DOC-0017-07-EN: AC20 Series - EtherCAT Option
DOC-0017-07-EN-A
27.03.2023
47 (58
)
11 Diagnostic Event
Configuration problems can often be identified by looking at the Run and Error LEDs and from the
EtherCAT State and Comms Diagnostic
0775 parameters.
Under normal operating conditions the Comms
diagnostic parameter should indicate
OK
. Other values are summarized in the Diagnostic Parameters
section.
Hardware Mismatch
Diagnostic = HARDWARE MISMATCH:
The required option does not match the actual fitted option.
No option is fitted but one is required.
Invalid Configuration
Diagnostic = INVALID CONFIGURATION:
Invalid read or write process data mapping
Invalid communication settings
Diagnostic = MAPPING FAILED:
Attempting to map a parameter that does not exist.
Attempting to map a configuration parameter.
Attempting to map a read-only parameter to the read process data.
Other Diagnostics
Diagnostic = EXCEPTION :
Module has gone into an unrecoverable exception state
Diagnostic = UNSUPPORTED OPTION:
The fitted option is not supported by the drive
Diagnostic = NOT RESPONDING:
no initial response from the option
When a diagnostic event is entered a new entry is created in object entry 1003h (pre-defined error field)
The Error Register (object 1001h) is set with the corresponding bit information.
High Byte
Low Byte
Not used
Not used
Event Code
00h
The EMCY Object is sent to the network with the following information:
Byte 0 Byte 1 Byte 2 Byte 3
Byte7
00h
Event Code Event Register (1001h)
Not used
EMCY Error
Code
Description
8110h
CAN controller signaled a lost message
8120h
CAN controller reached the warning limit due to error frames.
8210h
A received PDO was smaller than specified by the valid mapping table
8220h
The DLC of a received PDO exceeded the length specified by the mapping table.
8130h
An error control event has occurred (either a life guarding or heartbeat event).
8140h
CAN controller has recovered from a BUS OFF state.
8150h
COB-ID collision detected.
FF01h
Process data remap was NAKed by the host application. No valid process data map
available.
