Yaskawa Profibus-DP Option Card CM061 - Manual (Page 37)

Network Communications 3-13
Handshaking
The handshaking register is necessary to synchronize the send/receive timing of parameter access message data between the PROFIBUS-
DP Master and the PROFIBUS-DP Option. One register (byte 32 of the 16 word input/output message or byte 12 of the 6 word input/output
message) in the input and output parameter access message areas is dedicated to handshaking. The data set in the output area of the master
becomes enabled in the PROFIBUS-DP Option when the status of the HS bit, bit 7, is changed.
#
Command Handshaking Register PROFIBUS-DP Master To Drive
Table 3.16 – Handshaking Output Register Bit Definitions
Bit Name Function
7 HS
Handshaking bit. Used to synchronize the data exchange. Toggled when a new command is transmitted. This bit must be cleared
after power-up or re-initialization by the Master program.
6 - 0 Not used.
#
Response Handshake Register Drive To PROFIBUS-DP Master
Table 3.17 – Handshaking Input Register Bit Definitions
Bit Name Function
7 HS Handshaking bit. Used to synchronize the data exchange. Toggled when a new response is transmitted
6 - 5 STATUS
Status of data exchanged between Communication Option and drive.
00H: Idle
01H: Sending parameter access message to drive
10H: Waiting for parameter access response from drive
11H: Response received from drive
4 - 1 WD Watch Dog Counter, incremented approximately every 64 ms.
0 Not used