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Communication Manual

EtherCAT control technology

Commissioning & configuration

PC-based automation

L-force Controls

Summary of content (204 pages)

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L-force Controls Ä.
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L DMS 3.
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Control technology | EtherCAT communication manual Contents 1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Control technology | EtherCAT communication manual 7 Commissioning of the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 7.1 Overview of commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7.2 Detailed commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.1 Planning the bus topology . . . . .
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Control technology | EtherCAT communication manual 10 11 9.6 Functions for the network management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6.1 ecatMasterIsConfigured (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6.2 ecatGetSlaveId (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6.3 ecatGetSlaveIdAtPosition (FUN) . . . . . . . . . . . . . . . . . . .
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Control technology | EtherCAT communication manual 12 13 6 11.5 Error counters of the EtherCAT slaves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.5.1 Error types: "Errors" and "Forwarded Errors" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.5.2 Error counter reset from the application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 143 144 11.6 Error scenarios . . . . . . . . . . . . . . . . . . . . . . . . . .
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Control technology | EtherCAT communication manual About this documentation 1 About this documentation  Note! For industrial PCs of the EL 1xx, EL x8xx, CS x8xx and CPC x8xx series in control technology release 2.5, EtherCAT is not supported. This documentation ...  This documentation contains detailed information on how to commission, configure and diagnose the EtherCAT bus system within the scope of Lenze's control technology.
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Control technology | EtherCAT communication manual About this documentation Further technical documentations for Lenze components More information about Lenze components that can be used together with "PC-based automation" can be found in the following documents: Mounting & wiring Legend: MAs for Inverter Drives 8400 Printed documentation MAs for Servo Drives 9400 Online help/PDF MA EPM-Txxx (I/O system IP20) Abbreviations used: MA EPM-Sxxx (I/O system 1000) SHB System Manual MA 820
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Control technology | EtherCAT communication manual About this documentation Document history Target group This documentation is intended for all persons who plan, install, commission and maintain the networking of devices in the field of control technology. 1.1 Document history Material no. Version Description - 1.0 09/2008 TD11 First edition TD17 13296253 2.0 05/2009 TD17 General revision 13317335 3.0 10/2009 TD17 General revision 13369406 3.
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Control technology | EtherCAT communication manual About this documentation Conventions used 1.2 Conventions used This documentation uses the following conventions to distinguish between different types of information: Type of information Writing Examples/notes Spelling of numbers Decimal separator Point The decimal point is always used. For example: 1234.56 Text Version information Program name Window Blue text colour »« The Message window... / The Options dialog box... Bold The OK button...
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Control technology | EtherCAT communication manual About this documentation Terminology used 1.3 Terminology used Term Meaning »Engineer« Lenze engineering tools supporting you during the entire life cycle of a machine - from the planning phase to maintenance. »EtherCAT Configurator« »Global Drive Control« (GDC) »PLC Designer« Code "Container" for one or several parameters used for Lenze Servo Drives parameter setting or monitoring.
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Control technology | EtherCAT communication manual About this documentation Notes used 1.
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Control technology | EtherCAT communication manual Safety instructions 2 Safety instructions Please observe the following safety instructions when you want to commission a controller or system using an industrial PC.
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Control technology | EtherCAT communication manual The "PC-based automation" system 3 The "PC-based automation" system Industrial PCs (IPCs) are increasingly finding their way into automation technology. With their scaling characteristics and the possible combination of visualisation and control in one device, industrial PCs offer clear advantages for many applications.
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Control technology | EtherCAT communication manual The "PC-based automation" system  Engineering tools for the Engineering PC – The Engineering PC communicates with the IPC via Ethernet. – The different engineering tools are used to configure and parameterise the system.  Fieldbuses  Field devices DMS 3.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Brief description of EtherCAT 4 The Lenze control system with EtherCAT  Note! For industrial PCs of the EL 1xx, EL x8xx, CS x8xx and CPC x8xx series in control technology release 2.5, EtherCAT is not supported. This chapter provides basic information about ...
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Brief description of EtherCAT 4.1.2 Structure of the EtherCAT bus system Basic structure Physical structure  An EtherCAT master can communicate with one or more nodes ("slaves").  Internally, the EtherCAT bus has a ring topology. Since Ethernet cables are provided with a going and a return conductor within one cable, for the installer the topology seems to be a line. The last slave closes the ring.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Brief description of EtherCAT 4.1.3 Communication Compared with the conventional Ethernet, the collision-free transfer of telegrams on the bus makes EtherCAT a real-time capable bus system. Communication is always initiated by the EtherCAT master, i.e. the industrial PC. A telegram sent by the master passes through all EtherCAT slaves.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Brief description of EtherCAT 4.1.3.1 The EtherCAT state machine Before communication via EtherCAT is possible, the bus runs through the EtherCAT state machine during power-up.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Brief description of EtherCAT 4.1.3.2 Addressing of the slaves The EtherCAT system uses two types of addressing for the slaves:  Auto-increment addressing  Fixed-address addressing The auto-increment addressing is used by the master during the initialisation phase of the fieldbus. When the Pre-Operational state has been reached, the master uses the FixedAddress addressing.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Brief description of EtherCAT 4.1.3.3 Working counter Each EtherCAT datagram contains a working counter (WKC) which is incremented by each slave after the data have been processed successfully. In every cycle, the control unit compares the expected value of the working counter with the value read back via the fieldbus.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Required hardware components 4.2 Required hardware components 4.2.1 The industrial PC - the central component The industrial PC is the central component in the EtherCAT bus system:  The industrial PC is the EtherCAT master.  The industrial PC acts as EtherCAT gateway to be able to access the field devices from the engineering PC via Ethernet and EtherCAT.  The devices must be connected in a line.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Required hardware components 4.2.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Required hardware components 4.2.3 EtherCAT product codes The product codes serve to assign device descriptions to the corresponding devices. Device descriptions can be installed via the device repository. Importing missing field devices ( 59)  The product codes are part of the device ID.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Required hardware components Product codes for Inverter Drives 8400 Product code [dec] Meaning 8 4 0 0 2 1 Inverter Drive 8400 BaseLine 8 4 0 0 2 2 Inverter Drive 8400 StateLine 8 4 0 0 2 3 Inverter Drive 8400 HighLine 8 4 0 0 2 4 Inverter Drive 8400 TopLine Product codes for the I/O system 1000 Product code [dec] Meaning 1 I/O system EPM-S130 3 0 0 Product codes for the ECS servo
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Required hardware components 4.2.4 EtherCAT hardware for the industrial PC MC-ETC communication card The MC-ETC communication card is a plug-in card for connecting an industrial PC to an EtherCAT network.  Note! In case of a correct connection to the field devices, the LEDs of the communication card are lit.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Required hardware components Possible applications  Note! The industrial PC only supports one communication card MC-ETC! Industrial PC Can be combined with CANopen Communication card for CANopen EL x7xx yes MC-CAN2 CS x7xx no CPC 2700 yes MC-CAN2 Example: Industrial PC EL x7xx with MC-ETC MC-ETC_ELx7xx Legend EL x7xx Industrial PC of the EL x7xx series ETC1 EtherCAT network connection MC-ETC MC-
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Required engineering tools 4.3 Required engineering tools  The engineering tools required for configuration and parameter setting are installed on the engineering PC.  »Engineer«, »EtherCAT Configurator« and »PLC Designer« are engineering PC tools which are independent of each other.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Required engineering tools Brief description of the engineering tools L-force »Engineer« With the »Engineer«, you can ...  parameterise, configure and diagnose ... – Servo Drives 9400; – Inverter Drives 8400; – the I/O system 1000.  access the supported field devices via the gateway function of the industrial PC. »Global Drive Control« ((GDC)) With (GDC) you can ...
