Instruction Manual

5. Commissioning
5−52
Festo P.BE−GDCP−SFC−LACI−PB−E N en 0812NH
3. Fault handling
Step/
Diti
Control bytes Status bytes
Description
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
3.1 Error
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
3
.
1
Error
CCON x x x x x 0 x x SCON x x x x 1 x x x
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x x x x x x x x SPOS x x x x x 0 x x
3.2 Warning
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
3
.
2
Warning
CCON x x x x x 0 x x SCON x x x x x 1 x x
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x x x x x x x x SPOS x x x x x 0 x x
3.3 Acknowledge
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
3
.
3
Acknowledge
fault
CCON 0 x x x F 0 x 1 SCON 0 x 0 1 0 0 0 0
with CCON.B3
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
with
CCON
.
B3
(RESET)
CPOS x 0 0 0 0 0 x x SPOS x 0 0 0 0 1 0 1
3.4 Acknowledge
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
3
.
4
Acknowledge
fault
CCON 0 x x x 0 0 x N SCON 0 x 0 1 0 0 x 0
with CCON.B0
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
with
CCON
.
B0
(ENABLE)
CPOS x 0 0 0 0 0 x x SPOS x 0 0 0 0 1 x x
0: 0−signal
1: 1−signal
x: not relevant (optional)
F: Positive edge
N: Negative edge
Tab.5/9: Control and status bytes Fault handling"