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NTI AG / LinMot
4.4.2 Response from the Drive
The LinUDP V2 data part of a response from a drive has the same construction like the data part of a
request. The order of the response data part is the same as the response definition bits. The only exception
is the last part of the response data part with the realtime configuration data, when realtime configuration is
activated then the bit number 2 is set in the request definition and the bit number 8 is set in the response
definition. When all bits in the response definition are set then the response data part looks like in the
following table. If the response frame is shorter then 64 bytes, the drive fill the response with 0s until the
length is 64 bytes.
0. Byte
1. Byte
2. Byte
3. Byte
4. Byte
5. Byte
6. Byte
7. Byte
+0
Request Definition
Response Definition
+8
Status Word
State Var
Actual Position
+16
Demand Position
Current
Warn Word
+24
Error Code
Monitoring Channel
+32
+40
Realtime Configuration
+48
