Vertical drive – 10 PD
NOTICE
For safety reasons, releasing the brake when the output stage is inhibited on the vertical drive is not available in the "MultiAxisController" control word.
Word | Bit | Function | |
|---|---|---|---|
PA 15 | Vertical drive control word | 0 | Enable/emergency stop
|
1 | Enable/stop at
| ||
2 |
| ||
3 | Release brake without enable | ||
4 | Jog – positive | ||
5 | Jog – negative | ||
6 |
| ||
7 | Feed enable (for positioning) | ||
8 | Fault reset: Reset only to be performed via process data interface. | ||
9 |
| ||
10 |
| ||
11 | Deactivate external encoder | ||
12 | Disable software limit switches In preparation | ||
13 | Output stage inhibit | ||
14 | Activate standby mode | ||
15 | MOVIKIT® Handshake In | ||
PO 16 | 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 17 | Setpoint acceleration |
| In user units (e.g. mm/s2) |
PO 18 | Setpoint deceleration |
| In user units (e.g. mm/s2) |
PO 19 | 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 20 | 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 21 | High setpoint position |
| In user units (e.g. mm) |
PO 22 | High setpoint position |
| In user units (e.g. mm) |
PO 23 | Setpoint jerk |
| Active applicative target jerk The limitation of the jerk is calculated as follows: Maximum jerk = |
PO 24 | Reserved |
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