Siko AG03/1 Operation & User’s Manual

Change Status 025/21 Page 2 of 63 Table of Contents 1 General Information .................................................................................................. 6 1.1 Documentation.........................................................................................................6 1.1.1 History ................................................................................................................6 1.2 Definitions ..............................................................................................................6 1.3 Intended Use ...........................................................................................................7 1.4 Switching on the operating voltage .............................................................................7 2 Display and control keys ............................................................................................ 7 2.1 General information ..................................................................................................7 2.2 LED displays.............................................................................................................7 2.2.1 Status LED ...........................................................................................................8 2.2.2 COM LED ..............................................................................................................8 2.3 Operating keys .........................................................................................................8 2.3.1 Setup Operation ....................................................................................................8 2.3.2 Ex-works setting ...................................................................................................9 3 Operation description ................................................................................................ 9 3.1 Operating modes ......................................................................................................9 3.1.1 Positioning Mode ..................................................................................................9 3.1.1.1 Target Window Positioning Mode ....................................................................... 10 3.1.1.2 Travel range .................................................................................................... 10 3.1.1.3 Software Limits ............................................................................................... 11 3.1.1.4 Loop positioning ............................................................................................. 11 3.1.1.5 Inching mode ................................................................................................. 12 3.1.1.5.1 Inching mode 1 ........................................................................................... 12 3.1.1.5.2 Inching mode 2 ........................................................................................... 13 3.1.1.6 ControlWord in positioning mode ....................................................................... 14 3.1.1.7 StatusWord in positioning mode ........................................................................ 15 3.1.1.8 Sequence schedule in positioning mode .............................................................. 17 3.1.2 Speed Mode........................................................................................................ 17 3.1.2.1 Target window speed mode ............................................................................... 18 3.1.2.2 ControlWord in speed mode ............................................................................... 19 3.1.2.3 StatusWord in speed mode ................................................................................ 20 3.1.2.4 Sequence schedule in speed mode ...................................................................... 22 3.2 Battery buffering .................................................................................................... 22 3.2.1 Emergency operation ........................................................................................... 23 3.3 Parameterization .................................................................................................... 23 3.4 Calibration............................................................................................................. 23 3.5 Additional functions ............................................................................................... 24 3.5.1 Scaling .............................................................................................................. 24 3.5.1.1 Example of spindle drive ................................................................................... 24 3.5.1.2 Example rack/pinion straight toothed, metric pitch .............................................. 25 3.5.1.3 Example of external gear .................................................................................. 25

Change Status 025/21 Page 3 of 63 3.5.2 Protection functions ............................................................................................ 26 3.5.2.1 Limiting of current .......................................................................................... 26 3.5.2.2 I²t monitoring................................................................................................. 26 3.5.2.3 Torque deactivation ......................................................................................... 27 3.5.2.4 Temperature monitoring ................................................................................... 28 3.5.2.5 Overvoltage protection in case of feedback ......................................................... 28 3.5.2.6 Position lag monitoring .................................................................................... 28 3.5.2.7 Oscillation detection ........................................................................................ 29 3.5.3 Restore factory setting ........................................................................................ 29 3.6 Warnings/errors ...................................................................................................... 29 3.6.1 Warnings ........................................................................................................... 29 3.6.2 Errors ................................................................................................................ 29 3.6.2.1 Error Codes ..................................................................................................... 30 4 Parameter ............................................................................................................... 31 4.1 Process data .......................................................................................................... 31 4.1.1 ControlWord ....................................................................................................... 31 4.1.2 StatusWord ........................................................................................................ 32 4.1.3 TargetValue ........................................................................................................ 32 4.1.4 ActualValue ........................................................................................................ 32 4.1.5 GenericMappingParameter1................................................................................... 33 4.1.6 UnsignedInteger8 ............................................................................................... 33 4.1.7 GenericMappingChannel1 ..................................................................................... 33 4.1.8 GenericMappingChannel2 ..................................................................................... 34 4.2 Positioning ............................................................................................................ 34 4.2.1 OffsetApplication ................................................................................................ 34 4.2.2 SpindlePitch ....................................................................................................... 35 4.2.3 CountingDirection ............................................................................................... 35 4.2.4 CalibrationValue.................................................................................................. 35 4.2.5 TargetWindow ..................................................................................................... 36 4.2.6 LoopType ........................................................................................................... 36 4.2.7 LoopLength ........................................................................................................ 37 4.2.8 GearRatioNumerator ............................................................................................ 37 4.2.9 GearRatioDenominator ......................................................................................... 37 4.2.10 DeltaInch........................................................................................................... 38 4.2.11 TargetWindowReachedMode .................................................................................. 38 4.3 Actuator ................................................................................................................ 38 4.3.1 OperatingMode ................................................................................................... 38 4.3.2 AccelerationPositionMode .................................................................................... 39 4.3.3 VelocityPositionMode .......................................................................................... 39 4.3.4 DecelerationPositionMode .................................................................................... 40 4.3.5 AccelerationVelocityMode ..................................................................................... 40 4.3.6 AccelerationInchingMode ..................................................................................... 40 4.3.7 VelocityInchingMode ........................................................................................... 41

Change Status 025/21 Page 4 of 63 4.3.8 Inching2Offset ................................................................................................... 41 4.4 Limit values ........................................................................................................... 41 4.4.1 SoftwareLimit1 ................................................................................................... 41 4.4.2 SoftwareLimit2 ................................................................................................... 42 4.4.3 ContouringErrorLimit ........................................................................................... 42 4.4.4 TorqueDeactivation ............................................................................................. 42 4.4.5 PeakCurrentLimit................................................................................................. 43 4.4.6 PeakCurrentTime ................................................................................................. 43 4.4.7 ContinuousCurrent............................................................................................... 44 4.5 Options ................................................................................................................. 44 4.5.1 Inching2StopMode .............................................................................................. 44 4.5.2 Inching2AccelerationMode ................................................................................... 44 4.6 Controller parameter ............................................................................................... 45 4.6.1 ControllerParameterP ........................................................................................... 45 4.6.2 ControllerParameterI ........................................................................................... 45 4.6.3 ControllerParameterD ........................................................................................... 46 4.7 Device information ................................................................................................. 46 4.7.1 OutputStageTemperature ...................................................................................... 46 4.7.2 ControlVoltage .................................................................................................... 46 4.7.3 OutputStageVoltage............................................................................................. 47 4.7.4 BatteryVoltage.................................................................................................... 47 4.7.5 MotorCurrent ...................................................................................................... 47 4.7.6 ActualPosition .................................................................................................... 48 4.7.7 ActualVelocity .................................................................................................... 48 4.7.8 MotorThermalLoad ............................................................................................... 48 4.7.9 DiagnosticParameter ............................................................................................ 49 4.7.10 Production Date .................................................................................................. 49 4.7.11 I2tOverload ........................................................................................................ 50 4.7.12 ActualContouringError .......................................................................................... 50 4.8 Error memory ......................................................................................................... 50 4.8.1 ErrorCount ......................................................................................................... 50 4.8.2 ErrorBuffer ......................................................................................................... 51 4.8.3 ErrorCounters...................................................................................................... 51 5 IO-Link ................................................................................................................... 52 5.1 Description ............................................................................................................ 52 5.2 Process data input / output ..................................................................................... 53 5.2.1 Process data in Position Mode operating mode ........................................................ 53 5.2.1.1 Process data output (Master  Device) .............................................................. 54 5.2.1.2 Process data input (Device  Master) ................................................................ 54 5.2.2 Process data in Velocity Mode ............................................................................... 55 5.2.2.1 Process data output (Master  Device) .............................................................. 56 5.2.2.2 Process data input (Device  Master) ................................................................ 56 5.3 Generic Mapping Channels ....................................................................................... 57

Change Status 025/21 Page 5 of 63 5.4 Object Directory ..................................................................................................... 58 5.4.1 IO-Link specific objects........................................................................................ 58 5.5 IO-Link System Commands ....................................................................................... 59 5.6 IO-Link DeviceAccessLocks ....................................................................................... 59 5.7 IO-Link Event Codes ................................................................................................ 60 5.8 IO-Link Event Codes ................................................................................................ 60 6 Block wiring diagram ............................................................................................... 62

