Process input data
Word | Bit | Function/unit | |
|---|---|---|---|
PI 1 | Status word | 0 | Ready |
1 | STO inactive | ||
2 | Output stage enabled | ||
3 | Brake released | ||
4 | Motor running | ||
5 | Active drive referenced INFORMATION: The referencing bit always refers to the position encoder. For encoder source "Motor encoder and low-resolution EtherCAT® encoder", this is the MOVIKIT® EncoderInterface, for encoder source "Motor encoder and external encoder", this is encoder 2 connected to the inverter, and for "Motor encoder", this is encoder 1 connected to the inverter. | ||
6 | New relative position applied | ||
7 | "In position" signal active | ||
8 | Fault | ||
9 | Warning | ||
10 | External encoder disabled | ||
11 | "Setpoint/actual speed comparison active" | ||
12 | SW limit switches inactive | ||
13 | Reserved | ||
14 | Standby mode active | ||
15 | MOVIKIT® Handshake Out | ||
PI 2 | Actual speed | 0-15 | User unit (speed) |
PI 3 | Status or | 0-15 |
(High byte: fault; Low byte: subfault) For more information, refer to the product manual of the respective device. |
PI 4 | Actual torque | 0-15 | 0.1% nominal motor torque |
PI 5 | Digital inputs | 0 | DI 00 axis group member 1 |
1 | DI 01 axis group member 1 | ||
2 | DI 02 axis group member 1 | ||
3 | DI 03 axis group member 1 | ||
4 | DI 00 axis group member 2 | ||
… |
| ||
PI 6 | Actual application mode (operating mode) | 0-15 | Operating mode |
PI 7 | Actual position high word | 0-15 | User unit (position) |
PI 8 | Actual position low word | 0-15 | User unit (position) |
PI 9 | Actual jerk | 0-15 | User unit (jerk) |
PI 10 | Status word MultiAxisController | 0 | Axis group member 1 deactivated |
1 | Axis group member 2 deactivated | ||
2 | Axis group member 3 deactivated | ||
3 | Axis group member 4 deactivated | ||
4 | Axis group member 1: Brake released | ||
5 | Axis group member 2: Brake released | ||
6 | Axis group member 3: Brake released | ||
7 | Axis group member 4: Brake released | ||
8 | Balance controller deactivated | ||
9 | Position controller deactivated | ||
10 | Skew in skewing window | ||
11 | Overload guard active | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Reserved | ||
15 | Reserved | ||
