STOBER 8 | Monitoring and diagnostics
02/2020 | ID 443025.06
47
8.4.3 A257 | EtherCAT Diagnosis | V1
Diagnostic information of the drive controller in the EtherCAT network.
§ [0]: EtherCAT operating state *
Format: StX ErX L0X L1X
§ [1]: EtherCAT network connection – error counter **
Format: L0 xx L1 xx
§ [2]: Data error – error counter ***
Format: R0 xxxx R1 xxxx
* EtherCAT operating state
§ StX
• St1 = Init
• St2 = Pre-Operational
• St4 = Safe-Operational
• St8 = Operational
§ ErX
• Er0 = no Error
• Er1 = Booting Error
EC6 error
• Er2 = General Configuration error
General configuration error of the data transfer memory
• Er3 = Unsolicited State Change
drive controller changes state without a request from the master
• Er4 = Watchdog
Timeout A258 expired without receiving process data
• Er6 = Regular process data missing
Change condition from St4 to St8 not met: Stable, regular receipt of PDO data not possible for a duration of more
than 200ms; utilization of the controller is too high (jitter)
• Er7 = Invalid Configuration TxPDO
Data length of the transmit PDO channel does not match the specification
• Er8 = Invalid Configuration RxPDO
Data length of the receive PDO channel does not match the specification
• Er9 = Invalid Configuration Mailbox Tx
Data length of the transmit SDO channel does not match the specification or the EoE configuration is faulty
• Er10 = Invalid Configuration Mailbox Rx
Data length of the receive SDO channel does not match the specification or the EoE configuration is faulty
§ L0X
• L00 = No Link
No connection to another EtherCAT device via X200 (IN port)
• L01 = Link Detected
Connection to another EtherCAT device via X200 (IN port)
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