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Interaction of the components 4.4 Interaction of the components 4.4.1 The state machine of the Lenze control technology In the Lenze control technology, the states of the PLC and the EtherCAT fieldbuses are coupled. The PLC controls the fieldbus.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Interaction of the components Explanation of the transitions during system start While a state is passed through, different tests are carried out (e.g. it is tested whether the physical topology complies with the configuration). If the tests are successful, the system automatically changes to the next state. Status What happens? What is tested? PLC EtherCAT Origin Unknown The system starts.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Interaction of the components 4.4.2 Communication between engineering PC and field devices For commissioning of the field devices, an online connection is required between the engineering PC and the corresponding field device. Depending on the state of the EtherCAT bus, there are two options: EtherCAT bus not in operation ( 32) EtherCAT bus in operation (gateway function) 4.4.2.
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Control technology | EtherCAT communication manual The Lenze control system with EtherCAT Interaction of the components 4.4.2.2 EtherCAT bus in operation (gateway function) You directly communicate via EtherCAT and use the industrial PC as gateway.  Note! A PLC program does not need to run to be able to use the gateway function. Condition  The bus configuration has been created using the »PLC Designer« and corresponds to the hardware configuration.
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Control technology | EtherCAT communication manual Technical data General data of the EtherCAT bus 5 Technical data 5.1 General data of the EtherCAT bus 5.2 Field Values Communication medium S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT5e Network topology Line Number of nodes Max. 65535 ( in the entire network ) Max.
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Control technology | EtherCAT communication manual Technical data Communication times and drive-specific data 5.3 Communication times and drive-specific data Field Values User data per frame 1344 bytes Process data words (PZD) for Servo Drives 9400 HighLine max. 32 words (64 bytes) Parameter data (SDO) transfer Max. 128 bytes Permissible EtherCAT cycle times 1 … 10 ms Max.
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Control technology | EtherCAT communication manual Synchronisation with "Distributed clocks" 6 Synchronisation with "Distributed clocks" The "Distributed clocks" (DC) function enables an exact time adjustment for applications where several auxiliary axes carry out a coordinated movement at the same time. The data is accepted synchronously with the PLC program. With the DC synchronisation, all slaves are synchronised with a reference clock, called the "DC master".
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Control technology | EtherCAT communication manual Synchronisation with "Distributed clocks" Synchronous communication 6.1 Synchronous communication The DC synchronisation provides for a phase-synchronous operation of master and slaves: Within one bus cycle the setpoints are accepted and the actual values are detected in the fieldbus at exactly the same time.
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Control technology | EtherCAT communication manual Synchronisation with "Distributed clocks" Adjusting task cycle time and DC cycle time 6.2 Adjusting task cycle time and DC cycle time The industrial PC is the fieldbus master in the EtherCAT network. The clock pulse of the EtherCAT bus system is determined by the cycle time of the task which is assigned to the drives (slaves) in the »PLC Designer«.
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Control technology | EtherCAT communication manual Synchronisation with "Distributed clocks" Setting the DC synchronisation with the »EtherCAT Configurator« 6.3 Setting the DC synchronisation with the »EtherCAT Configurator«  Note! The manual configuration of the slave DC features requires a detailed knowledge of EtherCAT and the field device. Thus, DC settings should only be made by experts. A faulty configuration can cause maloperation and negative influences on the system.
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Control technology | EtherCAT communication manual Synchronisation with "Distributed clocks" Setting the DC synchronisation with the »EtherCAT Configurator« 2. Activate the DC functionality for the first slave (DC master) connected to the bus master (select "DC for synchronization"): 3. Also activate the DC functionality (select "DC for synchronization") for all other slave devices which are to use the DC synchronisation.
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Control technology | EtherCAT communication manual Synchronisation with "Distributed clocks" Check of the DC synchronicity 6.4 Check of the DC synchronicity The DC synchronicity can only be checked in the Operational bus state. You can check the DC synchronicity via the "ECAT DC: Status" parameter (code C1082/1 / C1582/1) or via the Notifications ( 120) bEC_NOTIFY_DC_STATUS and bEC_NOTIFY_DC_SLV_SYNC. DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system 7 Commissioning of the system This chapter provides information about how to commission the Lenze control system with EtherCAT. Commissioning of the system requires the following Lenze engineering tools:  »EtherCAT Configurator«  »PLC Designer«  »Engineer« An overview of the commissioning steps is given in the next section Overview of commissioning steps ( 43).
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Control technology | EtherCAT communication manual Commissioning of the system Overview of commissioning steps 7.1 Overview of commissioning steps DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Overview of commissioning steps The main commissioning steps are listed in the following table: Step Activity 1. Installing field devices ( 45) 2. Creating a project folder ( 46) 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2 Detailed commissioning steps In the following sections, the individual commissioning steps are described.  7.2.1 More detailed information about how to work with the Lenze engineering tools can be found in the corresponding manuals and online helps. Planning the bus topology Before you start to set up an EtherCAT network, first create a plan of your EtherCAT bus.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.3 Creating a project folder Create a project folder on the engineering PC. Use this project folder to store the below data generated in the different project configuration steps:  The project file created in the »EtherCAT Configurator«  The configuration files exported from the »EtherCAT Configurator«: – ECAT_PLC_CFG_1.XML – ECAT_MASTER_1.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.4 Determining the physical EtherCAT configuration (fieldbus scan) You can execute a fieldbus scan with the »EtherCAT Configurator« on the IPC in order to check the physical EtherCAT configuration. Alternatively, the command line tool »scandf« ( 51) is also available on the IPC.  7.2.4.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 2. Execute the Login command in the context menu of the L-force Controller: After a successful login, the L-force Controller (the industrial PC) is connected to the engineering PC: 3. After a successful login, execute the Start Search command in the context menu of the L-force Controller : 48 L DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps The »EtherCAT Configurator« determines the EtherCAT nodes available at the fieldbus. In the Start Search dialog box, the devices are listed according to the physical order at the fieldbus: Further information on the Start Search dialog box can be found here: Inserting devices available on the fieldbus into the »EtherCAT Configurator« project ( 55) DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps Missing device descriptions If a device available at the fieldbus is not present in the device repository, an error message within the Start Search dialog box will inform you about it:  The device cannot be interpolated into the project as the corresponding device description has not been installed.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.4.2 Fieldbus scan with the »scandf« command line tool Fieldbus scanning command Command: scanfd /option The interface for the EtherCAT slaves to be scanned on the fieldbus is called ECAT. Option Output on the console /i Determine available interfaces /t Display device information for every network node. /f Display additional device parameters for every device if available.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 4. Determine the field devices physically available at the ECAT interface: • scanfd ecat /t /f /n Output example: After executing the scanfd.exe file, the console displays the result of the fieldbus scan. The first output line contains the number (x) of slaves found on the fieldbus: x devices at interface ´ecat´! The further output lines provide informationen on each slave: 52 L DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps Information about the field devices  The individual slaves are generally listed according to the auto-increment addressing scheme in their physically order.  The first slave connected to the master has the node address 0. The second slave has the negative node address -1. The other slaves have negative node addresses (-n) corresponding to their positions on the fieldbus.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.5 Configuration in the »Engineer« The »Engineer« is used to configure and parameterise the Lenze field devices connected to the EtherCAT bus.  Note! PDO mapping settings The mapping required for a cross communication must be created in the »EtherCAT Configurator«/»PLC Designer«. During start-up of the PLC, the complete configuration/PDO mapping is written into the EtherCAT slaves.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.6 Inserting devices available on the fieldbus into the »EtherCAT Configurator« project After a Fieldbus scan with the »EtherCAT Configurator« ( 47) the EtherCAT nodes are listed according to their physical order at the fieldbus in the Start Search dialog box: Here you can...  assign individual unique device names in the Device name column.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.7 Creating the configuration in the »EtherCAT Configurator« The »EtherCAT Configurator« is used to set up the EtherCAT configuration. During this process, the ECAT_PLC_CFG_1.XML and ECAT_MASTER_1.XML configuration files are created. These files...
