KHBETCPCBAUTO

13369406 L-force Controls

Ä.Eó'ä
Communication Manual

PC-based automation

EtherCAT control technology

Commissioning & configuration

L
2 L DMS 3.1 EN 01/2011 TD17
 Control technology | EtherCAT communication manual

Contents
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 The "PC-based automation" system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4 The Lenze control system with EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

4.1 Brief description of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1.2 Structure of the EtherCAT bus system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.3 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2 Required hardware components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.1 The industrial PC - the central component. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.2 Field devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2.3 EtherCAT product codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2.4 EtherCAT hardware for the industrial PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.3 Required engineering tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.4 Interaction of the components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.4.1 The state machine of the Lenze control technology . . . . . . . . . . . . . . . . . . . . . . . . 30
4.4.2 Communication between engineering PC and field devices . . . . . . . . . . . . . . . . 32

5 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.1 General data of the EtherCAT bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.2 MC-ETC communication card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.3 Communication times and drive-specific data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

6 Synchronisation with "Distributed clocks" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

6.1 Synchronous communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.2 Adjusting task cycle time and DC cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
6.3 Setting the DC synchronisation with the »EtherCAT Configurator« . . . . . . . . . . . . . . . . . 39
6.4 Check of the DC synchronicity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

DMS 3.1 EN 01/2011 TD17 L 3

Control technology | EtherCAT communication manual

7 Commissioning of the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.1 Overview of commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.2 Detailed commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.2.1 Planning the bus topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.2.2 Installing field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.2.3 Creating a project folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.2.4 Determining the physical EtherCAT configuration (fieldbus scan). . . . . . . . . . . 47
7.2.5 Configuration in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.2.6 Inserting devices available on the fieldbus into the »EtherCAT Configurator«
project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
7.2.7 Creating the configuration in the »EtherCAT Configurator« . . . . . . . . . . . . . . . . 56
7.2.8 Configuration in the »PLC Designer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7.3 Checking the system startup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
7.3.1 Evaluation of the boot-up error message of the SM_DriveBasic.lib library . . . 80
7.3.2 Evaluation of the Axis_IO_Group state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
7.3.3 Evaluation of the axis state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
7.4 Typical commissioning scenarios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7.4.1 Switching on a completely configured system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
7.4.2 Switching on a system with an incomplete configuration . . . . . . . . . . . . . . . . . . 85
7.4.3 Updating the PLC application while the EtherCAT configuration remains
unchanged . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
7.4.4 Stopping and starting the PLC while the configuration remains unchanged . 89
7.5 Detailed overview of the commissioning steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

8 EtherCAT with CANopen or PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

8.1 Addressing the PROFIBUS and CANopen stations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
8.2 Addressing EtherCAT nodes using CANopen/PROFIBUS nodes . . . . . . . . . . . . . . . . . . . . . 93

9 EtherCAT function libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

9.1 Usability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
9.2 Function blocks/functions required for a »PLC Designer« project (overview) . . . . . . . . 97
9.3 Properties of function blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
9.4 The EC_T_STATE structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
9.5 Function blocks and functions for master/slave states . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
9.5.1 ecatStartAsync (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
9.5.2 ecatStopAsync (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
9.5.3 ecatSetMasterStateAsync (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
9.5.4 ecatSetSlaveStateAsync (FB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
9.5.5 ecatGetMasterState (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
9.5.6 ecatGetSlaveState (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
9.5.7 ecatGetSlaveStateAsync (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

4 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual

9.6 Functions for the network management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

9.6.1 ecatMasterIsConfigured (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
9.6.2 ecatGetSlaveId (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
9.6.3 ecatGetSlaveIdAtPosition (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
9.6.4 ecatGetSlaveProp (FUN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
9.7 Function blocks and functions for diagnosing the network . . . . . . . . . . . . . . . . . . . . . . . . 112
9.7.1 ecatGetNumConfiguredSlaves (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
9.7.2 ecatGetNumConnectedSlaves (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
9.7.3 ECATDiagnostic (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
9.7.4 ResetMasterStatus (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
9.7.5 SMC_ETCErrorString (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
9.7.6 L_ECAT_ReadErrCnt (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
9.7.7 L_ECAT_ResetErrCnt (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
9.7.8 The global EtherCAT master structure ECAT_MASTER . . . . . . . . . . . . . . . . . . . . . . 118
9.8 Function blocks for CANopen over EtherCAT (CoE). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
9.8.1 ecatCoeSdoDownloadReq (FB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
9.8.2 ecatCoeSdoUploadReq (FB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

