AKT2G-SM-Lxx Diagnostic Messages

DiagMessages designates a system for the transmission of messages from the EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs Slave to the EtherCAT Master. The messages are stored by the device in its own CoE under 0x10F3 and can be read by the application. An error message referenced via a code is output for each event stored in the device (warning, error, status change). Diagnostic messages can be viewed from the Diagnostics Tab in the AKT2G-SM-Lxx Stepper Drive Configuration Tab.

Definition

The DiagMessages system is defined in the ETG (EtherCAT Technology Group) in the guideline ETG.1020, chapter 13 “Diagnosis handling”. It is used so that pre-defined or flexible diagnostic messages can be conveyed from the EtherCAT Slave to the Master. In accordance with the ETG, the process can therefore be implemented supplier-independently. Support is optional. The firmware can store up to 250 DiagMessages in its own CoE.

Each DiagMessage consists of

Diag Code (4-byte)
Flags (2-byte; info, warning or error)
Text ID (2-byte; reference to explanatory text from the ESI/XML "Extensible Markup Language " XML is a general-purpose markup language. It is classified as an extensible language because it allows its users to define their own tags)
Timestamp A timestamp is a sequence of characters, denoting the date and/or time at which a certain event occurred (8-byte, local slave time or 64-bit Distributed Clock time, if available)
Dynamic parameters added by the firmware

The DiagMessages are explained in text form in the ESI/XML file belonging to the EtherCAT device: on the basis of the Text ID contained in the DiagMessage, the corresponding plain text message can be found in the languages contained in the ESI/XML.

Via the entry NewMessagesAvailable the user receives information that new messages are available.

DiagMessages can be confirmed in the device: the last/latest unconfirmed message can be confirmed by the user.

In the CoE both the control entries and the history itself can be found in the CoE object 0x10F3:

Figure 7-300: Stepper slice objects in the KAS IDE

The subindex of the latest DiagMessage can be read under x10F3:02.

Support for commissioning

The DiagMessages system is to be used above all during the commissioning of the plant. The diagnostic values e.g. in the StatusWord of the device (if available) are helpful for online diagnosis during the subsequent continuous operation.

Structure of the Text ID

The structure of Kollmorgen EtherCAT devices' MessageID reads as xyzz:

x	y	zz
0: Systeminfo 2: reserved 1: Info 4: Warning 8: Error	0: System 1: General 2: Communication 3: Encoder 4: Drive 5: Inputs 6: I/O general 7: reserved	Error number

0: Systeminfo

2: reserved

1: Info

4: Warning

8: Error

0: System

1: General

2: Communication

3: Encoder

4: Drive

5: Inputs

6: I/O general

7: reserved

Error number

For example: Message 0x4413 --> Drive Warning Number 0x13

Overview of Text IDs

Specific text IDs are listed in the device documentation.