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.7.1 Setting up the EtherCAT configuration in the device tree  Note! The order of the devices in the »EtherCAT Configurator« must correspond with the physical structure of the EtherCAT configuration.  How to set up the EtherCAT configuration in the device tree: 1. Create a new project in the »EtherCAT Configurator«: • Menu command: FileNew Project. 2.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 3. Select the device in the selection list of the Add Device dialog box: 4. Enter the device name in the Name input field (example: X_axis_vertical), • Click the Add Device button. 5. Add more slaves of the configuration to the device tree: • Select the device to which a slave is to be added. Select the Insert Device command from the device context menu.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.7.2 Importing missing field devices Additional device descriptions can be installed via the device repository. The device repository manages the device description files stored locally on the system.  How to import additional device descriptions: 1. Open the device repository with the ToolsDevice Repository menu command: 2. Click the Install button. 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.7.3 Setting up a DC synchronisation  Note! The manual configuration of the slave DC features requires a detailed knowledge of EtherCAT and the field device. Thus, DC settings should only be made by experts. A faulty configuration can cause maloperation and negative influences on the system.  Motion applications always require DC synchronisation.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps  How to set the DC synchronisation: 1. Configure the synchronisation of the EtherCAT slaves via distributed clocks (DC). • Set the Distributed clocks (DC) cycle time at the EtherCAT Master: • The DC cycle time to be set in the »EtherCAT Configurator« must be identical to the EtherCAT task cycle time set in the »PLC Designer«.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 2. Activate the DC functionality for the first slave (DC master) connected to the bus master (select "DC for synchronization"): 3. Also activate the DC functionality (select "DC for synchronization") for all other slave devices which are to use the DC synchronisation.  62 Note! Maintain all other basic DC settings for the slaves to ensure a correct DC synchronisation. L DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.7.4 Set SoftMotion parameters.  Note! The SoftMotion Drive: Basic tab is only available for Lenze EtherCAT slaves using the CiA402 application (SM_Drives). The settings depend on the application: Input fields Function/description Axis type and limits • Virtual mode Activate virtual mode for the configuration to be selected. • Rotary Select configuration for rotary axis.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps Not all parameters required for operating a Motion drive acan be set automatically via the control.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.7.5 Executing PDO mapping  Note! The PDO mapping must only be set for the Servo Drives 9400 HighLine CiA402. Set the PDO mapping via the process data tab (standard setting for Servo Drives 9400 HighLine CiA402):  The settings for the outputs and inputs must be identical.  In order to change the setting, you must first deselect the current setting.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.7.6 Editing the EtherCAT I/O image  Assign non-ambiguous variable names to the input and output objects according to IEC 61131 syntax (no blanks and leading digits in the variable name). After the import of the EtherCAT configuration into the »PLC Designer« control configuration, corresponding system variables are available for the PLC program.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.7.7 Export of EtherCAT configuration First save your project with the menu command FileSave project to in the project folder before you export the EtherCAT configuration. During the export of the EtherCAT configuration, ECAT_PLC_CFG_1.XML and ECAT_MASTER_1.XML created. the configuration files At a later time, you have to  import the ECAT_PLC_CFG_1.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.8 Configuration in the »PLC Designer« The »PLC Designer« serves to illustrate the field device topology in the control configuration.  Tip! Nodes at other fieldbus systems can be configured in the »PLC Designer«. EtherCAT with CANopen or PROFIBUS ( 91) 7.2.8.1 Set-up of control configuration  How to set up the control configuration in the »PLC Designer«: 1.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 4. Create a block:  DMS 3.1 EN 01/2011 TD17 Note! The program organisation unit must contain at least one instruction to function properly.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 5. Create the control configuration: • Open the Resources dialog box: • Open the PLC Configuration dialog box: Setting Description Automatic calculation of addresses Every newly added module automatically gets an address which results from the address of the module integrated before and the size of this module.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7. Import the EtherCAT components (file ECAT_PLC_CFG_1.XML) for the control configuration: • Select the Import module command in the context menu of BusInterface_EtherCAT: • Select the file ECAT_PLC_CFG_1.XML from the project folder and Open: DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps • When the file has been imported successfully, the Axis_IO_Group/IO_Group is added to the configuration: • The configuration created in the »EtherCAT Configurator« is attached below the Axis_IO_Group/IO_Group.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.8.2 Creating a task  How to create a task in the »PLC Designer«: 1. Select the Resources tab: 2. Select Task Configuration: 3. Select the Append Task command from the Task Configuration context menu. 4. Create a new task and make the settings relevant for the respective configuration: Define the task cycle time. (Example in the screenshot: 1 ms)  DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 5. Assign a program call to the task: • Select Attach program call in the context menu of the task. • Open the input assistance via the button: ü • Select the required program from the list of user-defined programs. 6. Compile the project with or save the project. Compiling project data ( 77) 7. Assign a task to the Axis_IO_Group/IO_Group: 74 L DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps Use of breakpoints  Note! The setting of breakpoints in the PLC task assigned to the EtherCAT bus is permissible. Please observe: • When reaching a breakpoint this task will be stopped. • No new setpoints are calculated (Motion drives come to a standstill), no deceleration ramp is generated. • The control still sends EtherCAT frames.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.8.3 Configuring the communication parameters Set the communication parameters to establish a connection to the respective IPC.  How to configure the communication parameters 1. Select the OnlineCommunication Parameters command: • Enter the designation of the new channel in the Name input field. • Confirm the entry by clicking the OK button. 2.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 3. Click the Gateway button to configure a gateway connection: • Select the TCP/IP connection type from the Connection selection field. • Confirm the selection by clicking the OK button. 7.2.8.4 Compiling project data To compile the project data, select the ProjectBuild menu command or press the function key.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.8.6 Loading the control configuration onto the IPC  How to load the control configuration onto the IPC: 1. Select the OnlineWrite file to PLC menu command. 2. Select the required file from the Write file to PLC dialog box. 3. Confirm the selection by clicking the Open button. The file is loaded onto the IPC and saved there under the same name.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed commissioning steps 7.2.8.7 Loading the master configuration onto the EtherCAT master The Reset (original) command serves to load (ECAT_MASTER_1.XML) onto the EtherCAT master: the master configuration 1. Reset (original) re-initialises the EtherCAT master stack. 2. The master compares the EtherCAT configuration with the physical bus topology.
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Control technology | EtherCAT communication manual Commissioning of the system Checking the system startup 7.3 Checking the system startup  Note! Checking of the system startup is only possible for SoftMotion target systems. To check whether the system has started up correctly, you can do the following  Evaluation of the boot-up error message of the SM_DriveBasic.lib library ( 80);  Evaluation of the Axis_IO_Group state ( 81);  Evaluation of the axis state ( 82). 7.3.
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Control technology | EtherCAT communication manual Commissioning of the system Checking the system startup 7.3.2 Evaluation of the Axis_IO_Group state The Axis_IO_Group structure contains the global variable wState. The following value ranges have to be evaluated for the system startup check: The value of the wState variable has the following meaning: State of the Axis_IO_Group State of the system wState = 0 • Initial state • Project loaded • PLC in stop wState = 1...
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Control technology | EtherCAT communication manual Commissioning of the system Checking the system startup 7.3.3 Evaluation of the axis state The global Ax_Ref structure of the Motion axes contains the element bCommunication: The following axis states have to be evaluated: 82 State of the axis State of the system bCommunication = true Cyclic communication is functioning properly. bCommunication = false Cyclic communication is not functioning properly. L DMS 3.
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Control technology | EtherCAT communication manual Commissioning of the system Typical commissioning scenarios 7.4 Typical commissioning scenarios In this chapter you will find typical commissioning scenarios and the corresponding state diagrams, which will help you to carry out simple analyses of the system behaviour. 7.4.1 Switching on a completely configured system Initial situation:  The PLC application has been loaded on the IPC.  The ECAT_Master_1.
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Control technology | EtherCAT communication manual Commissioning of the system Typical commissioning scenarios Switch on industrial PC and field devices PLC: EtherCAT: Original Unknown Read ECAT_MASTER_1.
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Control technology | EtherCAT communication manual Commissioning of the system Typical commissioning scenarios 7.4.2 Switching on a system with an incomplete configuration Initial situation:  The PLC application has been loaded on the IPC.  The ECAT_Master_1.XML file is not available on the IPC or does not match the physical bus topology. System behaviour:  EtherCAT remains in "Unknown" state.  The PLC does not start up.  How to complete the configuration: 1. Load the correct "ECAT_Master_1.
