Data exchange, function

Communication with the servo drive takes place via the process data (A0-A5, E0-E5). With

A0/E0 is the control/status byte for the operating data communication and
A3/E3 is the control/status byte for the parameter and server status communication with the device.

Operating data status byte E0

The operating data status byte issues potential servo drive error messages in process data exchange.

MSB

REG=0

ERROR

ALARM

KOM_ERR

CRC_ERR

Bit	Description
ERROR	This is set when ALARM or KOM_ERR is set.
ALARM	The alarm bit of the servo drive is displayed here.
KOM_ERR	There has been a communication problem. No valid data is exchanged. Possible causes: The servo interface is de-energized or not ready for operation. An open circuit is present, or the connection lines of the terminal are reversed.
CRC_ERR	Faulty telegrams occur during data transmission (possibly EMC issue).

Parameter control byte A3 when the servo control is set (bit 7 = 0)

Various actions are performed in the servo drive with this control byte.

MSB

REG=0

RD_PARH

RD_PARL

RS_ANS

/NSTOP

/PSTOP

Bit	Description
REG	This bit switches between servo parameter and servo control/status communication.
RD_PARH	Read parameter High Word (parameter address in A4)
RD_PARL	Read parameter Low Word (parameter address in A4)
RS_ANS	Reset of communication monitoring or lag error. If the servo reports a fault, e.g. communication monitoring has been triggered, the fault can be reset by setting this bit. If the error message in status byte E3 (SERV_ERR) is not reset (e.g. internal temperature too high), the servo drive must be de-energized (this is the only way to reset the other error messages).
RF	Controller enable. The output stage is enabled and the brake (if available) is enabled at the same time.
/NSTOP (active low)	Negative set values are set to zero.
/PSTOP (active low)	Positive set values are set to zero.

Parameter status byte E3 during acquisition of the servo status

Once enabled, the servo status word is continuously read and updated by the servo.

MSB

REG=0

KOM_ERR

RD_PARH_Q

RD_PARL_Q

SERV_ERR

RF_Q

/NSTOP_Q

/PSTOP_Q

Bit	Description
REG	0: The channel consisting of A3, A4, A5, E3, E4, E5 is in the operation mode with which the servo control/status is operated.
KOM_ERR	An error has occurred during data transfer.
RD_PARH_Q	E4, E5 contains the high word of the requested parameter value.
RD_PARL_Q	E4, E5 contains the low word of the requested parameter value.
SERV_ERR	The power section of the servo reports an error.
RF_Q	The output stage and any existing brake are enabled.
/NSTOP_Q (active low)	1: Negative set values are possible. 0: Negative set values are set to zero.
/PSTOP (active low)	1: Positive set values are possible. 0: Positive set values are set to zero.

Parameter control byte A3 in parameter operation mode (bit 7 = 1)

The parameter data is written to a buffer with the parameter address and transferred to the servo on request. This request can be made with the last buffer entry. The data frame is formed by the terminal, and the checksum is checked and evaluated. The parameter data form a maximum of one double word, but shorter parameter data can also be sent.

MSB

REG=1

RD_PARH

RD_PARL

PUT_HW

PUT_LW

TRS_BUF

Bit	Description
REG	This bit switches between servo parameter and servo control/status communication.
RD_PARH	Read parameter High Word (parameter address in A4)
RD_PARL	Read parameter Low Word (parameter address in A4)
PUT_HW	Write high word of the parameter to the buffer (A4, A5 parameter High Word).
PUT_LW	Write low word of the parameter to the buffer (A4, A5 parameter Hight Word).
TRS_BUF	Write data from the buffer to the parameter address set by A4.

Parameter status byte E3 in Parameter operation mode

During parameter communication (REG = 1) with the servo, various acknowledgements are output in the status byte.

MSB

REG=1

KOM_ERR

RD_PARH_Q

RD_PARL_Q

SERV_ERR

PUT_HW_Q

PUT_LW_Q

TRS_BUF_Q

Bit	Description
REG	1: The channel consisting of A3, A4, A5, E3, E4, E5 is in the operation mode with which the parameter communication takes place.
KOM_ERR	An error has occurred during data transfer.
RD_PARH_Q	E4, E5 contains the high word of the requested parameter value.
RD_PARL_Q	E4, E5 contains the low word of the requested parameter value.
SERV_ERR	The power section of the servo reports an error.
PUT_HW_Q	The High Word was written to the buffer.
PUT_LW_Q	The Low Word was written to the buffer.
TRS_BUF_Q	Data was successfully transferred.