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 | Control word 2 | 0-3 | Target priority of the balancing (operating mode):
|
4-15 | Reserved |
Tension between axis group members 1 and 2
Word | Bit | Function/unit | |
---|---|---|---|
PO | Tension between axis group members 1 and 2 | 0-15 | 0.1% nominal motor torque |
Load distribution
Word | Bit | Function/unit | |
---|---|---|---|
PO | Load distribution | 0-7 | Axis group member 3 |
8-15 | Axis group member 4 | ||
PO | 0-7 | Axis group member 1 | |
8-15 | Axis group member 2 |
Position controller P gain
Word | Bit | Function/unit | |
---|---|---|---|
PO | Position controller | 0-15 | 0.01 * Kp value |
Balance controller P gain
Word | Bit | Function/unit | |
---|---|---|---|
PO | Balance controller | 0-15 | Skew priorities: Torque priorities: |
User-defined speed correction values
Word | Bit | Function/unit | |
---|---|---|---|
PO | Axis group member 1 target speed correction value | 0-15 | User unit (speed) |
PO | Axis group member 2 target speed correction value | 0-15 | User unit (speed) |
PO | Axis group member 3 target speed correction value | 0-15 | User unit (speed) |
PO | Axis group member 4 target speed correction value | 0-15 | User unit (speed) |
Skew offset
Word | Bit | Function/unit | |
---|---|---|---|
PO | Skew offset axis group member 1 – high word | 0-15 | User unit (position) |
PO | Skew offset axis group member 1 – low word | 0-15 | User unit (position) |
PO | Skew offset axis group member 2 – high word | 0-15 | User unit (position) |
PO | Skew offset axis group member 2 – low word | 0-15 | User unit (position) |
PO | Skew offset axis group member 3 – high word | 0-15 | User unit (position) |
PO | Skew offset axis group member 3 – low word | 0-15 | User unit (position) |
PO | Skew offset axis group member 4 – high word | 0-15 | User unit (position) |
PO | Skew offset axis group member 4 – low word | 0-15 | User unit (position) |
Anti-sway control
Control word
Word | Bit | Function/unit | |
---|---|---|---|
PO | Control word | 0-1 | Setpoint correction selection |
2-3 | Reserved | ||
4 | Activate additional dampers | ||
5-15 | Reserved |
Payload mass
Word | Bit | Function/unit | |
---|---|---|---|
PO | Payload mass | 0-15 | Weight in kg |
Distance between lifting and traveling trolley
Word | Bit | Function/unit | |
---|---|---|---|
PO | Distance between lifting and traveling trolley – high word | 0-15 | Distance from lifting axis to travel axis in [m] |
PO | 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 | 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 | Control word | 0 | Request access |
1-15 | Reserved |