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Control technology | EtherCAT communication manual Commissioning of the system Typical commissioning scenarios Switch on industrial PC and field devices PLC: EtherCAT: Original Unknown ECAT_MASTER_1.XML available? NO PLC: EtherCAT: YES Original Unknown Load PLC Read ECAT_MASTER_1.XML PLC: EtherCAT: PLC: EtherCAT: Original Init Reset (Original) Stop Unknown Load correct ECAT_MASTER_1.XML onto IPC ECAT_MASTER_1.
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Control technology | EtherCAT communication manual Commissioning of the system Typical commissioning scenarios 7.4.3 Updating the PLC application while the EtherCAT configuration remains unchanged Initial situation:  PLC and EtherCAT are running. – PLC state: Running – EtherCAT state: Operational  How to update the PLC application: 1. Stop the PLC. 2. Execute "Reset (Original)". • The PLC is reset, the PLC application is deleted. 3. The system starts up.
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Control technology | EtherCAT communication manual Commissioning of the system Typical commissioning scenarios PLC: EtherCAT: Original Unknown Read ECAT_MASTER_1.
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Control technology | EtherCAT communication manual Commissioning of the system Typical commissioning scenarios 7.4.4 Stopping and starting the PLC while the configuration remains unchanged Initial situation:  PLC and EtherCAT are running. – PLC state: Running – EtherCAT state: Operational  How to stop and start the PLC: 1. Stop the PLC. 2. Start the PLC. 3. The PLC application must call the "SMC_ResetAxisGroup" program organisation unit. 4. The system is running again.
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Control technology | EtherCAT communication manual Commissioning of the system Detailed overview of the commissioning steps 7.5 Detailed overview of the commissioning steps In the following diagram the individual commissioning steps and their processing order are summarised once again. Detailed information on the individual processing steps can be found in the chapter Detailed commissioning steps ( 45). 90 L DMS 3.
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Control technology | EtherCAT communication manual EtherCAT with CANopen or PROFIBUS 8 EtherCAT with CANopen or PROFIBUS  Note! A mixed operation is only possible with industrial PCs which have two additional slots for communcation cards. A mixed operation is not possible with the "Command Station". The EtherCAT bus system can be combined with CANopen or PROFIBUS. This makes sense if not all field devices are available for the same bus system or a motion bus is required parallelly to the PROFIBUS.
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Control technology | EtherCAT communication manual EtherCAT with CANopen or PROFIBUS Addressing the PROFIBUS and CANopen stations 8.1 Addressing the PROFIBUS and CANopen stations The addresses for input and output objects of the PROFIBUS and CANopen stations are automatically allocated in the »PLC Designer« (standard setting):  Note! We recommend to keep the standard setting.
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Control technology | EtherCAT communication manual EtherCAT with CANopen or PROFIBUS Addressing EtherCAT nodes using CANopen/PROFIBUS nodes 8.2 Addressing EtherCAT nodes using CANopen/PROFIBUS nodes The addresses for input and output objects of the EtherCAT stations are allocated in the »EtherCAT Configurator«. Afterwards, the EtherCAT configuration is imported into the »PLC Designer« control configuration. There are two cases for the control configuration in the »PLC Designer«: 1.
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Control technology | EtherCAT communication manual EtherCAT with CANopen or PROFIBUS Addressing EtherCAT nodes using CANopen/PROFIBUS nodes Settings in the »EtherCAT Configurator«  Assign non-ambiguous variable names to the input and output objects according to IEC 61131 syntax (no blanks and leading digits in the variable name). After the import of the EtherCAT configuration into the »PLC Designer« control configuration, corresponding system variables are available for the PLC program.
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Control technology | EtherCAT communication manual EtherCAT with CANopen or PROFIBUS Addressing EtherCAT nodes using CANopen/PROFIBUS nodes In the »PLC Designer«, the output and input objects are "byte-addressed". The original address offset of ’1000’ (word level) for the first output and input objects is set accordingly to '2000" after the import of the EtherCAT configuration. The addresses of the other input and output objects are also updated.  DMS 3.
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Control technology | EtherCAT communication manual EtherCAT function libraries Usability 9 EtherCAT function libraries The SM_Ethercat.lib and AtEm.LIB function libraries contain function blocks and functions that are required for the creation of your »PLC Designer« project. These function blocks and functions support:  The setting and reading of the master/slave states;  The network management;  The network diagnostics;  The upload and download of CoE parameters. 9.1 Usability The SM_Ethercat.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks/functions required for a »PLC Designer« project (overview) 9.2 Function blocks/functions required for a »PLC Designer« project (overview)  Note! Use the function blocks and functions of the function library AtEm.lib only if the master is configured completely. Otherwise it can lead to instabilities of the control system.
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Control technology | EtherCAT communication manual EtherCAT function libraries Properties of function blocks 9.3 Properties of function blocks The function blocks are equipped with inputs and outputs for the activation of the POU, the display of the current POU status, and for the output of error messages: 9.4 Input/output Data type Action bExecute / bEnable BOOL bExecute and bEnable are edge-controlled: In the case of a positive edge, the function block is executed.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states 9.5 Function blocks and functions for master/slave states The function blocks and functions described in the following support the setting and reading of the master/slave states.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states 9.5.1 ecatStartAsync (FB) Function: This function block sets the master and all slaves connected to the Operational status. Library: AtEm.lib Visualisation: VISU_ecatStartAsync  Note! State changes are usually carried out automatically by the control system. By means of this function block you can change the state manually.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states 9.5.2 ecatStopAsync (FB) Function: This function block sets the master and all slaves connected to the "Initialization" state. Library: AtEm.lib Visualisation: VISU_ecatStopAsync  Note! State changes are usually carried out automatically by the control system. By means of this function block you can change the state manually.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states 9.5.3 ecatSetMasterStateAsync (FB) Function: This function block sets the master and all slaves connected to the state requested at the function block (see chapter "The EC_T_STATE structure" ( 98)). Library: AtEm.lib Visualisation: VISU_ecatSetMasterStateAsync  Note! • State changes are usually carried out automatically by the control system.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states Outputs (VAR_OUTPUT) Identifier/data type bDone FALSE: Function block is active or has not been called BOOL TRUE: Function block has been executed. bBusy FALSE: Function block is not active. BOOL TRUE: Function block is active. bError FALSE: No error BOOL TRUE: An error has occurred. dwErrorCode 9.5.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states Inputs (VAR_INPUT) Identifier/data type Meaning/possible settings bEnable The function block is activated in an edge-controlled manner: BOOL • Positive edge (TRUE) = function block is executed.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states 9.5.5 ecatGetMasterState (FUN) Function: This function shows the current state of the master (see chapter "The EC_T_STATE structure" ( 98)). Library: AtEm.lib Visualisation: - Inputs (VAR_INPUT) Identifier/data type Meaning/possible settings dummy No function DINT Return value Identifier/data type ecatGetMasterState DMS 3.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states 9.5.6 ecatGetSlaveState (FUN) Function: This function shows the current state of the slave (see chapter "The EC_T_STATE structure" ( 98)). Library: AtEm.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for master/slave states 9.5.7 ecatGetSlaveStateAsync (FB) Function: This function block shows the current state of the slave (see chapter "The EC_T_STATE structure" ( 98)). Library: AtEm.
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Control technology | EtherCAT communication manual EtherCAT function libraries Functions for the network management 9.6 Functions for the network management The functions described in the following support the network management:  ecatMasterIsConfigured (FUN) ( 108)  ecatGetSlaveId (FUN) ( 109)  ecatGetSlaveIdAtPosition (FUN) ( 110)  ecatGetSlaveProp (FUN) ( 111) 9.6.1 ecatMasterIsConfigured (FUN) Function: This function supplies TRUE if the master has been fully configured, and FALSE, if not.
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Control technology | EtherCAT communication manual EtherCAT function libraries Functions for the network management 9.6.2 ecatGetSlaveId (FUN) Function: This function shows the slave ID of the slave the station address of which (EtherCAT address/physical address) is configured in the control configuration file (XML). The slave ID is used by the ecatGetSlaveProp (FUN) ( 111) function. Library: AtEm.