Change Status 025/21 Page 6 of 63 1 General Information 1.1 Documentation The following documents are available for this product:  Data sheet: describes the technical data, the dimensions, the pin assignments, the accessories and the order code.  Assembly instructions: these describe the mechanical and electrical assembly with all safety-relevant conditions and the associated technical specifications.  User manual for connecting the actuator to an IO-Link master and for commissioning.  IODD file (IO-Link Device Description): connection and configuration with an IO-Link master is possible with the help of this file using commercially available IO-Link masters and their configurators. These documents are also available at http://www.siko-global.com/p/ag03-1. 1.1.1 History Change Date Description 189/20 September 17, 2020 Document prepared 025/21 February 08, 2021 From FW-V1.02 Section 1.1.1 History new Section 2.3.2 Ex-works setting new Section 3.2.1 Emergency operation revised Section 3.6.2.1 Error Codes Code 53 new/13 removed Section Fehler! Verweisquelle konnte nicht gefunden werden. Fehler! Verweisquelle konnte nicht gefunden werden. new Section 5.7 IO-Link Event Codes: Code 6163 new/6153 removed Status word bit bs13_CalibrationRequest new Supplements and corrections From FW-V2.00 Section 3.6.2.1 Error Codes Code 52 new Section 5.7 IO-Link Event Codes Code 6162 new 1.2 Definitions If not explicitly stated, decimal values are given as digits without addition (e.g., 1234), binary values are marked with b (e.g.; 1011b), hexadecimal values with h (e.g.; 280h) after the digits. Individual bits of the ControlWord or StatusWord are abbreviated as follows: ControlWord Bit 7: CW.7 StatusWord Bit 10: SW.10

AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 7 of 63 1.3 Intended Use Unless otherwise described, normal operation of the system with unchanged factory settings is assumed for the further functional description. The AG03/1 actuator is used for adjustment and positioning tasks on systems and machines. The actuator is only intended for use in industrial applications that are not subject to any particular electrical or mechanical safety requirements. 1.4 Switching on the operating voltage After the operating voltage control is switched on, the device initializes itself. The device parameters are loaded from the nonvolatile memory into the main memory of the controller during initialization. At first use, the default values are used during initialization. After the external power supply is supplied again or a software reset (warm start), the actuator works with the last saved parameters. If no error has been detected, the actuator starts normal operation and can communicate with an IO-Link master. To be able to start a travel job, the operating voltage output stage must be switched on. 2 Display and control keys 2.1 General information Fig. 1: Control elements 2.2 LED displays Two LEDs inform about the operating state of the actuator.  Status LED  COM LED

AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 8 of 63 2.2.1 Status LED The state of the operating voltage output stage is only signaled when the operating voltage control is switched on. LED status Description Green All operating voltages OK Green, flashes 50:50 Operating voltage control OK Operating voltage output stage is missing or outside the permissible range Red Error Red, flashes 50:50 Switch-on lock active Red, Flashes 2x Battery emergency operation active orange, flashes Delay time for setting the factory setting via operating keys expires Off Operating voltage control is missing or outside the permissible range Table 1: Status LED 2.2.2 COM LED LED status Description Green Operating voltage control OK Green, flashes 90:10 Operating voltage control OK IO-Link SDCI communication active Off Operating voltage control is missing or outside the permissible range Table 2: COM LED 2.3 Operating keys 2.3.1 Setup Operation Manual setup mode is only available if IO-Link SDCI communication is not active. The operating keys can be used to start manual setup mode (corresponds to inching mode 2). This makes it possible to move the actuator without a higher-level control.  Clockwise button  Counterclockwise button

Change Status 025/21 Page 9 of 63 2.3.2 Ex-works setting The ex-works setting can only be established using the operating keys if IO- Link SDCI communication is not active and the operating voltage output stage is switched off. Pressing the clockwise and counterclockwise buttons simultaneously for at least 5 seconds resets all parameters to the ex-works setting. The elapse of the delay time is signaled by orange flashing of the status LED. A warm restart is then initiated, and the status LED switches off briefly. 3 Operation description 3.1 Operating modes A distinction is made between the operating modes of positioning mode and speed mode. In the positioning mode, it is also possible to move in inching mode. 3.1.1 Positioning Mode In the positioning mode, positioning to the specified target value is performed using a ramp function (cf. Fig. 3: Ramp travel positioning mode direct), which is calculated based on the instantaneous actual position as well as the programmed controller parameters acceleration and speed. After activation of the travel job, the actuator accelerates with the programmed acceleration AccelerationPositionMode to the predetermined speedVelocityPositionMode. The amount of delay to the target value is also determined by the parameter AccelerationPositionMode. Alternatively, the DecelerationPositionMode parameter can be used to select a value that differs from the acceleration. The actuator is tracked by means of a PID positioning controller of the calculated path. If you change the coefficients ControllerParameterP, ControllerParameterI and ControllerParameterD, adjustments can be made to the controlled system. Changing the controller parameters during a positioning operation has no effect on the current positioning mode.

Change Status 025/21 Page 10 of 63 Fig. 2: Ramp travel positioning mode direct 3.1.1.1 Target Window Positioning Mode If the actual position is within the window defined by the TargetWindow parameter, this is signaled in the StatusWord with SW. 5 = 1. The behavior of the drive after reaching the programmed window can be defined by the TargetWindowReachedMode parameter. Example:  TargetWindow = 5  TargetPosition = 100 Fig. 3: Target Window Positioning Mode 3.1.1.2 Travel range The travel range depends on the encoder and the scaling (cf. Section 3.5.1). The number of revolutions according to the product data sheet cannot be exceeded! Start position Target position Time Speed VelocityPositionMode AccelerationPositionMode DecelerationPositionMode AccelerationPositionMode + - 100 TargetWindow TargetWindowReachedMode 95 105 SW.5 0 1

Change Status 025/21 Page 11 of 63 Fig. 4: Travel range 3.1.1.3 Software Limits If the actual position is outside the range defined by the SoftwareLimit1 and SoftwareLimit2 parameters, you must move from this position in the direction of the permitted range using inching mode 1 or 2! If SoftwareLimit1 is equal to SoftwareLimit2, limit value monitoring is deactivated. When the encoder resolution is exceeded, the actual position changes suddenly. The target position is checked for validity based on the two parameters SoftwareLimit1 and SoftwareLimit2 . If the target position is outside the defined range or equal to the limits, the travel job is not executed. There is no acknowledgment via SW.10. If the permissible range is left, e.g., in inching mode, the actuator is activated and coasts to a stop. This must be considered in parameterizing the software limits. Fig. 5: Software Limits 3.1.1.4 Loop positioning A travel job is not executed if a loop positioning would exceed the limits set by the SoftwareLimit1 and SoftwareLimit2 parameters even though the target value is within the limits. When operating the drive, it is possible to compensate for a mechanical clearance by means of the loop positioning. In this case, the target value is always taken from the same direction. Upper limit Lower limit + - 0 Travel range SoftwareLimit1 SoftwareLimit2 + - 0

Change Status 025/21 Page 12 of 63 This approach direction can be determined with the LoopType parameter. The loop length is set via the LoopLength parameter. Example: The direction in which each target position is to be moved is positive.  The target position is approached directly.  Case 2 The actuator extends the loop length beyond the target position, and then the target value is approached in the positive direction. Fig. 6: Loop POS positioning 3.1.1.5 Inching mode The spindle play (loop positioning) is not compensated in this operating mode Inching mode is only possible in positioning mode. Acceleration as well as speed in inching mode can be programmed via parameters. 3.1.1.5.1 Inching mode 1 If the value of the SpindlePitch parameter is zero, the travel path is specified in increments. If the SpindlePitch parameter is not equal to zero, the specification of the DeltaInch parameter refers to the travel path in user units. If the actual position is outside the programmed limit values, inching mode 1 or 2 must be used to move from this position in the corresponding direction! The actuator travels from the current actual position once by the value DeltaInch, depending on the sign of the entered value. TargetPosition + - Positioning in the positive direction Positioning in the negative direction Positioning: Loop POS LoopLength TargetWindow

Change Status 025/21 Page 13 of 63  Delta Inch < 0: Travel direction negative  Delta Inch > 0: Travel direction positive When the target position is reached, this is signaled accordingly. The following conditions must be met for inching mode 1 and 2 to be started:  Output stage operating voltage is present  Operation enabled  Drive stationary 3.1.1.5.2 Inching mode 2 The actuator travels from the current actual position as long as the command for this is present. The inching speed can be influenced by two parameters and is calculated in the actuator as shown in the following example: VelocityInchingMode = 10 rpm (can only be changed at standstill) Inching2Offset = 85% (can be changed during inching mode) The resulting inching speed in this example is: Inching speed = VelocityInchingMode * Inching2Offset = 10 rpm * 85% = 9 rpm Results are always rounded to whole numbers. The minimum speed is 1 rpm. The Inching2AccelerationMode parameter can be used to set a step-by-step acceleration to the end value VelocityInchingMode. The velocity profile then corresponds to the following process: Fig. 7: Inching mode 2 – Inching2AccelerationMode 20% 50% 4 s 2 s 1 s 100% Speed Time VelocityInchingMode AccelerationInchingMode 10%