10 Defining the minimum cycle time of the PLC project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

10.1 Calculating the total access time to the peripheral devices (TCorrection) . . . . . . . . . . . . . 125
10.2 Detecting the task utilisation of the application (TTask utilisation). . . . . . . . . . . . . . . . . . . . 126
10.2.1 Display of the system utilisation in the »PLC Designer« with the task editor. 126
10.2.2 Detecting the task utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
10.3 Calculating the minimum cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
10.4 Optimising the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

11 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
11.1 Diagnostics with the »EtherCAT Configurator«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
11.1.1 "Diagnostics" tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
11.1.2 Representation in the online mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
11.2 Diagnostics with the »PLC Designer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
11.2.1 VISU_ETHERCATMaster visualisation template . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
11.2.2 VISU_ECATDiagnostic visualisation template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
11.2.3 The global variable wState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
11.2.4 Error scenario (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
11.3 Diagnostic codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
11.4 Logbook of the IPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
11.4.1 Displaying the EtherCAT entries of the logbook. . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
11.4.2 Messages in the logbook of the industrial PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

DMS 3.1 EN 01/2011 TD17 L 5

Control technology | EtherCAT communication manual

11.5 Error counters of the EtherCAT slaves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

11.5.1 Error types: "Errors" and "Forwarded Errors" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
11.5.2 Error counter reset from the application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
11.6 Error scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
11.6.1 Compilation error in »PLC Designer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
11.6.2 EtherCAT bus does not enter the Pre-Operational state . . . . . . . . . . . . . . . . . . . . 147
11.6.3 Control unit/PLC does not enter the RUN state . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
11.6.4 EtherCAT bus does not enter the Operational state . . . . . . . . . . . . . . . . . . . . . . . . 148
11.6.5 Error during EtherCAT data transmission. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
11.6.6 Shafts make clicking noises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
11.6.7 Shafts do not rotate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
11.6.8 Logbook message: "Cannot spawn Remote API Server". . . . . . . . . . . . . . . . . . . . . 151
11.6.9 Logbook message: "Ethernet cable not connected" . . . . . . . . . . . . . . . . . . . . . . . . 152
11.6.10 Logbook message: "Ethernet cable connected" . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
11.6.11 Logbook messages: "Slave at index X missing" with
"Cyclic command WKC error ..." . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
11.6.12 Logbook message: "Cyclic command WKC error ...". . . . . . . . . . . . . . . . . . . . . . . . . 156
11.7 System error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
11.7.1 IPC logbook messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
11.7.2 General error codes (0x00000000hex, 0x98110001 ... 0x98110038hex) . . . . . . 159
11.7.3 CANOpen over EtherCAT (CoE) SDO error codes
(0x98110040 ... 0x9811005Dhex) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
11.7.4 Remote API error codes (0x98110181 ... 0x98110196hex). . . . . . . . . . . . . . . . . . . 163
11.8 SDO abort codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

12 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

12.1 Parameters of the MC-ETC communication card in slot 1 . . . . . . . . . . . . . . . . . . . . . . . . . . 166
12.2 Interface parameters of the MC-ETC communication card in slot 1 . . . . . . . . . . . . . . . . . 167
12.3 Parameters of the MC-ETC communication card in slot 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 182
12.4 Interface parameters of the MC-ETC communication card in slot 2 . . . . . . . . . . . . . . . . . 183

13 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

6 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
About this documentation

1 About this documentation

 Note!
For industrial PCs of the EL 1xx, EL x8xx, CS x8xx and CPC x8xx series in control
technology release 2.5, EtherCAT is not supported.

This documentation ...

 This documentation contains detailed information on how to commission, configure
and diagnose the EtherCAT bus system within the scope of Lenze's control technology.
 belongs to the "PC-based automation" manual collection which consists of the
following documentation:

Documentation Subject
System manuals • Control technology - system structure & configuration
"PC-based automation" • Control technology - system structure & components
Communication manuals • CANopen control technology
"PC-based automation" • Control technology PROFIBUS
• EtherCAT control technology
(Software) Manual • Industrial PC - parameter setting & configuration
"PC-based automation"
Operating Instructions • EL x7xx - built-in panel-PC with TFT display
"Embedded Line Panel PC"
Operating Instructions • CS x7xx - stand-alone operator terminal
"Command Station"
Operating Instructions • CPC x7xx - control cabinet PC
"Control Cabinet PC"
Operating Instructions • EL 1xx - HMI with Windows® CE
"HMI EL 100"
Further software manuals • »Global Drive Control« (»GDC«)
– IPC as gateway - parameter setting & configuration
• »Engineer«
• »PLC Designer« / »PLC Designer« / »PLC Designer - CANopen for Runtime
Systems«
• »VisiWinNET® Smart«

