Getting Started
A5E36037886-003, 04/2017
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MODBUS PZD1 receive bit-serial
Bit-serial description of PZD1 (normally control word 1) received from the host controller.
If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to
1, it means the function of this bit is activated.
Description: Displays the number of faults that have occurred.
Dependency: Refer to r2124
The buffer parameters are cyclically updated in the background.
Alarm buffer structure (general principle):
r2122[0], r2124[0] → alarm 1 (the oldest)
...
r2122[7], r2124[7] → alarm 8 (the latest)
When the alarm buffer is full, the alarms that have gone are entered into the alarm history:
r2122[8], r2124[8] → alarm 1 (the latest)
...
r2122[63], r2124[63] → alarm 1 (the oldest)
Description: Displays additional information about the active alarm (as integer number).
Dependency: Refer to r2124
The buffer parameters are cyclically updated in the background.
The structure of the alarm buffer and the assignment of the indices is shown in r2122.
Description: Displays the actual position actual value determined by the position actual value preprocessing.
• [0]: Cl-loop position control
• [1]: Encoder 1
• [2]: Encoder 2
r2522[0...3
]
LR velocity actual value 1000
Description: Displays the actual position actual value determined by the velocity actual vaule preprocessing.
• [0]: Cl-loop position control
• [1]: Encoder 1
• [2]: Encoder 2
•
LR position setpoint after setpoint smoothing
Description: Display and connector output for the position setpoint after setpoint smoothing.
LR following error dynamic model
Displays the dynamic following error.
This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and
the position actual value.
Description: Displays the actual absolute position setpoint.
PTI: Pulse input frequency
Displays the PTI input pulse frequency.
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