Bh
Web server
1563
Read command
G039
Write command
H039xxxxx
Menu
PARAM CHANGE \ OPTION \ AccTYP
Value
Display
Description
0 (default)
StAt
Static acceleration
Acceleration occurs to final speed as defined under parameter AInch (see chapter 5.2.5).
1
dYN
Incremental acceleration
Acceleration occurs to final speed as defined under parameter AInch (see chapter 5.2.5) with the following increments:
4 s to 20 % of final speed
2 s to 50 % of final speed
1 s to 100 % of final speed
Display
Value range
5.5.3 Inching 2 Acceleration Type
The acceleration type in Inching operation 2 can be influenced via this parameter.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
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Page 72
Parameters
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1557d / 615h
Web server
1557
Read command
G015
Write command
H015xxxxx
Menu
PARAM CHANGE \ OPTION \ StoP2
Value
Display
Description
0 (default)
HARd
Stop with maximum delay
1
SOFT
Stop with programmed delay
EEPROM
yes
Class
V
Unit
-
Data type
DINT
Access
Get/Set
Instance
1801d / 709h
Web server
1801
Read command
G041
Write command
H041xxxxx
5.5.4 Inching 2 Stop Mode
The delay ramp in Inching operation 2 can be influenced via this parameter.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.5.5 PIN Change
Required PIN to enable changing of parameters via keys and display.
General characteristics
EtherNet/IP
Service protocol
AG24
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Page 73
Parameters
Menu
PARAM CHANGE \ OPTION \ PIN
Value
Display
Description
0 … 99999
0 (default)
EEPROM
yes
Class
N
Unit
-
Data type
USINT
Access
Get/Set
Instance
546d / 222h
Web server
546
Read command
G160
Write command
H160xxxxx
Menu
PARAM CHANGE \ OPTION \ GENMAP
Value
Display
Description
Chapter
0 (default)
TARGET
Target Value
5.1.14
1
OS DEG
Output Stage Temperature
5.9.1
2
VM DEG
Virtual Motor Temperature
5.9.2
3
C VOLT
Voltage of Control
5.9.3
4
P VOLT
Voltage of Output Stage
5.9.4
5
MotCur
Motor Current
5.9.5
6
POS
Actual Position
5.9.6
7
VEL
Actual Rotational Speed
5.9.7
8
OVLOAd
Overload
5.9.8
9
ConErr
Actual Contouring Error
5.9.9
10
ERROR
Actual Error
3.3.2.1
Display
Value range
5.5.6 Generic Mapping Parameter
This parameter defines the content of the Generic Mapping Channel, which is a component of
the process data.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
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Page 74
Parameters
EEPROM
yes
Class
S
Unit
-
Data type
UINT
Access
Get/Set
Instance
2849d / B21h
Web server
2849
Read command
G061
Write command
H061xxxxx
Menu
PARAM CHANGE \ OPTION \ CONFIG
Bit
Description
0
SHICP (Secure Host IP Configuration Protocol)
0 = switched off
1 = switched on (default)
Changes are only adopted after reset.
1
Web server
0 = switched off
1 = switched on (default)
Changes are only adopted after reset.
2
Parameter access via web server
0 = switched off
1 = switched on (default)
Changes are only adopted after reset.
3
FTP Server
0 = switched off
1 = switched on (default)
Changes are only adopted after reset.
4
FTP Server administrator rights
0 = no (default)
1 = yes
Changes are only adopted after reset.
5
Reserved, always 0
5.5.7 Configuration
This parameter configures various functions of the actuator.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
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Page 75
Parameters
Bit
Description
6
Auto reset in the EXCEPTION state
0 = switched off (default):
In the EXCEPTION state, the drive stops participating in network traffic and can no
longer be addressed. To exit this state, a Power On Reset is required.
1 = switched on:
In the EXCEPTION state, the drive automatically performs a reset. After the restart,
the EXCEPTION fault is triggered.