Change Status 025/21 Page 14 of 63 3.1.1.6 ControlWord in positioning mode The ControlWord differs in function depending on the operating mode (cf. OperatingMode parameter). The designation of the individual bits of the ControlWord as well as their significance: Bit Designation Value = 0 Value = 1 0 bc00_CoastStop Coast Stop active Cancellation of travel job. The motor is de-energized and coasts to a standstill without any control. Coast Stop not active (Operating condition) 1 bc01_QuickStop Quick Stop active Cancellation of travel order. The motor is braked to a standstill with maximum deceleration and remains in control. Quick Stop not active (Operating condition) 2 bc02_NormalStop Normal Stop active Cancellation of travel job. The motor is braked to a standstill with maximum deceleration and remains in control. Normal Stop not active (Operating condition) 3 bc03_IntermediateStop No intermediate stop Intermediate stop active 4 bc04_StartTravelJob - Start travel job (edge- controlled, positive) 5 bc05_ErrorAck - Acknowledge error (Edge-controlled, positive) The actuator then changes to the switch-on lock state. 6 bc06_InchingMode1 No inching mode 1 If the travel job has not yet ended, it is aborted. Inching mode 1 As long as this bit is set, the actuator travels once around the distance defined in the DeltaInch parameter. 7 bc07_InchingMode2Pos No inching mode 2 positive Inching mode 2 positive The actuator travels in the positive direction. 8 bc08_InchingMode2Neg No inching mode 2 negative Inching mode 2 negative The actuator travels in the negative direction. 9 bc09_Reserved Always 0 - 10 bc10_MoveRelative Absolute positioning Relative positioning 11 bc11_Reserved Always 0 - 12 bc12_Reserved Always 0 -

Change Status 025/21 Page 15 of 63 Bit Designation Value = 0 Value = 1 13 bc13_Reserved Always 0 - 14 bc14_GuardingBit Is mirrored in StatusWord Is mirrored in StatusWord 15 bc15_CalibrationExecute - Trigger calibration (edge- controlled, positive) Table 3: ControlWord in positioning mode 3.1.1.7 StatusWord in positioning mode The StatusWord shows the current status of the actuator. The designation of the individual bits of the ControlWord as well as their significance: Bit Designation Value = 0 Value = 1 0 bs00_Supply Operating voltage output stage is missing or outside the permissible range Operating voltage output stage OK 1 bs01_ReadyToTravel No travel readiness Travel readiness available 2 bs02_UpperLimit No limit value violation Upper limit value exceeded 3 bs03_LowerLimit No limit value violation Lower limit value undershot 4 bs04_ActuatorTravels Actuator stationary (speed < 2 rpm) Actuator travels 5 bs05_TarWinReached Actuator is outside the target window Position value is within the target window 6 bs06_ActiveTravelJob No travel job active Travel job active 7 bs07_GeneralError No error Error acknowledgment with positive edge at CW.5 8 bs08_OperationEnabled Operation not enabled Operation enabled The state of the drive is defined by the TargetWindowReachedMode parameter. 9 bs09_SwitchLock No switch-on lock Switch-on lock (cf. Section 3.1.1.8) 10 bs10_TravelJobAck No acknowledgment Acknowledgment The bit is set when the travel job has been accepted. If bit CW.4 is reset, this bit is also reset. 11 bs11_BatteryState Charging state OK Charging state critical 12 bs12_TorqueDeactState Torque deactivation not active Torque deactivation active The motor current was greater than set under TorqueDeactivation parameter.

Change Status 025/21 Page 16 of 63 Bit Designation Value = 0 Value = 1 13 bs13_CalibrationRequest No calibration request Calibration Request The drive can only be moved in jog mode 2. The software limits are ignored. 14 bs14_GuardingBit Mirrored from ControlWord Mirrored from ControlWord 15 bs15_CalibrationExecuted No acknowledgment Acknowledgment The bit is set when the calibration has been performed successfully. If bit CW.15 is reset, this bit is also reset. Table 4: StatusWord in positioning mode

Change Status 025/21 Page 17 of 63 3.1.1.8 Sequence schedule in positioning mode Operation enabled SW = 0x00 x001 00x0 xxx1 Travel ready SW = 0x00 x001 00x0 0011 Operating voltage ON CW = 0x00 0000 0000 0000 Enable operation CW = 0x00 0000 0000 0111 Activate travel job CW = 0x00 0000 0001 0111 Travel job active SW = 0x0x x101 01x1 0001 Intermediate stop active SW = 0x00 x101 01x0 0011 Intermediate stop CW.3 = 1 Continue positioning CW.3 = 0 Inching 1 or 2 ON CW = 0x00 0000 0100 0111 or CW = 0x00 0000 1000 0111 or CW = 0x00 0001 0000 0111 Inching 1 or 2 active SW = 0x0x x001 00x1 0001 Inching OFF CW = 0x00 0000 0000 0111 Start Release switch lock CoastStop CW.0 = 1/0 or QuickStop CW.1 = 1/0 or NormalStop CW.2 = 1/0 Switch lock SW.9 = 1 Acknowledge error CW.5 = 1 Error SW.7 = 1 CW = ControlWord SW = StatusWord x = Bit can be 0 or 1 Cancel travel job CoastStop CW.0 = 1/0 or QuickStop CW.1 = 1/0 or NormalStop CW.2 = 1/0 Travel job ended SW = 0x00 x001 0010 0011 Specify target position Target window reached SW = 0x00 x101 011x 0001 Fig. 8: Sequence schedule in positioning mode 3.1.2 Speed Mode SoftwareLimit1 + 2 are disabled in this operating mode.

Change Status 025/21 Page 18 of 63 When the absolute value encoder resolution is exceeded, there is a jump to the actual position. The speed mode is set with the OperatingMode parameter. In speed mode, the actuator accelerates to the target speed after the target value is released and maintains this speed until the target value is blocked or a new target speed is specified. When the set speed is changed, the speed is immediately adjusted to the new value. The travel direction in speed mode is determined by the sign of the target value. Fig. 9: Ramp Speed Mode The following conditions must be met for speed mode to be started:  Output stage operating voltage is present  Operation enabled  Drive stationary 3.1.2.1 Target window speed mode If the actual speed is within the window defined by the TargetWindow parameter, this is signaled in the StatusWord. Example:  TargetVelocity = 80  TargetWindow = 5 Speed Tim e Target value speed (target value) AccelerationVelocityMode ‘Stop’ Target value enabled Block target value or target value = 0 Block operation

Change Status 025/21 Page 19 of 63 Fig. 10: Target window speed mode 3.1.2.2 ControlWord in speed mode The ControlWord differs in function depending on the operating mode (cf. OperatingMode parameter). The designation of the individual bits of the ControlWord as well as their significance: Bit Designation Value = 0 Value = 1 0 bc00_CoastStop Coast Stop active Cancellation of travel job. The motor is de-energized and coasts to a standstill without any control. Coast Stop not active (Operating condition) 1 bc01_QuickStop Quick Stop active Cancellation of travel order. The motor is braked to a standstill with maximum deceleration and remains in control. Quick Stop not active (Operating condition) 2 bc02_NormalStop Normal Stop active Cancellation of travel job. The motor is braked to a standstill with maximum deceleration and remains in control. Normal Stop not active (Operating condition) 3 bc03_Reserved Always 0 4 bc04_StartTravelJob - Start travel job (edge- controlled, positive) 5 bc05_ErrorAck - Acknowledge error Speed Time Time SW.5 0 1 80 75 85

Change Status 025/21 Page 20 of 63 Bit Designation Value = 0 Value = 1 (Edge-controlled, positive) The actuator then changes to the switch-on lock state. 6 bc06_Reserved Always 0 - 7 bc07_Reserved Always 0 - 8 bc08_Reserved Always 0 - 9 bc09_Reserved Always 0 - 10 bc10_Reserved Always 0 - 11 bc11_Reserved Always 0 - 12 bc12_Reserved Always 0 - 13 bc13_Reserved Always 0 - 14 bc14_GuardingBit Is mirrored in StatusWord Is mirrored in StatusWord 15 bc15_CalibrationExecute - Trigger calibration (edge- controlled, positive) Table 5: ControlWord in speed mode 3.1.2.3 StatusWord in speed mode The StatusWord shows the current status of the actuator. The designation of the individual bits of the ControlWord as well as their significance: Bit Designation Value = 0 Value = 1 0 bs00_Supply Operating voltage output stage is missing or outside the permissible range Operating voltage output stage OK 1 bs01_ReadyToTravel No travel readiness Travel readiness available 2 bs02_Reserved Always 0 - 3 bs03_Reserved Always 0 - 4 bs04_ActuatorTravels Actuator stationary (speed < 2 rpm) Actuator travels 5 bs05_TarWinReached Actual speed is outside the target window Actual speed is within the target window 6 bs06_ActiveTravelJob No travel job active Travel job active 7 bs07_GeneralError No error Error Error acknowledgment with positive edge at CW.5 8 bs08_OperationEnabled Operation not enabled Operation enabled The position control of the actuator is activated 9 bs09_SwitchLock No switch-on lock Switch-on lock (cf. Section 3.1.2.4) 10 bs10_TravelJobAck No acknowledgment Acknowledgment

