Range of functions of the process data profiles

Profile	Range of functions
10 PD	In the basic version, the software module requires 10 process data words for direct operation on the fieldbus and includes the following operating modes: Speed Jog Referencing Positioning (linear and modulo / absolute and relative) Synchronous operation For further information, refer to chapter Operating modes.
+1 PD	Optional process data word – control word/status word 2 Extends the range of functions by the functions listed below and by one process data word. Change of priority Feedback of the actual priority Feedback whether slip/dynamics limiting is active
+1 PD	Optional process data word – Tension between members 1 and 2 Extends the range of functions by the option of specifying a tension between members 1 and 2 and by one process data word. For further information, refer to chapter Torque between axis group members.
+2 PD	Optional process data word – Load distribution Extends the range of functions by the option of changing the load distribution of the members and by 2 process data words. For further information, refer to chapter Torque ratios.
+1 PD	Optional process data word – P gain position controller Extends the range of functions by the option of changing the P gain of the position controller during operation and by one process data word.
+1 PD	Optional process data word – P gain balance controller Extends the range of functions by the option of changing the P gain of the balance controller during operation (both in the "Skew" and in the "Torque" priority) and by one process data word.
+4 PD	Optional process data word – User-defined speed correction values Extends the range of functions by the option of specifying your own speed correction values for each member if the priority "User-defined speed correction values" has been selected and the balance controller is switched off. The function extends the process data length by 4 additional process data words.
+8 PD	Optional process data word – Skew offset Extends the range of functions by the option of specifying a skew offset per member if a skew priority has been selected. The function extends the process data length by 8 additional process data length.
+1 PD	Optional process data word – Anti-sway control / Control word/status word Extends the range of functions by the functions listed below and by one process data word. Activation/deactivation of anti-sway control at standstill Feedback whether anti-sway control is currently active
+1 PD	Optional process data word – Anti-sway control / Payload mass Extends the range of functions by the option of changing the mass of the payload for anti-sway control at runtime and by one process data word.
+2 PD	Optional process data word – Anti-sway control / Distance between lifting and traveling trolley Extends the range of functions by the option of changing the distance between the lifting trolley and the traveling trolley for anti-sway control at runtime if "Configuration value" has been set as the source of the lifting position for the "Tower sway" application type. No additional configuration is required for pendulum sway. The function extends the process data length by 2 process data words.
+1 PD	Optional process data word – Anti-sway control / Deflection of the oscillation Extends the range of functions by the option of specifying the deflection of the pendulum for the vibration damper and by a process data word.
+6 PD per member	Optional process data word – Number of members of MultiAxisController Extends the range of functions by the option of obtaining additional actual values per member. The function extends the process data length by 6 process data words per selected member. The following actual values are provided: General status word Actual speed Status, warning, or error Actual torque Actual position (position of the external encoder, if present; otherwise that of the motor encoder)
+1 PD	Access control Extends the range of functions by the option of specifying individual control signals or the complete process data interface for the lower-level MOVIKIT^® MultiAxisController in the cascade or under MOVIKIT^® Robotics. For this purpose, this function must be activated in the lower-level MOVIKIT^® MultiAxisController. The function extends the process data length by one process data word.
+2 PD	Coupling monitoring / Maximum value of the encoder difference Extends the range of functions by the possibility of reporting back the maximum value of the encoder difference between motor and external encoder. The function extends the process data length by 2 process data words.
+2 PD	Brake test Extends the range of functions by the option of using the "Brake test" operating mode. The function extends the process data length by 2 process data words. For more information, refer to chapter Brake test.
+5 PD	Brake test – measured values Extends the range of functions by the option of obtaining the measured values from the brake test. The function extends the process data length by 5 process data words. The following measured values are provided: Load torque Measured motor torque Total torque Measured movement
+2 PD	Variable torque limit Q1 Extends the range of functions by the option of limiting the torque of the inverter and switching off monitoring functions that would otherwise lead to a fault. The function extends the process data length by 2 process data words.