Adding to the process data

The following tables show the relevant process data words for the top drive. The further assignments of the relevant process data are shown in italics.

X MAC control word

Word	Bit	Assignment	Function
PO 10+20	0..3	Deactivate axis 1..4
PO 10+20	4..7	Release the brake without enabling – axis 1..4
PO 10+20	8	Deactivate balance controller	When the load is lifted off or set down, the tower is subject to forces or torques that can be interpreted by the strain gauge as oscillation. In order not to cause any balancing movement in these cases, the "Deactivate balance controller" bit can be set.

X MAC status word

Word	Bit	Assignment	Function
PI 10+20	0..3	Axis 1..4 deactivated
PI 10+20	4..7	Brake released – axis 1..4
PI 10+20	8	Balance controller deactivated	The balance between the stations with "torque priority" or "skewing priority" is deactivated. (INFORMATION: This bit does not apply to the position controller.)

In the configuration of the MOVIKIT^® StackerCrane, on the "Fieldbus interface" configuration menu in the "Optional process data" section, you can activate 12 additional process data items for the MOVIKIT^® MultiAxisController in the "MultiAxisController – X direction and/or Y direction" settings field. You will find the following process input data, for example, in this process data.

12 optional process data items for the MultiAxisController

Word	Assignment	Function
PI 25	X top drive scaled analog value	[standardized to -10 000..10 000] MOVIDRIVE^® value
PI 26	X top drive speed correction	[User unit per second]
PI 27	X top drive speed ratio	[0.1%] = Speed_{MotorEncoderTopdrive}/ Speed_{MotorEncoderLowerDrive}
PI 28	X top drive slip	[User unit] = Position_{MotorEncoderTopdrive} - Position_{MotorEncoderLowerDrive}