Process input data
Word | Bit | Function | |
|---|---|---|---|
PI 1 | Status word | 0 | "1": Ready |
1 | "1": STO inactive | ||
2 | "1": Output stage enable | ||
3 | "1": Brake released | ||
4 | "1": Motor running (motor standstill active) | ||
5 | "1": Active drive referenced | ||
6 | "1": New relative position applied | ||
7 | "1": "In position" signal active | ||
8 | "1": Fault | ||
9 | "1": Warning "Warning" can be defined as an error response to certain errors. If a warning is signaled, both bit PI 1.9 and the associated error code are indicated in PI 3. If a warning and an error are active at the same time, only bit PI 1.8 is set and the respective error code is indicated in PI 3. | ||
10 | "1": Drive train 2 active | ||
11 | "1": "Setpoint/actual speed comparison active" message | ||
12 | "1": Software limit switches inactive | ||
13 | "1": Reserved (can be assigned individually using status word 2, bit 13) | ||
14 | "1": Standby mode active | ||
15 | MOVIKIT® Handshake Out | ||
PI 2 | Actual speed | 0 -15 | User unit |
PI 3 | Status Fault-subfault | 0 -15 |
(High byte: fault; Low byte: subfault) For more information, refer to the product manual of the respective device. |
PI 4 | Torque | 0 -15 | Current torque based on the nominal motor torque (unit: 0.1%) |
PI 5 | Digital inputs
| 0 | DI 00 |
1 | DI 01 | ||
… | … | ||
13 | DI 13 | ||
PI 6 | Actual application mode (operating mode) | 0 -15 | Operating mode. See chapter Operating modes. |
PI 7 | Actual position high word | 0 -15 | User unit |
PI 8 | Actual position low word | 0 -15 | User unit |
PI 9 | Application status word | 0 | Master-based operating mode |
1 | Synchronous | ||
2 | Reserved | ||
8 – 15 | |||
PI 10 | Active cut length high word |
| User unit (of the master) |
PI 11 | Active cut length low word |
| User unit (of the master) |
PI 12 | Current cut length high word |
| User unit |
PI 13 | Current cut length low word |
| User unit |
PI 14 | Current sensor distance high word |
| User unit INFORMATION: Only available for "linear" master axis type and "cut mark control" operating mode. |
PI 15 | Current sensor distance low word |
| User unit |
PI 16 | Current speed of the master |
| User unit (of the master) |
PI 17 | Reserved |
|
|
PI 18 | Distance or time of the last synchronous phase (high word) |
| Distance traveled by the master during the last synchronous phase or the duration of the last synchronous phase. User unit (of the master) or millisecond, depending on configuration |
PI 19 | Distance or time of the last synchronous phase (low word) |
| |
PI 20 | Active synchronous distance high word |
| Synchronous distance of the active curve description in user unit (of the master) (INFORMATION: Only available for "Modulo" master axis type) |
PI 21 | Active synchronous distance low word |
|
|
PI 22 | Active jerk | 0 – 15 | User unit |
