Stober EtherCAT SD6 Series - A259 | Ethercat SM-Watchdog | V1; A261 | Sync-Diagnostics | V1

9 | Monitoring and diagnostics STOBER
52
02/2020 | ID 442516.07
§ L1X
• L10 = No Link
No connection to another EtherCAT device via X201 (OUT port)
• L11 = Link Detected
Connection to another EtherCAT device via X201 (OUT port)
** EtherCAT network connection – error counter
§ L0 xx = Link Lost Counter
Number of connection failures (hexadecimal) at X200 (IN port)
§ L1 xx = Link Lost Counter
Number of connection failures (hexadecimal) at X201 (OUT port)
*** Data error – error counter
§ R0 xx = Rx Error Counter
Number of data errors (hexadecimal) at X200 (IN port)
§ R1 xx = Link Lost Counter
Number of data fields (hexadecimal) at X201 (OUT port)
9.4.4 A259 | EtherCAT SM-Watchdog | V1
State of the SyncManager watchdog of the drive controller in the EtherCAT network (prerequisite: A258 = 65534).
§ [0]: Tolerated failure time (unit: ms)
Specified by the SyncManager watchdog function of the EtherCAT master
§ [1]: State
0 = not triggered; 1 = triggered = Event 52: Communication, cause 6: EtherCAT PDO-Timeout
§ [2]: Number of times triggered
9.4.5 A261 | Sync-Diagnostics | V1
Diagnostics of the synchronization of the drive controller in the EtherCAT network.
§ [0]: Error code
• 0 = No error
• 1 = SyncManager 2 and 3 have different cycle times
• 2 = Cycle time < 1ms
• 3 = Odd multiple of 1ms
• 4 = PLL could not be started
• 6 = Drive controller interrupt not initialized, firmware error
§ [1]: Time difference between the data provision and the Sync 0 signal
§ [2]: Error counter