Overview

Group

PO 1

Target mode

PI 1

Actual mode

PO 2

Control word

PI 2

Status word

PO 3

Override (if configured)

PI 3

Status/fault

PO 4

Reserved

PI 4

Reserved

Horizontal drive

PO 5

Control word

PI 5

Status word

PO 6

Setpoint speed

PI 6

Actual speed

PO 7

Setpoint acceleration

PI 7

Status/error

PO 8

Setpoint deceleration

PI 8

Actual torque

PO 9

Digital outputs

PI 9

Digital inputs

PO 10

"MultiAxisController"
control word

PI 10

"MultiAxisController"
status word

PO 11

High setpoint position

PI 11

High actual position

PO 12

Low setpoint position

PI 12

Low actual position

PO 13

Setpoint jerk

PI 13

Actual jerk

PO 14

Reserved

PI 14

Reserved

Vertical drive

PO 15

Control word

PI 15

Status word

PO 16

Setpoint speed

PI 16

Actual speed

PO 17

Setpoint acceleration

PI 17

Status/error

PO 18

Setpoint deceleration

PI 18

Actual torque

PO 19

Digital outputs

PI 19

Digital inputs

PO 20

"MultiAxisController"
control word

PI 20

"MultiAxisController"
status word

PO 21

High setpoint position

PI 21

High actual position

PO 22

Low setpoint position

PI 22

Low actual position

PO 23

Setpoint jerk

PI 23

Actual jerk

PO 24

Reserved

PI 24

Reserved

Optional PD for MultiAxisController

PO X+1

X: Load capacity

PI X+1

X: Top drive analog value

PO X+2

X: Position controller
P gain

PI X+2

X: Top drive
speed correction

PO X+3

X: Torque ratio
A4(HighByte)/A3(LowByte)

PI X+3

X: Top drive
speed ratio

PO X+4

X: Torque ratio
A2(HighByte)/A1(LowByte)

PI X+4

X: Top drive
slip

PO X+5

X: Reserved

PI X+5

X: Reserved

PO X+6

X: Reserved

PI X+6

X: Reserved

PO X+7

X: Reserved

PI X+7

X: Reserved

PO X+8

X: Reserved

PI X+8

X: Reserved

PO X+9

Y: Reserved (load capacity)

PI X+9

Y: Reserved

PO X+10

Y: Reserved
(P gain)

PI X+10

Y: Reserved

PO X+11

Y: Reserved

PI X+11

Y: Reserved

PO X+12

Y: Reserved

PI X+12

Y: Reserved

Optional PD for MultiMotion

PO X+1

Reserved

PI X+1

Status word

PO X+2

Reserved

PI X+2

Actual speed

PO X+3

Reserved

PI X+3

Status/error

PO X+4

Reserved

PI X+4

Actual torque

PO X+5

Reserved

PI X+5

High actual position

PO X+6

Reserved

PI X+6

Low actual position