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 | |
|---|---|---|---|
PO 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 | ||
9 |
| ||
10 |
| ||
11 | Deactivate external encoder | ||
12 | Deactivate software limit switches | ||
13 | Output stage inhibit | ||
14 | Activate standby mode | ||
15 | MOVIKIT® Handshake In | ||
PO 6 | Setpoint 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 | Member 1 – DO0 |
1 | Member 1 – DO1 | ||
2 | Member 1 – DO2 | ||
3 | Member 1 – DO3 | ||
4 | Member 2 – DO0 INFORMATION: For applications without MultiAxisController, DO4 of the single axis is output here. | ||
5 | Member 2 – DO1 | ||
6 | Member 2 – DO2 | ||
7 | Member 2 – DO3 | ||
8 | Member 3 – DO0 | ||
9 | Member 3 – DO1 | ||
10 | Member 3 – DO2 | ||
11 | Member 3 – DO3 | ||
12 | Member 4 – DO0 | ||
13 | Member 4 – DO1 | ||
14 | Member 4 – DO2 | ||
15 | Member 4 – DO3 | ||
PO 10 | Control word "MultiAxisController" INFORMATION: Which of the specified axis group members is controlled depends on whether the MOVIKIT® StackerCrane MultiAxisController is used with 2 axes (members 1, 2) or in a cascade (members 11, 21, 12, 22). See also Using MOVIKIT® StackerCrane MultiAxisController in a cascade. | 0 | Deactivate member 1 / 11 |
1 | Deactivate member 2 / 21 | ||
2 | Deactivate member 12 | ||
3 | Deactivate member 22 | ||
4 | Member 1 / 11 – Release brake | ||
5 | Member 2 / 21 – Release brake | ||
6 | Member 12 – Release brake | ||
7 | Member 22 – Release brake | ||
8 | Deactivate balance controller | ||
9 | Deactivate position controller | ||
10 | Deactivate skew error | ||
11 | Allow skew compensation | ||
12 | Reset encoder difference If the signal is set permanently, "coupling monitoring" is deactivated. | ||
13 | Reserved | ||
14 | Reserved | ||
15 | Reserved | ||
PO 11 | High setpoint position |
| In user units (e.g. mm) |
PO 12 | Low 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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