AKT2G-SM-Lxx Diagnostic Messages

DiagMessages designates a system for the transmission of messages from the EtherCAT 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-IO-SM-Lxx Stepper Drive Configuration tab.

Definition

The DiagMessages system is defined in the ETG (EtherCAT Technology Group) in the guideline ETG.1020, section 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)
  • Timestamp (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 1: 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

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 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 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-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 error

Content of the external name plate memory invalid.

0x8140

Error

General

Sync Error

Real-time violation

0x8141

Error

General

Sync%X Interrupt 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