MultiAxisController – 12 PD

When using some of the functions of the MultiAxisController, the 12 PDs for X and Y MultiAxisControllers can also be optionally activated, e.g. for using a head drive. See Top drive in storage/retrieval system.

Status information is not provided, which means that all actual values are reserved.

Word

Bit

Function/additional information

PI 25

X direction - top drive
scaled analog value

0-15

Deflection of the tower
in 10-1 user units

PI 26

X direction - top drive
speed correction

0-15

Correction of speed
in user unit/s

PI 27

X direction - top drive
speed ratio

0-15

Speed ratio between
top drive and travel drive
in [0.1%]

PI 28

X direction - top drive
slip

0-15

Slip between position of motor encoder (top drive) and position of motor encoder (travel drive). The value is set to 0 or reset with rising edge of "Start", "Jog – Positive" or "Jog – Negative".

PI 29

X direction - top drive
unscaled analog value

0-15

Deflection in user units of strain gauge measurement amplifier
[0.001 V] or [0.001 mA]

PI 30

X direction – coupling monitoring: Maximum value of the encoder difference

(Only visible if a mechanical connection type, e.g. form or frictional contact, is selected.)

0-15

Maximum difference between the mean value of all motor encoders and the external encoders in user units. This value can be used as a wear indicator, as the value increases with wheel wear, for example.

PI 31

Reserved

0-15

 

PI 32

Reserved

0-15

 

PI 33

Y direction – coupling monitoring: Maximum value of the encoder difference

(Only visible if a mechanical connection type, e.g. form or frictional contact, is selected.)

0-15

Maximum difference between the mean value of all motor encoders and the external encoders in user units. This value can be used as a wear indicator, as the value increases with wheel wear, for example.

PI 34

Reserved

0-15

 

PI 35

Reserved

0-15

 

PI 36

Reserved

0-15