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Error state of the PROFIsafe host (DiagCode 16#C1XX)
DiagCode
Description
16#C101
Loopback error detected; an output telegram of the PROFIsafe host stack
has been received as an input telegram (short-circuit error)
16#C102
Monitoring time error, no valid telegram received within the F_WD_Time
(F-watchdog time)
16#C103
CRC error via the received telegram
16#C104
The PROFIsafe host stack is awaiting an operator acknowledgment
Error state of the F-device (DiagCode 16#C2XX)
XX contains the status byte of the F-device.
Bit 0, bit 5, bit 6 and bit 7 are masked out by the PROFIsafe host stack.
Several bits may be set at the same time.
DiagCode
Description
Bit 0
Not used
Bit 1
An error has occurred in the F-device (Device_Fault).
Bit 2
CRC communication error (CE_CRC)
Bit 3
Timeout error (WD-timeout)
Bit 4
Fail-safe values are activated (FV-activated)
Bit 5
Not used
Bit 6
Not used
Bit 7
Not used
8 Operation
8.1 Operating modes
It is recommended to set up the following operating modes, which can be selected
after switching on the controller. In addition, the standard robot programs must be
adapted to the specific application and integrated into the corresponding operating
mode. The standard robot programs include, among others:
• Home position run with sensor skin initialization run (ApasInit)
• Brake test (breaktestreq)
• Adjustment referencing (masref_main)
• Cell program (cell)
8.1.1
Automatic-external operation
The following settings must still be applied in this operating mode:
• The installed safety equipment (e.g. sensor skin, collision detection element
(optional)) is not triggered.
• The velocity V
is set to the max. permissible velocity in the settings for
max
monitoring space 15 (CollaborationRoom).
• Automatic-external operation can be started only when the robot arm is in the home
position and the sensor skin has been initialized. This can be done with a separate
home position run in T1 operation or at the start of an automatic sequence.
3 842 565 050/2019-11 APAS assistant K1100-10i V01.00.00 - V01.00.99, Bosch Rexroth AG
Operation
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