Text ID	Type	Place	Text Message	Additional comment
0x0001	Information	System	No error	No error
0x0002	Information	System	Communication established	Connection established
0x0003	Information	System	Initialization: 0x%X, 0x %X, 0x%X	General information; parameters depend on event. See device documentation for interpretation.
0x1000	Information	System	Information: 0x%X, 0x %X, 0x%X	General information; parameters depend on event. See device documentation for interpretation.
0x1012	Information	System	EtherCAT state change Init - PreOp
0x1021	Information	System	EtherCAT state change PreOp - Init
0x1024	Information	System	EtherCAT state change PreOp - Safe-Op
0x1042	Information	System	EtherCAT state change SafeOp - PreOp
0x1048	Information	System	EtherCAT state change SafeOp - Op
0x1084	Information	System	EtherCAT state change Op - SafeOp
0x1100	Information	General	Detection of operation mode completed: 0x%X,%d	Detection of the mode of operation ended
0x1135	Information	General	Cycle time o.k.: %d	Cycle time OK
0x1157	Information	General	Data manually saved (Idx: 0x%X, SubIdx: 0x%X)	Data saved manually
0x1158	Information	General	Data automatically saved (Idx: 0x%X, SubIdx: 0x%X)	Data saved automatically
0x1159	Information	General	Data deleted (Idx: 0x%X, SubIdx: 0x%X)	Data deleted
0x117F	Information	General	Information: 0x%X, 0x %X, 0x%X	Information
0x1201	Information	Communication	Communication re-established	Communication to the field side restored This message appears, for example, if the voltage was removed from the power contacts and re-applied during operation
0x1300	Information	Encoder	Position set: %d, %d	Position set - StartInputhandler
0x1303	Information	Encoder	Encoder Supply ok	Encoder power supply unit OK
0x1304	Information	Encoder	Encoder initialization successfully, channel: %X	Encoder initialization successfully completed
0x1305	Information	Encoder	Sent command encoder reset, channel: %X	Send encoder reset command
0x1400	Information	Drive	Drive is calibrated: %d, %d	Drive is calibrated
0x1401	Information	Drive	Actual drive state: 0x%X, %d	Current drive status
0x1705	Information		CPU usage returns in normal range (< 85%%)	Processor load is back in the normal range
0x1706	Information		Channel is not in saturation anymore	Channel is no longer in saturation
0x1707	Information		Channel is not in overload anymore	Channel is no longer overloaded
0x170A	Information		No channel range error anymore	A measuring range error is no longer active
0x170C	Information		Calibration data saved	Calibration data were saved
0x170D	Information		Calibration data will be applied and saved after sending the command “0x5AFE”	Calibration data are not applied and saved until the command "0x5AFE" is sent
0x4000	Warning		Warning: 0x%X, 0x%X, 0x%X	General warning; parameters depend on event. See device documentation for interpretation.
0x4001	Warning	System	Warning: 0x%X, 0x%X, 0x%X
0x4002	Warning	System	%s: %s Connection Open (IN:%d OUT:%d API:%dms) from %d.%d.%d.%d successful
0x4003	Warning	System	%s: %s Connection Close (IN:%d OUT:%d) from %d.%d.%d.%d successful
0x4004	Warning	System	%s: %s Connection (IN: %d OUT:%d) with %d.%d.%d.%d timed out
0x4005	Warning	System	%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Error: %u)
0x4006	Warning	System	%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Input Data Size expected: %d Byte(s) received: %d Byte(s))
0x4007	Warning	System	%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Output Data Size expected: %d Byte(s) received: %d Byte(s))
0x4008	Warning	System	%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (RPI:%dms not supported -> API:%dms)
0x4101	Warning	General	Terminal-Overtemperature	Overtemperature. The internal temperature of the terminal exceeds the parameterized warning threshold
0x4102	Warning	General	Discrepancy in the PDOConfiguration	The selected PDOs do not match the set operating mode. Sample: Drive operates in velocity mode, but the velocity PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. is but not mapped in the PDOs.
0x417F	Warning	General	Warning: 0x%X, 0x%X, 0x%X
0x428D	Warning	General	Challenge is not Random
0x4300	Warning	Encoder	Subincrements deactivated: %d, %d	Sub-increments deactivated (despite activated configuration)
0x4301	Warning	Encoder	Encoder-Warning	General encoder error
0x4400	Warning	Drive	Drive is not calibrated:%d, %d	Drive is not calibrated
0x4401	Warning	Drive	Starttype not supported: 0x%X, %d	Start type is not supported
0x4402	Warning	Drive	Command rejected: %d,%d	Command rejected
0x4405	Warning	Drive	Invalid modulo subtype: %d, %d	Modulo sub-type invalid
0x4410	Warning	Drive	Target overrun: %d, %d	Target position exceeded
0x4411	Warning	Drive	DC-Link undervoltage (Warning)	The DC link voltage of the terminal is lower than the parameterized minimum voltage. Activation of the output stage is prevented
0x4412	Warning	Drive	DC-Link overvoltage (Warning)	The DC link voltage of the terminal is higher than the parameterized maximum voltage. Activation of the output stage is prevented
0x4413	Warning	Drive	I2T-Model Amplifier overload (Warning)	The amplifier is being operated outside the specification The I2T-model of the amplifier is incorrectly parameterized
