R7I4DECT-1-YVF4
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: [email protected]
EM-7779-K P. 7 / 10
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EtherCAT State
EtherCAT defines four states of slave: INIT, PREOP, SAFEOP, and OP.
TxPDO (input configuration data) is updated only in the SAFEOP or OP state, and RxPDO (output configuration data) is
updated only in the OP state.
The RUN LED turns on only in the OP state and input and output data are updated, while only input data is updated in the
PREOP state.
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EtherCAT Diagnostics
• AL Status Code
When the slave (R7I4DECT) 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.
The error codes that R7I4DECT uses are as shown below. (See Table 2.)
Table 2: Error Codes of AL Status Code
CODE
ERROR
0x0000
No error
0x0011
Invalid requested state change
0x0012
Unknown requested state
0x0013
BOOT state not supported
0x0016
Invalid MailBox configuration (PREOP)
0x0017
Invalid SyncManager configuration
0x001B
SyncManager Watchdog Timeout
0x001D
Invalid Output Configuration
0x001E
Invalid Input Configuration
0x001F
Invalid Watchdog Configuration
0x0029
FreeRun needs 3 Buffer mode
• SDO Abort Code
When the master attempts to access the object dictionary via SDO, if the slave (R7I4DECT) fails to receive SDO messages for
any reason, R7I4DECT sends an error code (SDO Abort Code) to the master and denies its access.
The following error codes 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 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