DMS 3.1 EN 01/2011 TD17 L 7

Control technology | EtherCAT communication manual
About this documentation

Further technical documentations for Lenze components

More information about Lenze components that can be used together with "PC-based
automation" can be found in the following documents:
Mounting & wiring Legend:
 MAs for Inverter Drives 8400  Printed documentation
 MAs for Servo Drives 9400  Online help/PDF
 MA EPM-Txxx (I/O system IP20) Abbreviations used:
 MA EPM-Sxxx (I/O system 1000) SHB System Manual
 MA 8200 vector BA Operating Instructions
 Wiring according to EMC, 8200 vector MA Mounting Instructions
 MAs for the ECS servo system SW Software manual
 MA communication card MC-CAN2 KHB Communication manual
 MA communication card MC-ETC
 MA communication card MC-ETH
 MA communication card MC-PBM
 MA communication card MC-PBS
 MA communication card MC-MPI
 MAs for communication modules

Parameter setting, configuration, commissioning

 SW Inverter Drive 8400
BaseLine / StateLine / HighLine / TopLine
 SW Servo Drive 9400 HighLine / PLC
 Commissioning guide 9400 HighLine
 SHB I/O system IP20 (EPM-Txxx)
 SHB I/O system 1000 (EPM-Sxxx)
 SHB 8200 vector
 BAs for the ECS servo system
 KHBs for communication modules

Programming
 SW 9400 function library

Creating a network
 KHBs for communication modules

 Tip!
Manuals and software updates for Lenze products can be found in the download
area at:
http://ww.Lenze.com

8 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
About this documentation
Document history

Target group
This documentation is intended for all persons who plan, install, commission and maintain
the networking of devices in the field of control technology.

1.1 Document history

Material no. Version Description

- 1.0 09/2008 TD11 First edition
TD17
13296253 2.0 05/2009 TD17 General revision
13317335 3.0 10/2009 TD17 General revision
13369406 3.1 01/2011 TD17 • General updates
• Information on control technology release 2.5 has been added.

Your opinion is important to us!

These instructions were created to the best of our knowledge and belief to give you the
best possible support for handling our product.
If you have suggestions for improvement, please e-mail us to:
[email protected]
Thank you for your support.
Your Lenze documentation team

DMS 3.1 EN 01/2011 TD17 L 9

Control technology | EtherCAT communication manual
About this documentation
Conventions used

1.2 Conventions used

This documentation uses the following conventions to distinguish between different types
of information:

Type of information Writing Examples/notes

Spelling of numbers
Decimal separator Point The decimal point is always used.
For example: 1234.56
Text
Version information Blue text colour All information valid for or from a certain software
version, is indicated accordingly in this
documentation.
Example: This function extension is available from
software version V3.0!
Program name »« The Lenze PC software »Engineer«...
Window Italics The Message window... / The Options dialog box...
Variable identifier By setting bEnable to TRUE...
Control element Bold The OK button... / the Copy command... / the
Characteristics tab... / the Name input field...
Sequence of menu If the execution of a function requires several
commands commands in a row, the individual commands are
separated by an arrow: Select FileOpen to ...
Shortcut <Bold> Use <F1> to open the online help.
If a key combination is required for a command, a "+"
is placed between the key identifiers: With
<Shift>+<ESC>...
Program code Courier IF var1 < var2 THEN
Keyword Courier bold a = a + 1
END IF

Hyperlink Underlined Optically highlighted reference to another topic. It is

activated with a mouse-click in this documentation.
Symbols
Page reference ( 10) Optically highlighted reference to another page. It is
activated with a mouse-click in this documentation.
Step-by-step instructions Step-by-step instructions are indicated by a
 pictograph.

10 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
About this documentation
Terminology used

1.3 Terminology used

Term Meaning
»Engineer« Lenze engineering tools supporting you during the entire life cycle of a machine
- from the planning phase to maintenance.
»EtherCAT Configurator«
»Global Drive Control« (GDC)
»PLC Designer«
Code "Container" for one or several parameters used for Lenze Servo Drives parameter
setting or monitoring.
Subcode If a code contains several parameters, they are stored in "subcodes".
In the documentation the diagonal slash "/" is used as a separator between the
designation of the code and subcode (e.g. "C00118/3").
IPC Industrial PC
PLC Programmable Logic Controller
AT-EM EtherCAT master
CoE CANopen over EtherCAT
DC Distributed clocks (distributed synchronised clocks)
EoE Ethernet over EtherCAT
FoE File access over EtherCAT
MCF Master configuration file (XML file for EtherCAT bus configuration)
SoE Servo drive profile over EtherCAT
FB Function block (contained in a function library)
FUN Function (contained in a function library)

DMS 3.1 EN 01/2011 TD17 L 11

Control technology | EtherCAT communication manual
About this documentation
Notes used

1.4 Notes used

The following signal words and symbols are used in this documentation to indicate
dangers and important information:

Safety instructions
Structure of safety instructions:

 Pictograph and signal word!

