Festo CMMT-ST-SW, Original Instructions Manual

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8.1 Function........................................................................................................................ 428
8.2 CiA402...........................................................................................................................430
9 Diagnostics and fault clearance................................................................................... 430
9.1 Diagnostics options.......................................................................................................430
9.2 Classification of diagnostic events.................................................................................431
9.3 Diagnostic status...........................................................................................................434
9.3.1 CiA 402.................................................................................................................. 435
9.4 Servo drive messages....................................................................................................435
9.4.1 Status of messages................................................................................................ 435
9.4.2 Structure of messages........................................................................................... 436
9.4.3 Message directory................................................................................................. 438
9.4.4 Error memory......................................................................................................... 438
9.4.5 Acknowledging messages and errors..................................................................... 438
9.4.6 Diagnostic messages with information for fault clearance...................................... 440
9.5 Recording measuring data (trace)..................................................................................498
9.5.1 CiA 402.................................................................................................................. 506
9.6 Condition monitoring.....................................................................................................508
9.6.1 Mileage counter..................................................................................................... 508
9.6.1.1 CiA 402.................................................................................................................. 509
9.6.2 Load change counter............................................................................................. 510
9.6.2.1 CiA402................................................................................................................... 511
9.6.3 Operating hour counter.......................................................................................... 511
9.6.3.1 CiA402................................................................................................................... 512
10 Web server....................................................................................................................512
10.1 Function........................................................................................................................ 512
10.2 CiA 402.......................................................................................................................... 514
11 EtherCAT.......................................................................................................................515
11.1 General..........................................................................................................................515
11.2 ETG standards............................................................................................................... 515
11.3 EtherCAT communication...............................................................................................515
11.3.1 Overview of EtherCAT communication and synchronisation....................................515
11.3.2 EtherCAT bus......................................................................................................... 518
11.3.3 EtherCAT Slave Controller ESC............................................................................... 518
11.3.4 Protocol................................................................................................................. 518
11.4 EtherCAT final state machine......................................................................................... 520
11.5 Sync Manager................................................................................................................523
11.5.1 Sync Manager communication............................................................................... 523
11.5.1.1 CiA 402.................................................................................................................. 525
11.5.2 Synchronisation..................................................................................................... 525
11.5.2.1 CiA 402.................................................................................................................. 529
10 Festo — CMMT-ST-SW — 2019-02