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 | Error | ||
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: suberror) 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 | Duty type |
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) INFORMATION: If a value greater than 65535 is entered in the jerk application limit (50041.5), this cannot be mapped via the actual jerk. In this case, the actual jerk no longer represents the configured value. |
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 | ||