Change Status 025/21 Page 21 of 63 Bit Designation Value = 0 Value = 1 The bit is set when the travel job has been accepted. If bit CW.4 is reset, this bit is also reset. 11 bs11_BatteryState Charging state OK Charging state critical 12 bs12_Reserved Always 0 - 13 bs13_CalibrationRequest No calibration request Calibration Request Operation is possible without restrictions 14 bs14_GuardingBit Mirrored from ControlWord Mirrored from ControlWord 15 bs15_CalibrationExecuted No acknowledgment Acknowledgment The bit is set when the calibration has been performed successfully. If bit CW.15 is reset, this bit is also reset. Table 6: StatusWord speed mode

Change Status 025/21 Page 22 of 63 3.1.2.4 Sequence schedule in speed mode Start Cancel travel job CoastStop CW.0 = 1/0 or QuickStop CW.1 = 1/0 or NormalStop CW.2 = 1/0 Release switch lock CoastStop CW.0 = 1/0 or QuickStop CW.1 = 1/0 or NormalStop CW.2 = 1/0 Switch lock SW.9 = 1 Acknowledge error CW.5 = 1 Error SW.7 = 1 Operating voltage ON CW = 0x00 0000 0000 0000 Enable operation CW = 0x00 0000 0000 0111 Operation enabled SW = 0x00 x001 00x0 00x1 Travel ready SW = 0x00 x001 00x0 0011 Activate target value CW = 0x00 0000 0001 0111 Target value activated SW = 0x00 x101 01xx 0001 Block target value CW.4 = 0 Change target value CW = ControlWord SW = StatusWord x = Bit can be 0 or 1 Specify target value Fig. 11: Sequence schedule in speed mode 3.2 Battery buffering A charged battery is required in all operating modes for regular operation. Without an external power supply, encoder changes are recorded with battery support. Depending on the duration of battery operation (including storage) and the frequency of adjustments without an external power supply, the battery life is approximately 5 years. The battery voltage is checked in a time interval of approx. 5 minutes. If the battery voltage drops below a certain value, this is signaled by SW.11. If the battery voltage drops further, the

Change Status 025/21 Page 23 of 63 battery undervoltage error (error code 06h) is triggered. The battery should be replaced within approximately three months after the first warning appears. When you replace the battery on site, the instructions in the assembly instructions must be observed. Replacement can also take place at the SIKO distribution partners or in the SIKO main plant. 3.2.1 Emergency operation An empty battery leads to loss of calibration if the operating voltage control is missing at the same time. If a discharged battery is detected immediately after the operating voltage control is switched on, the battery undervoltage fault is triggered. The actual position is considered invalid because data loss is to be expected due to the lack of battery buffering. After the fault is subsequently acknowledged, bit SW.13 is set. In this case, the drive can only be moved using jog mode 2. The software limits are ignored. After calibration, bit SW.13 is reset and the drive can be used without restriction. The status LED signals emergency operation. If a discharged battery is detected when the operating voltage control is switched on, the battery undervoltage fault is triggered. The actual position is still considered valid. After the fault is subsequently acknowledged, the drive can be used without restriction. The status LED signals emergency operation. Emergency operation can be acknowledged by inserting a charged battery. The display of the status LED changes to normal operation at the latest after 5 minutes or a power-on reset. 3.3 Parameterization The actuator can be completely parameterized via the IO-Link interface. 3.4 Calibration Calibration is only possible if no travel job is active! Two steps are required to perform a calibration:  Write calibration value: CalibrationValue parameter  Perform calibration (software command) A calibration can be triggered with a positive edge at CW.15 or by means of SystemCommand (cf. Section 5.5). Due to the absolute measuring system, calibration is only required once during commissioning. During calibration, the calibration value is used to calculate the position value. In the case of calibration, the following applies: Position value = 0 + CalibrationValue + OffsetApplication

Change Status 025/21 Page 24 of 63 3.5 Additional functions 3.5.1 Scaling In the factory setting, the drive has a resolution of 1600 increments per revolution. The internal gear is already taken into account. If scaling is required in user units, the SpindlePitch, GearRatioNumerator and GearRatioDenominator parameters must be set accordingly. A combination of these scalings is possible. The scaled position value is calculated as follows: ActualPosition [user units]=internal position value [increments] × SpindlePitch 1600 [increments] × ext. gear ratio The external gear ratio is calculated as follows (cf. Section 3.5.1.3): external gear ratio= GearRatioNumerator GearRatioDenominator If the basic resolution of the absolute encoder of 1600 increments per revolution is exceeded by scaling, value jumps occur. For this reason, the following condition must be observed: SpindlePitch external gear ratio ≤ 1600 The travel range in user units is calculated using the following formula: travel range max. [User units]= 13091200 [increments] × SpindlePitch 1600 [increments] × external gear ratio travel range min. [User units]= -13091200 [increments] × SpindlePitch 1600 [increments] × external gear ratio 3.5.1.1 Example of spindle drive Spindle pitch p = 2 mm The drive is mounted directly on a spindle. The desired unit of the position value is 1/100 mm. The SpindlePitch parameter is calculated using the following formula: SpindlePitch = p Benutzereinheit = 2 mm 0.01 mm = 200

Change Status 025/21 Page 25 of 63 3.5.1.2 Example rack/pinion straight toothed, metric pitch Pitch p = 5 mm Pinion number of teeth z = 20 The desired unit of the position value is 1/10 mm. The SpindlePitch parameter is calculated using the following formula: SpindlePitch = p × z Benutzereinheit = 5 mm × 20 0.1 mm = 1000 3.5.1.3 Example of external gear When you use an external gear, it is possible to program a factor using the GearRatioNumerator and GearRatioDenominator parameters to include the gear ratio in the position determination. Example (cf. Fig. 2: External gears): The actuator is operated on a gear with a reduction ratio of 5:1. The GearRatioNumerator and GearRatioDenominator parameters must be programmed as follows.  GearRatioNumerator parameter = 5  GearRatioDenominator parameter = 1 Fig. 12: external gear The input of non-integer gear ratios is possible according to the following example:  Gear Reduction = 3.78  GearRatioNumerator parameter = 378  GearRatioDenominator parameter = 100 5 rotations 1 rotation Gear output External gear 5:1 Internal gear M

Change Status 025/21 Page 26 of 63 3.5.2 Protection functions 3.5.2.1 Limiting of current When the supply current is measured, no statement can be made about the actual motor current. The supply current does not correspond to the motor current for clocked output stages. The actual motor current can be read via the interface. The permissible peak motor current can be set via the PeakCurrentLimit parameter. An overload of the drive results in limiting the motor current to the permissible peak motor current. I²t monitoring limits the time during which a current may flow greater than the permissible motor current (cf. Section 3.5.2.2). The permissible motor current is set using the ContinuousCurrent parameter. 3.5.2.2 I²t monitoring The values of the PeakCurrentLimit, PeakCurrentTime and ContinuousCurrent parameters are adjusted in the factory setting for the protection of the actuator. If the application requires adjustments to these parameters, the value of the PeakCurrentLimit parameter must be set to twice the value of the ContinuousCurrent parameter. If the value of the PeakCurrentLimit parameter is less than the value of ContinuousCurrent, I²t monitoring is disabled. When torque deactivation is enabled, I²t monitoring is disabled. I²t monitoring is used to protect the motor winding, the output stage and the gear. The limit value I²t limit is calculated using the PeakCurrentLimit, PeakCurrentTime and ContinuousCurrent parameters. If the motor current exceeds the value ContinuousCurrent, the difference between the square of the motor current and the square of ContinuousCurrent is integrated. If the integral exceeds the limit value I²t-limit, the motor overcurrent fault is triggered. The percentage ratio of the actual value of the integral to the I²t limit can be read via the I2tOverload parameter.

Change Status 025/21 Page 27 of 63 The following figure shows how the monitoring function works: Fig. 13: I²t monitoring Calculation of the I²t limit: I²t-Limit [A²s]=((PeakCurrentLimit [A])² - (ContinuousCurrentLimit [A])² × PeakCurrentTime [s]) Calculation of overload time: t1 [s] = I²t-Limit [A2s] (MotorCurrent [A])² - (ContinuousCurrentLimit [A])² 3.5.2.3 Torque deactivation An active torque deactivation does not result in an error! This function is only available in the positioning mode. If the torque deactivation function is enabled, I²t monitoring is automatically disabled. A shutdown threshold is defined by the TorqueDeactivation parameter. This is specified as a percentage of the rated motor current. With a parameter value of 125%, the torque deactivation function is disabled. If the shutdown threshold is exceeded, the drive brakes with a maximum delay. The drive remains in control. Tim e Current PeakCurrentLimit ContinuousCurrent I²t limit MotorCurrent PeakCurrentTime t1 Tim e I²tOverload 100% Motor overcurrent error

