Baldor FlexDrive II Reference Manual page 16

4.1.2 Response telegram format
Each time the drive is polled by the master, it returns a response telegram. The frequency at which
the information in the response telegram is updated can be altered to suit the application.
The format of the telegram transmitted by the Baldor drive is shown in Table 2:
Byte Bit 7
0
1
2
3
4
5
6
7
8-11
12-15
16-19
20-23
24-27
One byte is used to return major drive status conditions, such as enable/disable and stop.
One byte is used to return information about limit switches and the move status.
Two bytes are used to return error values relating to the last command that was processed.
Four bytes are used to return data, if required by the command.
For information about bytes 8-27, see section 4.1.3.
4.1.3 Bytes 8-27
Bytes 8-27 are optional, since the drive is classified as a "modular slave". This means that the
telegrams can be of variable length according to how many additional process data channels
are required. Each channel requires 4-bytes, as shown in Tables 1 and 2. These extra bytes
can be assigned in the PROFIBUS master (PLC) configuration application.
For full details of the command and response telegram formats, see the MintMT help file.
4-2 Telegram Formats
Bit 6 Bit 5
Table 2 - Response telegram format
Bit 4 Bit 3 Bit 2
Control byte
Limits and move status
Error code Error code
(high byte first)
Data value 0 Data value 0
(highest byte first)
Optional: Data value 1
(highest byte first)
Optional: Data value 2
(highest byte first)
Optional: Data value 3
(highest byte first)
Optional: Data value 4
(highest byte first)
Optional: Data value 5
(highest byte first)
Bit 1 Bit 0
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