Group – 4 PD

PI 1

Actual application mode

0-15

Operating mode. See chapter Operating modes

PI 2

Status word

0

X and Y direction – Ready for operation

1

X and Y direction – STO not active

2

X and Y direction – Output stage enable

3

X and Y direction – Brake released

4

X or Y direction – Motor turning

5

X and Y direction – Drive referenced

6

7

X and Y direction – In position

8

X or Y direction – Fault

9

X or Y direction – Warning

10

11

X and Y direction – External encoder deactivated

12

X and Y direction – Software limit switch deactivated

13

14

X and Y direction – Standby mode active

15

MOVIKIT^® Handshake Out

PI 3

Status/
fault code

If the application is in fault state, the fault code is output here, otherwise the status is output.

State:

• 0 = Not ready
• 1 = Output stage inhibited
• 2 = Stop default
• 6 = Interpolated speed control
• 10 = Interpolated position control
• 12 = Reference travel
• 13 = Stop at application limits
• 14 = Emergency stop
• 21 = Brake test (extension required)
• 23 = Safe brake test
  (start from safety)
• 26 = Stop at user limits
• -1 = 65535 (16#FFFF) Inconsistent
  (The lower-level stations do not have the same status.)

Error code:

• Fault ID (high byte: fault code;
  low byte: sub-fault code)
  See Faults

PI 4

Regenerative power supply status word

In preparation