Control words 1-4
Control words 1 to 4 are present in each fieldbus profile and cannot be adjusted. Each robot instance on the fieldbus starts with these 4 process data words.
Word | Bit | Function | Description |
|---|---|---|---|
PO 1 | 0 | Enable/emergency stop | Enable software module |
… | … | … | |
8 | Acknowledge | Reset fault/messages | |
9 | Simulation | Simulate frequency inverter of the software module | |
… | … | … | |
12 | Deactivate software limit switch | Deactivates all software limit switches of the software module (joint axes and Cartesian axes). The software limit switches of the lower-level software modules and devices are not deactivated. See also Software limit switches. | |
15 | MOVIKIT® Handshake_In | This signal is copied internally to status word bit 15 (MOVIKIT® Handshake_Out). If the copying operation fails ("Handshake_Out" signal remains constant with changing "Handshake_In" signal), the device-internal processing of the software module is disrupted. | |
PO 2 | 0 | Automatic/manual | Setpoint of the operating mode |
… | … |
| |
2 | Program start | Start program execution | |
3 | Program pause | Perform application stop and pause program execution | |
4 | Program stop | Perform application stop and stop program execution | |
… | … |
| |
10 | Start referencing axis 1 | Starts referencing the respective axis in Referencing mode. | |
11 | Start referencing axis 2 | ||
12 | Start referencing axis 3 | ||
13 | Start referencing axis 4 | ||
14 | Start referencing axis 5 | ||
15 | Start referencing axis 6 | ||
PO 3 | 0 | Jog joint axis/single axis/Cartesian axis 1 positive | Jog in positive direction of the respective axis of the reference coordinate system (bit 12) |
1 | Jog joint axis/single axis/Cartesian axis 2 positive | ||
2 | Jog joint axis/single axis/Cartesian axis 3 positive | ||
3 | Jog joint axis/single axis/Cartesian axis 4 positive | ||
4 | Jog joint axis/single axis/Cartesian axis 5 positive | ||
5 | Jog joint axis/single axis/Cartesian axis 6 positive | ||
6 | Jog joint axis/single axis/Cartesian axis 1 negative | Jog in negative direction of the respective axis of the reference coordinate system (bit 12) | |
7 | Jog joint axis/single axis/Cartesian axis 2 negative | ||
8 | Jog joint axis/single axis/Cartesian axis 3 negative | ||
9 | Jog joint axis/single axis/Cartesian axis 4 negative | ||
10 | Jog joint axis/single axis/Cartesian axis 5 negative | ||
11 | Jog joint axis/single axis/Cartesian axis 6 negative | ||
12 | Jog coordinate system: JCS/BCS | Reference coordinate system in which jogging takes place. FALSE – base coordinate system (BCS) TRUE – joint coordinate system (JCS) | |
13 | Jog coordinate system ACS/BCS | Reference coordinate system in which jogging takes place. FALSE – base coordinate system (BCS) TRUE – single-axis coordinate system (ACS) | |
PO 4 | 0-7 | Program number | Number of the main program to be executed. |
8-15 | Override | Speed scaling in percent of the programmed speed for all types of control |