(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)

Pictograph Signal word Meaning

Danger! Danger of personal injuries through dangerous electrical voltage
 Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
 Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Stop! Danger of property damage
 Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.

Application notes

Pictograph Signal word Meaning

Note! Important note for trouble-free operation

Tip! Useful tip for easy handling

Reference to another documentation


12 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Safety instructions

2 Safety instructions
Please observe the following safety instructions when you want to commission a controller
or system using an industrial PC.

 Read the documentation supplied with the system components thoroughly

before starting to commission the devices and the industrial PC!
The System Manual contains safety instructions which must be observed!

 Danger!
According to our present level of knowledge it is not possible to ensure the
absolute freedom from errors of a software.
If necessary, systems with built-in controllers must be provided with additional
monitoring and protective equipment according to relevant safety regulations
(e.g. law on technical equipment, regulations for the prevention of accidents) so
that an impermissible operating status does not endanger persons or facilities.
During commissioning persons must keep a safe distance from the motor or the
machine parts driven by the motor. Otherwise there would be a risk of injury by
the moving machine parts.

 Stop!
If you change parameters in an engineering tool during an existing online
connection to a device, the changes are directly added to the device!
A wrong parameter setting can cause unpredictable motor movements. By
unintentional direction of rotation, too high speed or jerky operation, the driven
machine parts may be damaged!

DMS 3.1 EN 01/2011 TD17 L 13

Control technology | EtherCAT communication manual
The "PC-based automation" system

3 The "PC-based automation" system

Industrial PCs (IPCs) are increasingly finding their way into automation technology. With
their scaling characteristics and the possible combination of visualisation and control in
one device, industrial PCs offer clear advantages for many applications.
Lenze industrial PCs are available with the following software equipments:
 Industrial PC as component (optional with operating system) without any further
software
 Industrial PC as visualisation system
 Industrial PC as control and visualisation system
The "PC-based automation" system allows the central control of Logic and Motion systems.

For this purpose, Lenze provides coordinated system components:

 Industrial PCs as control and visualisation system
– The IPC is the central component of the PC-based automation which control the
Logic and Motion functionalities by means of the runtime software.
– The IPC communicates with the field devices via the fieldbus.
– The IPCs are available in different designs.

 Note!
Moreover, the HMI series EL 1xx PLC belongs to the "PC based automation"
system. These devices differ considerably from the industrial PCs in performance
and various other details. However the devices of the HMI series EL 1xx PLC are
able to fulfil smaller control functions.

14 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The "PC-based automation" system

 Engineering tools for the Engineering PC

– The Engineering PC communicates with the IPC via Ethernet.
– The different engineering tools are used to configure and parameterise the system.
 Fieldbuses
 Field devices

DMS 3.1 EN 01/2011 TD17 L 15

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Brief description of EtherCAT

4 The Lenze control system with EtherCAT

 Note!
For industrial PCs of the EL 1xx, EL x8xx, CS x8xx and CPC x8xx series in control
technology release 2.5, EtherCAT is not supported.

This chapter provides basic information about ...

 the EtherCAT bus system;
 the structure of the Lenze control system with the EtherCAT bus system;
 the Lenze engineering tools required for commissioning.
 the interaction of the components.

4.1 Brief description of EtherCAT

 Tip!
More detailed information about EtherCAT can be found on the Internet website of
the EtherCAT Technology Group under:
www.EtherCAT.org

4.1.1 Features

 EtherCAT is a high-performance bus system based on Ethernet.

 Thanks to the integrated synchronisation mechanisms via "distributed clocks",
EtherCAT offers excellent real-time characteristics.
Synchronisation with "Distributed clocks" ( 36)
 EtherCAT provides a higher bandwidth compared to CANopen:
– This enables motion and logic applications to be operated by the same bus.
– The number of the nodes to be controlled is higher.
– The maximally possible bus length is longer.
 EtherCAT can access all field devices via a common interface. Therefore, a division into
Logic fieldbus and MotionBus is not required.

16 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Brief description of EtherCAT

4.1.2 Structure of the EtherCAT bus system

Basic structure

Physical structure
 An EtherCAT master can communicate with one or more nodes ("slaves").
 Internally, the EtherCAT bus has a ring topology. Since Ethernet cables are provided
with a going and a return conductor within one cable, for the installer the topology
seems to be a line. The last slave closes the ring.
 Switches, hubs or other infrastructure components known from the Ethernet standard
must not be used because they impair the real-time performance.

