Process input data
The following tables show the process input data from the inverter to the higher-level controller for control via the fieldbus.
Word | Bit | Function/unit | |
|---|---|---|---|
PI 1 | Status word | 0 | Ready |
1 | STO inactive | ||
2 | Output stage enabled | ||
3 | Brake released | ||
4 | Motor turning | ||
5 | Active drive referenced INFORMATION: The referencing bit always refers to the position encoder. For external encoder type "EtherCAT® encoder", this is the MOVIKIT® EncoderInterface; for external encoder type "Encoder 2 connected to inverter", this is encoder 2 connected to the inverter; and for "Motor encoder", this is encoder 1 connected to the inverter. | ||
6 | New relative position applied | ||
7 | "In position" signal active | ||
8 | Error | ||
9 | Warning | ||
10 | External encoder disabled | ||
11 | "Setpoint/actual speed comparison active" | ||
12 | SW limit switches inactive | ||
13 | Reserved | ||
14 | Standby mode active | ||
15 | MOVIKIT® Handshake Out | ||
PI 2 | Actual speed | 0-15 | User unit (speed) |
PI 3 | Status, warning, or | 0-15 |
(High byte: fault; low byte: subfault) For more information, refer to the product manual of the respective device. |
PI 4 | Actual torque | 0-15 | 0.1% nominal motor torque |
PI 5 | Digital inputs | 0 | DI 00 Member 1 |
1 | DI 01 Member 1 | ||
2 | DI 02 Member 1 | ||
3 | DI 03 Member 1 | ||
4 | DI 00 Member 2 | ||
… |
| ||
PI 6 | Actual application mode (operating mode) | 0-15 | Operating mode |
PI 7 | Actual position high word | 0-15 | User unit (position) |
PI 8 | Actual position low word | 0-15 | User unit (position) |
PI 9 | Actual jerk | 0-15 | User unit (jerk) INFORMATION: If a value greater than 65535 is entered in the jerk application limit (50041.5), this cannot be mapped via the actual jerk. In this case, the actual jerk no longer represents the configured value. |
PI 10 | Status word MultiAxisController | 0 | Member 1 deactivated |
1 | Member 2 deactivated | ||
2 | Member 3 deactivated | ||
3 | Member 4 deactivated | ||
4 | Member 1: Brake released | ||
5 | Member 2: Brake released | ||
6 | Member 3: Brake released | ||
7 | Member 4: Brake released | ||
8 | Balance controller deactivated | ||
9 | Position controller deactivated | ||
10 | Skew in skewing window | ||
11 | Overload guard active | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Reserved | ||
15 | Reserved | ||
