Process input data
Word | Bit | Function | |
|---|---|---|---|
PI 1 | Status word | 0 | "1": Ready for operation |
1 | "1": STO inactive | ||
2 | "1": Output stage enable | ||
3 | "1": Brake released | ||
4 | "1": Motor running (motor standstill active) | ||
5 | "1": Active drive referenced | ||
6 | "1": New relative position applied | ||
7 | "1": "In position" signal active | ||
8 | "1": Fault | ||
9 | "1": Warning "Warning" can be defined as a response to certain faults. If a warning is signaled, both bit PI 1.9 and the associated fault code are indicated in PI 3. If a warning and a fault are active at the same time, only bit PI 1.8 is set and the respective fault code is indicated in PI 3. | ||
10 | "1": Drive train 2 active | ||
11 | "1": "Setpoint/actual speed comparison active" signal | ||
12 | "1": Software limit switches inactive | ||
13 | "1": Reserved (can be assigned individually using status word 2, bit 13) | ||
14 | "1": Standby mode active | ||
15 | MOVIKIT® Handshake Out (for details, see MOVIKIT® Handshake In) | ||
PI 2 | Actual speed | 0 – 15 | User unit |
PI 3 | Status Fault-subfault | 0 – 15 |
(High byte: fault; Low byte: subfault) For more information, refer to the product manual of the respective device. |
PI 4 | Actual torque | 0 – 15 | Actual torque |
PI 5 | Digital inputs | 0 | DI 00 |
... | ... | ||
7 | DI 07 | ||
... | ... | ||
9 | DI 09 / DIO 01 (input) | ||
10 | DI 10 / DIO 02 (input) | ||
... | ... | ||
13 | DI 13 | ||
... | ... | ||
PI 6 | Actual application mode (operating mode) | 0 – 15 | Operating mode. See chapter Operating modes. |
PI 7 | Actual position (high word) | 0 – 15 | User unit |
PI 8 | Actual position (low word) | 0 – 15 | User unit |
PI 9 | Application status word | 0 | Print mark recognition activated |
1 | Correction limitation activated | ||
2 – 7 | Reserved | ||
8 – 15 | Gearing state | ||
PI 10 | Reserved |
| Internal state |
PI 11 | Reserved |
| Internal state |
PI 12 | Print marks |
| Print marks missing since last valid print mark |
PI 13 | Print mark |
| Reference position of the print mark. User unit of master axis with four decimal places. Actual value. |
PI 14 | Detection window |
| Window in which print marks are to be detected. User unit of master axis with four decimal places. Actual value. |
PI 15 | Actual print mark deviation |
| Last registered print mark deviation. User unit of master axis with four decimal places |
PI 16 | Start position of |
| Position of master axis as of which a print mark correction is performed. User unit of master axis with four decimal places. Actual value |