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Control technology | EtherCAT communication manual EtherCAT function libraries Functions for the network management 9.6.3 ecatGetSlaveIdAtPosition (FUN) Function: This function shows the slave ID of the slave the auto-increment address of which is configured in the control configuration file (XML). The slave ID is used by the ecatGetSlaveProp (FUN) ( 111) function. Library: AtEm.
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Control technology | EtherCAT communication manual EtherCAT function libraries Functions for the network management 9.6.4 ecatGetSlaveProp (FUN) Function: This function shows the properties of the slave with the slave ID transmitted. Library: AtEm.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.7.2 ecatGetNumConnectedSlaves (FUN) Function: This function shows the number of slaves that are physically connected in the control system. Library: AtEm.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.7.4 ResetMasterStatus (FB) Function: This function block resets the Notifications ( 120). It is typically used after a bus restart. A bus restart is initiated by executing the following function blocks in the listed order: 1. ecatStopAsync (FB) ( 101) 2. ecatStartAsync (FB) ( 100) 3.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.7.5 SMC_ETCErrorString (FUN) Function: On the basis of the error number (ErrorID), this function returns the corresponding error description as a string with max. 100 characters. Library: SM_Ethercat.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.7.6 L_ECAT_ReadErrCnt (FB) Function: This function block reads the telegram error counters of all connected slaves (see Error counters of the EtherCAT slaves ( 143)). This block should be executed cyclically at longer intervals (e.g. every 10 minutes) to evaluate the state of the bus.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network The L_ECAT_ErrCnt structure The L_ECAT_ErrCnt structure contains the error counters of the single ports of a connected device. TYPE L_ECAT_ErrCnt : STRUCT Port0 : BYTE; Port1 : BYTE; Port2 : BYTE; Port3 : BYTE; END_STRUCT END_TYPE Identifier/data type Port[n] 9.7.7 Description Error counter value of the errors recorded at the port[n] BYTE n: 0 ...
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.7.8 The global EtherCAT master structure ECAT_MASTER Function: The global EtherCAT master structure is contained in the SM_EthercatDrive.lib function library. The structure comprises variables and "Notifications" ( 120) which indicate the state of the EtherCAT bus system. Library: SM_Ethercat.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.7.8.1 Definition in the SM_EtherCAT.lib library  Note! Only one EtherCAT master instance can be executed on an IPC. (The global variable g_ecatMaster[1] contains the master state for the ECAT1 interface.) g_EcatMaster: ARRAY[1.._ETC_NUMBER_OF_MASTERS] OF ECAT_MASTER; 9.7.8.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.7.8.4 Notifications If an event (information, warning, error) occurs on the EtherCAT bus system, the user or the PLC program receives a "notification". The notifications only provide information about the fact that an event of a certain type has occurred.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks and functions for diagnosing the network 9.7.8.5 Notification Description bEC_NOTIFY_FRAME_ RESPONSE_ERROR This notification is set when the response frame currently received by the master does not correspond with the expected frame or when the master has received no response at all.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks for CANopen over EtherCAT (CoE) 9.8 Function blocks for CANopen over EtherCAT (CoE) The function blocks described in the following support the upload and download of CoE parameters: ecatCoeSdoDownloadReq (FB) ( 122) ecatCoeSdoUploadReq (FB) ( 123) 9.8.1 ecatCoeSdoDownloadReq (FB) Function: This function block activates the download of a CoE parameter to the slave. Library: AtEm.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks for CANopen over EtherCAT (CoE) Outputs (VAR_OUTPUT) Identifier/data type bDone FALSE: Download is active. BOOL TRUE: Download has been executed. bBusy FALSE: Download is not active. BOOL TRUE: Download is active. bError FALSE: No error BOOL TRUE: An error has occurred. dwErrorCode 9.8.
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Control technology | EtherCAT communication manual EtherCAT function libraries Function blocks for CANopen over EtherCAT (CoE) Identifier/data type dwDataLen pbyData Meaning/possible settings DWORD POINTER TO BYTE Number of the data bytes to be read Pointer to the service data object (SDO) to be written pdwOutDataLen Size of the memory buffer transmitted under pByData. The memory buffer has to be POINTER TO DWORD great enough to contain the object read.
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Control technology | EtherCAT communication manual Defining the minimum cycle time of the PLC project Calculating the total access time to the peripheral devices (TCorrection) 10 Defining the minimum cycle time of the PLC project This chapter will inform you on how the minimum cycle time of the PLC project can be defined. The minimum cycle time is calculated in three steps: 1. Calculating the total access time TCorrection to the peripheral devices.
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Control technology | EtherCAT communication manual Defining the minimum cycle time of the PLC project Detecting the task utilisation of the application (TTask utilisation) 10.2 Detecting the task utilisation of the application (TTask utilisation) The time TTask utilisation cannot be calculated. It is determined in the running system. For this the system is commissioned on the basis of cycle times that are sufficiently long, and afterwards it is optimised.
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Control technology | EtherCAT communication manual Defining the minimum cycle time of the PLC project Detecting the task utilisation of the application (TTask utilisation) 10.2.2 Detecting the task utilisation Initial situation A project has been completely created with, for instance, a Motion task and two tasks of lower priority.  How to detect the task utilisation TTask utilisation: 1.
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Control technology | EtherCAT communication manual Defining the minimum cycle time of the PLC project Calculating the minimum cycle time 10.3 Calculating the minimum cycle time  Note! The safety factor 1.5 is included in the calculation.
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Control technology | EtherCAT communication manual Defining the minimum cycle time of the PLC project Optimising the system 10.4 Optimising the system  How to optimise the system: 1. Log in and load project. 2. Check the task processing times. 3. Optimising the cycle times: • If required technologically, the cycle times of the remaining tasks with lower priorities can be decreased.
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Control technology | EtherCAT communication manual Diagnostics 11 Diagnostics This chapter provides information about diagnostic tools, error scenarios for the most frequent user errors and system error messages. Use the following tools for diagnostics:  Diagnostics with the »EtherCAT Configurator« ( 131)  Diagnostics with the »PLC Designer« ( 134)  Diagnostic codes ( 140) in the »Engineer« and the »WebConfig«  Logbook of the IPC ( 140) 130 L DMS 3.
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »EtherCAT Configurator« 11.1 Diagnostics with the »EtherCAT Configurator« The »EtherCAT Configurator« provides the following tools for system diagnostics:  "Diagnostics" tab ( 131)  Representation in the online mode ( 133) 11.1.
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »EtherCAT Configurator« Dialog box/section Function Master Status information on the EtherCAT master: • Configurator corresponds to the stack configuration: – Information whether the configuration file exported from the »Engineer« matches the configuration that is loaded in the master stack. • Master OK (active if the value from code C1081.5/C1581.
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »EtherCAT Configurator« 11.1.
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »PLC Designer« 11.2 Diagnostics with the »PLC Designer« The »PLC Designer« provides the following tools for system diagnostics:  The global EtherCAT master structure ECAT_MASTER ( 118)  VISU_ETHERCATMaster visualisation template ( 135)  VISU_ECATDiagnostic visualisation template ( 136)  Function blocks and functions for diagnosing the network ( 112)  The global variable wState ( 137) 134 L DMS 3.
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »PLC Designer« 11.2.1 VISU_ETHERCATMaster visualisation template The VISU_ETHERCATMaster visualisation template of the »PLC Designer« displays the Notifications ( 120) of the global EtherCAT master variable (function library SM_Ethercat.lib).  Note! • When the target system is set to L-force_Motion_x700_Vx.xx.
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »PLC Designer« 11.2.2 VISU_ECATDiagnostic visualisation template The VISU_ECATDiagnostic visualisation template of the »PLC Designer« can be used to integrate the function blocks of the function libraries SM_Ethercat.lib and AtEm.lib. Then you can operate all relevant EtherCAT functions and see all notifications in the "ETHERCATMaster Status" template (Fig. below on the left): 136 L DMS 3.
