Festo Контроллеры двигателя SFC-LAC - Manual (Page 216)

6. Diagnostics and error display
6−16
Festo GDCP−SFC−LACI−CO−EN en 0812NH
6.5 Diagnosis via CANopen
The SFC−LACI supports the following diagnostic possibilities
via CANopen:
ć FHPP status bytes (see section 5.5.2):
ć SCON.B2: WARN
ć Warning
ć SCON.B3: FAULT ć Fault
ć SPOS.B5: DEV ć Drag error
ć SPOS.B6: STILL ć Standstill monitoring
ć Node guarding, if activated (see section 6.5.1).
ć 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 shutĆ
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 dynamics of the
system.
Refer to your master documentation for details on how to
activate node guarding.