Yaskawa Profibus-DP Option Card CM061 - Manual (Page 52)

Parameter Access C-8
Write Drive Data Error Example
Table C.5 – Write Drive Data Error Example
PROFIBUS-DP Master Command Initialize Data Structures Drive Response
Function Code 00h Function Code 03h
Starting Address MSB 00h Starting Address MSB 01h
Starting Address LSB 00h Starting Address LSB 00h
Data Quantity 00h Data Quantity 02h
Data 1 MSB 00h Data 1 MSB 00h
Data 1 LSB 00h Data 1 LSB 00h
Handshaking (1000 0000) 80h
Set the command message handshake byte HS bit to the same state as the
response message handshake HS bit.
Handshaking (0110 0000) 60h
PROFIBUS-DP Master Command Set PROFIBUS-DP Master Command Message Drive Response
Function Code 10h Function Code 03h
Starting Address MSB 10h Starting Address MSB 00h
Starting Address LSB 00h Starting Address LSB 37h
Data Quantity 02h Data Quantity 02h
Data 1 MSB 00h Data 1 MSB 00h
Data 1 LSB 01h Data 1 LSB 00h
Handshaking (1000 0000) 80h
Set the Function Code, Starting Address, and Data Quantity. This
example configures the command message to retrieve data from drive
register at address 0037h, Output Power. For detailed information of
drive registers refer to the Technical Manual and the MODBUS

Technical Manual. For the purposes of this example an invalid Starting
Address was used.
Handshaking (1110 0000) E0h
PROFIBUS-DP Master Command Toggle the PROFIBUS-DP Master Handshake Bit Drive Response
Function Code 10h Function Code
Starting Address MSB 10h Starting Address MSB
Starting Address LSB 00h Starting Address LSB
Data Quantity 02h Data Quantity
Data 1 MSB 00h Data 1 MSB
Data 1 LSB 01h Data 1 LSB
Handshaking (0000 0000) 00h
After the data bits have been set, toggle the HS bit, bit 7, of the command
handshake byte to signal the drive that the command message contains a
Parameter Access command. On receipt of the command message, the
HS bit, bit 7, of the response message handshake byte is set to the same
state as the HS bit of the command message handshake byte. As the
response message may contain invalid data, ignore all response message
data.
Handshaking (0000 0000) 00h
PROFIBUS-DP Master Command Wait for Response Drive Response
Function Code 10h Function Code
Starting Address MSB 10h Starting Address MSB
Starting Address LSB 00h Starting Address LSB
Data Quantity 02h Data Quantity
Data 1 MSB 00h Data 1 MSB
Data 1 LSB 01h Data 1 LSB
Handshaking (1000 0000) 00h
The PROFIBUS-DP Option formats the command message and transmits
it to the drive, setting bit 5 of the response handshake byte. As the
response message may contain invalid data, ignore all response message
data.
Handshaking (0010 0000) 20h
PROFIBUS-DP Master Command Wait for Response Drive Response
Function Code 10h Function Code
Starting Address MSB 10h Starting Address MSB
Starting Address LSB 00h Starting Address LSB
Data Quantity 02h Data Quantity
Data 1 MSB 00h Data 1 MSB
Data 1 LSB 01h Data 1 LSB
Handshaking (0000 0000) 00h
Bit 5 is reset and bit 6 set of the response handshake byte when the
message has been received by the drive and that the drive has begun
processing the message. As the response message may contain invalid
data, ignore all response message data.
Handshaking (0100 0000) 40h
PROFIBUS-DP Master Command Process Response Drive Response
Function Code 10h Function Code 90h
Starting Address MSB 10h Starting Address MSB 00h
Starting Address LSB 00h Starting Address LSB 00h
Data Quantity 02h Data Quantity 02h
Data 1 MSB 00h Data 1 MSB 00h
Data 1 LSB 01h Data 1 LSB 22h
Handshaking (0000 0000) 80h
Bits 5 and 6 of the response handshake byte are both set when the
processing has been completed and the response message contains valid
data. The MSB of the function code signifies an error response and Data
1 LSB contains the error code. Refer to Parameter Access Error Message
section of Chapter for error code description.
Handshaking (0110 0000) 60h