Additional functions

The software module makes it possible to configure optional control/status words depending on the function that is required. These line up automatically after the 10 process data words of the basic functions.

INFORMATION

The amount of previously configured process data (x) must be added to the specified process data word number.

Control word 2

Word	Bit	Function/unit
PO x+1	Control word 2	0-3	Target priority of the balancing (operating mode): 0 = Torque 1 = Skew 2 = Skew without overload guard 3 = User-defined speed correction values 5 = User-defined skew error 6 = User-defined speed correction values with diagnostics
4-15	Reserved

Word

Bit

Function/unit

PO
x+1

Control word 2

0-3

Target priority of the balancing (operating mode):

0 = Torque
1 = Skew
2 = Skew without overload guard
3 = User-defined speed correction values
5 = User-defined skew error
6 = User-defined speed correction values with diagnostics

4-15

Reserved

Tension between axis group members 1 and 2

Word		Bit	Function/unit
PO x+1	Tension between axis group members 1 and 2	0-15	0.1% nominal motor torque

Load distribution

Word		Bit	Function/unit
PO x+1	Load distribution	0-7	Axis group member 3
PO x+1		8-15	Axis group member 4
PO x+2		0-7	Axis group member 1
PO x+2		8-15	Axis group member 2

Position controller P gain

Word		Bit	Function/unit
PO x+1	Position controller P gain	0-15	0.01 * Kp value

Balance controller P gain

Word	Bit	Function/unit
PO x+1	Balance controller P gain	0-15	Skew priorities: 0.01 * Kp value Torque priorities: 0.01 * percentage value

Word

Bit

Function/unit

PO
x+1

Balance controller
P gain

0-15

Skew priorities:
0.01 * Kp value

Torque priorities:
0.01 * percentage value

User-defined speed correction values

Word		Bit	Function/unit
PO x+1	Axis group member 1 target speed correction value	0-15	User unit (speed)
PO x+2	Axis group member 2 target speed correction value	0-15	User unit (speed)
PO x+3	Axis group member 3 target speed correction value	0-15	User unit (speed)
PO x+4	Axis group member 4 target speed correction value	0-15	User unit (speed)

Skew offset

Word		Bit	Function/unit
PO x+1	Skew offset axis group member 1 – high word	0-15	User unit (position)
PO x+2	Skew offset axis group member 1 – low word	0-15	User unit (position)
PO x+3	Skew offset axis group member 2 – high word	0-15	User unit (position)
PO x+4	Skew offset axis group member 2 – low word	0-15	User unit (position)
PO x+5	Skew offset axis group member 3 – high word	0-15	User unit (position)
PO x+6	Skew offset axis group member 3 – low word	0-15	User unit (position)
PO x+7	Skew offset axis group member 4 – high word	0-15	User unit (position)
PO x+8	Skew offset axis group member 4 – low word	0-15	User unit (position)

Anti-sway control

Control word

Word		Bit	Function/unit
PO x+1	Control word	0-1	Setpoint correction selection
		2-3	Reserved
		4	Activate additional dampers
		5-15	Reserved

Payload mass

Word		Bit	Function/unit
PO x+1	Payload mass	0-15	Weight in kg

Distance between lifting and traveling trolley

Word		Bit	Function/unit
PO x+1	Distance between lifting and traveling trolley – high word	0-15	Distance from lifting axis to travel axis in [m]
PO x+2	Distance between lifting and traveling trolley – low word	0-15	Distance from lifting axis to travel axis in [m]

Deflection of the oscillation

Word		Bit	Function/unit
PO x+1	Deflection of the oscillation for vibration dampers	0-15	User unit (position)