7 … 15
Reserved, always 0
EEPROM
no
Class
-
Unit
-
Data type
USINT
Access
Get/Set
Instance
3073d / C01h
Web server
3073
Read command
-
Write command
Sxxxxx / K
Menu
PARAM CHANGE \ OPTION \ LOAdP
Value
Display
Service protocol
Description
0
NO - No function
1
ALL
S11100
Reset all parameters (C, N, S, and V) to
factory settings
2
StAnd
S11101
Reset only standard parameters (Class S) to
factory settings
3
CONTR
S11102
Reset only controller parameters (Class C) to
factory settings
4
VISUAL
S11003
Reset only visualization parameters (Class V)
to factory settings
5
NETW
S11004
Reset only network parameters (Class N) to
factory settings
6
AckErr
S11103
Acknowledge error
7
CALIb
S11104
Calibrate
8
dLErr
S11105
Delete error memory (Class E)
5.5.8 S-Command
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
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Page 76
Parameters
Value
Display
Service protocol
Description
9
RESET
K
Execute soft start
no default
EEPROM
yes
Class
C
Unit
-
Data type
INT
Access
Get/Set
Instance
1537d / 601h
Web server
1537
Read command
G000
Write command
H000xxxxx
Menu
PARAM CHANGE \ CONTR \ CPAr P
Value
Display
Description
1 … 500
300 (default)
EEPROM
yes
Class
C
Unit
-
5.6 Controller parameter
5.6.1 Controller Parameter P
The setting applies to all operating modes.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.6.2 Controller Parameter I
The setting applies to all operating modes.
General characteristics
AG24
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Page 77
Parameters
Data type
INT
Access
Get/Set
Instance
1538d / 602h
Web server
1538
Read command
G001
Write command
H001xxxxx
Menu
PARAM CHANGE \ CONTR \ CPAr I
Value
Display
Description
0 … 500
2 (default)
EEPROM
yes
Class
C
Unit
-
Data type
INT
Access
Get/Set
Instance
1539d / 603h
Web server
1539
Read command
G002
Write command
H002xxxxx
Menu
PARAM CHANGE \ CONTR \ CPAr D
Value
Display
Description
0 … 500
0 (default)
EtherNet/IP
Service protocol
Display
Value range
5.6.3 Controller Parameter D
The setting applies to all operating modes.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
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Page 78
Parameters
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1025d / 401h
Web server
1025
Read command
G049
Write command
H049xxxxx
Menu
PARAM CHANGE \ DIG IO \ F DI 1
Value
Display
Description
0 (default)
GENERL
General use
No function is assigned to the digital input.
1
LIMSw1
Limit switch 1
2
LIMSw2
Limit switch 2
3
INch2P
Inching operation 2 positive direction
4
INch2N
Inching operation 2 negative direction
5
CALIb
Calibrate
6
AcKErr
Acknowledge error
7
INch1
Inching operation 1, direction as programmed
8
PCMAbS
PCM Start absolute
9
PCMIN1
PCM input 1
10
PCMIN2
PCM input 2
11
PCMIN3
PCM input 3
12
INch1P
Inching operation 1 positive direction
13
INch1N
Inching operation 1 negative direction
14
PCMREL
PCM Start relative
5.7 Digital input/output
5.7.1 Digital Input 1 Functionality
This parameter determines the functionality of digital input 1.
With a value greater than 0 set, a function is assigned to the digital input.
The functional state can be read from the Digital Input Functionalities State register.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 78 of 130
Page 79
Parameters
Value
Display
Description
15
RESET
Run warm start
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1026d / 402h
Web server
1026
Read command
G050
Write command
H050xxxxx
Menu
PARAM CHANGE \ DIG IO \ F DI 2
Value
Display
Description
0 … 15
0 (default)
EEPROM
yes
Class
S
Unit
-
Table 7: Configuration of digital inputs
5.7.2 Digital Input 2 Functionality
This parameter determines the functionality of digital input 2.
With a value greater than 0 set, a function is assigned to the digital input.
The functional state can be read from the Digital Input Functionalities State register.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
Description, see Table 7.
5.7.3 Digital Input 3 Functionality
This parameter determines the functionality of digital input 3.
With a value greater than 0 set, a function is assigned to the digital input.
The functional state can be read from the Digital Input Functionalities State register.
General characteristics
AG24
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Page 80
Parameters
Data type
USINT
Access
Get/Set
Instance
1027d / 403h
Web server
1027
Read command
G051
Write command
H051xxxxx
Menu
PARAM CHANGE \ DIG IO \ F DI 3
Value
Display
Description
0 … 15
0 (default)
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1028d / 404h
Web server
1028
Read command
G052
Write command
H052xxxxx
Menu
PARAM CHANGE \ DIG IO \ F DI 4
EtherNet/IP
Service protocol
Display
Value range
Description, see Table 7.
