ECATCommErrors

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 Function Block - Returns a list of bad EtherCAT connections.

Inputs

Input

Data Type

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

Read the communication errors on the rising edge.

Connection

ECATCommErr_ref

See the ECATCommErr_ref Structure table.

N = 0 to 2 times the number of EtherCAT devices.

N/A

No default

Array of bad connections.

The safe size for the list is:

[2 * (number of devices) - 1].

Outputs

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

Indicates whether this function block has completed without error.

Error

BOOL

FALSE, TRUE

N/A

Indicates whether this function block has completed with error.

ErrorID

DINT

No range

N/A

The function call error result, if Error is TRUE.

  • See Error Codes.
  • Upon success, Error is set to 0 (zero).

ConnectionCount

UINT

No range

N/A

The number of bad connections.

Valid indices in the Connection array range from 0 (zero) to ConnectionCount -1 (assuming ConnectionCount != 0).

Remarks

If EtherCAT network communication is shutdown, the failed connections are based on information that was taken at the time the network was shutdown.

Figure 1: ECATCommErrors

ECATCommErr_ref Structure

Parameter

Type

Description

CommErrorCounter

UINT

The Communication Error Counter for this port.

ConnectedSlaveAddress

INT

The EtherCAT address of the connected device.

ConnectedSlavePortID

UINT

The port number of the connected device.

LostLinkCounter

UINT

The Lost Link Counter for this port.

SlaveAddress

INT

The EtherCAT address of the device that owns the port.

SlavePortID

UINT

The port number.

EtherCAT Port Numbers

Define

Port

#define EC_PORT_A

0 (* Port A *)

#define EC_PORT_B

1 (* Port B *)

#define EC_PORT_C

2 (* Port C *)

#define EC_PORT_D

3 (* Port D*)

Error Codes

Value Dec (hex)

Error Code

Description

0

ECERR_OK

The SDO call succeeded.

1000 (0x3E8)

ECERR_DEVICE_ACTION_IS_INVALID

The requested Device Action is invalid.

1003 (0x3EB)

ECERR_DEVICE_ACTION_MINIMUM_ONE_NODE_REQD

A minimum of one device must be present in the EtherCAT network.

1004 (0x3EC)

ECERR_DEVICE_ACTION_MINIMUM_ONE_DC_NODE_REQD

A minimum of one Distributed clock capable device must be present in the EtherCAT network.

107 = 0x6B

ECERR_INVALID_ARRAY_SIZE

The size of the connections is too small.

  • When the array size is smaller than the number of bad connections:
    • The array is filled with the data to the size of the array.
    • The error ECERR_INVALID_ARRAY_SIZE is set.
  • In this scenario, the output ConnectionCount is set to the size of the array and it is smaller than the number of actual bad connections.

1792 (0x700)

ECERR_DEVICE_ERROR

EtherCAT device is not accessible.

1794 (0x702)

ECERR_DEVICE_INVALIDCMD

Invalid mailbox command.

1795 (0x703)

ECERR_DEVICE_INVALIDINDEX

An invalid value for the Index input was specified.

1796 (0x704)

ECERR_DEVICE_INVALIDACCESS

Reading of the variable is not permitted.

1797 (0x705)

ECERR_DEVICE_INVALIDSIZE

An invalid size for the parameter was specified.

1798 (0x706)

ECERR_DEVICE_INVALIDDATA

Invalid parameter value(s) in SDO index and/or sub-index.

1799 (0x707)

ECERR_DEVICE_NOTREADY

Device is not in a ready state.

The network is not in operational.

1800 (0x708)

ECERR_DEVICE_BUSY

Device is not available to respond.

1801 (0x709)

ECERR_DEVICE_INVALIDCONTEXT

Device responded with an illegal error code, indicating the command is not allowed under the present conditions.

1802 (0x70A)

ECERR_DEVICE_NOMEMORY

EtherCAT mailbox is out of memory or device is out of disk space.

1803 (0x70B)

ECERR_DEVICE_INVALIDPARM

EtherCAT mailbox request was not valid.

1804 (0x70C)

ECERR_DEVICE_NOTFOUND

EtherCAT device not found.

1805 (0x70D)

ECERR_DEVICE_SYNTAX

An unexpected error occurred.

1810 (0x712)

ECERR_DEVICE_INVALIDSTATE

The EtherCAT device is in an invalid state.

1817 (0x719)

ECERR_DEVICE_TIMEOUT

The EtherCAT device failed to respond, timing out.

1826 (0x722)

ECERR_DEVICE_INSERTMAILBOX

Error while inserting the mailbox command into internal FIFO.

1827 (0x723)

ECERR_DEVICE_INVALIDOFFSET

An invalid value for the SubIndex input was specified.

1828 (0x724)

ECERR_DEVICE_UNKNOWNMAILBOXCMD

The master sent an unknown mailbox command to the slave.

1829 (0x725)

ECERR_DEVICE_ACCESSDENIED

Device responded with an invalid access error code, indicating the command is not allowed.

1832 (0x728)

ECERR_DEVICE_INVALIDADDR

The specified EtherCAT node address is invalid.

1836 (0x72c)

ECERR_DEVICE_NOT_A_FSOE_MASTER

Device is not a FSoE master.

1837 (0x072D)

ECERR_DEVICE_DISCONNECTED

The EtherCAT device is disconnected.

1920 (0x780)

ECERR_DEVICE_PARAM_ACCESS_ERROR

Unknown error occurred while accessing parameter.

1921 (0x781)

ECERR_DEVICE_PARAM_NOT_FOUND

Parameter was not found.

1922 (0x782)

ECERR_DEVICE_PARAM_NOT_INTEGER

Parameter is a floating-point value. Integer value required.

1923 (0x783)

ECERR_DEVICE_VALUE_IS_NEGATIVE

No negative values allowed.

Value specified was negative.

1924 (0x784)

ECERR_DEVICE_VALUE_OUT_OF_RANGE

Value is out of data-range.

1925 (0x785)

ECERR_DEVICE_VALUE_GREATER_THAN_MAX

Value bigger than maximum.

1926 (0x786)

ECERR_DEVICE_VALUE_LOWER_THAN_MIN

Value lower than minimum.

2048 (0x800)

ECERR_CLIENT_ERROR

Error in Mailbox response to a previously sent mailbox command.

2049 (0x801)

ECERR_CLIENT_TIMEOUT

The SDO command timed out.

2050 (0x802)

ECERR_CLIENT_ INVALIDPARM

An invalid value was specified.

2051 (0x803)

ECERR_CLIENT_ INVALIDSIZE

An invalid value for the size input was specified.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(********************************************************)
Read EtherCAT communication errors.
(********************************************************)
commErrors( TRUE, Connection);

See Also