Faulhaber MC 5010, Communications Manual, Page: 15 / 43

3 Protocol description
15-04-2016 15 7000.05052
3.2 Communication services
Fig. 5: Communication services of the Motion Controller
The following communication services are available:
 Boot-up message
 Write or read service for each individual parameter (SDO message)
 Direct write access to the controlword of the drive

Direct read access to the statusword of the drive

Communication service for signalling error states by a message (EMCY) transmitted by
the drive in the event of an error

Communication service for accessing the values on the data logger (trace)
Communication Application
Motor
Interface
n*, Pos*
Motor Control
Control Word
Status Word
n, Pos
EMCY
SDO
node
Error Handling
Object Dictionary
CiA 402 Drive
Statemachine