5.7.4 Digital Input 4 Functionality
This parameter determines the functionality of digital input 4.
With a value greater than 0 set, a function is assigned to the digital input.
The functional state can be read from the Digital Input Functionalities State register.
General characteristics
EtherNet/IP
Service protocol
Display
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 80 of 130
Page 81
Parameters
Value
Display
Description
0 … 15
0 (default)
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
1030d / 406h
Web server
1030
Read command
G054
Write command
H054xxxxx
Bit
Menu
Description
0
PARAM CHANGE \ DIG IO \ P DI 1
Digital input 1 polarity
1
PARAM CHANGE \ DIG IO \ P DI 2
Digital input 2 polarity
2
PARAM CHANGE \ DIG IO \ P DI 3
Digital input 3 polarity
3
PARAM CHANGE \ DIG IO \ P DI 4
Digital input 4 polarity
4 … 7
Not assigned
Bit-Wert
Display
Description
0 (default)
HIGH
positive logics
1
LOW
negative logics
Value range
Description, see Table 7.
5.7.5 Digital Inputs Polarity
This parameter determines the switching behavior individually for every digital input.
A bit that defines the switching logics is assigned to every digital input.
General characteristics
EtherNet/IP
Service protocol
Value range
AG24
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Page 82
Parameters
EEPROM
no
Class
-
Unit
-
Data type
UDINT
Access
Get
Instance
1029d / 405h
Web server
1029
Read command
U1029
Write command
-
Menu
-
Bit
Description
0
Limit switch 1
1
Limit switch 2
2
Inching operation 2 positive direction
3
Inching operation 2 negative direction
4
Calibrate
5
Acknowledge error
6
Inching operation 1, direction as programmed
7
PCM Start absolute
8
PCM input 1
9
PCM input 2
10
PCM input 3
11
Inching operation 1 positive direction
12
Inching operation 1 negative direction
13
PCM Start relative
14
Execute soft start
15 … 31
Not assigned
no default
5.7.6 Digital Input Functionalities State
The states of the digital inputs are mapped in this register according to the functionalities
set. A bit is assigned to every function.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
Table 8: States of the digital inputs
AG24
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Page 83
Parameters
Default
no
EEPROM
no
Class
PD
Unit
-
Data type
UINT
Access
Get
Instance
257d / 101h
Web server
257
Read command
B005 (Decimal notation)
Write command
-
Menu
PARAM RoPARA \ DI4321
Bit
Description
0
State of digital input 1
1
State of digital input 2
2
State of digital input 3
3
State of digital input 4
4 … 15
Not assigned
no default
EEPROM
yes
Class
S
Unit
-
5.7.7 Digital Inputs State
General characteristics
EtherNet/IP
Service protocol
Display
Data type UINT
5.7.8 Digital Output 1 Functionality
This parameter determines the function of digital output 1.
This setting determines the bit position in the Digital Outputs Status register, which governs
the state of the digital output.
General characteristics
AG24
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Page 84
Parameters
Data type
USINT
Access
Get/Set
Instance
769d / 301h
Web server
769
Read command
G046
Write command
H046xxxxx
Menu
PARAM CHANGE \ DIG IO \ F DO 1
Value
Display
Description
0 (default)
GENERL
General use
Control of the control output is directly via bit DO1 in the process
data.
1
FAULT
The output is switched active in case of fault.
2
INPOS
The state of bit Inpos in the status word defines the state of the
digital output.
3
ON
The output is switched on permanently.
4
OP EN
The output is active in the Operation enabled status.
5
NOTMOV
Drive is idle
EEPROM
yes
Class
S
Unit
-
Data type
USINT
Access
Get/Set
Instance
771d / 303h
Web server
771
Read command
G048
Write command
H048xxxxx
EtherNet/IP
Service protocol
Display
Value range
5.7.9 Digital Outputs Polarity
This parameter determines the switching behavior individually for every digital output.
A bit that defines the switching logics is assigned to every digital output.
General characteristics
EtherNet/IP
Service protocol
AG24
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Page 85
Parameters
Bit
Menu
Description
0
PARAM CHANGE \ DIG IO \ P DO 1
Digital output 1 polarity
1 … 7
Not assigned
Bit value
Display
Description
0 (default)
HIGH
positive logics
1
LOW
negative logics
EEPROM
no
Class
-
Unit
-
Data type
UDINT
Access
Get
Instance
770d / 302h
Web server
770
Read command
U0770
Write command
-
Menu
-
Bit
Description
0
Error
0 = no error
1 = error active
1
Inpos
0 = actual value outside the positioning window
1 = actual value inside the positioning window
2
Output on
The bit is permanently set.
