Adding to the process data
The following tables show the relevant process data words for the top drive. The further assignments of the relevant process data are shown in italics.
X MAC control word
Word | Bit | Assignment | Function |
|---|---|---|---|
PO 10+20 | 0..3 | Deactivate axis 1..4 |
|
PO 10+20 | 4..7 | Release brake without enable – axis 1..4 |
|
PO 10+20 | 8 | Deactivate | When the load is lifted off or set down, the tower is subject to forces or torques that can be interpreted by the strain gauge as oscillation. In order not to cause any balancing movement in these cases, the "Deactivate balance controller" bit can be set. |
X MAC status word
Word | Bit | Assignment | Function |
|---|---|---|---|
PI 10+20 | 0..3 | Axis 1..4 deactivated |
|
PI 10+20 | 4..7 | Brake released – axis 1..4 |
|
PI 10+20 | 8 | Balance controller | The compensation between axis group members with "torque priority" or "skewing priority" is deactivated. (INFORMATION: This bit does not apply to the position controller.) |
In the configuration of the MOVIKIT® StackerCrane, on the "Fieldbus interface" configuration menu in the "Optional process data" section, you can activate 12 additional process data items for the MOVIKIT® MultiAxisController in the "MultiAxisController – X direction and/or Y direction" settings field. You will find the following process input data, for example, in this process data.
12 optional PD for the MultiAxisController
Word | Bit | Assignment | Function |
|---|---|---|---|
PI 25 |
| X top drive scaled analog value | [normalized to -10.000..10.000] Value of the MOVIDRIVE® |
PI 26 |
| X top drive | [User unit per second] |
PI 27 |
| X top drive speed ratio | [0.1%] = VelocityMotorEncoderTopdrive/ VelocityMotorEncoderLowerDrive |
PI 28 |
| X top drive slip | [User unit] = |
PI 29 |
| X top drive unscaled analog value | [0.001 V] or [0.001 mA] |
