DOC-0017-07-EN: AC20 Series - EtherCAT Option
DOC-0017-07-EN-B 04.04.2023 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.
The EMCY Object is sent to the network with the following information:
Code
CAN controller signaled a lost message
CAN controller reached the warning limit due to error frames.
A received PDO was smaller than specified by the valid mapping table
The DLC of a received PDO exceeded the length specified by the mapping table.
An error control event has occurred (either a life guarding or heartbeat event).
CAN controller has recovered from a BUS OFF state.
COB-ID collision detected.
Process data remap was NAKed by the host application. No valid process data map
available.
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