DMS 3.1 EN 01/2011 TD17 L 17

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Brief description of EtherCAT

4.1.3 Communication

Compared with the conventional Ethernet, the collision-free transfer of telegrams on the
bus makes EtherCAT a real-time capable bus system.
Communication is always initiated by the EtherCAT master, i.e. the industrial PC. A
telegram sent by the master passes through all EtherCAT slaves. The last slave of the
communication chain sends the telegram back to the EtherCAT master. On the way back,
the telegram is directly sent to the EtherCAT master, without being processed in the slaves.
With EtherCAT, telegram processing completely takes place on the hardware level. The
slaves take the data intended for them from the Ethernet frame and write their data back
to the Ethernet frame. Every datagram can be passed on with a minimum delay.

18 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Brief description of EtherCAT

4.1.3.1 The EtherCAT state machine

Before communication via EtherCAT is possible, the bus runs through the EtherCAT state
machine during power-up. The following illustration shows the possible state change from
an EtherCAT slave's point of view:

Init

Pre-Operational

Safe-Operational

Operational
E94AYCET009

Status Description
Init • Initialisation phase
• No SDO/PDO communication with the slaves
• Device can be detected by fieldbus scan
Pre-Operational • The fieldbus is active.
• SDO communication (mailbox communication) is possible.
• No PDO communication
Safe-Operational • SDO communication (mailbox communication) is possible.
• PDO communication:
– The input data is transmitted to the master and evaluated.
– The output data have the "Safe" state. It is not forwarded to the basic device.
Operational • Normal operation
– SDO communication
– PDO communication
– Fieldbus synchronisation has been successful (if used)

 Note!
• Scanning of the EtherCAT fieldbus is possible in all states:
Determining the physical EtherCAT configuration (fieldbus scan) ( 47)
• SDO communication via the EtherCAT fieldbus is only possible when at least
the Pre-Operational state has been reached.

DMS 3.1 EN 01/2011 TD17 L 19

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Brief description of EtherCAT

4.1.3.2 Addressing of the slaves

The EtherCAT system uses two types of addressing for the slaves:
 Auto-increment addressing
 Fixed-address addressing
The auto-increment addressing is used by the master during the initialisation phase of the
fieldbus. When the Pre-Operational state has been reached, the master uses the Fixed-
Address addressing.

Auto-increment addressing
The auto-increment addressing is based on the bus topology. Each slave can be addressed
by means of its physical position within the fieldbus.
 Slave 1 = address 0
 Slave 2 = address -1
 Slave 3 = address -2 etc.
The master transmits a telegram to the slave address. Each slave increments the address
during the telegram cycle. A slave to which a telegram is addressed recognises the
telegram by means of the address 0.
A configuration example is given under:
Determining the physical EtherCAT configuration (fieldbus scan) ( 47)

Fixed-address addressing
With the fixed-address addressing, the slaves are addressed via the station address
distributed by the master in the start-up phase.
In the EtherCAT bus topology in the »PLC Designer«, the first slave gets the address 1001,
the second slave the address 1002, etc. The EtherCAT addresses cannot be changed.
The EtherCAT address of the master is 0. Master objects with this address can also be
accessed via CoE.

Example
The first slave of a configuration obtains the following addresses:
 0 by the auto-increment mode
 1001 by the fixed addressing mode (default address of the first slave in the »EtherCAT
Configurator«).

20 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Brief description of EtherCAT

4.1.3.3 Working counter

Each EtherCAT datagram contains a working counter (WKC) which is incremented by each
slave after the data have been processed successfully.
In every cycle, the control unit compares the expected value of the working counter with
the value read back via the fieldbus. If the read-back value is lower than the expected value,
the telegram has not reached all addressed slaves. The control unit recognises this and
signals an error.
The working counter (WKC) can be used as a diagnostics option to check the processing of
the EtherCAT telegrams by the slaves.
Example
 10 slaves read/write process data in the Operational status
Expected value of the WKC: 10
 A cable break between the 8th and 9th slave causes the master to be unable to access
slave 9 and slave 10:
– Value of the restored WKC: 8
– An error response is initiated in the control.

DMS 3.1 EN 01/2011 TD17 L 21

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required hardware components

4.2 Required hardware components

4.2.1 The industrial PC - the central component

The industrial PC is the central component in the EtherCAT bus system:

 The industrial PC is the EtherCAT master.
 The industrial PC acts as EtherCAT gateway to be able to access the field devices from
the engineering PC via Ethernet and EtherCAT.
 The devices must be connected in a line. To ensure that the system operates properly,
the physical arrangement of the EtherCAT field devices must comply with the bus
topology created in the »EtherCAT Configurator«.
 Each EtherCAT slave has two EtherCAT ports.
– In contrast to Ethernet, one port is assigned as input, the other one as output.
– Input (IN) and output (OUT) must not be reversed!
 A bus termination at the last slave is not required since the bus system at the last slave
is terminated automatically.

