Rexroth Indramat CLM1.4, Manual

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CLM01.4-LAP-01VRS Command Communications
10-5
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
Write Status Word / Read Status Word
Bits Function
0 - 9 Variable Number
10 - 13 Format / Error Number
14 Error Bit
15 Handshake Bit
toggles to the Status Word
Fig. 10-8: Status Word for Variable
Write Control Word / Read Control Word
Bits Function
0 - 9 Variable Number
10 - 13 Format
14 Reserved (always 0)/
Version Number: 0
15 Handshake Bit
toggles to the Status Word
Fig. 10-9: Control Word for Variable
Handshake Process
When restarting the CLM, the handshake bits are the same.
When the master makes a read or write request, the respective
handshake bit must be toggled in the control word. After the CLM has
processed the request, it toggles the respective handshake bit in the
status word.
Handshake Bit
Control Word Handshake Bit
Status Word Status
0 0 No function
1 0 Request from the Master
1 1 Request processed by the Slave (CLM)
1 1 No function
0 1 Request from the Master
0 0 Request processed by the Slave (CLM)
0 0 No function
Fig. 10-10: Handshake Process