Panasonic MINAS A6 Multi Series Technical Reference page 205

7.2Details of protective function
Error No.
Protective function
Main Sub
81 0 Synchronization cycle
error protection
1 Mailbox error protection
4 PDO watchdog error
protection
(To be continued)
7-21
Causes
In the EtherCAT communication of the
driver module, it is set to an unsupported
synchronization cycle (SYNC0 cycle or an
IRQ cycle).
 It sets except 125000, 250000, 500000,
1000000, 2000000, and 4000000 [ns] to
ESC register 09A0h (SYNC0 Cycle Time)
and object 1C32h-02h (Cycle time).
 The setting of ESC register and object is
not in agreement.
In the EtherCAT communication of the
driver module, Mailbox SyncManager 0/1
setting is incorrect.
 Physical Start Address: ESC register
(0800h, 0801h/0808h, 0809h) setup of
SyncManager0/1 is incorrect.
- The area for reception of Mailbox
overlaps the area for transmission.
- The area for transmission/reception of
Mailbox overlaps the area for
transmission/reception of
SyncManager2/3
- Address specification of the area for
transmission/reception of Mailbox is odd
number.
 Length: ESC register
(0802h,0803h/080Ah, 080Bh) setup of
SyncManager0/1 is incorrect.
- SyncManager0: Less than 32 byte
- SyncManager1: Less than 32 byte
 Control Register: ESC register
(0804h/080Ch) setup of SyncManager0/1
is incorrect.
- Other than 0110b is set for 0804h:
bit3-0.
- Other than 0010b is set for 080Ch:
bit3-0.
In the EtherCAT communication of the
driver module, a setup of the PDO
watchdog timer is incorrect.
 Although PDO watchdog trigger is
effective (SyncManager: bit6 of the
register 0804h is set to 1), the detection
timeout value of PDO watchdog timer
cycle setup (registers 0400h and 0420h)
was set to the "communication cycle
multiply 2" when DC and SM2 mode, or
was set to less than 2 ms when FreeRun
mode.
Measures
Please set up a synchronous period
correctly.
Please set up Sync manager correctly..
Set up detection timeout value of watchdog
timer correctly.