Change Status 025/21 Page 28 of 63 An active torque deactivation is reported via SW.12 = 1. This bit is reset automatically when the current travel job is resumed. 3.5.2.4 Temperature monitoring The actuator does not have the thermal memory preservation. Switching off the operating voltage control after the response of the thermal monitoring of the motor (error code 26h: Thermal overload motor) resets the thermal memory. In this case, the actuator must cool completely before restarting to ensure motor protection. Otherwise, the motor can be destroyed thermally. The motor temperature is calculated from the motor current using a thermal model. The calculated thermal load can be read via the MotorThermalLoad parameter. If the load reaches 100%, the error thermal overload motor is triggered. The output stage temperature is measured directly in the output stage. If the measured temperature exceeds the value of 90° C, the error output stage overtemperature is triggered. 3.5.2.5 Overvoltage protection in case of feedback Active overvoltage protection of the operating voltage output stage is effective only when the operating voltage control is switched on. The response of the active overvoltage protection results in direct sluggishness of the drive shaft. This must be observed when the drive shaft is adjusted manually. In addition to the overvoltage protection by passive overvoltage protection elements, the actuator also provides active overvoltage protection of the operating voltage output stage. In the event of a voltage increase due to feedback (e.g., external adjustment), the motor windings are short-circuited for at least 4 s if a voltage of 32 V is exceeded. The excess energy is converted into heat in the motor windings. 3.5.2.6 Position lag monitoring Error variables such as load and friction can cause the actuator not to follow the calculated travel profile. If the control deviation of the PID positioning controller exceeds the value ContouringErrorLimit defined by parameters for more than 2 seconds, a position lag error is triggered. The control deviation is calculated as follows: Control Deviation [Increments] = Setpoint Position (Path Generator) [Increments] – Actual Position [Increments]

Change Status 025/21 Page 29 of 63 3.5.2.7 Oscillation detection If the PID positioning controller is operated outside the stability limit, the axis of the actuator can begin to oscillate. When the position control is at a standstill and active at the same time (no travel job active), it is monitored whether vibrations occur on the axis. If the vibrations exceed a specified threshold value, the error position control unstable is triggered. 3.5.3 Restore factory setting To restore the delivery state of the device, the following options exist: Access Coding The following are set to the factory setting Interface SystemCommands (cf. Section 5.5) 130 (82h) All parameters Operating keys All parameters Cf. Section 2.3.2. Table 7: Access factory settings 3.6 Warnings/errors 3.6.1 Warnings Warnings have no influence on the sequence of the actuator. Warnings disappear after the cause has been eliminated. Possible warnings are: Battery charge critical: Bit SW.11 is set in StatusWord (Cf. Sections 3.1.1.7 and 3.1.2.3). 3.6.2 Errors Errors trigger an immediate stop of the drive movement. An error is indicated by the drive status LED. Bit SW.7 is set in StatusWord (cf. sections 3.1.1.7 and 3.1.2.3). The error messages are entered in the error memory in the sequence in which they are recorded. When the error memory is full, the last 10 error messages are displayed. To obtain the most recent error, the ErrorCount parameter must be read. Example: ErrorCount = 7 The last (most recent) error entered is in error memory at memory location No.7 (Error7). The cause of the error can be determined based on the error code Each fault is stored in the assigned fault counter (cf. Section Fehler! Verweisquelle konnte nicht gefunden werden.). The fault counters cannot be reset.

Change Status 025/21 Page 30 of 63 3.6.2.1 Error Codes If the error cannot be acknowledged after the cause of the error has been eliminated and the error is still present even after a power-on reset, the drive must be checked in the factory. Error code Error Troubleshooting 0 (00h) No error 6 (06h) Battery undervoltage Battery dead Change battery Contact errors: Check battery contacts Incorrect battery type inserted: use correct battery type 7 (07h) Control electronics undervoltage Check operating voltage control Check line losses Check contacts of the plug and terminals 8 (08h) Control electronics overvoltage Check operating voltage control 9 (09h) Power electronics overvoltage Operating voltage output stage 10 (0Ah) Output stage overtemperature (cf. Section 3.5.2.4) Reduce ambient temperature Reduce load 11 (0Bh) Position lag (cf. Section 3.5.2.6) Reduce load Reduce acceleration or speed Operating voltage output stage Check line losses 12 (0Ch) Output shaft blocked Loosen shaft 15 (0Fh) SIN/COS monitoring Vector length out of range, invalid actual position Shield foreign magnetic fields Check EMC measures Calibration required after fault elimination and acknowledgment 33 (21h) Motor overcurrent (cf. Section 3.5.2.2) Reduce load or switch-on time 37 (25h) Position control unstable (cf. Section 3.5.2.7) Check PID parameters 38 (26h) Thermal overload of motor (cf. Section 3.5.2.4) Reduce load Reduce switch-on time 48 (30h) Internal error 1 SPI interface timeout Check EMC measures 49 (31h) Internal error 2 SPI interface data loss Check EMC measures 50 (32h) Internal error 3 SPI interface initialization communication error Check EMC measures

Change Status 025/21 Page 31 of 63 Error code Error Troubleshooting 51 (33h) Internal error 4 Initialization error position counter, invalid actual position Check EMC measures Calibration required after fault elimination and acknowledgment 52 (34h) Internal error 5 Data loss position counter detected when switched on, invalid actual position Battery change was carried out without applied operating voltage control Replace the battery only when the operating voltage control is switched on Calibration required after fault elimination and acknowledgment 53 (35h) Internal error 6 Data loss position counter during operation, invalid actual position Check EMC measures Calibration required after fault elimination and acknowledgment Table 8: Error Codes 4 Parameter All parameters stored in the EEPROM can be reset to factory default settings if necessary (cf. Section 3.5.3). Chapter From page Process data 31 Positioning 34 Actuator 38 Limit values 41 Options 44 Controller parameter 45 Device information 46 Error memory 50 4.1 Process data 4.1.1 ControlWord General properties EEPROM No Unit - Value range (cf. Section 5.2) Default 0

Change Status 025/21 Page 32 of 63 IO-Link Data type UnsignedInteger16 Access wo Index - Subindex - Data storage No 4.1.2 StatusWord General properties EEPROM No Unit - Value range (cf. Section 5.2) Default - IO-Link Data type UnsignedInteger16 Access ro Index 70 Subindex 0 Data storage No 4.1.3 TargetValue General properties EEPROM No Unit Position Mode operating mode: User units (cf. Section 3.5.1) Velocity Mode: U/min Value range Depends on the operating mode and scaling Default 0 IO-Link Data type SignedInteger32 Access rw Index 69 Subindex 0 Data storage No 4.1.4 ActualValue General properties EEPROM No Unit Position Mode operating mode: User units (cf. Chapter3.5.1) Velocity Mode: U/min Value range Depends on the operating mode and scaling

Change Status 025/21 Page 33 of 63 Default - IO-Link Data type SignedInteger32 Access ro Index 68 Subindex 0 Data storage No 4.1.5 GenericMappingParameter1 General properties EEPROM No Unit - Value range (cf. Section 5.3) Default 0 IO-Link Data type UnsignedInteger8 Access wo Index - Subindex - Data storage No 4.1.6 UnsignedInteger8 General properties EEPROM No Unit - Value range (cf. Section 5.3) Default 0 IO-Link Data type UnsignedInteger8 Access wo Index - Subindex - Data storage No 4.1.7 GenericMappingChannel1 General properties EEPROM No Unit - Value range (cf. Section 5.3)

Change Status 025/21 Page 34 of 63 Default - IO-Link Data type SignedInteger8 Access ro Index - Subindex - Data storage No 4.1.8 GenericMappingChannel2 General properties EEPROM No Unit - Value range (cf. Section 5.3) Default - IO-Link Data type SignedInteger8 Access ro Index - Subindex - Data storage No 4.2 Positioning 4.2.1 OffsetApplication General properties EEPROM Yes Unit User units (cf. Section 3.5.1) Value range -999999 ... 999999 Default 0 IO-Link Data type SignedInteger32 Access rw Index 66 Subindex 0 Data storage Yes

Change Status 025/21 Page 35 of 63 4.2.2 SpindlePitch General properties EEPROM Yes Unit - Value range 0 ... 1000000 Default 0 IO-Link Data type SignedInteger32 Access rw Index 71 Subindex 0 Data storage Yes 4.2.3 CountingDirection General properties EEPROM Yes Unit - Value range 0 ... 1 Default 0 IO-Link Data type UnsignedInteger8 Access rw Index 76 Subindex 0 Data storage Yes Parameter selection Value Description 0 Rotation direction i: increasing position values during clockwise rotation 1 Rotation direction e: increasing position values during counterclockwise rotation 4.2.4 CalibrationValue General properties EEPROM Yes Unit User units (cf. Section 3.5.1) Value range -999999 ... 999999 Default 0

Change Status 025/21 Page 36 of 63 IO-Link Data type SignedInteger32 Access rw Index 77 Subindex 0 Data storage Yes 4.2.5 TargetWindow General properties EEPROM Yes Unit User units (cf. Section 3.5.1) Value range 0 ... 1000 Default 10 IO-Link Data type UnsignedInteger16 Access rw Index 78 Subindex 0 Data storage Yes 4.2.6 LoopType General properties EEPROM Yes Unit - Value range 0 ... 2 Default 0 IO-Link Data type UnsignedInteger8 Access rw Index 79 Subindex 0 Data storage Yes Parameter selection Value Description 0 The target value is approached directly from the current position. 1 To compensate for the spindle play, the target value is always approached in the positive direction. 2 To compensate for the spindle play, the target value is always approached in the negative direction.

