R30GECT1
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: [email protected]
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EtherCAT Diagnostics
• AL Status Code
When the slave (R30GECT1) fails to receive a request from the master or when there is a problem with the slave during nor-
mal communication, an error code is set to registers 0x0134 and 0x0135 (AL Status Code) of ESC.
See Table 2 below for the error codes used on the R30GECT1.
Table 2: Error Codes of AL Status Code
CODE
ERROR
0x0000
No error
0x0011
Invalid requested state change
0x0012
Unknown requested state change
0x0013
BOOT state not supported
0x0016
Invalid MailBox configuration (PREOP)
0x0017
Invalid SyncManager configuration
0x001B
SyncManager Watchdog
0x001D
Invalid Output Configuration
0x001E
Invalid Input Configuration
0x001F
Invalid Watchdog Configuration
0x0029
FreeRun needs 3 Buffer mode
0x8000
Internal bus error at power on (vendor specific error)
0x8001
Internal bus error during communication (vendor specific error)
• SDO Abort Code
When the master attempts to access the object dictionary via SDO, if the slave (R30GECT1) fails to receive SDO messages for
any reason, the R30GECT1 sends an error code (SDO Abort Code) to the master and denies its access.
See Table 3 below for the error codes that are used.
Table 3: Error Codes of SDO Abort Code
CODE
ERROR
0x05030000
Toggle bit not changed
0x05040001
Client/Server command specifier not valid or unknown
0x05040005
Out of memory
0x06010000
Unsupported access to an object
0x06010002
Attempt to
write
a read-only object
0x06020000
The object does not exist in the object directory
0x06070010
Data type does not match, length of service parameter does not match
0x06090011
Sub-index does not exist
0x08000020
Data cannot be transferred or stored to the application
0x08000022
Data cannot be transferred or stored to the application because of the present device state
