Digitax HD M753 Control User Guide
255
Issue Number: 3
13.16 Updating the EtherCAT interface
firmware
The latest EtherCAT interface firmware is available from your local Drive
Centre or supplier.
Updating the EtherCAT interface firmware via the EtherCAT master is
not possible. To update the EtherCAT interface firmware it is necessary
to connect to the drive via the KI-Compact 485 Adaptor and a USB to
EIA-485 or EIA-232 to EIA485 isolated converter. A suitable USB to
EIA-485 converter is available from the supplier of the drive (Part
number 4500-0096). The EtherCAT interface firmware can then be
upgraded using the change firmware function in Connect.
13.17 Switching frequency
In applications where greater synchronization is required, it is suggested
that the drive's automatic switching frequency option is switched off.
If automatic frequency switching is required, then the network will
continue to operate, however the synchronization jitter may increase for
a short time when the switching frequency changes. To disable the
drive's automatic switching frequency control, set the drive Pr
05.035
to
Disabled (1).
13.18 Sync Task Orun trips
If the EtherCAT interface cannot complete the assigned tasks within
its 250
μ
s Synchronous Task, a Sync Task Orun trip will be initiated;
a Sync Task Orun trip indicates that the user is trying to accomplish
too much within the Synchronous task. The user can influence the
Synchronous Task by reducing the amount of cyclic data, or disabling
drive control CiA402. To disable drive control set the Pr
3.00.033
to
On (1), and perform an option reset via Pr
3.00.007
.
13.19 EtherCAT AL status codes
Table 13-20 shows the possible AL (Application Layer) status codes
returned to the EtherCAT master controller during configuration or
operational mode.
Table 13-20 Application Layer status codes
Code
(0x)
Meaning
Description
Comment
0000 No error
No error
0001 Unspecified error
No error code has been
defined
Contact supplier
0002 No memory
Insufficient memory for
operation
Contact supplier
0011
Invalid requested
state changed
Requested state change
is invalid
Follow the EtherCAT
State Machine sequence
to change state
0012
Unknown
requested state
change
Requested state change
is unknown
Use only the EtherCAT
State Machine state
values
0013
Boot state not
supported
Device does not support
BOOT state
Contact supplier
0014 No valid firmware
Downloaded firmware
application file is invalid
Download correct
firmware application file
0015
Invalid mailbox
configuration
Mailbox configuration
differs from expected
settings
Replace network
description file with the
correct file for device
0016
Invalid mailbox
configuration
Slave device changed
but network configuration
is unchanged
Replace previous
network description of
old slave with the one of
the new slave.
0017
Invalid Sync
Manager
configuration
PDO length, address or
direction mismatch
Issue a re-calculation of
the EtherCAT
configuration.
0018
No valid inputs
available
No valid inputs available
on Slave device
Check slave input
objects
0019
No valid outputs
available
Slave device cannot
receive valid output
values
Check slave output
objects
001A
Synchronization
error
Too many RxPDO toggle
errors have occurred
Check configuration
001B
Sync Manager
watchdog
No process data
received within specified
timeout
Check process data
configuration
001C
Invalid Sync
Manager Types
Specified Sync Manager
type is invalid
Use correct Sync
Manager
001D
Invalid output
configuration
Sync Manager for output
process data is invalid
Use correct Sync
Manager
001E
Invalid input
configuration
Sync Manager for input
process data is invalid
Use correct Sync
Manager
001F
Invalid watchdog
configuration
The watchdog
configuration is invalid
Check watchdog setting
0020
Slave needs cold
restart
Slave device requires a
cold restart or power
cycle
Restart the slave device
0021 Slave needs INIT
Slave application
requests INIT state
Re-initialise the slave
device
0022
Slave needs
PREOP
Slave application
requests, PREOP state
Instruct slave device to
enter PREOP state
0023
Slave needs
SAFEOP
Slave application
requests SAFEOP state
Instruct slave device to
enter SAFEOP state
0024
Invalid input
mapping
Invalid input mapping
object
Check slave input
mapping
0025
Invalid output
mapping
Invalid output mapping
object
Check slave output
mapping
0026
Inconsistent
settings
General settings
mismatch
Check configuration
settings
0027
Freerun not
supported
Freerun not supported
on slave
0028
Synchronization
not supported
Synchronization not
supported on slave
0029
Freerun needs 3
Buffer Mode
Sync Manager requires 3
Buffer Mode to run
002A
Background
Watchdog
Background task
watchdog activated
002B
No valid inputs and
outputs
Slave device does not
provide valid inputs and
outputs
002C Fatal Sync error
The hardware
synchronization signal
has stopped
Set master to INIT and
back to OP so that the
DCs are initialized again.
002D No Sync error
Hardware
synchronization signal
not detected
0030
Invalid DC SYNC
configuration
Distributed Clocks
configuration is invalid
Check DC configuration
0031
Invalid DC Latch
configuration
Distributed Clocks Latch
configuration is invalid
Check DC configuration
0032 PLL error
Master not synchronized,
at least one DC event
received
Check wiring and
synchronization settings
0033 DC Sync IO error
Multiple sync errors:
At least one sync signal
was received but the
slave is no longer
synchronized
Check network jitter
Increase cycle time Use
Distributed Clocks
scheme
0034
DC Sync timeout
error
Multiple sync errors:
Excessive Sync
Manager events missed
Check DC configuration
Code
(0x)
Meaning
Description
Comment
Содержание Digitax HD M753 EtherCAT
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