Horizontal drive – 10 PD
Word | Bit | Function | |
|---|---|---|---|
PI 5 | Status
INFORMATION: Requirements for starting positioning mode are that "Ready for operation", "STO not active", "Output stage enabled", "Brake released" and "Drive referenced" = "TRUE" and "Fault" = "FALSE". | 0 | Ready for operation |
1 | STO not active | ||
2 | Output stage enable | ||
3 | Brake released | ||
4 | Motor turning | ||
5 | Drive referenced | ||
6 |
| ||
7 | In position | ||
8 | Fault | ||
9 | Warning of the inverter If a warning is signaled, both bit PI 5:9 and the associated fault code are indicated in PI 7. If a warning and a fault are active at the same time, the fault gets a higher priority and is indicated in PI 7. | ||
10 |
| ||
11 | External encoder disabled | ||
12 | Software limit switches disabled | ||
13 |
| ||
14 | Standby mode active | ||
15 | MOVIKIT® Handshake Out | ||
PI 6 | Actual speed |
| In user units (e.g. mm/s) |
PI 7 | Status/fault |
| If the application is in fault state, the fault code is output here. If it is not in fault state, the status is output (e.g. in the case of an inconsistent status: -1 = 65535 = 16#FFFF). See PI 3 Group – 4 PD |
PI 8 | Actual torque |
| Specified in percent relative to the nominal motor torque with one decimal place |
PI 9 | Digital inputs | 0 | Station 1 – DI0 |
1 | Station 1 – DI1 | ||
2 | Station 1 – DI2 | ||
3 | Station 1 – DI3 | ||
4 | Station 2 – DI0 | ||
5 | Station 2 – DI1 | ||
6 | Station 2 – DI2 | ||
7 | Station 2 – DI3 | ||
8 | Station 3 – DI0 | ||
9 | Station 3 – DI1 | ||
10 | Station 3 – DI2 | ||
11 | Station 3 – DI3 | ||
12 | Station 4 – DI0 | ||
13 | Station 4 – DI1 | ||
14 | Station 4 – DI2 | ||
15 | Station 4 – DI3 | ||
PI 10 | Status word "MultiAxisController" | 0 | Station 1 deactivated |
1 | Station 2 deactivated | ||
2 | Station 3 deactivated | ||
3 | Station 4 deactivated | ||
4 | Station 1 – brake released | ||
5 | Station 2 – brake released | ||
6 | Station 3 – brake released | ||
7 | Station 4 – brake released | ||
8 | Balance controller deactivated | ||
9 | Position controller deactivated | ||
10 | Skewing in skewing window | ||
11 | Overload guard active | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Reserved | ||
15 | Reserved | ||
PI 11 | Actual position high |
| In user units (e.g. mm) |
PI 12 | Actual position low |
| In user units (e.g. mm) Information: The actual position is valid if "Ready for operation", "Referenced" and no respective fault or fault code are present. |
PI 13 | Actual jerk |
| In user units/unit of time3 |
PI 14 | Reserved |
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