An-278 EtherCAT Error Codes

7/27/2019 An-278 EtherCAT Error Codes

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Name: GD Cat SW BASIC Page 1 of 7

1.ScopeThis document considers the different errors and warnings which ma occur when the !C"#" is usedwith the P$7# and %therCAT ser&odri&es or I'() (n* the *ow+*e&e* command *ine and BASIC ,rogramaccess to error management is discussed) Therefore some ,rior -now*edge of Trio BASIC. the !C"#"command *ine and Can(,en+o&er+%therCAT is assumed of the reader)

In the future. the information here ma /e used / Trio !otion Techno*og as the /asis for a high*e&e* user interface in !otion Perfect & 0)

2.Error types%rrors and warnings can come from a &ariet of sources) ow the are hand*ed wi** de,end on thesource and the channe* o&er which the error arri&es)

!C"#" configuration errors)

%therCAT s*a&e contro**er errors)

%therCAT State !achine)

Co% Contro* Word and Status Word from Dri&e)

Dri&e %rror re,orted o&er SD( channe*)

3.MC464 configuration errorsThere are 2 t,es of error which ma a,,ear in the !C"#" dis,*a)

1) 3ss) 4ss5 is the modu*e s*ot num/er) This means that the P$7# has a connection ,ro/*em tothe !C"#") (r it ma show this error when the %therCAT ca/*e is /ro-en whi*e the %therCATis in norma* o,eration)

2) Css) 4ss5 is the modu*e s*ot num/er) This means that the sstem encountered a configurationerror when tring to initia*ise the a6es) or e6am,*e. if the %therCAT wants to set u, an a6isthat is a*read a**ocated to another modu*e)

Doc No.: AN-278

Version: 1.0

Date: 25 April 2012

Subject: EtherA! Error co"es # han"lin$ o%


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4.EtherCAT Slave Controller errorsThe %therCAT S*a&e Contro**er 8%SC9 of each remote dri&e can /e interrogated through the command*ine or from a Trio BASIC ,rogram in the !C"#") 3se the %T%CAT command to fetch &a*ues fromthe %SC of a remote node)

ETHERCAT($31, slot, slave address, ESC offset, ESC length, vr_index)

or e6am,*e. to get the %SC state from the dri&e at node address 2 and ,rint it to the termina*;

ETHERCAT($31, 0, 2, $130, 2, -1)

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'(''1C ,nvali" Sync Manager Types / S 0S S + E 0 + E

'(''1# ,nvali" /utput Configuration / S 0S S + E 0 + E

'(''1E ,nvali" ,nput Configuration / S 0S 0 + E

'(''19 ,nvali" :atch"og Configuration / S 0S 0 + E

'(''2' Slave nee"s col" start Any Current state + E

'(''21 Slave nee"s ,),T 0 S / Current state + E

'(''22 Slave nee"s 0&E/0 S / S + E / + E

'(''23 Slave nee"s SA9E/0 / / + E

'(''24 ,nvali" input !apping 0S 0 + E

'(''2 ,nvali" output !apping 0S 0 + E

'(''26 ,nconsistent settings 0S 0 + E

'(''25 9ree;&un not supporte" 0S 0 + E

'(''2 Synchroni8ation not supporte" 0S 0 + E

'(''27 9ree;&un nee"s 3 buffer !o"e 0S 0 + E

'(''2A acgroun" atch"og S / 0 + E

'(''2 )o vali" inputs an" outputs / S/ S + E

'(''2C 9atal Sync error / S + E

'(''2# )o Sync error S/ S + E

'(''3' ,nvali" #C S> Error / S S + E

'(''33 ,nvali" #C ,/ Error / S S + E

'(''34 ,nvali" #C Ti!eout Error / S S + E

'(''3 #C invali" Sync Cycle Ti!e 0S 0 + E

'(''36 #C Sync' Cycle Ti!e 0S 0 + E

'(''35 #C Sync1 Cycle Ti!e 0S 0 + E

'(''41 M?@A/E 0 S / Current state + E

'(''42 M?@E/E 0 S / Current state + E

'(''43 M?@C/E 0 S / Current state + E

'(''44 M?@9/E 0 S / Current state + E

'(''4 M?@S/E 0 S / Current state + E

'(''49 M?@/E 0 S / Current state + E

'(''' EE0&/M no access Any Any + E

'(''1 EE0&/M error Any Any + E


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Name: GD Cat SW BASIC Page " of 7

'(''6' Slave restarte" locally Any ,

/ther co"es

B'(''' &eserve"

'(''';'(9999 en"or specific

Table 2 ESC Error co"es

.EtherCAT state !achineThe %therCAT connection has > different states)

1) Base State ? no acti&it. e&erthing uninitia*ised)

2) Initia* State ? Bus communication is /eing esta/*ished and c*oc- ar/itration ta-ing ,*ace)

0) Pre+(,erationa* + Bus is acti&e and ,arameterisation can occur &ia SD()

") Safe+(,erationa* ? !aster a** s*a&es communicate cc*ica**) PD(s are /eing e6changed)

S*a&es cannot ena/*e)

>) (,erationa* ? u** cc*ic o,eration) S*a&e de&ices can /e ena/*ed)

The %therCAT state of the master 8!C"#"9 can /e read with %T%CAT command function #)

ETHERCAT($06, 0, -1) ' print the EtherCAT state to the terminal

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ETHERCAT($06, 0, 600) ' Put EtherCAT state from slot 0 into VR(600)


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Name: GD Cat SW BASIC Page > of 7

6.1.DRIVE_CONTROLWORD bit functions15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Reserved r oms h fr oms hos eo qs ev so

r @ reser&edoms @ o,eration mode s,ecifich @ ha*tfr @ fau*t resethos @ homing o,eration starteo @ ena/*e o,erations @ uic- sto,e& @ ena/*e &o*tageso @ switch on

Note: Exact functions depend upon the slave drive. See also the CiA DS402 specification.

