Festo SFC-LAC CO Series, Manual, Page: 185 / 328

6. Diagnosis and fault display
6−15
Festo P.BE−SFC−LAC−CO−EN en 0708NH
6.5 Diagnosis via CANopen
The SFC−LAC 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 guard
ing 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
shutdown strategy.
Then the CAN bus master is monitored based on monitoring
of activation with the configured monitoring time (see DS301).
When monitoring is activated, the configured emergency stop
response (Fault reaction option code object 605Eh, PNU1021)
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.