Change Status 025/21 Page 37 of 63 4.2.7 LoopLength General properties EEPROM Yes Unit User units (cf. Section 3.5.1) Value range 0 ... 30000 Default 800 IO-Link Data type SignedInteger16 Access rw Index 80 Subindex 0 Data storage Yes 4.2.8 GearRatioNumerator General properties EEPROM Yes Unit - Value range 1 ... 10000 Default 1 IO-Link Data type SignedInteger16 Access rw Index 129 Subindex 0 Data storage Yes 4.2.9 GearRatioDenominator General properties EEPROM Yes Unit - Value range 1 ... 10000 Default 1 IO-Link Data type SignedInteger16 Access rw Index 130 Subindex 0 Data storage Yes

Change Status 025/21 Page 38 of 63 4.2.10 DeltaInch General properties EEPROM Yes Unit User units (cf. Section 3.5.1) Value range -1000000 ... 1000000 Default 1600 IO-Link Data type SignedInteger32 Access rw Index 133 Subindex 0 Data storage Yes 4.2.11 TargetWindowReachedMode General properties EEPROM Yes Unit - Value range 0 ... 2 Default 0 IO-Link Data type UnsignedInteger8 Access rw Index 137 Subindex 0 Data storage Yes Parameter selection Value Description 0 Permanent position control to target value 1 Position control OFF and short circuit of the motor windings 2 Position control OFF and activation of the drive 4.3 Actuator 4.3.1 OperatingMode General properties EEPROM Yes Unit - Value range 0 ... 1

Change Status 025/21 Page 39 of 63 Default 0 IO-Link Data type SignedInteger8 Access rw Index 92 Subindex 0 Data storage Yes Parameter selection Value Description 0 Positioning Mode 1 Speed Mode 4.3.2 AccelerationPositionMode General properties EEPROM Yes Unit %, 100% = 4 U/s² Value range 1 ... 100 Default 50 IO-Link Data type SignedInteger16 Access rw Index 123 Subindex 0 Data storage Yes 4.3.3 VelocityPositionMode General properties EEPROM Yes Unit U/min Value range i=24: 1 … 200 i=48: 1 ... 100 Default 30 IO-Link Data type SignedInteger16 Access rw Index 124 Subindex 0 Data storage Yes

Change Status 025/21 Page 40 of 63 4.3.4 DecelerationPositionMode General properties EEPROM Yes Unit %, 100% = 4 U/s² Value range 1 ... 101 Default 101 IO-Link Data type SignedInteger16 Access rw Index 125 Subindex 0 Data storage Yes Parameter selection Value Description 101 Delay is determined by the AccelerationPositionMode parameter 1 - 100 Delay in percent 4.3.5 AccelerationVelocityMode General properties EEPROM Yes Unit %, 100% = 4 U/s² Value range 1 ... 100 Default 50 IO-Link Data type SignedInteger16 Access rw Index 126 Subindex 0 Data storage Yes 4.3.6 AccelerationInchingMode General properties EEPROM Yes Unit %, 100% = 4 U/s² Value range 1 ... 100 Default 50 IO-Link Data type SignedInteger16 Access rw

Change Status 025/21 Page 41 of 63 Index 127 Subindex 0 Data storage Yes 4.3.7 VelocityInchingMode General properties EEPROM Yes Unit U/min Value range i = 24: 1 … 200 i = 48: 1 ... 100 Default 30 IO-Link Data type SignedInteger16 Access rw Index 128 Subindex 0 Data storage Yes 4.3.8 Inching2Offset General properties EEPROM No Unit %VelocityInchingMode Value range 10 ... 100 Default 100 IO-Link Data type UnsignedInteger8 Access rw Index 135 Subindex 0 Data storage No 4.4 Limit values 4.4.1 SoftwareLimit1 General properties EEPROM Yes Unit User units (cf. Section 3.5.1) Value range -9999999 ... 9999999 Default 1000000

Change Status 025/21 Page 42 of 63 IO-Link Data type SignedInteger32 Access rw Index 131 Subindex 0 Data storage Yes 4.4.2 SoftwareLimit2 General properties EEPROM Yes Unit User units (cf. Section 3.5.1) Value range -9999999 ... 9999999 Default -1000000 IO-Link Data type SignedInteger32 Access rw Index 132 Subindex 0 Data storage Yes 4.4.3 ContouringErrorLimit General properties EEPROM Yes Unit Increments Value range 1 ... 30000 Default 400 IO-Link Data type SignedInteger16 Access rw Index 138 Subindex 0 Data storage Yes 4.4.4 TorqueDeactivation General properties EEPROM Yes Unit % Value range 20 ... 125 Default 125

Change Status 025/21 Page 43 of 63 IO-Link Data type UnsignedInteger8 Access rw Index 139 Subindex 0 Data storage Yes Parameter selection Value Description 125 Torque deactivation function disabled 20 ... 124 Trigger threshold of torque deactivation as a percentage of the rated motor current 4.4.5 PeakCurrentLimit General properties EEPROM Yes Unit mA Value range 0 ... 5600 Default 5600 IO-Link Data type SignedInteger16 Access rw Index 181 Subindex 0 Data storage Yes 4.4.6 PeakCurrentTime General properties EEPROM Yes Unit x100 ms Value range 0 ... 20 Default 20 IO-Link Data type SignedInteger16 Access rw Index 182 Subindex 0 Data storage Yes

Change Status 025/21 Page 44 of 63 4.4.7 ContinuousCurrent General properties EEPROM Yes Unit mA Value range 0 ... 2800 Default 2800 IO-Link Data type SignedInteger16 Access rw Index 183 Subindex 0 Data storage Yes 4.5 Options 4.5.1 Inching2StopMode General properties EEPROM Yes Unit - Value range 0 ... 1 Default 0 IO-Link Data type UnsignedInteger8 Access rw Index 134 Subindex 0 Data storage Yes Parameter selection Value Description 0 Stop with maximum delay 1 Stop with programmed delay 4.5.2 Inching2AccelerationMode General properties EEPROM Yes Unit - Value range 0 ... 1 Default 0

Change Status 025/21 Page 45 of 63 IO-Link Data type UnsignedInteger8 Access rw Index 136 Subindex 0 Data storage Yes Parameter selection Value Description 0 Static acceleration The acceleration occurs as defined in the AccelerationInchingMode parameter up to the final velocity VelocityInchingMode. 1 Incremental acceleration The acceleration occurs as defined in the parameters AccelerationInchingMode up to the final velocity VelocityInchingMode in the following steps: 4 s at 20% of the final speed 2 s at 50% of the final speed 1 s at 100% of the final speed 4.6 Controller parameter 4.6.1 ControllerParameterP General properties EEPROM Yes Unit - Value range 1 ... 500 Default 100 IO-Link Data type SignedInteger16 Access rw Index 120 Subindex 0 Data storage Yes 4.6.2 ControllerParameterI General properties EEPROM Yes Unit - Value range 0 ... 500 Default 2

Change Status 025/21 Page 46 of 63 IO-Link Data type SignedInteger16 Access rw Index 121 Subindex 0 Data storage Yes 4.6.3 ControllerParameterD General properties EEPROM Yes Unit - Value range 0 ... 500 Default 0 IO-Link Data type SignedInteger16 Access rw Index 122 Subindex 0 Data storage Yes 4.7 Device information 4.7.1 OutputStageTemperature General properties EEPROM No Unit 1/10° C Value range - Default - IO-Link Data type SignedInteger16 Access ro Index 140 Subindex 0 Data storage No 4.7.2 ControlVoltage General properties EEPROM No Unit 1/10 V

Change Status 025/21 Page 47 of 63 Value range - Default - IO-Link Data type SignedInteger16 Access ro Index 141 Subindex 0 Data storage No 4.7.3 OutputStageVoltage General properties EEPROM No Unit 1/10 V Value range - Default - IO-Link Data type SignedInteger16 Access ro Index 142 Subindex 0 Data storage No 4.7.4 BatteryVoltage General properties EEPROM No Unit 1/100 V Value range - Default - IO-Link Data type SignedInteger16 Access ro Index 143 Subindex 0 Data storage No 4.7.5 MotorCurrent General properties EEPROM No Unit mA

Change Status 025/21 Page 48 of 63 Value range - Default - IO-Link Data type SignedInteger16 Access ro Index 144 Subindex 0 Data storage No 4.7.6 ActualPosition General properties EEPROM No Unit User units (cf. Section 3.5.1) Value range - Default - IO-Link Data type SignedInteger32 Access ro Index 145 Subindex 0 Data storage No 4.7.7 ActualVelocity General properties EEPROM No Unit U/min Value range - Default - IO-Link Data type SignedInteger16 Access ro Index 146 Subindex 0 Data storage No 4.7.8 MotorThermalLoad General properties EEPROM No Unit %

