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The Xentara EtherCAT Driver v1.2
User Manual
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The Xentara EtherCAT Driver v1.2
User Manual
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There are two different types of error in the Xentara EtherCAT driver. One straight from the EtherCAT status codes and additional custom error set forth by Xentara.
The Xentara EtherCAT displays the error in the error attribute if an error is returned by the EtherCAT bus or devices in accordance with the EtherCAT specification. The table below lists the Xentara EtherCAT driver error numbers that correspond to the EtherCAT AL status code.
Following short forms are used in the table below.
| AL Status Code | Description | Current state (or state change) | Resulting state |
|---|---|---|---|
| 0x0000 | No error | Any | Current state |
| 0x0001 | Unspecified error | Any | Any + E |
| 0x0002 | No memory | Any | Any + E |
| 0x0011 | Invalid requested state change | I→S, I→O, P→O O→B, S→B, P→B | Current state + E |
| 0x0012 | Unknown requested state | Any | Current state + E |
| 0x0013 | Bootstrap not supported | I→B | I + E |
| 0x0014 | No valid firmware | I→P | I + E |
| 0x0015 | Invalid mailbox configuration | I→B | I + E |
| 0x0016 | Invalid mailbox configuration | I→P | I + E |
| 0x0017 | Invalid sync manager configuration | P→S, S→O | Current state + E |
| 0x0018 | No valid inputs available | O, S, P→S | P + E |
| 0x0019 | No valid outputs | O, S→O | S + E |
| 0x001A | Synchronization error | O, S→O | S + E |
| 0x001B | Sync manager watchdog | O, S | S + E |
| 0x001C | Invalid Sync Manager Types | O, S | S + E |
| P→S | P + E | ||
| 0x001D | Invalid Output Configuration | O, S | S + E |
| P→S | P + E | ||
| 0x001E | Invalid Input Configuration | O, S, P→S | P + E |
| 0x001F | Invalid Watchdog Configuration | O, S, P→S | P + E |
| 0x0020 | Slave needs cold start | Any | P + E |
| 0x0021 | Slave needs INIT | B, P, S, O | P + E |
| 0x0022 | Slave needs PREOP | S, O | P + E |
| 0x0023 | Slave needs SAFEOP | O | P + E |
| 0x0024 | Invalid input mapping | P→S | P + E |
| 0x0025 | Invalid output mapping | P→S | P + E |
| 0x0026 | Inconsistent settings | P→S | P + E |
| 0x0027 | Free Run not supported | P→S | P + E |
| 0x0028 | Synchronization not supported | P→S | P + E |
| 0x0029 | Free Run needs 3 buffer mode | P→S | P + E |
| 0x002A | Background watchdog | S, O | P + E |
| 0x002B | No valid inputs and outputs | O, S→O | S + E |
| 0x002C | Fatal Sync error | O | S + E |
| 0x002D | No Sync error | S→O | S + E |
| 0x0030 | Invalid DC SYNCH Configuration | O, S | S + E |
| 0x0031 | Invalid DC Latch Configuration | O, S | S + E |
| 0x0032 | PLL Error | O, S | S + E |
| 0x0033 | Invalid DC IO Error | O, S | S + E |
| 0x0034 | Invalid DC Timeout Error | O, S | S + E |
| 0x0035 | DC invalid Sync Cycle Time | P→S | S + E |
| 0x0036 | DC Sync0 Cycle Time | P→S | S + E |
| 0x0037 | DC Sync1 Cycle Time | P→S | S + E |
| 0x0041 | MBX_AOE | B, P, S, O | Current state + E |
| 0x0042 | MBX_EOE | B, P, S, O | Current state + E |
| 0x0043 | MBX_COE | B, P, S, O | Current state + E |
| 0x0044 | MBX_FOE | B, P, S, O | Current state + E |
| 0x0045 | MBX_SOE | B, P, S, O | Current state + E |
| 0x004F | MBX_VOE | B, P, S, O | Current state + E |
| 0x0050 | EEPROM no access | Any | Any + E |
| 0x0051 | EEPROM error | Any | Any + E |
| 0x0060 | Slave restarted locally | Any | I |
| 0x0061 | Device Identification Value updated | P | P + E |
| 0x00F0 | Application Controller available |
The EtherCAT error codes are described in greater details in the AL Status Codes, available under EtherCAT diagnostics.
The Xentara EtherCAT driver also defines the additional custom errors. They are as follows:
| Error Code | Description |
|---|---|
| 001 | Port not open |
| 002 | Raw socket |
| 003 | Other frame has returned |
| 004 | Device count exceeded |
| 005 | Timeout |
| 006 | Less device than expected |
| 007 | No frame has returned |
| 008 | Bus is uninitialized |
| 009 | Init State |
| 010 | PreOperational State |
| 011 | SafeOperational State |
| 012 | Waiting for Operational State |
| 013 | Boot State |
| 014 | Wrong working counter |
| 015 | IO Mapping |
| 016 | Configuration mismatch b/w Json & actual config |
| 999 | Unknown |