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

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

8-15

Axis group member 4

PO
x+2

0-7

Axis group member 1

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

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)

Subordinate axis group members

Optionally, 6 PDs per single axis can be activated to obtain more detailed information about the individual axes subordinate to the MultiAxisController. These serve purely for status information and therefore all setpoints are reserved.

Word

Bit

Function

PO x+0

Reserved

0-15

 

PO x+1

Reserved

0-15

 

PO x+2

Reserved

0-15

 

PO x+3

Reserved

0-15

 

PO x+4

Reserved

0-15

 

PO x+5

Reserved

0-15

 

Access control for lower-level software modules

Software modules can be controlled via a fieldbus interface. When cascading the MOVIKIT® MultiAxisController or with MOVIKIT® Robotics, there may be higher-level and lower-level software modules. Usually, only the highest software module is controlled via the fieldbus interface. In order to also control a lower-level software module via the fieldbus interface and move it separately, access can be requested at the lower-level software module via this control word.

Word

Bit

Function/unit

PO
x+1

Control word

0

Request access

1-15

Reserved