22 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required hardware components

4.2.2 Field devices

The Lenze control system supports the following EtherCAT-capable logic and motion
components:

Field devices EtherCAT bus

Logic Motion
Industrial PCs EL x1xx PLC z -
EL x7xx z z
CS x7xx z z
CPC x7xx z z
Servo Drives 9400 1) HighLine z
Highline with CiA402 z z
PLC z
Inverter Drives 8400 2) BaseLine z
StateLine z
HighLine z
TopLine z
I/O system 1000 EPM-Sxxx z
ECS servo system 3) ECSxE z
ECSxS (Speed & Torque) z
ECSxP (Posi & Shaft) z
ECSxM (Motion) z
ECSxA (Application) z

1) With EtherCAT E94AYCET communication module

2) With EtherCAT E84AYCET communication module
3) With EtherCAT EMF2192IB communication module

Field devices of other manufacturers can be integrated as logic nodes if they provide a
standard-compliant EtherCAT device description.

DMS 3.1 EN 01/2011 TD17 L 23

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required hardware components

4.2.3 EtherCAT product codes

The product codes serve to assign device descriptions to the corresponding devices. Device
descriptions can be installed via the device repository.
Importing missing field devices ( 59)
 The product codes are part of the device ID.
 Structure of the device ID: <Manufacturer ID>_<Productcode><Revision number

Identification Meaning
Manufacturer ID Clear identification for the manufacturer, for Lenze devices: 0x3Bhex (59dec)
Product code Product code of the product range/the device
Revision number Revision number, consists of Major Revision (CANopen behaviour) and
Minor Revision (device version)

If, for instance, a device available at the fieldbus witout an installed device description is
detected during a Fieldbus scan with the »EtherCAT Configurator« ( 47) , a message with
the device ID as hexidecimal value is displayed.

In the example, the device description for a Lenze Servo Drive 9400 HighLine, actuator –
speed, is not installed (0x38079CD9hex = 940023001dec).

Product codes for Servo Drives 9400

Product code [dec] Meaning

9 4 0 0 2 1 x x x Servo Drive 9400 in general
9 4 0 0 2 2 x x x Servo Drive 9400 StateLine
9 4 0 0 2 3 x x x Servo Drive 9400 HighLine
9 4 0 0 2 4 x x x Servo Drive 9400 TopLine
9 4 0 0 2 5 x x x Servo Drive 9400 PLC
9 4 0 0 2 6 x x x Servo Drive 9400 V/R (regenerative power supply module)

Applications:
0 0 0 Empty application
0 0 1 Actuating drive speed
0 0 2 Actuating drive torque
0 0 3 Electronic gearbox
0 0 4 Synchronism with mark synchronisation
0 0 5 Table positioning
0 0 6 Positioning sequence control
0 0 7 PLC application
0 0 8 Reserved
... ...
0 9 9 Reserved
1 x x Reserved for device profiles
1 0 1 CiA402
2 x x Reserved for Lenze applications
2 0 1 Regenerative power supply module application

24 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required hardware components

Product codes for Inverter Drives 8400

Product code [dec] Meaning

8 4 0 0 2 1 Inverter Drive 8400 BaseLine
8 4 0 0 2 2 Inverter Drive 8400 StateLine
8 4 0 0 2 3 Inverter Drive 8400 HighLine
8 4 0 0 2 4 Inverter Drive 8400 TopLine

Product codes for the I/O system 1000

Product code Meaning

[dec]
1 3 0 0 I/O system EPM-S130

Product codes for the ECS servo system

Product code [dec] Meaning

2 1 9 2 0 7 0 0 ECSxA axis module "Application"
2 1 9 2 0 7 0 1 ECSxM axis module "Motion"
2 1 9 2 0 7 0 2 ECSxP axis module "Posi & Shaft"
2 1 9 2 0 7 0 3 ECSxS axis module "Speed & Torque"
2 1 9 2 0 7 1 1 ECSxE power supply module

DMS 3.1 EN 01/2011 TD17 L 25

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required hardware components

4.2.4 EtherCAT hardware for the industrial PC

MC-ETC communication card

The MC-ETC communication card is a plug-in card for connecting an industrial PC to an
EtherCAT network.

 Note!
In case of a correct connection to the field devices, the LEDs of the
communication card are lit.
Connection RJ45 socket / LEDs ( 34)

A Front panel
B Board
C Coding
D Connection
E EtherCAT connection
Connection RJ45 socket / LEDs
( 34)

MC-ETC-001

Technical data of the MC-ETC communication card ( 34)

26 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required hardware components

Possible applications

 Note!
The industrial PC only supports one communication card MC-ETC!

