Control word PO 1 – PO 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 switches | 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_PO | This signal is copied internally to status word bit 15 (MOVIKIT® Handshake_PI). If the copying operation fails ("Handshake_PI" signal remains constant with changing "Handshake_PO" signal), the device-internal processing of the software module is disrupted. If more than one consistent block is used, the signal is also used for the consistency mechanism. See also chapter Consistent data transmission. | |
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 |
