Data transmission with PDO and SDO
Operation manual
ID 441896.05
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7
Parameter Bit Length Data Type Content
E200 Device
StatusByte
8U8Device status byte: This byte contains status signals of the device
controller.
• Bit-0: Enabled. The drive is ready. No faults, the device status
corresponds to E84=4:Oper. enabled.
• Bit-1: Error. Device status is "fault reaction active" or "fault."
• Bit-2: Quick stop (also quick stop in "fault reaction active").
• Bit-3, 4: With multiple-axis operation, the active axis is shown
here
Bit4Bit3Achse
00Achse 1
01Achse 2
10Achse 3
11Achse 4
• Bit-5: Axis in E84 is active.
• Bit-6: Local: Local operation is activated.
• Bit-7: Bit 7 in A180 (device control byte) is copied once every
device controller cycle to bit 7 in E200 (device status byte). When
bit 7 in A180 is toggled, the higher-level PLC is informed of a
concluded communication cycle (send, evaluate, return data).
For PROFIBUS for example, this permits cycle-time-optimized
communication. The handshake bit 7 in A180 / E200 supplies no
information as to whether the application has reacted to the
process data. Depending on the application, other routines are
provided for this (e.g., motion-Id for command positioning).
Information
You can only use the toggle signal of bit 7 when device controllers
3:terminals, 4:USS, 5:CANopen, 6:PROFIBUS or 23:EtherCAT are
used. If you configured a DSP 402 device controller, bit 7 always has
signal status 0.
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