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »PLC Designer« 11.2.3 The global variable wState When Motion nodes are used for control, »PLC Designer« displays the current status of the control acceleration in the global variable wState of the "AxisGroup" structure. The value of the wState variable has the following meaning: Status of the AxisGroup State of the system wState = 0 • Initial state • Project loaded • PLC in stop wState = 1...
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »PLC Designer« Additional information on the type of error occurred are provided in the global variables of the SM_DriveBasic.lib function library. The g_strBootupError variable, for instance, contains an error text: Here, an SDO access of the control has not been responded by the slave. 138 L DMS 3.
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Control technology | EtherCAT communication manual Diagnostics Diagnostics with the »PLC Designer« 11.2.4 Error scenario (example) A slave is switched off or removed from the bus system while the system is in operation. During operation, the master cyclically sends EtherCAT commands to read the process data from the slave and to write process data to the slave. The working counter (WKC) is incremented by the corresponding value through the slaves.
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Control technology | EtherCAT communication manual Diagnostics Diagnostic codes 11.3 Diagnostic codes The diagnostic codes can be displayed in the »Engineer« and »WebConfig«.  Interface parameters of the MC-ETC communication card in slot 1 ( 167)  Interface parameters of the MC-ETC communication card in slot 2 ( 183) 11.4 Logbook of the IPC »Engineer« and »WebConfig« provide access to the IPC logbook.
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Control technology | EtherCAT communication manual Diagnostics Logbook of the IPC 11.4.1 Displaying the EtherCAT entries of the logbook Enable the "EtherCAT" checkbox to display only the EtherCAT entries of the logbook. DMS 3.
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Control technology | EtherCAT communication manual Diagnostics Logbook of the IPC 11.4.2 Messages in the logbook of the industrial PC  Errors, warnings or information are indicated as messages in the logbook.  Read the messages in the logbook from bottom to top. The most recent message always appears at the top of the logbook.
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Control technology | EtherCAT communication manual Diagnostics Error counters of the EtherCAT slaves 11.5 Error counters of the EtherCAT slaves The EtherCAT slaves have numerical error counters for detecting and analysing error states. All error counters have a limited counting range of 0 ... 255. After the maximum value of 255 is reached, no "wrap-around" takes place.
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Control technology | EtherCAT communication manual Diagnostics Error counters of the EtherCAT slaves 11.5.2 Error counter reset from the application The L_ECAT_ReadErrCnt (FB) ( 116) function block enables the PLC application to access the telegram failure error counter by reading. The L_ECAT_ResetErrCnt (FB) ( 117) function block resets the error counters to the initial value 0. Example Once per minute the PLC reads the error counters and evaluates the contents.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6 Error scenarios In the following sections, the causes and remedies for the most frequent user errors are described. The state diagram and the table on the next page serve to localise an error. Switch on industrial PC and field devices PLC: EtherCAT: Original Unknown ECAT_MASTER_1.XML available? NO PLC: EtherCAT: YES Original Unknown Load PLC Read ECAT_MASTER_1.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios Expected state changes 146 Current states Error PLC EtherCAT bus • PLC: Origin RUN • Bus: Unknown Init Pre-Operational Origin Unknown EtherCAT bus does not enter the Pre-Operational state ( 147) • PLC: Origin RUN • Bus: Pre-Operational Safe-Operational Operational Origin PreOperational • Compilation error in »PLC Designer« ( 147) • Control unit/PLC does not enter the RUN state ( 147) • PLC: Origin RUN • Bus:
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.1 Compilation error in »PLC Designer« Causes Remedies Logic system: No update task has been created for the IO_Group. Create an update task. SoftMotion system: No update task has been created for the Axis_IO_Group. 11.6.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.4 EtherCAT bus does not enter the Operational state The control unit/PLC transfers the EtherCAT bus to the Operational state if it set to the RUN mode. The EtherCAT bus can only reach the Operational state if the bus has already been set to the Pre-Operational state.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.6 Shafts make clicking noises If the shafts make clicking noises, this is often caused by faulty synchronisation or a shift of data in the process image. Causes Remedies The current master configuration has not been loaded on Load the current master configuration onto the control the control system or imported into the »PLC Designer« system or import it into the »PLC Designer« project. project.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.7 Shafts do not rotate Causes Remedies The EtherCAT bus could not be set to the Operational state See: EtherCAT bus does not enter the Operational state ( 148) The current master configuration has not been loaded on Load the current master configuration onto the control the control system or imported into the »PLC Designer« system or import it into the »PLC Designer« project. project.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.8 Logbook message: "Cannot spawn Remote API Server" ... xxxxx DD-MM-YYYY hh:mm:ss EtherCAT Master Stack CTRL: Cannot spawn Remote API Server Communication on bus systems Error ... The remote API server enables the access from an engineering tool (e.g. the »Engineer«) which superimposes the IPC to an EtherCAT slave parameter. The access is made via CoE (CANopen over EtherCAT).
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.9 Logbook message: "Ethernet cable not connected" ... xxxxx DD-MM-YYYY hh:mm:ss EtherCAT Master Stack LLA: Ethernet cable not connected Communication on bus systems Error ... This error message is entered into the logbook when the error is detected for the first time and then cyclically every 5 seconds until 65535 messages have occurred or the error is not active anymore.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.10 Logbook message: "Ethernet cable connected" ... xxxxx DD-MM-YYYY hh:mm:ss EtherCAT Master Stack LLA: Ethernet cable connected Communication on bus systems Error ... When an unplugged bus cable is plugged in again into the first EtherCAT node, this message is entered into the logbook of the industrial PC. The EtherCAT connection has been re-established.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.11 Logbook messages: "Slave at index X missing" with "Cyclic command WKC error ..." ... xxxxx DD-MM-YYYY hh:mm:ss EtherCAT Master Stack SLV: Cyclic command WKC error on LWR - Address: 0x10000 WKC act/set=2/7 Communication on bus systems Error ... xxxxx DD-MM-YYYY hh:mm:ss EtherCAT Master Stack SLV: Slave at index X missing. State req/act=Operational/ UNKNOWN Communication on bus systems Error ...
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Control technology | EtherCAT communication manual Diagnostics Error scenarios Error notifications in the »PLC Designer« In the "ETHERCATMaster Status" visualisation template of the »PLC Designer«, the following error notifications are highlighted in red (fault): DMS 3.
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Control technology | EtherCAT communication manual Diagnostics Error scenarios 11.6.12 Logbook message: "Cyclic command WKC error ..." ... xxxxx DD-MM-YYYY hh:mm:ss EtherCAT Master Stack SLV: Cyclic command WKC error on LWR - Address: 0x10000 WKC act/set=2/7 Communication on bus systems Error ... The "Cyclic command WKC error" message is entered cyclically every 5 seconds into the logbook of the industrial PC until the error is not active anymore.
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Control technology | EtherCAT communication manual Diagnostics System error messages 11.7 System error messages For system error messages, the following error types are distinguished: 11.7.1 Error type Abbr. Description Application error CTRL Internal error in the application operating the master. • E.g. an API function has been called with invalid parameters. Project error PRJ The XML file of the master does not correspond to the slaves. • E.g.
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Control technology | EtherCAT communication manual Diagnostics System error messages 158 Error type Error text in the IPC logbook Description SLV Distributed Clocks latching status [...] ([...]) Distributed clocks - latching status SLV CoE: SDO Download failure, statVal=[...], errCode=[...] ([...]) CoE: SDO download has failed. SLV CoE: SDO Upload failure, statVal=[...], errCode=[...] ([...]) CoE: SDO upload has failed. SLV CoE: OD-List Upload failure, statVal=[...], errCode=[...] ([...
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Control technology | EtherCAT communication manual Diagnostics System error messages 11.7.2 Error type Error text in the IPC logbook Description SLV Not all EtherCAT slave devices are in Operational state Some EtherCAT slaves are not in Operational state SLV Redundancy: Line Break Redundant operation: Bus/communication interruption (Ethernet cable is not connected.) SLV At least one slave signals error status! At least one slave has an active error.
