Horizontal drive – 10 PD
The control word for the horizontal drive is a joint control word for all axes of the horizontal drive. In the most simple case this can be one axis. If more than one axis is used, all lower-level axes are controlled using the MOVIKIT® MultiAxisController. This means the control word of the horizontal drive is always the same irrespective of the type of storage/retrieval system.
Word | Bit | Function | |
|---|---|---|---|
PO 5 | Horizontal drive control word | 0 | Enable/emergency stop
|
1 | Enable/stop at
| ||
2 |
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3 | Brake release without enable | ||
4 | Jog – positive | ||
5 | Jog – negative | ||
6 |
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7 | Feed enable (for positioning) | ||
8 | Fault reset: Reset only to be performed via process data interface. | ||
9 |
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10 |
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11 | Deactivate external encoder | ||
12 | Deactivate software limit switches In preparation | ||
13 | Output stage inhibit | ||
14 | Activate standby mode | ||
15 | MOVIKIT® Handshake In | ||
PO 6 | Setpoint speed |
| Can also be referred to as the maximum speed of the profile generator and is scaled in user units (e.g. mm/s). |
PO 7 | Setpoint acceleration |
| In user units (e.g. mm/s2) |
PO 8 | Setpoint deceleration |
| In user units (e.g. mm/s2) |
PO 9 | Digital outputs | 0 | Station 1 – DO0 |
1 | Station 1 – DO1 | ||
2 | Station 1 – DO2 | ||
3 | Station 1 – DO3 | ||
4 | Station 2 – DO0 | ||
5 | Station 2 – DO1 | ||
6 | Station 2 – DO2 | ||
7 | Station 2 – DO3 | ||
8 | Station 3 – DO0 | ||
9 | Station 3 – DO1 | ||
10 | Station 3 – DO2 | ||
11 | Station 3 – DO3 | ||
12 | Station 4 – DO0 | ||
13 | Station 4 – DO1 | ||
14 | Station 4 – DO2 | ||
15 | Station 4 – DO3 | ||
PO 10 | Control word "MultiAxisController" | 0 | Deactivate station 1 |
1 | Deactivate station 2 | ||
2 | Deactivate station 3 | ||
3 | Deactivate station 4 | ||
4 | Station 1 – Release brake | ||
5 | Station 2 – Release brake | ||
6 | Station 3 – Release brake | ||
7 | Station 4 – Release brake | ||
8 | Deactivate balance controller | ||
9 | Reserved (deactivate position controller) | ||
10 | Deactivate skew error | ||
11 | Allow skew balancing | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Reserved | ||
15 | Reserved | ||
PO 11 | Setpoint position high |
| In user units (e.g. mm) |
PO 12 | Setpoint position high |
| In user units (e.g. mm) |
PO 13 | Setpoint jerk |
| In user units/unit of time3 |
PO 14 | Reserved |
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