4-4
Master Communication
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
•
0xF: error, command execution impossible
•
0x5:
command execution interrupted
•
0x3:
command correctly executed
For master-side detection of a change of the command acknowledgment
by the drive the "command change bit" (KA bit) is available in
S-0-0135,
Drive status word
.
•
The bit is set by the drive when the command acknowledgment
changes from the "in process" (0x7) status to the "error, command
execution impossible" (0xF) or "command correctly executed" (0x3)
status.
•
The bit is cleared when the master clears the input (0x0).
DK000024v01_en.fh7
t
command
change bit
in drive status
word
1
t
data status of
command
parameter
(= acknow-
ledgment)
3
0
0
7
command
processed
command completed
without error
command cleared
t
data of
command
parameter
(= input)
3
0
command
started
command
cleared
approx. 2 ms
approx. 2 ms
Fig. 4-4:
Input, acknowledgment and command change bit
in the case of
correct execution
approx. 2 ms
approx. 2 ms
DK000025v01_en.fh7
t
command
change bit
in drive status
word
1
t
data status of
command
parameter
(= acknow-
ledgment)
3
0
0
7
command
processed
command completed
with error
command cleared
t
data of
command
parameter
(= input)
3
0
command
started
command
cleared
0xF
Fig. 4-5:
Input, acknowledgment and command change bit
in the case of
incorrect execution
Command Change Bit
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