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Control technology | EtherCAT communication manual Diagnostics System error messages Error number [hex] Designation Error type Description 0x9811000B EC_E_INVALIDPARM CTRL An API function has been called with incorrect parameters. 0x9811000C EC_E_NOTFOUND CTRL An API function has been called with an invalid slave ID. 0x9811000E EC_E_INVALIDSTATE ISW Invalid state 0x9811000F EC_E_TIMER_LIST_FULL ISW Not enough application memory available. 0x98110010 EC_E_TIMEOUT All A time-out is active.
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Control technology | EtherCAT communication manual Diagnostics System error messages 11.7.3 Error number [hex] Designation Error type Description 0x9811002F EC_E_COE_MBXSND_ WKC_ERROR SLV It is not possible to write to the CoE mailbox in the slave. The slave has not yet read the mailbox. 0x98110030 EC_E_COE_MBXRCV_WKC_ Error SLV It is not possible to read the CoE mailbox in the slave. 0x98110031 EC_E_NO_MBX_SUPPORT CTRL The slave does not support mailbox transfer.
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Control technology | EtherCAT communication manual Diagnostics System error messages 162 Error number [hex] Designation Error type Description 0x98110049 EC_E_SDO_ABORTCODE_ READONLY SLV Write access to a write-protected object Abort code 0x06010002 0x9811004A EC_E_SDO_ABORTCODE_ INDEX SLV Object is not listed in the object directory. Abort code 0x06020000 0x9811004B EC_E_SDO_ABORTCODE_ PDO_MAP SLV Object cannot be mapped into the PDO.
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Control technology | EtherCAT communication manual Diagnostics System error messages 11.7.4 Remote API error codes (0x98110181 ... 0x98110196hex) Remote API error codes are software-internal errors when the EtherCAT master stack is accessed. The applications and engineering tools »EtherCAT OPC server«, »EtherCAT Configurator«, »Engineer« use the remote API. Error number [hex] Designation Error type Description 0x98110181 EMRAS_E_INVALIDCOOKIE RAP Reconnecting using the old cookie has failed.
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Control technology | EtherCAT communication manual Diagnostics SDO abort codes 11.8 SDO abort codes The abort codes are relevant for:  The function blocks ecatSdoUploadReq and ecatSdoDownloadReq.  SDO read/write error messages caused by SDO requests from the system (e.g. initialisation code or SDO requests from the engineering tool). 164 Error number [hex] Description 0x05030000 The status of the toggle bit has not changed.
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Control technology | EtherCAT communication manual Parameter reference 12 Parameter reference This chapter complements the parameter list of the online documentation for the industrial PC by the parameters of the Communication card MC-ETC:  Parameters of the MC-ETC communication card in slot 1 ( 166)  Interface parameters of the MC-ETC communication card in slot 1 ( 167)  Parameters of the MC-ETC communication card in slot 2 ( 182)  Interface parameters of the MC-ETC communication card in slot 2
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Control technology | EtherCAT communication manual Parameter reference Parameters of the MC-ETC communication card in slot 1 12.1 Parameters of the MC-ETC communication card in slot 1 The parameters are listed in numerically ascending order.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 12.2 Interface parameters of the MC-ETC communication card in slot 1 The parameters are listed in numerically ascending order. C1074 Parameter | Name: Data type: VISIBLE_STRING Index: 23501d = 5BCDh C1074 | ECAT MAC address MAC address of the interface ; Read access C1080/1 Write access CINH PLC STOP No transfer Parameter | Name: Data type: DATE Index: 23495.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1081/1 Parameter | Name: Data type: UNSIGNED_32 Index: 23494.1d = 0x5BC6.0x01h C1081/1 | ECAT State Change Command This code can be used to change the master state. Note: The parameter should only be set to analyse start problems (e.g. master/bus does not reach the Operational state). Setting this parameter only sets the state of the master stack.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1081/4 Parameter | Name: Data type: UNSIGNED_8 Index: 23494.4d = 0x5BC6.0x04h C1081/4 | ECAT Slaves in requested Mode • Value "0": One or more slaves are not in the state requested by the master. • Value "1": All slaves are in the state requested by the master. Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1082/1 Parameter | Name: Data type: BITFIELD_3 Index: 23493.1d = 0x5BC5.0x01h C1082/1 | ECAT Distributed Clocks State Display of the state of the distributed clocks The bits are set to the value 1 when the respective states are reached.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1086/5 Parameter | Name: C1086/5 | ECAT Number Slaves in Configuration Data type: UNSIGNED_32 Index: 23489.5d = 0x5BC1.0x05h Number of slaves configured in the master configuration file Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1086/11 Parameter | Name: Data type: UNSIGNED_32 Index: 23489.11d = 0x5BC1.0x0Bh C1086/11 | ECAT Cyclic Datagrams Counter Number of cyclic datagrams Display range (min. value | unit | max. value) 0 4294967295 ; Read access Write access CINH PLC STOP No transfer C1086/12 Parameter | Name: Data type: UNSIGNED_32 Index: 23489.12d = 0x5BC1.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1095/1 Parameter | Name: Data type: UNSIGNED_8 Index: 23480.1d = 0x5BB8.0x01h C1095/1 | ECAT Slave-Address-Mode The address mode refers to the slave address (C1095/2). Selection list (Lenze setting printed in bold) 0 Position Addressing Auto-increment addressing: The addresses depend on the position of the respective slave in the EtherCAT bus (i.e. 0, -1, -2, ...
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1096/5 Parameter | Name: Data type: UNSIGNED_32 Index: 23479.5d = 0x5BB7.0x05h C1096/5 | ECAT Serial Number Serial number of the slave ; Read access Write access CINH PLC STOP No transfer C1096/6 Parameter | Name: Data type: VISIBLE_STRING Index: 23479.6d = 0x5BB7.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1096/11 Parameter | Name: Data type: BITFIELD_16 Index: 23479.11d = 0x5BB7.0x0Bh C1096/11 | ECAT Port State Display of the port states/connections (ports 0 ... 3) of a slave. The states are bit-coded (WORD). Value is bit-coded: Bit 0 Port 0 1 (TRUE) = slave connected (logical result of bits 0 ...
