Staubli CS8C, Instruction Manual

Page: 93 / 248

CS8C © Stäubli 2009 –
D28070504A
93 / 248
Chapter 5 - Integration
The
ApplicomIO
diagnoses are:
STATUS
DEFINITION
0
No anomaly detected. The function has been executed correctly.
1
Function unknown
The function requested is not accepted.
2
Address error
The address of the variable requested is incorrect.
3
Data error
MODBUS
: Incoherency in the frame content.
4
Data inaccessible
MODBUS
: The physical address does not exist, the module does not exist, or the data are
protected.
CANOPEN
:
For reading / writing objects in
SDO
, the equipment refuses access to the object requested:
•
The object does not exist
•
The object is read or write protected
•
The number of bytes written exceeds the size of the object
For sending or receiving a
CAN
message:
•
The message cannot be sent
•
The receiving
COB-ID
is already used by the board or is not valid
DEVICENET
: The remote equipment is in error status. Check its status.
9 MODBUS
: A
MODBUS
customer is trying to modify a write protected data item.
10
Negative layer
2
acknowledgement from the equipment
(NACK)
.
PROFIBUS
:
UE (User Error)
, error in the remote equipment.
11
Negative layer
2
acknowledgement from the equipment
(NACK)
.
PROFIBUS
:
RR (Remote Ressource)
, insufficient resources in the remote equipment or
initialization parameters not valid.
13
Negative layer
2
acknowledgement from the equipment
(NACK)
.
PROFIBUS
:
RDL (Response FDL/FMA1/2 Data Low)
, remote equipment resources
insufficient to deal with the data received, low priority response.
14
Negative layer
2
acknowledgement from the equipment
(NACK)
.
PROFIBUS
:
RDH (Response FDL/FMA1/2 Data High)
, remote equipment resources
insufficient to deal with the data received, high priority response.
32
Incorrect parameter sent to the function
Wrong number of variables.