Festo Электромотор MTR-DCI - Manual (Page 198)

6. Diagnostics and error display
6-14
Festo P.BE-MTR-DCI-CO-EN en 1209a
6.5 Diagnosis via CANopen
The MTR-DCI supports the following diagnostic possibilities
via CANopen:
– FHPP status bytes (see section 5.5.2):
– SCON.B2: WARN
– Warning
– SCON.B3: FAULT – Fault
– SPOS.B5: DEV – Drag fault
– SPOS.B6: STILL – Standstill monitoring
– Node guarding, if activated (see section 6.5.1).
– Emergency Messages (see section 6.5.2).
6.5.1 Node guarding (reaction to bus failure)
In order that a CAN bus failure can be detected, node
guarding must be activated (default: switched off ).
In the case of actuators it is advisable to monitor the master
for failure in order to provide an appropriate emergency shut-
down strategy.
Then the CANBUS master is monitored based on monitoring
of activation with the configured monitoring time (see
DS 301). When monitoring is activated, the configured
emergency stop response (Fault Reaction Option Code
object 605Eh, PNU 1021) is executed and the drive is
stopped.
Select the Guard Time with reference to the system's dynamic
response and make sure that the selected refreshment/syn-
chronisation time of your master with the selected bit rate
and number of participants is sufficiently long for the number
of CAN telegrams to be exchanged.
Refer to your master documentation for details on how to
activate node guarding.