11 | Appendix STOBER
82
02/2020 | ID 442516.07
11.3 EMCY message – Incorrect state transitions: Error codes
Error code Meaning
A000 hex Incorrect transition from pre-operational to safe-operational state
A001 hex Incorrect transition from safe-operational to pre-operational state
Tab. 13: EMCY – Transition error codes
Error register specifies the state of the EtherCAT State Machine at the time of the EMCY sending.
Error register State – EtherCAT state machine
1 hex Initializing
2 hex Pre-operational
3 hex Safe-operational
4 hex Operational
Tab. 14: EMCY – Error codes for states of the EtherCAT State Machine
Diag code provides information about the cause of the error.
Diag code Meaning
0 hex SyncManager at address that is not permitted SyncManager 0
(write mailbox data from frame in mailbox)
1 hex SyncManager at address that is not permitted
0 hex PDO length not correct
0 hex SyncManager parameterized incorrectly
0 hex SyncManager at address that is not permitted SyncManager 1
(write mailbox data from mailbox to frame)
0 hex SyncManager at address that is not permitted
0 hex PDO length not correct
0 hex SyncManager parameterized incorrectly
0 hex SyncManager at address that is not permitted SyncManager 2
(write process data from frame in process
data memory)
0 hex SyncManager at address that is not permitted
A hex PDO length not correct
B hex SyncManager parameterized incorrectly
C hex SyncManager at address that is not permitted SyncManager 3
(write process data to frame from process
data memory)
D hex SyncManager at address that is not permitted
E hex PDO length not correct
F hex SyncManager parameterized incorrectly
Tab. 15: EMCY – Diag codes for the cause of error
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