A.4.2 Status Signals Via Fieldbus – Protocol Cia 402 - Festo CAMC-G-S3 Manual

A Technical appendix
A.4.2 Status signals via fieldbus – protocol CiA 402
The motor controller has all the key information of the safety module (status, modes, errors, IO). The
following information is primarily relevant for transfer of data to bus systems, in order to create a de­
tailed map of the system in a function controller:
– Common status messages on the status of the safety module (normal operation, safety function
requested, errors, etc. è Section 2.10.2).
– Status of the individual safety functions (Which have been requested? Which have been implemented?).
– Status of the digital inputs and outputs.
Below, the appropriate CiA 402 objects are listed, which contain information on the safety module and
which the CMMP­AS­...-M3 supports.
Object 2000h: manufacturer_statuswords
The object group manufacturer_statuswords was introduced, in order to map additional controller
statuses which do not need to be present in the status word, which is queried often. The object group
manufacturer_statuswords was extended for the safety module.
Index
Name
Object Code
No. of elements
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
2000
h
manufacturer_statuswords
RECORD
2
00
h
manufacturer_statuswords
UINT8
ro
no
–
–
1
01
h
manufacturer_statusword_1
UINT32
ro
yes
–
–
–
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