Industrial PC Can be combined with CANopen Communication card for CANopen

EL x7xx yes MC-CAN2
CS x7xx no
CPC 2700 yes MC-CAN2

Example: Industrial PC EL x7xx with MC-ETC

MC-ETC_ELx7xx

Legend
EL x7xx Industrial PC of the EL x7xx series
ETC1 EtherCAT network connection
MC-ETC MC-ETC communication card

DMS 3.1 EN 01/2011 TD17 L 27

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required engineering tools

4.3 Required engineering tools

 The engineering tools required for configuration and parameter setting are installed on
the engineering PC.
 »Engineer«, »EtherCAT Configurator« and »PLC Designer« are engineering PC tools
which are independent of each other.
 The EtherCAT bus, the industrial PC and the EtherCAT-capable field devices are
configured with the engineering tools highlighted in grey.

28 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Required engineering tools

Brief description of the engineering tools

L-force »Engineer«
With the »Engineer«, you can ...
 parameterise, configure and diagnose ...
– Servo Drives 9400;
– Inverter Drives 8400;
– the I/O system 1000.
 access the supported field devices via the gateway function of the industrial PC.

»Global Drive Control« ((GDC))

With (GDC) you can ...
 parameterise, configure and diagnose controllers which are not supported by the
»Engineer« (e.g. devices of the ECS servo system).
 access the supported field devices via the gateway function of the industrial PC (not
with PROFIBUS).

L-force »PLC Designer«

The »PLC Designer« is needed to ...
 create the control program for the industrial PC;
 transfer the PLC projects to the industrial PC.

DMS 3.1 EN 01/2011 TD17 L 29

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Interaction of the components

4.4 Interaction of the components

4.4.1 The state machine of the Lenze control technology

In the Lenze control technology, the states of the PLC and the EtherCAT fieldbuses are
coupled. The PLC controls the fieldbus.
After switch-on the system automatically powers up if the following conditions are
fulfilled:
 The IPC is provided with the configuration file for the EtherCAT master (master-XML
file), the contents of which corresponds to the real bus topology.
 The IPC is provided with an executable PLC boot project.
 The slaves at the fieldbus can be accessed.
The following illustration shows the linkage of the states in the state machine of the Lenze
control technology when the conditions for the automatic acceleration of the system are
fulfilled (boot project with EtherCAT BusInterface and EtherCAT master configuration):

Switch on industrial PC and field devices

PLC: Original
EtherCAT: Unknown

PLC: Original
EtherCAT: Init

PLC: Original
EtherCAT: Pre-Operational

PLC: Running
EtherCAT: Safe-Operational

PLC: Running
EtherCAT: Operational

Legend
Transitional state, automatic change to next state
Stationary state, change to next state by external actions
PLC State of the PLC
EtherCAT State of the EtherCAT fieldbus

30 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Interaction of the components

Explanation of the transitions during system start

While a state is passed through, different tests are carried out (e.g. it is tested whether the
physical topology complies with the configuration). If the tests are successful, the system
automatically changes to the next state.

Status What happens? What is tested?

PLC EtherCAT
Origin Unknown The system starts. Is a master XML file available?
Origin Init EtherCAT is initialised. Does the imported master XML
Master XML file is imported. comply with the result of the bus
Bus scan is executed scan?
Origin Pre-Operational EtherCAT is active. Is an executable boot project
SDO communication is possible. available?
Running Safe-Operational The PLC program is being loaded. Are all inputs ok and initialised?
The PLC is running.
The inputs are transferred, the
outputs are still in a safe state.
Running Operational The system is running.

Detailed information about the possible bus states and the required commissioning steps
can be found here:
Commissioning of the system ( 42)

DMS 3.1 EN 01/2011 TD17 L 31

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Interaction of the components

4.4.2 Communication between engineering PC and field devices

For commissioning of the field devices, an online connection is required between the
engineering PC and the corresponding field device. Depending on the state of the EtherCAT
bus, there are two options:
EtherCAT bus not in operation ( 32)

EtherCAT bus in operation (gateway function) ( 33)

4.4.2.1 EtherCAT bus not in operation

You can communicate serially or via CANopen.

Condition:
 Serial communication:
– You require the E94AZCUS diagnostic adapter.
– Field device and engineering PC (USB interface) must be connected via the diagnostic
adapter.
 Communication via CANopen
– You required the EMF2177IB USB system bus adapter .
– Field devices and the engineering PC are connected via the system bus adapter -
either via a point-to-point connection or via the bus system.

Advantage:
 Quick option of communication without commissioning of the EtherCAT bus.

Disadvantage:
 You require additional hardware.

 Tip!
As soon as the fieldbus has been commissioned and at least achieved the Pre-
Operational state, this communication path comes second. We recommend to
commission the EtherCAT bus as soon as possible to be able to use the gateway
function.

32 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Interaction of the components

4.4.2.2 EtherCAT bus in operation (gateway function)

You directly communicate via EtherCAT and use the industrial PC as gateway.