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1096/14 Parameter | Name: Data type: UNSIGNED_8 Index: 23479.14d = 0x5BB7.0x0Eh C1096/14 | ECAT Mailbox Support Mailbox support by the slave: • Value "0": Mailbox is not supported. • Value "1": Support of mailbox. Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1096/18 Parameter | Name: Data type: UNSIGNED_8 Index: 23479.18d = 0x5BB7.0x12h C1096/18 | ECAT Enable Linkmessages Debug parameter: If the parameter is set to the value "1", all state changes of the slave are output as diagnostic frames via the Ethernet interface. In the event of a fault, this enables error diagnosing by means of a Wireshark recording.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 Code (hex) Description Current state or state change Resulting state 0x0020 Slave needs cold start Any Current state + E 0x0021 Slave requires Init state B, P, S, O Current state + E 0x0022 Slave requires Pre-Operational state s S+E O O+E 0x0023 Slave requires Safe-Operational state O O+E 0x0030 Invalid DC configuration O, S S+E 0x0031 Invalid DC
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1096/22 Parameter | Name: Data type: UNSIGNED_32 Index: 23479.22d = 0x5BB7.0x16h C1096/22 | ECAT DC Sync 1 Period Distributed clocks sync 1 period Note: At the moment, Lenze slaves do not support distributed clocks on sync 1. Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1096/27 Parameter | Name: Data type: UNSIGNED_16 Index: 23479.27d = 0x5BB7.0x1Bh C1096/27 | ECAT RX Error Counter Port 3 Number of errors that have occurred during data reception via port 3. Display range (min. value | unit | max. value) 0 ; Read access 65535 Write access CINH PLC STOP No transfer C1096/28 Parameter | Name: Data type: UNSIGNED_8 Index: 23479.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 1 C1096/32 Parameter | Name: Data type: UNSIGNED_8 Index: 23479.32d = 0x5BB7.0x20h C1096/32 | ECAT Processing Unit Error Counter Number of errors which have occurred in the processing unit. EtherCAT slave controller error counter register "0x030C": Internal slave error Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Parameters of the MC-ETC communication card in slot 2 12.3 Parameters of the MC-ETC communication card in slot 2 The parameters are listed in numerically ascending order.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 12.4 Interface parameters of the MC-ETC communication card in slot 2 The parameters are listed in numerically ascending order. C1574 Parameter | Name: Data type: VISIBLE_STRING Index: 23001d = 59D9h C1574 | ECAT: MAC address MAC address of the interface ; Read access C1580/1 Write access CINH PLC STOP No transfer Parameter | Name: Data type: DATE Index: 22995.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1581/1 Parameter | Name: Data type: UNSIGNED_32 Index: 22994.1d = 0x59D2.0x01h C1581/1 | ECAT State Change Command This code can be used to change the master state. Note: The parameter should only be set to analyse start problems (e.g. master/bus does not reach the Operational state). Setting this parameter only sets the state of the master stack.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1581/4 Parameter | Name: Data type: UNSIGNED_8 Index: 22994.4d = 0x59D2.0x04h C1581/4 | ECAT Slaves in requested Mode • Value "0": One or more slaves are not in the state requested by the master. • Value "1": All slaves are in the state requested by the master. Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1582/1 Parameter | Name: Data type: BITFIELD_3 Index: 22993.1d = 0x59D1.0x01h C1582/1 | ECAT Distributed Clocks State Display of the state of the distributed clocks The bits are set to the value 1 when the respective states are reached.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1586/5 Parameter | Name: C1586/5 | ECAT Number Slaves in Configuration Data type: UNSIGNED_32 Index: 22989.5d = 0x59CD.0x05h Number of slaves configured in the master configuration file Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1586/11 Parameter | Name: Data type: UNSIGNED_32 Index: 22989.11d = 0x59CD.0x0Bh C1586/11 | ECAT Cyclic Datagrams Counter Number of cyclic datagrams Display range (min. value | unit | max. value) 0 4294967295 ; Read access Write access CINH PLC STOP No transfer C1586/12 Parameter | Name: Data type: UNSIGNED_32 Index: 22989.12d = 0x5BC1.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1595/1 Parameter | Name: Data type: UNSIGNED_8 Index: 22980.1d = 0x59C4.0x01h C1595/1 | ECAT Slave-Address-Mode The address mode refers to the slave address (C1595/2). Selection list (Lenze setting printed in bold) 0 Position Addressing Auto-increment addressing: The addresses depend on the position of the respective slave in the EtherCAT bus (i.e. 0, -1, -2, ...
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1596/5 Parameter | Name: Data type: UNSIGNED_32 Index: 22979.5d = 0x59C3.0x05h C1596/5 | ECAT Serial Number Serial number of the slave ; Read access Write access CINH PLC STOP No transfer C1596/6 Parameter | Name: Data type: VISIBLE_STRING Index: 22979.6d = 0x59C3.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1596/11 Parameter | Name: Data type: BITFIELD_16 Index: 22979.11d = 0x59C3.0x0Bh C1596/11 | ECAT Port State Display of the port states/connections (ports 0 ... 3) of a slave. The states are bit-coded (WORD). Value is bit-coded: Bit 0 Port 0 1 (TRUE) = slave connected (logical result of bits 0 ...
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1596/14 Parameter | Name: Data type: UNSIGNED_8 Index: 22979.14d = 0x59C3.0x0Eh C1596/14 | ECAT Mailbox Support Mailbox support by the slave: • Value "0": Mailbox is not supported. • Value "1": Support of mailbox. Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1596/18 Parameter | Name: Data type: UNSIGNED_8 Index: 22979.18d = 0x59C3.0x12h C1596/18 | ECAT Enable Linkmessages Debug parameter: If the parameter is set to the value "1", all state changes of the slave are output as diagnostic frames via the Ethernet interface. In the event of a fault, this enables error diagnosing by means of a Wireshark recording.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 Code (hex) Description Current state or state change Resulting state 0x0020 Slave needs cold start Any Current state + E 0x0021 Slave requires Init state B, P, S, O Current state + E 0x0022 Slave requires Pre-Operational state s S+E O O+E 0x0023 Slave requires Safe-Operational state O O+E 0x0030 Invalid DC configuration O, S S+E 0x0031 Invalid DC
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1596/22 Parameter | Name: Data type: UNSIGNED_32 Index: 22979.22d = 0x59C3.0x16h C1596/22 | ECAT DC Sync 1 Period Distributed clocks sync 1 period Note: At the moment, Lenze slaves do not support distributed clocks on sync 1. Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1596/27 Parameter | Name: Data type: UNSIGNED_16 Index: 22979.27d = 0x59C3.0x1Bh C1596/27 | ECAT RX Error Counter Port 3 Number of errors that have occurred during data reception via port 3. Display range (min. value | unit | max. value) 0 ; Read access 65535 Write access CINH PLC STOP No transfer C1596/28 Parameter | Name: Data type: UNSIGNED_8 Index: 22979.
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Control technology | EtherCAT communication manual Parameter reference Interface parameters of the MC-ETC communication card in slot 2 C1596/32 Parameter | Name: Data type: UNSIGNED_8 Index: 22979.32d = 0x59C3.0x20h C1596/32 | ECAT Processing Unit Error Counter Number of errors which have occurred in the processing unit. EtherCAT slave controller error counter register "0x030C": Internal slave error Display range (min. value | unit | max.
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Control technology | EtherCAT communication manual Index 13 Index A Abort codes (SDO) 164 Addressing EtherCAT nodes using CANopen/PROFIBUS nodes 93 Addressing of the slaves 20 Addressing the PROFIBUS and CANopen stations 92 Adjusting task cycle time and DC cycle time 38 AL status codes 177, 193 Application notes (representation) 12 AtEm.
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Control technology | EtherCAT communication manual Index C1096/4 | ECAT Revision Number 173 C1096/5 | ECAT Serial Number 174 C1096/6 | ECAT Slave Device Name 174 C1096/7 | ECAT Auto Increment Address 174 C1096/8 | ECAT Physical Address 174 C1096/9 | ECAT Config Physical Address 174 C1531 | Device - type key 182 C1532 | Device - type version 182 C1533 | Device - name 182 C1534 | Device - software version 182 C1535 | Device - hardware version 182 C1536 | Device - serial number 182 C1537 | Device - manufactu
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Control technology | EtherCAT communication manual Index Configuring the communication parameters 76 Conventions used 10 Copyright 2 Creating a project folder 46 Creating a task 73 Creating manual configurations in the »EtherCAT Configurator« 56 Cross communication 35 Cycle synchronisation 35 D Data type ECAT_STATE 119 DC master 36, 60 Defining the minimum cycle time of the PLC project 125 Deleting the error counter from the application 144 Detecting the task utilisation 127 Detecting the task utilisation
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Control technology | EtherCAT communication manual Index Number of found DC-Slaves (C1086/4) 170 Number of found DC-Slaves (C1586/4) 186 Number of found Slaves (C1086/3) 170 Number of found Slaves (C1586/3) 186 PDI Error Counter (C1096/33) 181 PDI Error Counter (C1596/33) 197 Physical Address (C1096/8) 174 Physical Address (C1596/8) 190 Port State (C1096/11) 175 Port State (C1596/11) 191 Processing Unit Error Counter (C1096/32) 181 Processing Unit Error Counter (C1596/32) 197 Product Code (C1096/3) 173 Pr
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Control technology | EtherCAT communication manual Index Error types 157 "Errors" and "Forwarded Errors" 143 EtherCAT 16 EtherCAT connection 34 EtherCAT connection (SUB-D, 9-pole socket) 34 EtherCAT cycle times 35 EtherCAT hardware for the industrial PC 26 EtherCAT master structure ECAT_MASTER 118 EtherCAT module 34 EtherCAT product codes 24 EtherCAT state machine 19 EtherCAT with CANopen or PROFIBUS 91 Evaluation of the axis state 82 Evaluation of the Axis_IO_Group state 81 Evaluation of the boot-up error
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Control technology | EtherCAT communication manual Index R Remote API error codes (0x98110181 ...
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