Error

Description

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.

EtherCAT AL Status Codes

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.

• E: Error Indication flag
• I: Init
• P: Pre-Operational
• B: Boot
• S: Safe-Operational
• O: Operational

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.

Custom Error

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