0x4414	Warning	Drive	I2T-Model Motor overload (Warning)	The motor is being operated outside the parameterized rated values The I2T-model of the motor is incorrectly parameterized
0x4415	Warning	Drive	Speed limitation active	The maximum speed is limited by the parameterized objects (e.g. velocity limitation, motor speed limitation). This warning is output if the set velocity is higher than one of the parameterized limits
0x4416	Warning	Drive	Step lost detected at position: 0x%X%X	Step loss detected
0x4417	Warning	Drive	Motor overtemperature	The internal temperature of the motor exceeds the parameterized warning threshold
0x4418	Warning	Drive	Limit: Current	Limit: current is limited
0x4419	Warning	Drive	Limit: Amplifier I2T-model exceeds 100%%	The threshold values for the maximum current were exceeded.
0x441A	Warning	Drive	Limit: Motor I2T-model exceeds 100%%	Limit: Motor I2T-model exceeds 100%
0x441B	Warning	Drive	Limit: Velocity limitation	The threshold values for the maximum speed were exceeded.
0x441C	Warning	Drive	STO while the axis was enabled	An attempt was made to activate the axis, despite the fact that no voltage is present at the STO input.
0x4600	Warning	General IO	Wrong supply voltage range	Supply voltage not in the correct range
0x4610	Warning	General IO	Wrong output voltage range	Output voltage not in the correct range
0x4705	Warning		Processor usage at %d %%	Processor load at %d %%
0x470A	Warning		EtherCAT Frame In networking dialect, a message is called a frame missed (change Settings or DC Operation Mode or Sync0 Shift Time)	EtherCAT frame missed (change DC Operation Mode or Sync0 Shift Time under Settings)
0x8000	Error	System	%s: %s
0x8001	Error	System	Error: 0x%X, 0x%X, 0x %X	General error; parameters depend on event. See device documentation for interpretation.
0x8002	Error	System	Communication aborted	Communication aborted
0x8003	Error	System	Configuration error: 0x %X, 0x%X, 0x%X	General; parameters depend on event. See device documentation for interpretation.
0x8004	Error	System	%s: Unsuccessful FwdOpen-Response received from %d.%d.%d. %d (%s) (Error: %u)
0x8005	Error	System	%s: FwdClose-Request sent to %d.%d.%d.%d (%s)
0x8006	Error	System	%s: Unsuccessful FwdClose-Response received from %d.%d.%d. %d (%s) (Error: %u)
0x8007	Error	System	%s: Connection with %d. %d.%d.%d (%s) closed
0x8100	Error	General	Status word set: 0x%X, %d	Error bit set in the status word
0x8101	Error	General	Operation mode incompatible to PDO interface: 0x%X, %d	Mode of operation incompatible with the PDO interface
0x8102	Error	General	Invalid combination of Inputs and Outputs PDOs	Invalid combination of input and output PDOs
0x8103	Error	General	No variable linkage	No variables linked
0x8104	Error	General	Terminal-Overtemperature	The internal temperature of the terminal exceeds the parameterized error threshold. Activation of the terminal is prevented
0x8105	Error	General	PD "Programmable drive" (Also known as Servo Amplifiers or Servo Drive - see Glossary) A Drive can be programmable, which means it has an open hardware and software architecture to make it ready for nearly all conceivable customer-specific modifications-Watchdog	Communication between the fieldbus and the output stage is secured by a Watchdog. The axis is stopped automatically if the fieldbus communication is interrupted. The EtherCAT connection was interrupted during operation The Master was switched to Config mode during operation
0x8135	Error	General	Cycle time has to be a multiple of 125 µs	The IO or NC cycle time divided by 125 µs does not produce a whole number
0x8136	Error	General	Configuration error: invalid sampling rate	Configuration error: Invalid sampling rate
0x8137	Error	General	Electronic type plate: CRC "Cyclic redundancy check" A CRC is a type of function that takes as input a data stream of any length and produces as output a value of a certain fixed size. The term CRC is often used to denote either the function or the function's output. A CRC can be used as a checksum to detect accidental alteration of data during transmission or storage error	Content of the external name plate memory invalid.
0x8140	Error	General	Sync Error	Real-time violation
0x8141	Error	General	Sync%X Interrupt An interrupt is an asynchronous signal from hardware indicating the need for attention or a synchronous event in software indicating the need for a change in execution lost	Sync%X Interrupt lost
0x8142	Error	General	Sync Interrupt asynchronous	Sync Interrupt asynchronous
0x8143	Error	General	Jitter too big	Jitter limit violation
0x817F	Error	General	Error: 0x%X, 0x%X, 0x%X
0x8200	Error	Communication	Write access error: %d, %d	Error while writing
0x8201	Error	Communication	No communication to field-side (Auxiliary voltage missing)	There is no voltage applied to the power contacts A firmware update has failed
0x8281	Error	Communication	Ownership failed: %X
0x8282	Error	Communication	To many Keys founded
0x8283	Error	Communication	Key Creation failed: %X
0x8284	Error	Communication	Key loading failed
0x8285	Error	Communication	Reading Public Key failed: %X
0x8286	Error	Communication	Reading Public EK failed: %X
0x8287	Error	Communication	Reading PCR Value failed: %X