Description
01.00|WSG |en
13
Diagnosis Messages PROFIBUS
If at least one of the following error-related flags of its system
state was raised (i.e. changes from 0 to 1), the gripper will send di-
agnosis messages as the first double word to the PROFIBUS-
Master. The diagnosis messages containing the current system
state flags.
• SF_SOFT_LIMIT_MINUS
• SF_SOFT_LIMIT_PLUS
• SF_FAST_STOP
• SF_TEMP_FAULT
• SF_POWER_FAULT
• SF_CURR_FAULT
• SF_FINGER_FAULT
• SF_CMD_FAILURE
• SF_SCRIPT_FAILURE
More detailed description of these flags,
The format of the diagnosis message
Byte Number Description
0..3
Standard Diagnostic Data
Diagnostic Data as defined by the PROFIBUS Spe-
cification
4..5
Slave Ident-No.
Slave Identification Number. This is 0x5555 for
the WSG.
6
Length of Diagnostic Message
Diagnosis messages of the WSG are always 10
Bytes = 0x0A.
7..10
System State
Current system state of the gripper encoded as a
bit vector. Same coding as SYSSTATE register.
10..15
reserved
This area is reserved for future use.
3.3
