7
Data transmission with PDO and SDO
ID 441896.05
WE KEEP THINGS MOVING
Operation manual
28
D200
Speed
reference
value status
word
16 I16 Speed reference value status word: This word contains status
signals of the application. With the application for the fast reference
value, only bits 0 to 2 are used. Bits 3 to 15 can only be used with the
application for comfort reference value. The parameter which is
specified for the bit names indicates the individual parameter in
which the signals can also be viewed.
Bit 0: Standstill (D180). The actual motor speed has reached the
value 0 Rpm ±C40.
Bit 1: Reference value reached (D181): The ramp generator has
reached its reference value.
Bit 2: Torque limit (static) (D182). The positive or negative torque limit
is reached.
Bit 3: Status positive T-limit (E180): The positive torque limit has
triggered with the high level.
Bit 4: Status negative T-limit (E181): The negative torque limit has
triggered with the high level.
Bit 5: Status motoring T-limit (E186): The motoring torque limit has
triggered with the high level.
Bit 6: Status generating T-limit (E187): The generatingtorque limit
has triggered with the high level.
Bit 7: PID upper limit (G181): With the high level, the PID controller
has reached the value in G08 on the output.
Bit 8: PID lower limit (G182): With the high level, the PID controller
has reached the value in G09 on the output.
Bit 9: Actual value reached (D183): With the high level, the motor
speed has reached the reference value specification ±C40.
Bit 10: Ref. value prohibited (D184):With the high level, a reference
value is specified in prohibited direction of rotation.
Bit 11: Max. speed limit reached (D185): With the high level, the
reference value has reached the positive speed limit (with torque
control D336, speed control D338).
Bit 12: Min. speed limit reached (D186): With the high level, the
reference value has reached the negative speed limit (with torque
control D337, speed control D339
).
Bit 13: Motorised pot step reached (D187): With the high level, no
change takes place in the motorized pot reference value.
Bit 14: Motorised pot lim reached (D188): With the high level, the
motorized pot reference value has reached the value in D45 or D46.
Bit 15: Zero ramp reached (D189): With the high level, the ramp
generator has reached the value 0.
E100 n-Motor 16 I16 Indication of the current motor speed as a percentage value in space-
saving 16-bit format. The information relates to C01 n-max.
Parameter Bit Length Data Type Content
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