6.2.DRIVE_STATUS bit functions15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

ms ha lla tr rm ms w sod qs ve f oe so rtso

ms @ manufacturer+s,ecificha @ homing attainedoms @ o,eration mode s,ecifici*a @ interna* *imit acti&etr @ target reachedrm @ remote

w @ warningsod @switch on disa/*eds @ uic- sto,&e @ &o*tage ena/*edf @ fau*toe @ o,eration ena/*edso @ switched onrtso @ read to switch on

Note: Exact functions depend upon the slave drive. See also the CiA DS402 specification.

5.#rive Error reporte" over S#/ channelThe commands C(%AD and C(%ADAIS can /e used to o/tain the &a*ues from Co% o/ects in thedri&e) There ma /e &arious o/ects. inc*uding manufacturer s,ecific o/ects. which are there togi&e information a/out the error status of the dri&e)

The standard DS"=2 o/ect for error status is =6#=0 su/ inde6 ==) This is a 1# /it unsigned &a*uewhich ma /e read in a BASIC ,rogram or from the !otion Perfect command *ine termina*)

%6am,*es:

1) Get the &a*ue of =6#=0 in a ,rogram and ,rint it in e6adecima*)

CO_READ_AXIS(2, $603F, $00, 6, 428)

PRINT #5,HEX(VR(428))

2) Print the &a*ue of =6#=0 to the !otion Perfect command *ine)

CO_READ_AXIS(4, $603F, $00, 6, -1)


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Name: GD Cat SW BASIC Page # of 7

12592

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The actua* error codes su,,orted / a dri&e wi** de,end on the dri&e manufacturer) The ta/*e /e*owshows some of the t,ica* error codes which ma /e returned / a dri&e) See the dri&eEs hand/oo-for a fu** *ist)

%rror Code8e69

!eaning

==== No %rror

1=== Generic %rror

2=== Current

22== Interna* current

200= %arth *ea-age

011= !ains o&er&o*tage

021= DC Bus o&er&o*tage

022= DC Bus under&o*tage

"21= igh motor tem,erature

"01= igh dri&e tem,erature

F=== %6terna* error

.E(a!ple progra!This e6am,*e reads some of the errors and re,orts them to the !otion Perfect termina* at channe*>)

' Check and report the errors over EtherCAT

ec_axis=0

ec_node=0

ec_slot=0

PRINT#5,""' print a blank line

' 1. Check slot configuration errors

IF(SYSTEM_ERRORAND$010000) 0THEN

PRINT#5,"Unit Lost"

ELSEIF(SYSTEM_ERRORAND$020000) 0THEN

PRINT#5,"Unit Terminator Lost"ELSEIF(SYSTEM_ERRORAND$040000) 0THEN

PRINT#5,"Unit Station Lost"


PRINT#5,"Invalid Unit error"


PRINT#5,"Unit Station Error"

ELSE

PRINT#5,"no unit errors"

ENDIF

' 2. Check Slave Controller Error

IFETHERCAT($31, ec_slot, ec_node, $130, 2, 25)=TRUETHEN

IFVR(25)=1THENPRINT#5,"ESC Initial State"


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ELSEIFVR(25)=2THEN

PRINT#5,"ESC Pre-Operational State"

ELSEIFVR(25)=4THEN

PRINT#5,"ESC Safe-Operational State"

ELSEIFVR(25)=8THEN

PRINT#5,"ESC Operational State"

ENDIF

ELSE

PRINT#5,"ESC read failed"

ENDIF

' Check ESC Error value

IFETHERCAT($31, ec_slot, ec_node, $134, 2, 25)=TRUETHEN

PRINT#5,"ESC Error code: ";HEX(VR(25))

ELSE

PRINT#5,"ESC read failed"

ENDIF

' 3. Check master state

IFETHERCAT($06, ec_slot, 25)=TRUETHEN

PRINT#5,"MC464 EtherCAT state = ";VR(25)[0]

ELSE

PRINT"Failed to read Master State"

ENDIF

' 4. Check control and status words

PRINT#5,"Control Word = ";HEX(DRIVE_CONTROLWORDAXIS(ec_axis))

PRINT#5,"Status Word = ";HEX(DRIVE_STATUSAXIS(ec_axis))

' 5. Check slave drive error word

CO_READ_AXIS(ec_axis, $603F, $00, 6, 25)

PRINT#5,"Drive Error Word = ";HEX(VR(25))

Note: Some detai*s of the o,eration of this ,rogram reuires the use of firmware

An-278 EtherCAT Error Codes

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