Horizontal drive – 10 PD
The control word for the horizontal drive is a joint control word for all axes of the horizontal drive. In the most simple case this can be one axis. If more than one axis is used, all subordinate axes are controlled using the MOVIKIT® MultiAxisController. This means the control word of the horizontal drive is always the same irrespective of the type of storage/retrieval system.
Word | Bit | Function | |
|---|---|---|---|
PA 5 | Horizontal drive control word | 0 | Enable/emergency stop
|
1 | Enable/stop at
| ||
2 |
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3 | Release brake without enable | ||
4 | Jog – positive | ||
5 | Jog – negative | ||
6 |
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7 | Feed enable (for positioning) | ||
8 | Fault reset: Reset only to be performed via process data interface. | ||
9 |
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10 |
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11 | Deactivate external encoder | ||
12 | Disable software limit switches In preparation | ||
13 | Output stage inhibit | ||
14 | Activate standby mode | ||
15 | MOVIKIT® Handshake In | ||
PO 6 | Target speed |
| Can also be referred to as the maximum speed of the profile generator and is scaled in user units (e.g. mm/s). |
PO 7 | Setpoint acceleration |
| In user units (e.g. mm/s2) |
PO 8 | Setpoint deceleration |
| In user units (e.g. mm/s2) |
PO 9 | Digital outputs | 0 | Station 1 – DO0 |
1 | Station 1 – DO1 | ||
2 | Station 1 – DO2 | ||
3 | Station 1 – DO3 | ||
4 | Station 2 – DO0 INFORMATION: For applications without MultiAxisController, DO4 of the single axis is output here. | ||
5 | Station 2 – DO1 | ||
6 | Station 2 – DO2 | ||
7 | Station 2 – DO3 | ||
8 | Station 3 – DO0 | ||
9 | Station 3 – DO1 | ||
10 | Station 3 – DO2 | ||
11 | Station 3 – DO3 | ||
12 | Station 4 – DO0 | ||
13 | Station 4 – DO1 | ||
14 | Station 4 – DO2 | ||
15 | Station 4 – DO3 | ||
PO 10 | Control word "MultiAxisController"
INFORMATION: The specified axis group member that is actuated depends on whether the MOVIKIT® StackerCrane MultiAxisController is used in a cascade. For more information, refer to chapter Using MOVIKIT® StackerCrane MultiAxisController in a cascade. | 0 | Deactivate subscriber 1 / 11 |
1 | Deactivate subscriber 2 / 21 | ||
2 | Deactivate axis group member 12 | ||
3 | Deactivate axis group member 22 | ||
4 | Axis group member 1 / 11 – Release brake | ||
5 | Axis group member 2 / 21 – Release brake | ||
6 | Axis group member 12 – Release brake | ||
7 | Axis group member 22 – Release brake | ||
8 | Deactivate balance controller | ||
9 | Reserved (deactivate position controller) | ||
10 | Deactivate skew error | ||
11 | Allow skew compensation | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Reserved | ||
15 | Reserved | ||
PO 11 | High setpoint position |
| In user units (e.g. mm) |
PO 12 | High setpoint position |
| In user units (e.g. mm) |
PO 13 | Setpoint jerk |
| Active applicative target jerk The limitation of the jerk is calculated as follows: Maximum jerk = |
PO 14 | Reserved |
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