ALTUS Nexto NX3004 User Manual

4. Configuration
137
InSync
the first EtherCAT slave whose DC setting is
active. This variable is TRUE shortly after this
synchronization is successfully completed. This
signal, for example, can be used to initialize
SoftMotion function blocks in case of compatibility
with the device after the CLP is in synchronized
mode, otherwise jumps in position may occur. At
the PLC startup this variable is FALSE and will
change to TRUE after a few seconds. If
synchronization is lost due to any failure, the
variable will change to FALSE.
tDiag.bReserved_00
BOOL
-
Reserved space.
tDiag.bReserved_01
BOOL
-
Reserved space.
byReserved_00
BYTE
-
Reserved space.
tCommand.bRestart
BOOL
FALSE or TRUE
In rising edge, the master will restart completely.
All configuration parameters will be reloaded.
tCommand.bStopBus
BOOL
FALSE or TRUE
When this variable is TRUE, the communication is
stopped. EtherCAT packages will not be sent. On
most devices a restart is required, because they
are in an error state.
tCommand.
wDCInSyncWindow
BOOL
0..65535
Time window to bDistributedClockSync. Jitter
must be inside this window so that the
bDistributedClockSync stays TRUE. Default value:
50 microseconds.
tCommand.
bySlaveUpdatedbyCycl
e
BOOL
0..128
This value defines the number of slaves that will
be read each cycle to fill the slaves diagnostic
variables. Value 0 means that no slave diagnostic
will be updated.
tCommand.
bReserved_00
BOOL
-
Reserved space.
tCommand.
bReserved_01
BOOL
-
Reserved space.
byReserved_01
BYTE
-
Reserved space.
Table 4-92. EtherCAT Master Diagnostics and Commands
Code
Enum
Description
00
NO_ERROR
No error, running.
01
NO_COMM
No communication. Over 100 packages weren’t received. Possible
failure in the master cable.
02
WRONG_WORKING_COUNTER
Working counter to processdata is wrong. One or more slaves aren’t
operational or missing and the expected working counter isn’t found.
03
DC_TIME_ZERO
Slave DC Time is always zero -> maybe IN and OUT connectors are
wrong and no time can be read from the time reference.
04
OPEN_FIRSTADAPTER_FAILED
First network adapter can’t be opened.
05
OPEN_SECONDADAPTER_FAILED
Second network adapter can’t be opened.
06
ADAPTER_MISMATCH
Second network adapter uses the MAC-ID as first interface.
07
NO_SLAVES_FOUND
Error in slaves startup: There’s possibly missing slaves or with no
communication.
08
VENDOR_ID_WRONG
VendorID is not equal.
09
PRODUCT_ID_WRONG
ProductID is not equal.
10
NUMBER_DEVICE_MISMATCH
Reading ProductID or Vendor ID is unsuccessful, more slaves in the
configuration than in real architecture.
11
SDO_WRITE_ERROR
SDO writing error during startup.
12
SDO_TIMEOUT
SDO timeout during startup.
13
EMERGENCY_RECEIVED
Emergency received from the device.
14
IDN_WRITE_ERROR
IDN writing error during startup.
15
IDN_TIMEOUT
IDN timeout during startup.
Table 4-93. EtherCAT Master Error Codes

ALTUS Nexto NX3004 Specifications

General

Brand	ALTUS
Model	Nexto NX3004
Category	Processor
Language	English