Change Status 025/21 Page 49 of 63 Value range: - Default - IO-Link Data type SignedInteger16 Access ro Index 149 Subindex 0 Data storage No 4.7.9 DiagnosticParameter General properties EEPROM No Unit - Value range - Default - IO-Link Data type Record Access ro Index 150 Subindex 0 Data storage No Record Subindex Data type Name 1 SignedInteger16 DiagnosticParameter1 2 SignedInteger16 DiagnosticParameter2 4.7.10 Production Date General properties EEPROM Yes Unit DDMMYYYY Value range - Default - IO-Link Data type StringT Access ro Index 180 Subindex 0 Data storage No

Change Status 025/21 Page 50 of 63 4.7.11 I2tOverload General properties EEPROM No Unit % Value range: - Default - IO-Link Data type UnsignedInteger8 Access ro Index 184 Subindex 0 Data storage No 4.7.12 ActualContouringError General properties EEPROM No Unit Increments Value range - Default - IO-Link Data type SignedInteger32 Access ro Index 185 Subindex 0 Data storage No 4.8 Error memory 4.8.1 ErrorCount General properties EEPROM No Unit - Value range 0 ... 10 Default - IO-Link Data type UnsignedInteger8 Access ro Index 147 Subindex 0

Change Status 025/21 Page 51 of 63 Data storage No 4.8.2 ErrorBuffer General properties EEPROM Yes Unit - Value range - Default - IO-Link Data type Record Access ro Index 148 Subindex 0 Data storage No Record Subindex Data type Name 1 UnsignedInteger8 Error1 2 UnsignedInteger8 Error2 3 UnsignedInteger8 Error3 4 UnsignedInteger8 Error4 5 UnsignedInteger8 Error5 6 UnsignedInteger8 Error6 7 UnsignedInteger8 Error7 8 UnsignedInteger8 Error8 9 UnsignedInteger8 Error9 10 UnsignedInteger8 Error10 4.8.3 ErrorCounters General properties EEPROM Yes Unit - Value range - Default - IO-Link Data type Record Access ro Index 186 Subindex 0 Data storage No

Change Status 025/21 Page 52 of 63 Record Subindex Data type Name 1 SignedInteger16 Battery empty 2 SignedInteger16 Control electronics undervoltage 3 SignedInteger16 Control electronics overvoltage 4 SignedInteger16 Control electronics overvoltage 5 SignedInteger16 Output stage excess temperature 6 SignedInteger16 Contouring error 7 SignedInteger16 Output shaft blocked 8 SignedInteger16 SIN COS monitoring 9 SignedInteger16 Motor overcurrent 10 SignedInteger16 Internal error 1 11 SignedInteger16 Internal error 2 12 SignedInteger16 Internal error 3 13 SignedInteger16 Internal error 4 14 SignedInteger16 PID loop unstable 15 SignedInteger16 Motor thermal overload 16 SignedInteger16 Internal error 5 17 SignedInteger16 Internal error 6 5 IO-Link 5.1 Description The device description is available for download as IODD at http://www.siko- global.com/p/ag03-1 and in the IODD finder of the IO-Link Community. IO-Link Version V1.1 SIO Mode No COM Mode COM2 (38.4 kbaud) Min Cycle Time 9.6 ms Process Data In 8 bytes Process Data Out 8 Byte Data Storage Yes Block Parameter Yes DEVICE ID AG03-24 FW-V1.01 256 DEVICE ID AG03-48 FW-V1.01 512 Device ID AG03-24 ≥ FW-V1.02 768 Device ID AG03-48 ≥ FW-V1.02 1024 Table 9: General Interface Information

Change Status 025/21 Page 53 of 63 5.2 Process data input / output All process data are displayed within 8 bytes and have different significance depending on the operating mode. Transmission sequence: Byte 0 1 2 3 4 5 6 7 Subindex 19 … 12 11 … 4 3 2 1 Bit offset 63 … 56 55 … 48 47 … 40 39 … 32 31 … 24 23 … 16 15 … 8 7 … 0 Table 10: Assignment of transfer sequence, subindex and bit offset Fig. 14: Transmission sequence: Fig. 15: Example representation in IO-Link master 5.2.1 Process data in Position Mode operating mode Sub- index Significance (Position Mode operating mode) Bit offset Byte Lengt h In out 1 ActualPosition TargetPosition 0 4 … 7 32 2 GenericMappingChannel1 GenericMappingParameter1 32 3 8 3 GenericMappingChannel2 GenericMappingParameter2 40 2 8 4 … 19 ControlWord StatusWord 48 0 … 1 16 Table 11: Process Data Definition Position Mode Byte 0 1 2 3 Bit 63 … 56 55 … 48 47 … 40 39 … 32

Change Status 025/21 Page 54 of 63 5.2.1.1 Process data output (Master  Device) Sub- index Name Bit offset Bit length Data type Note 1 TargetPosition 0 32 Signed integer Target position 2 GenericMappingParameter1 32 8 Unsigned integer Set content of mapping channel 1 3 GenericMappingParameter2 40 8 Unsigned integer Set content of mapping channel 2 4 bc00_CoastStop 48 1 Bool Coast stop command 5 bc01_QuickStop 49 1 Bool Quick stop command 6 bc02_NormalStop 50 1 Bool Normal stop command 7 bc03_IntermediateStop 51 1 Bool Interrupt active travel job 8 bc04_StartTravelJob 52 1 Bool Rising edge starts travel job 9 bc05_ErrorAck 53 1 Bool If true, the actual error is acknowledged 10 bc06_InchingMode1 54 1 Bool Inching with positioning steps 11 bc07_InchingMode2Pos 55 1 Bool Inching in positive direction 12 bc08_InchingMode2Neg 56 1 Bool Inching in negative direction 13 bc09_Reserved 57 1 Bool Reserved 14 bc10_MoveRelative 58 1 Bool Select absolute or relative positioning 15 bc11_Reserved 59 1 Bool Reserved 16 bc12_Reserved 60 1 Bool Reserved 17 bc13_Reserved 61 1 Bool Reserved 18 bc14_GuardingBit 62 1 Bool Communication guarding 19 bc15_CalibrationExecute 63 1 Bool If true calibration becomes executed Table 12: PDI in Position Mode 5.2.1.2 Process data input (Device  Master) Sub- index Name Bit offset Bit length Data type Note 1 ActualPosition 0 32 Signed integer Actual position 2 GenericMappingChannel1 32 8 Signed integer Content selectable via generic mapping parameter 1

Change Status 025/21 Page 55 of 63 Sub- index Name Bit offset Bit length Data type Note 3 GenericMappingChannel2 40 8 Signed integer Content selectable via generic mapping parameter 2 4 bs00_Supply 48 1 Bool Output stage voltage status 5 bs01_ReadyToTravel 49 1 Bool True if ready to travel 6 bs02_UpperLimit 50 1 Bool True if upper limit is purple 7 bs03_LowerLimit 51 1 Bool True if lower limit is purple 8 bs04_ActuatorTravels 52 1 Bool True if actuator travels 9 bs05_TarWinReached 53 1 Bool True if target window is reached 10 bs06_ActiveTravelJob 54 1 Bool True if travel job is active 11 bs07_GeneralError 55 1 Bool True if error is active 12 bs08_OperationEnabled 56 1 Bool True if operation is enabled 13 bs09_SwitchLock 57 1 Bool True if switch-lock is active 14 bs10_TravelJobAck 58 1 Bool True if travel job is acknowledged 15 bs11_BatteryState 59 1 Bool True if battery state is critical or low 16 bs12_TorqueDeactState 60 1 Bool True if torque deactivation is active 17 bs13_CalibrationRequest 61 1 Bool True if calibration is required 18 bs14_GuardingBit 62 1 Bool Communication guarding 19 bs15_CalibrationExecuted 63 1 Bool True if calibration command is executed Table 13: PDI in Position Mode operating mode 5.2.2 Process data in Velocity Mode Sub- index Significance (Velocity Mode) Bit offset Byte Lengt h In out 1 ActualVelocity TargetVelocity 0 4 … 7 32 2 GenericMappingChannel1 GenericMappingParameter1 32 3 8 3 GenericMappingChannel2 GenericMappingParameter2 40 2 8 4 … 19 ControlWord StatusWord 48 0 … 1 16 Table 14: Process Data Definition Velocity Mode

