Horizontal drive – 10 PD
Word | Bit | Function/additional information | |
|---|---|---|---|
PI 5 | Status Requirement for starting positioning mode are that "Ready for operation", "STO not active", "Output stage enabled", "Brake released" and "Drive referenced" = "TRUE" and "Error" = "FALSE". | 0 | Ready |
1 | STO not active | ||
2 | Output stage enable | ||
3 | Brake released | ||
4 | Motor turning | ||
5 | Drive referenced | ||
6 |
| ||
7 | In position | ||
8 | Error | ||
9 | Warning of the inverter If a warning is signaled, both bit PI 5:9 and the associated error code are indicated in PI 7. If a warning and an error are active at the same time, the error gets a higher priority and is indicated in PI 7. | ||
10 |
| ||
11 | External encoder disabled | ||
12 | Software limit switches disabled | ||
13 |
| ||
14 | Standby mode active | ||
15 | MOVIKIT® Handshake Out | ||
PI 6 | Actual speed |
| In user units (e.g. mm/s) |
PI 7 | Status/error |
| If the application is in error state, the error code is output here. If it is not in error state, the status is output (e.g. in the case of an inconsistent status: -1 = 65535 = 16#FFFF). See PI 3 Group – 4 PD |
PI 8 | Actual torque |
| In percent in relation to the nominal torque of the drive with one decimal place |
PI 9 | Digital inputs | 0 | Member 1 – DI 00 |
1 | Member 1 – DI 01 | ||
2 | Member 1 – DI 02 | ||
3 | Member 1 – DI 03 | ||
4 | Member 2 – DI 00 For applications without MultiAxisController, DI 04 of the single axis is output here. | ||
5 | Member 2 – DI 01 | ||
6 | Member 2 – DI 02 | ||
7 | Member 2 – DI 03 | ||
8 | Member 3 – DI 00 | ||
9 | Member 3 – DI 01 | ||
10 | Member 3 – DI 02 | ||
11 | Member 3 – DI 03 | ||
12 | Member 4 – DI 00 | ||
13 | Member 4 – DI 01 | ||
14 | Member 4 – DI 02 | ||
15 | Member 4 – DI 03 | ||
PI 10 | Status 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: Deactivated |
1 | Member 2 / 21: Deactivated | ||
2 | Member 12: Deactivated | ||
3 | Member 22: Deactivated | ||
4 | Member 1 / 11: Brake released | ||
5 | Member 2 / 21: Brake released | ||
6 | Member 12: Brake released | ||
7 | Member 22: Brake released | ||
8 | Balance controller deactivated | ||
9 | Position controller deactivated | ||
10 | Skew in skewing window | ||
11 | Overload guard active | ||
12 | Reserved | ||
13 | Reserved | ||
14 | Reserved | ||
15 | Reserved | ||
PI 11 | High actual position |
| In user units (e.g. mm) |
PI 12 | Low actual position |
| In user units (e.g. mm) The actual position is valid if "Ready", "Referenced" and no relevant error or error code is present. |
PI 13 | Actual jerk |
| Active applicative jerk in user units/time unit3 which takes effect when the axis is enabled. The maximum applicative jerk is calculated from the application limits of the axis as follows: Maximum jerk = (acceleration + |
PI 14 | Reserved |
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