Vertical drive – 10 PD
NOTICE
For safety reasons, releasing the brake when the output stage is inhibited on the vertical drive is not available in the "MultiAxisController" control word.
Word | Bit | Function/additional information | |
|---|---|---|---|
PO 15 | Vertical drive control word | 0 | Enable/emergency stop
|
1 | Enable/stop at
| ||
2 |
| ||
3 | Release brake without enable | ||
4 | Jog – positive | ||
5 | Jog – negative | ||
6 |
| ||
7 | Feed enable (for positioning) | ||
8 | Fault reset | ||
9 |
| ||
10 |
| ||
11 | Deactivate external encoder | ||
12 | Deactivate software limit switches | ||
13 | Output stage inhibit | ||
14 | Activate standby mode | ||
15 | MOVIKIT® Handshake In | ||
PO 16 | 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 17 | Setpoint acceleration |
| In user units (e.g. mm/s2) |
PO 18 | Setpoint deceleration |
| In user units (e.g. mm/s2) |
PO 19 | 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 20 | "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 | Reserved | ||
5 | Reserved | ||
6 | Reserved | ||
7 | Reserved | ||
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 21 | High setpoint position |
| In user units (e.g. mm) |
PO 22 | Low setpoint position |
| In user units (e.g. mm) |
PO 23 | Setpoint jerk |
| Active applicative target jerk The limitation of the jerk is calculated as follows: Maximum jerk = |
PO 24 | Reserved |
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