Process input data

The following table shows the process input data from the inverter to the PLC when controlled via the fieldbus.

Word		Bit	Function
PI 1	Status word	0	"1": Ready
		1	"1": STO inactive
		2	"1": Output stage enable
		3	"1": Brake released
		4	"1": Motor running
		5	"1": Active drive referenced
		6	"1": New relative position applied
		7	"1": "In position" signal active
		8	"1": Error
		9	"1": Warning "Warning" can be defined as an error response to certain errors. If a warning is signaled, both bit PI 1.9 and the associated error code are indicated in PI 3. If a warning and an error are active at the same time, only bit PI 1.8 is set and the respective error code is indicated in PI 3.
		10	"1": Drive train 2 active
		11	"1": "Setpoint/actual speed comparison" signal active
		12	"1": Software limit switches inactive
		13	"1": Reserved
		14	"1": Standby mode active
		15	MOVIKIT^® Handshake Out (for details, see MOVIKIT^® Handshake In)
PI 2	Actual speed	0 to 15	User unit
PI 3	Status error-suberror	0 to 15	No fault: Display of current FCB (low byte) Device fault: Display of device fault code Fault in option: Display of option fault code (High byte: fault; low byte: suberror) For more information, refer to the product manual of the respective device.
PI 4	Torque	0 to 15	Current torque based on the nominal motor torque (unit: 0.1%)
PI 5	Digital inputs	0	DI 00
		...	...
		7	DI 07
		...	...
		9	DI 09 / DIO 01 (input)
		10	DI 10 / DIO 02 (input)
		...	...
		13	DI 13
		...	...
PI 6	Actual application mode (operating mode)	0 to 15	Operating mode. See chapter Overview of operating modes.
PI 7	Actual position (high word)	0 to 15	User unit
PI 8	Actual position (low word)	0 to 15	User unit
PI 9 PI 10	Actual table position [15 – 0]	0 to 15	Positioning mode (FCB 09): The reached and selected setpoint table position is always reported back on the actual table position word if this position is valid. This evaluation method is fast and cycle-time optimized. Outside of positioning mode (FCB 09) or when an invalid setpoint table position is selected: All table positions in which the drive is currently located are reported back simultaneously on the actual table position word. If the drive is located within several table positions at the same time due to overlapping table positions, these table positions are reported back. This evaluation method is slower and is therefore used outside of positioning mode. The evaluation is only performed when the motor is at standstill. The "Motor at standstill" signal must be set correctly.
PI 11	Application status word	0	Table position selection valid
		1	Creep speed active
		2	Reserved
		3	v position range active Positioning mode: 1: v position limits valid AND v position selection validIf the v position limits are invalid, the inverter remains in FCB 26. Teach mode: 1: v position selection validIf the v position limits are invalid, the inverter remains in FCB 26.
		4	Travel in v position range
		5	Teaching successful
		8	New table position set available
PI 12	Cam switch result [16 – 1]	0 to 15	Bit-coded display for reporting back the currently upcoming position cams. The corresponding bit of the cam window is set to HIGH under the following condition: Left limit <= actual position <= right limit.

Additional information