3
Operation enabled
0 = operation not enabled
1 = operation enabled
Value range
5.7.10 Digital Output Functionalities State
The functional states that can be assigned to the digital output can be read from this
register.
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 85 of 130
Page 86
Parameters
Bit
Description
4
Drive stands still
0 = Drive does not stand still
1 = drive stands still
5 … 31
Not assigned
no default
EEPROM
no
Class
PD
Unit
-
Data type
UINT
Access
Get/Set
Instance
1d / 1h
Web server
1
Read command
G060
Write command
H060xxxxx
Menu
-
Bit
Description
0
Digital output 1
1 … 15
Reserved, always 0
no default
EEPROM
yes
Class
S
Unit
-
5.7.11 Digital Outputs Control
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.7.12 Service Interface Baud Rate
General characteristics
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 86 of 130
Page 87
Parameters
Data type
USINT
Access
Get/Set
Instance
545d / 221h
Web server
545
Read command
G025
Write command
H025xxxxx
Menu
PARAM CHANGE \ DIG IO \ BAUD
Value
Display
Description
0
19.2
19.2 kBit/s
1 (default)
57.6
57.6 kBit/s
2
115.2
115.2 kBit/s
3
9.6
9.6 kBit/s
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
2338d / 922h
Web server
2338
Read command
E10
Write command
F10+xxxxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 1 \ POS 1
EtherNet/IP
Service protocol
Display
Value range
5.8 Position Control Mode
5.8.1 PCM Position 1
General characteristics
EtherNet/IP
Service protocol
Display
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 87 of 130
Page 88
Parameters
Value
Display
Description
-2097152 … 2097151
0 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
2339d / 923h
Web server
2339
Read command
E11
Write command
F11+xxxxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 2 \ POS 2
Value
Display
Description
-2097152 … 2097151
0 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
2340d / 924h
Web server
2340
Value range
5.8.2 PCM Position 2
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.3 PCM Position 3
General characteristics
EtherNet/IP
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 88 of 130
Page 89
Parameters
Read command
E12
Write command
F12+xxxxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 3 \ POS 3
Value
Display
Description
-2097152 … 2097151
0 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
2341d / 925h
Web server
2341
Read command
E13
Write command
F13+xxxxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 4 \ POS 4
Value
Display
Description
-2097152 … 2097151
0 (default)
EEPROM
yes
Class
S
Unit
User units
Service protocol
Display
Value range
5.8.4 PCM Position 4
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.5 PCM Position 5
General characteristics
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 89 of 130
Page 90
Parameters
Data type
DINT
Access
Get/Set
Instance
2342d / 926h
Web server
2342
Read command
E14
Write command
F14+xxxxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 5 \ POS 5
Value
Display
Description
-2097152 … 2097151
0 (default)
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
2343d / 927h
Web server
2343
Read command
E15
Write command
F15+xxxxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 6 \ POS 6
Value
Display
Description
-2097152 … 2097151
0 (default)
EtherNet/IP
Service protocol
Display
Value range
5.8.6 PCM Position 6
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 90 of 130
Page 91
Parameters
EEPROM
yes
Class
S
Unit
User units
Data type
DINT
Access
Get/Set
Instance
2344d / 928h
Web server
2344
Read command
E16
Write command
F16+xxxxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 7 \ POS 7
Value
Display
Description
-2097152 … 2097151
0 (default)
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
2370d / 942h
Web server
2370
Read command
G100
Write command
H100xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 1 \ ACC 1
5.8.7 PCM Position 7
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.8 PCM Acceleration 1
General characteristics
EtherNet/IP
Service protocol
Display
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 91 of 130
Page 92
Parameters
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
2371d / 943h
Web server
2371
Read command
G101
Write command
H101xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 2 \ ACC 2
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
2372d / 944h
Web server
2372
Value range
5.8.9 PCM Acceleration 2
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.10 PCM Acceleration 3
General characteristics
EtherNet/IP
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 92 of 130
Page 93
Parameters
Read command
G102
Write command
H102xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 3 \ ACC 3
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
2373d / 945h
Web server
2373
Read command
G103
Write command
H103xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 4 \ ACC 4
