MultiMotion – 6 PD per single axis (optional)
Optionally, 6 PDs per single axis can be activated to obtain more detailed information about the individual axes subordinate to the MultiAxisController.
Word | Bit | Function | |
|---|---|---|---|
PI X+0 | Status word | 0 | Ready for operation |
1 | STO not active | ||
2 | Output stage enable | ||
3 | Brake released | ||
4 | Motor turning (motor turns X OR motor turns Y) | ||
5 | Drive referenced | ||
6 |
| ||
7 | In position | ||
8 | Fault | ||
9 | Warning | ||
10 |
| ||
11 |
| ||
12 |
| ||
13 |
| ||
14 | Standby mode active | ||
15 |
| ||
PI X+1 | Actual speed | 0-15 |
|
PI X+2 | Status or fault/subfault | 0-15 | 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: See PI 3 Group – 4 PD |
PI X+3 | Actual torque | 0-15 |
|
PI X+4 | Actual position high | 0-15 | If an external encoder is activated for the axis in the case of the MultiAxisController, the position of the external encoder is output. If it is not activated, the position of the motor encoder is output. |
PI X+5 | Actual position low | 0-15 | |