Change Status 025/21 Page 56 of 63 5.2.2.1 Process data output (Master  Device) Sub- index Name Bit offset Bit length Data type Note 1 TargetVelocity 0 32 Signed integer Target velocity 2 GenericMappingParameter1 32 8 Unsigned integer Set content of mapping channel 1 3 GenericMappingParameter2 40 8 Unsigned integer Set content of mapping channel 2 4 bc00_CoastStop 48 1 Bool Coast stop command 5 bc01_QuickStop 49 1 Bool Quick stop command 6 bc02_NormalStop 50 1 Bool Normal stop command 7 bc03_Reserved 51 1 Bool Reserved 8 bc04_StartTravelJob 52 1 Bool Rising edge starts travel job 9 bc05_ErrorAck 53 1 Bool If true, the actual error is acknowledged 10 bc06_Reserved 54 1 Bool Reserved 11 bc07_Reserved 55 1 Bool Reserved 12 bc08_Reserved 56 1 Bool Reserved 13 bc09_Reserved 57 1 Bool Reserved 14 bc10_Reserved 58 1 Bool Reserved 15 bc11_Reserved 59 1 Bool Reserved 16 bc12_Reserved 60 1 Bool Reserved 17 bc13_Reserved 61 1 Bool Reserved 18 bc14_GuardingBit 62 1 Bool Communication guarding 19 bc15_CalibrationExecute 63 1 Bool If true calibration becomes executed Table 15: PDO in Velocity Mode operating mode 5.2.2.2 Process data input (Device  Master) Sub- index Name Bit offset Bit length Data type Note 1 ActualVelocity 0 32 Signed integer Actual velocity 2 GenericMappingChannel1 32 8 Signed integer Content selectable via generic mapping parameter 1 3 GenericMappingChannel2 40 8 Signed integer Content selectable via generic mapping parameter 2 4 bs00_Supply 48 1 Bool Output stage voltage status 5 bs01_ReadyToTravel 49 1 Bool True if ready to travel

Change Status 025/21 Page 57 of 63 Sub- index Name Bit offset Bit length Data type Note 6 bs02_Reserved 50 1 Bool Reserved 7 bs03_Reserved 51 1 Bool Reserved 8 bs04_ActuatorTravels 52 1 Bool True if actuator travels 9 bs05_TarWinReached 53 1 Bool True if target window is reached 10 bs06_ActiveTravelJob 54 1 Bool True if travel job is active 11 bs07_GeneralError 55 1 Bool True if error is active 12 bs08_OperationEnabled 56 1 Bool True if operation is enabled 13 bs09_SwitchLock 57 1 Bool True if switch-lock is active 14 bs10_TravelJobAck 58 1 Bool True if travel job is acknowledged 15 bs11_BatteryState 59 1 Bool True if battery state is critical or low 16 bs12_Reserved 60 1 Bool Reserved 17 bs13_CalibrationRequest 61 1 Bool True if calibration is required 18 bs14_GuardingBit 62 1 Bool Communication guarding 19 bs15_CalibrationExecuted 63 1 Bool True if calibration command is executed Table 16: PDI in Velocity Mode 5.3 Generic Mapping Channels In addition to the predefined process input data, additional drive data can be transferred using the two mapping channels. The content of the Generic Mapping Channel is defined by the Generic Mapping parameter in the process output data. The Generic Mapping parameter can be changed at any time. Generic Mapping Parameter Generic Mapping Channel / Unit Valu e Name 0 Error Status 1 Output stage temperature [°C] 2 Control voltage [V] 3 Output stage voltage [V] 4 Battery voltage [1/10 V] 5 Motor current [1/10 A] 6 Actual velocity Actual velocity / Max velocity [%] 7 Motor thermal load Motor thermal load / Max thermal load [%] 8 I2t overload I2t actual value / I2t limit [%] 9 Diagnostic parameter 1

Change Status 025/21 Page 58 of 63 Generic Mapping Parameter Generic Mapping Channel / Unit Valu e Name 10 Diagnostic parameter 2 Table 17: Generic Mapping Parameter 5.4 Object Directory 5.4.1 IO-Link specific objects Index (hex) Name Type Length Access Default Note 0 (00h) DirectParameter1 Record 16 bytes rw Cf. IO-Link Interface Spec. 1 (01h) DirectParameter2 Record 16 bytes rw Cf. IO-Link Interface Spec. 2 (02h) System Commands wo Cf. IO-Link Interface Spec. and 5.5 3 (03h) DataStorageIndex Record 72 bytes ro Cf. IO-Link Interface Spec. 12 (0Ch) DeviceAccesLocks Record 2 bytes wr Cf. IO-Link Interface Spec. and 5.6 13 (0Dh) Profile Characteristic Record 2 bytes ro Cf. IO-Link Interface Spec. 14 (0Eh) PDInputDescriptor Unsigned Integer16 3 bytes ro Cf. IO-Link Interface Spec. 15 (0Fh) PDOutputDescriptor Unsigned Integer16 3 bytes ro Cf. IO-Link Interface Spec. 16 (10h) Vendor Name String 9 bytes ro SIKO GmbH 17 (11h) Vendor Text String 19 bytes ro www.siko- global.com 18 (12h) Product Name String 11 bytes 12 bytes 11 bytes 12 bytes ro AG03-24-IOL AG03-24-IOL2 AG03-48-IOL AG03-48-IOL2 19 (13h) Product ID String 1 byte ro 1 = IOL 2 = IOL2 20 (14h) Product Text String 8 byte ro Actuator 21 (15h) Serial Number String 8 bytes ro xxxxxxxx

Change Status 025/21 Page 59 of 63 Index (hex) Name Type Length Access Default Note 22 (16h) Hardware Revision String 7 bytes ro HW-Vxxx 23 (17h) Firmware Revision String 7 bytes ro FW-Vxxx 24 (18h) Application Specific Tag String 32 bytes rw *** Cf. IO-Link Interface Spec. 36 (24h) Device Status Uint 1 byte ro Cf. IO-Link Interface Spec. Table 18: IO-Link specific indexes 5.5 IO-Link System Commands Index (hex) Name Access Value Name Note 2 (02h) System Commands wo 1 ParamUploadStart IO-Link Spec. 2 ParamUploadEnd 3 ParamDownloadStart 4 ParamDownloadStart 5 ParamDownloadStore 6 ParamBreak 128 Device Reset 130 Restore Factory Settings 161 Enable Bootloader Bootloading not via IO-Link 163 Clear Error Buffer 252 Execute Calibration Cf. Section 3.4. Table 19: System Commands 5.6 IO-Link DeviceAccessLocks Index (hex) Name Access Supported Access Locks Note 12 (0Ch) DeviceAccessLocks rw Data Storage IO-Link Spec. Local Parameterization IO-Link Spec. Table 20: DeviceAccessLocks

Change Status 025/21 Page 60 of 63 5.7 IO-Link Event Codes Event Code Name Type Note 6146 (1802h) Battery empty Error Charge level empty 6147 (1803h) Control electronics undervoltage Error Control voltage too low 6148 (1804h) Control electronics overvoltage Error Control voltage too high 6149 (1805h) Control electronics overvoltage Error Output stage voltage too high 6150 (1806h) Output stage excess temperature Error Output stage temperature too high 6151 (1807h) Contouring error Error Position lag 6152 (1808h) Output shaft blocked Error Shaft blocked 6154 (180Ah) SIN COS monitoring Error Encoder error 6155 (180Bh) Motor overcurrent Error Motor current too high 6156 (180Ch) Internal error 1 Error Internal error 1 6157 (180Dh) Internal error 2 Error Internal error 2 6158 (180Eh) Internal error 3 Error Internal error 3 6159 (180Fh) Internal error 4 Error Internal error 4 6160 (1810h) PID loop unstable Error Position control unstable 6161 (1811h) Motor thermal overload Error Thermal overload of the motor 6162 (1812h) Internal error 5 Error Internal error 5 6163 (1813h) Internal error 6 Error Internal error 6 20498 (5012h) Battery low Warnin g Charging state is critical 25376 (6320h) Parameter error Error IO-Link Spec. V1.1.2 Appendix D. Table 21: EventCodes 5.8 IO-Link Event Codes Value 1. Byte Value 2. Byte Name Note 80h xxh Error Code IO-Link Spec. V1.1.2 Appendix C. 00h Device application error, no details 11h Index not available 12h Subindex not available 20h Service temporarily not available 21h Service temporarily not available, local control 22h Service temporarily not available, device control 23h Write access denied 30h Parameter value out of range 31h Parameter value above limit 32h Parameter value below limit 33h Parameter length overrun 34h Parameters length underrun 35h Function not available

Change Status 025/21 Page 61 of 63 Value 1. Byte Value 2. Byte Name Note 36h Function temporarily not available 40h Invalid parameter set 41h Inconsistent parameter set 82h Application not ready 81h xxh Vendor specific error code Table 22: ErrorCodes

AG03/1 Date: 2/08/2021 Art. No. 90425 Change Status 025/21 Page 62 of 63 6 Block wiring diagram Fig. 16: Block wiring diagram Output stage Motor Gears Encoder IO-Link Interface IO-Link Master CQ1 IO-Link Master P24/N24 Reverse polarity protection Reverse polarity protection Motion Control Communication Isolation limit IO-Link Master L+/L- Power supply unit Battery DC/DC Isolation

Change Status 025/21 Page 63 of 63 SIKO GmbH Weihermattenweg 2 79256 Buchenbach Telephone + 49 7661 394-0 Fax + 49 7661 394-388 Email [email protected] Internet www.siko-global.com Service [email protected]