Overview

Group

PO 1

Target mode

PI 1

Actual mode

PO 2

Control word

PI 2

Status word

PO 3

Override (if configured)

PI 3

Status/fault

PO 4

Regenerative power supply control word (in preparation)

PI 4

Regenerative power supply status word
(in preparation)

Horizontal drive

PO 5

Control word

PI 5

Status word

PO 6

Setpoint speed

PI 6

Actual speed

PO 7

Setpoint acceleration

PI 7

Status/fault

PO 8

Setpoint deceleration

PI 8

Actual torque

PO 9

Digital outputs

PI 9

Digital inputs

PO 10

"MultiAxisController"
control word

PI 10

"MultiAxisController"
status word

PO 11

Setpoint position high

PI 11

Actual position high

PO 12

Setpoint position low

PI 12

Actual position low

PO 13

Setpoint jerk

PI 13

Actual jerk

PO 14

Reserved

PI 14

Reserved

Vertical drive

PO 15

Control word

PI 15

Status word

PO 16

Setpoint speed

PI 16

Actual speed

PO 17

Setpoint acceleration

PI 17

Status/fault

PO 18

Setpoint deceleration

PI 18

Actual torque

PO 19

Digital outputs

PI 19

Digital inputs

PO 20

"MultiAxisController"
control word

PI 20

"MultiAxisController"
status word

PO 21

Setpoint position high

PI 21

Actual position high

PO 22

Setpoint position low

PI 22

Actual position low

PO 23

Setpoint jerk

PI 23

Actual jerk

PO 24

Reserved

PI 24

Reserved

Optional PD for MultiAxisController

PO X+1

X: Load capacity

PI X+1

X: Top drive analog value

PO X+2

X: Position controller
P gain

PI X+2

X: Top drive
speed correction

PO X+3

X: Torque ratio
A4(HighByte)/A3(LowByte)

PI X+3

X: Top drive
speed ratio

PO X+4

X: Torque ratio
A2(HighByte)/A1(LowByte)

PI X+4

X: Top drive
slip

PO X+5

X: Reserved

PI X+5

X: Reserved

PO X+6

X: Reserved

PI X+6

X: Reserved

PO X+7

X: Reserved

PI X+7

X: Reserved

PO X+8

X: Reserved

PI X+8

X: Reserved

PO X+9

Y: Reserved (load capacity)

PI X+9

Y: Reserved

PO X+10

Y: Reserved
(P gain)

PI X+10

Y: Reserved

PO X+11

Y: Reserved

PI X+11

Y: Reserved

PO X+12

Y: Reserved

PI X+12

Y: Reserved

Optional PD for MultiMotion

PO X+1

Reserved

PI X+1

Status word

PO X+2

Reserved

PI X+2

Actual speed

PO X+3

Reserved

PI X+3

Status/fault

PO X+4

Reserved

PI X+4

Actual torque

PO X+5

Reserved

PI X+5

Actual position high

PO X+6

Reserved

PI X+6

Actual position low