Subordinate axis group members
Optionally, 6 PD per single axis can be activated to obtain more detailed information about the individual axes subordinate to the MultiAxisController.
Word | Bit | Function | |
|---|---|---|---|
PI x+0 | Status word | 0 | Ready for operation |
1 | STO inactive | ||
2 | Output stage enabled | ||
3 | Brake released | ||
4 | Motor turning | ||
5 | Referenced | ||
6 | Reserved | ||
7 | Reserved | ||
8 | Fault | ||
9 | Inverter warning | ||
10 | Reserved | ||
11 | Reserved | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Standby mode active | ||
15 | Reserved | ||
PI x+1 | Actual speed | 0-15 |
|
PI x+2 | Status or fault/subfault | 0-15 |
|
PI x+3 | Actual torque | 0-15 |
|
PI x+4 | Actual position high word | 0-15 | If an external encoder is activated for the axis in the case of the MultiAxisController, the position of the external encoder is output. If it is not activated, the position of the motor encoder is output. |
PI x+5 | Actual position low word | 0-15 | |
