Lower-level axis group members
Optionally, 6 PDs per single axis can be activated to obtain more detailed information about the individual axes subordinate to the MultiAxisController.
Word | Bit | Function | |
|---|---|---|---|
PI x+1 | Status word | 0 | Ready |
1 | STO inactive | ||
2 | Output stage enabled | ||
3 | Brake released | ||
4 | Motor turning | ||
5 | Referenced | ||
6 | Reserved | ||
7 | Reserved | ||
8 | Error | ||
9 | Inverter warning | ||
10 | Reserved | ||
11 | Reserved | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Standby mode active | ||
15 | Reserved | ||
PI x+2 | Actual speed | 0-15 |
|
PI x+3 | Status or fault/subfault | 0-15 |
|
PI x+4 | Actual torque | 0-15 |
|
PI x+5 | Actual position high word | 0-15 | If an external encoder is activated for the member in the MultiAxisController, the position of the external encoder is output. Otherwise, the position of the motor encoder is output. |
PI x+6 | Actual position low word | 0-15 | |
