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 lower-level 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/additional information | |
|---|---|---|---|
PO 5 | Horizontal drive control word | 0 | Enable/emergency stop
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1 | Enable/stop at user-defined limits
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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 |
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10 |
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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 – DO 00 |
1 | Member 1 – DO 01 | ||
2 | Member 1 – DO 02 | ||
3 | Member 1 – DO 03 | ||
4 | Member 2 – DO 00 For applications without MultiAxisController, DO 04 of the single axis is output here. | ||
5 | Member 2 – DO 01 | ||
6 | Member 2 – DO 02 | ||
7 | Member 2 – DO 03 | ||
8 | Member 3 – DO 00 | ||
9 | Member 3 – DO 01 | ||
10 | Member 3 – DO 02 | ||
11 | Member 3 – DO 03 | ||
12 | Member 4 – DO 00 | ||
13 | Member 4 – DO 01 | ||
14 | Member 4 – DO 02 | ||
15 | Member 4 – DO 03 | ||
PO 10 | Control word "MultiAxisController" Which of the specified 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 | Member 1 / 11: Deactivate |
1 | Member 2 / 21: Deactivate | ||
2 | Member 12: Deactivate | ||
3 | Member 22: Deactivate | ||
4 | Member 1 / 11: Release brake in FCB 01 | ||
5 | Member 2 / 21: Release brake in FCB 01 | ||
6 | Member 12: Release brake in FCB 01 | ||
7 | Member 22: Release brake in FCB 01 | ||
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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