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Service protocol
Display
Value range
5.8.11 PCM Acceleration 4
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.12 PCM Acceleration 5
General characteristics
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 93 of 130
Page 94
Parameters
Data type
INT
Access
Get/Set
Instance
2374d / 946h
Web server
2374
Read command
G104
Write command
H104xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 5 \ ACC 5
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
2375d / 947h
Web server
2375
Read command
G105
Write command
H105xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 6 \ ACC 6
Value
Display
Description
1 … 100
50 (default)
EtherNet/IP
Service protocol
Display
Value range
5.8.13 PCM Acceleration 6
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 94 of 130
Page 95
Parameters
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
2376d / 948h
Web server
2376
Read command
G106
Write command
H106xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 7 \ ACC 7
Value
Display
Description
1 … 100
50 (default)
EEPROM
yes
Class
S
Unit
rpm
Data type
INT
Access
Get/Set
Instance
2402d / 962h
Web server
2402
Read command
G120
Write command
H120xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 1 \ VEL 1
5.8.14 PCM Acceleration 7
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.15 PCM Velocity 1
General characteristics
EtherNet/IP
Service protocol
Display
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 95 of 130
Page 96
Parameters
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EEPROM
yes
Class
S
Unit
rpm
Data type
INT
Access
Get/Set
Instance
2403d / 963h
Web server
2403
Read command
G121
Write command
H121xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 2 \ VEL 2
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EEPROM
yes
Class
S
Unit
rpm
Value range
5.8.16 PCM Velocity 2
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.17 PCM Velocity 3
General characteristics
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 96 of 130
Page 97
Parameters
Data type
INT
Access
Get/Set
Instance
2404d / 964h
Web server
2404
Read command
G122
Write command
H122xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 3 \ VEL 3
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EEPROM
yes
Class
S
Unit
rpm
Data type
INT
Access
Get/Set
Instance
2405d / 965h
Web server
2405
Read command
G123
Write command
H123xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 4 \ VEL 4
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EtherNet/IP
Service protocol
Display
Value range
5.8.18 PCM Velocity 4
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 97 of 130
Page 98
Parameters
EEPROM
yes
Class
S
Unit
rpm
Data type
INT
Access
Get/Set
Instance
2406d / 966h
Web server
2406
Read command
G124
Write command
H124xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 5 \ VEL 5
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EEPROM
yes
Class
S
Unit
rpm
Data type
INT
Access
Get/Set
Instance
2407d / 967h
Web server
2407
Read command
G125
Write command
H125xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 6 \ VEL 6
5.8.19 PCM Velocity 5
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.20 PCM Velocity 6
General characteristics
EtherNet/IP
Service protocol
Display
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 98 of 130
Page 99
Parameters
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EEPROM
yes
Class
S
Unit
rpm
Data type
INT
Access
Get/Set
Instance
2408d / 968h
Web server
2408
Read command
G126
Write command
H126xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 7 \ VEL 7
Value
Display
Description
i=30.6: 1 … 150
i=50.0: 1 … 90
i=70.8: 1 … 64
10 (default)
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Value range
5.8.21 PCM Velocity 7
General characteristics
EtherNet/IP
Service protocol
Display
Value range
5.8.22 PCM Deceleration 1
General characteristics
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 99 of 130
Page 100
Parameters
Data type
INT
Access
Get/Set
Instance
2434d / 982h
Web server
2434
Read command
G140
Write command
H140xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 1 \ DEC 1
Value
Display
Description
1 … 101
101 % = the delay is determined by the PCM
Acceleration 1 parameter.
101 (default)
EEPROM
yes
Class
S
Unit
%, 100 % 4 U/s²
Data type
INT
Access
Get/Set
Instance
2435d / 983h
Web server
2435
Read command
G141
Write command
H141xxxxx
Menu
PARAM CHANGE \ PCM \ PCM SET 2 \ DEC 2
Value
Display
Description
1 … 101
101 % = the delay is determined by the PCM
Acceleration 2 parameter.
101 (default)
EtherNet/IP
Service protocol
Display
Value range
5.8.23 PCM Deceleration 2
General characteristics
EtherNet/IP
Service protocol
Display
Value range
AG24
Date: 09.07.2018 Art. No. 89255 Mod. status 225/18 Page 100 of 130
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