Emerson SI-EtherCAT User Manual page 99

Code
Meaning
(0x)
0021 Slave needs INIT
0022 Slave needs PREOP
0023 Slave needs SAFEOP
0024 Invalid input mapping
0025 Invalid output mapping
0026 Inconsistent settings
0027 Freerun not supported
Synchronization not
0028
supported
0029 Freerun needs 3 Buffer Mode
002A Background Watchdog
002B No valid inputs and outputs
002C Fatal Sync error
002D No Sync error
Invalid DC SYNC
0030
configuration
0031 Invalid DC Latch configuration
0032 PLL error
0033 DC Sync IO error
0034 DC Sync timeout error
0035 DC invalid sync cycle time
0036 DC Sync0 cycle time
0037 DC Sync1 cycle time
SI-EtherCAT User Guide
Issue Number: 2
Description
Slave application requests INIT
state
Slave application requests,
PREOP state
Slave application requests
SAFEOP state
Invalid input mapping object
Invalid output mapping object
General settings mismatch
Freerun not supported on slave
Synchronization not supported on
slave
Sync Manager requires 3 Buffer
Mode to run
Background task watchdog
activated
Slave device does not provide
valid inputs and outputs
The hardware synchronization
signal has stopped
Hardware synchronization signal
not detected
Distributed Clocks configuration is
invalid
Distributed Clocks Latch
configuration is invalid
Master not synchronized, at
least one DC event received
Multiple sync errors: At least one
sync signal was received but the
slave is no longer synchronized
Multiple sync errors: Excessive
Sync Manager events missed
DC sync cycle time is invalid
DC Sync0 cycle time invalid for
application
DC Sync1 cycle time invalid for
application
Comment
Re-initialise the slave device
Instruct slave device to enter
PREOP state
Instruct slave device to enter
SAFEOP state
Check slave input mapping
Check slave output mapping
Check configuration settings
Set master to INIT and back to
OP so that the DCs are
initialized again.
Check DC configuration
Check DC configuration
Check wiring and
synchronization settings
Check network jitter
Increase cycle time
Use Distributed Clocks scheme
Check DC configuration
Check DC configuration
Check DC configuration
Check DC configuration
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