Compiler Errors

"EtherCAT: ERROR: Failed to retrieve Vendor…", or
"EtherCAT: ERROR: Failed to retrieve EtherCAT device…"

These errors indicate either:

The ESI file for 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 device is missing.
Information is missing from the ESI file for a device and/or module.

Examples

EtherCAT: ------------- Generating EtherCAT Network Information (ENI) file ---------------
EtherCAT: ERROR: Failed to retrieve Vendor for vendorID=0x21 in ESI cache
Project compile failed

EtherCAT: ------------- Generating EtherCAT Network Information (ENI) file ---------------
EtherCAT: ERROR: Failed to retrieve EtherCAT device (vendorID=0x2, productCode=0x44c2c52, revision=0x120000) in ESI cache
Project compile failed

Error Correction

Identify which EtherCAT devices or modules are listed as Unknown in the Project View.
Import an appropriate ESI file.

See Unknown – Missing ESI File for more information.

"EtherCAT: ERROR: In AKD_1, PDO object index 0x6040, subIndex 0 is redundant" or
"Failed to export ENI file, check the logs for more details." or
"EtherCAT: Warning : In AKD_1, PDO object index 0x3470, subIndex 4 is redundant."

These errors indicate redundant 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. entries.

Error Correction

See Redundant PDO Entries for more information.

Compile Optimized Code FAILED

These compiler outputs indicate a failure to compile the optimized C code:

Controller:PLC "Programmable Logic Controller"
A Programmable Logic Controller, PLC, or Programmable Controller is a digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines.
Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events:> ------------- Compile Optimized Code -------------
Controller:PLC:> Compiling "C" code.
Controller:PLC:> ERROR: Failed to compile PLC "C" code.
Controller:PLC:> Compilation log:
...
Controller:PLC:> End of Compilation log
Controller:PLC:> Compile Time Elapsed:1.37 seconds
Controller:PLC:> ------------- Compile Optimized Code FAILED -------------

Error Correction

Locate and send these items to Kollmorgen technical support:

The compilation log (copied from the compiler output).

All the files in this directory:
%LOCALAPPDATA%\Kollmorgen\KAS\Project\Controller\PLC\CC\
The path can be copied and pasted into the Windows Explorer address bar.

To help us resolve the error with you, Kollmorgen technical support contact information can be found here:

Kollmorgen Support and Service

Call or e-mail the appropriate support for your region.

Compiling optimized code fails due to user permissions

A possible cause for optimized PLC code to fail compilation is if the user does not have permission to write to an output file or folder.

Example 1: The file cclog.txt is not writeable.

Controller:PLC:> ------------- Compile Optimized Code -------------
Controller:PLC:> ERROR: cannot remove old output file "C:\Users\my.name\AppData\Local\Kollmorgen\KAS\Project\Controller\PLC\CC\cclog.txt"
Controller:PLC: > To resolve the issue, set the permissions on the file so that it is writeable.
Controller:PLC:> Compile Time Elapsed:0.02 seconds
Controller:PLC:> ------------- Compile Optimized Code FAILED -------------

Example 2: The file main.c is not writeable.

Controller:------------- Compile PLC ---------------
...
Controller:PLC:main
Controller:PLC:c:\users\my.name\appdata\local\kollmorgen\kas\project\controller\plc\cc\main.c:
Cant write output file
Controller:PLC:appli
Controller:PLC:Error(s) detected
Controller:------------- PLC failed ---------------

Error Correction

Change the file permissions to allow writing to the file.

"Unexpected complex data in expression." or
"Boolean expression expected after IF."

These errors indicate that the IF THEN ELSE ELSIF END_IF condition used in the application code does not evaluate to a BOOL expression.

Controller:------------- Compile PLC ---------------

…

Controller:PLC:MCFB_Jog

Controller:PLC:MCFB_Jog: (16): Unexpected complex data in expression

Controller:PLC:MCFB_Jog: (16): Boolean expression expected after IF

Controller:PLC:MCFB_Jog: (19): END_IF: New statement expected

Controller:PLC:Error(s) detected

Controller:------------- PLC failed ---------------

Controller:------------- Device compile failed ---------------

...

Project compile failed

This compile error can happen when a non-compliant syntax is used for verifying the function block outputs.

In the KAS v4.0 and earlier releases, it was possible to use the function block return statement in the same way as function return values.
- This could result in undefined behavior.
In KAS v4.0 and later releases, the compiler generates a an Unexpected complex data in expression error for non-compliant syntax.

IEC "International Electrotechnical Commission"
IEC is a not-for-profit, non-governmental international standards organization that prepares and publishes International Standards for all electrical, electronic and related technologies 61131-3 Non-Compliant Syntax: 
If inst_functionBlock(myVar1) Then
   // ...
End_If;

IEC 61131-3 Compliant Syntax:
inst_functionBlock(myVar1);
If inst_functionBlock.Q Then
   // ...
End_If;

Error Correction

Identify the code that caused compile error.

If the error is due to non-compliant syntax, replace this code using compliant syntax for the corresponding function block.

Example: Non-compliant Syntax

   IF Inst_r_trig(Inst_TON.Q) THEN
     Inst_DriveParamRead( TRUE, any_to_int(Inst_MC_ReadParam.Value), 'DRV.FAULT1' );
   END_IF;

Example: Compliant Syntax

   Inst_r_trig(Inst_TON.Q);
   IF Inst_r_trig.Q THEN
     Inst_DriveParamRead( TRUE, any_to_int(Inst_MC_ReadParam.Value), 'DRV.FAULT1' );
   END_IF;

UDFBs and libraries can have improper syntax.

These Kollmorgen UDFBs have been corrected and can be re-imported into the application code.

See Re-import Kollmorgen UDFBs for more information.