Status word PI 1 – PI 4
Status 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 |
|---|---|---|---|
PI 1 | 0 | Ready | Software module is ready for operation |
1 | STO enable (STO active) | TRUE: Axis is not at a standstill (STO is not active) FALSE: Axis is at a standstill (STO active) | |
2 | Output stage enable | Output stages enabled | |
… | … |
| |
4 | Motors turning (motor standstill) | TRUE: Target pose is not in an idle state. The robot is moving FALSE: Idle state of the target pose | |
5 | Referenced | Inverter is referenced | |
6 | Setpoint active | Setpoints are processed | |
… | … |
| |
8 | Module fault | A fault is present | |
9 | Module warning | A warning is present | |
… | … |
| |
13 | Access granted | TRUE: Access has been granted. FALSE: Access has not been granted (RobotMonitor or UserInterface currently controlling). | |
… | … |
| |
15 | MOVIKIT® Handshake_PI | This signal is copied internally from control word bit 15 (MOVIKIT® Handshake_PO). 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. | |
PI 2 | 0 | Automatic/manual | Current operating mode. FALSE: Manual TRUE: Automatic |
… | … |
| |
2 | Program initialized | Status of program execution. | |
3 | Program running | ||
4 | Program stopped | ||
5 | Program completed | ||
6 | Repositioning required | ||
7 | Repositioning active | ||
… | … |
| |
10 | Axis 1 referenced | Status of referencing: TRUE: The respective axis is referenced. | |
11 | Axis 2 referenced | ||
12 | Axis 3 referenced | ||
13 | Axis 4 referenced | ||
14 | Axis 5 referenced | ||
15 | Axis 6 referenced | ||
PI 3 | 0-15 | Message ID | Message identification number (fault, warning, information). The bits PI 1:8 and PI 1:9 can be used to determine the severity of the message: Fault: Only PI 1:8 is "TRUE" Warning: Only PI 1:9 is "TRUE" Information: PI 1:8 and 1:9 are "FALSE" |
PI 4 | 0-7 | Program number | Number of the main program that is currently being executed. INFORMATION: This does not exclude the possibility that a subroutine is currently being executed. |
8 | Jog | ||
9 | Referencing | ||
10 | Program | ||
… | … |
|