 Note!
A PLC program does not need to run to be able to use the gateway function.

Condition
 The bus configuration has been created using the »PLC Designer« and corresponds to
the hardware configuration.
 The bus configuration has been loaded onto the industrial PC using the »PLC Designer«
and is active.
 The fieldbus state is at least Pre-Operational.

Advantage:
 You do not require any additional hardware.
 The entire communication (process data, parameter data, and diagnostic data) are
transferred at the same time using a single bus connection.

DMS 3.1 EN 01/2011 TD17 L 33

Control technology | EtherCAT communication manual
Technical data
General data of the EtherCAT bus

5 Technical data

5.1 General data of the EtherCAT bus

Field Values
Communication medium S/FTP (Screened Foiled Twisted Pair, ISO/IEC 11801 or EN 50173), CAT5e
Network topology Line
Number of nodes Max. 65535 ( in the entire network )
Max. cable length 100 m between two nodes
Baud rate 100 Mbit/s
EtherCAT module Direct mode
Communication profile CoE (CANopen over EtherCAT)
Synchronisation Distributed clocks

5.2 MC-ETC communication card

Field Values
Possible baud rate 100 Mbit/s
Type within the network Master
Connection RJ45 socket in accordance with EN 50173

Connection RJ45 socket / LEDs

View Description Cable type

EtherCAT connection • CAT5e S/FTP network cable
• LED "Link": (recommended) in accordance
– On: connection ok with ISO/IEC 11801 or EN 50173
– Blinking: data exchange • Cable length: max. 100 m
• LED "Speed":
MC-ETH-001 – Green: 100 MBit/s

Pin assignment

RJ45 socket Pin Assignment

1 Tx +
2 Tx -
3 Rx +
4 -
5 -
1 6 Rx -
E94YCEP018 7 -
8 -

34 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Technical data
Communication times and drive-specific data

5.3 Communication times and drive-specific data

Field Values
User data per frame 1344 bytes
Process data words (PZD) for Servo max. 32 words (64 bytes)
Drives 9400 HighLine
Parameter data (SDO) transfer Max. 128 bytes
Permissible EtherCAT cycle times 1 … 10 ms
Max. number of Servo Drives 9400 User data of the frame (1344 bytes) divided by the process data length
HighLine per frame resulting from setpoints and actual values of the drives:
• for 32 Tx/Rx bytes: 1344 bytes / 64 bytes = 21 drives
• for 16 Tx/Rx bytes: 1344 bytes / 32 bytes = 42 drives
Total signal runtime for a cycle time 5 ms
of 1ms
Drive Control Drive
Runtime of the setpoints 2 ms
Control Drive
Runtime of the actual values 3ms
Drive Control
Cross communication Not possible
Cycle synchronisation with locked +/-1 μs
PLL (jitter)

DMS 3.1 EN 01/2011 TD17 L 35

Control technology | EtherCAT communication manual
Synchronisation with "Distributed clocks"

6 Synchronisation with "Distributed clocks"

The "Distributed clocks" (DC) function enables an exact time adjustment for applications
where several auxiliary axes carry out a coordinated movement at the same time. The data
is accepted synchronously with the PLC program. With the DC synchronisation, all slaves
are synchronised with a reference clock, called the "DC master".

 Note!
• Motion applications always require DC synchronisation.
• DC synchronisation can also be used for Logic applications.
• Some slaves do not support the DC functionality.
– To be able to use the DC function, the first slave connected to the EtherCAT
master (IPC) must be DC-master-capable.
– In the arrangement of the slaves following then, DC-capable and non-DC-
capable devices can be mixed.
• The first EtherCAT node connected to the IPC must be the DC master which
provides the other EtherCAT nodes (including the IPC) with the exact time.

The settings for the DC synchronisation are made with the »EtherCAT Configurator«.
Adjusting task cycle time and DC cycle time ( 38)
Setting the DC synchronisation with the »EtherCAT Configurator« ( 39)

36 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Synchronisation with "Distributed clocks"
Synchronous communication

6.1 Synchronous communication

The DC synchronisation provides for a phase-synchronous operation of master and slaves:

Within one bus cycle the setpoints are accepted and the actual values are detected in the
fieldbus at exactly the same time.
If the control (IPC) is synchronous to the distributed clocks, the data (actual values)
collected by the slave are assigned to the master at the end of the bus cycle and data from
the master (setpoints) are sent to the slaves for processing.
When the next DC synchronisation event occurs, the data are accepted.

 Note!
State change and DC synchronisation for Servo Drives 9400 HighLine
During the state change from Operational to Pre-Operational, the DC
synchronisation is deactivated (C13883/C14883 = 0).
In order to re-activate the sync pulses adjust your PLC program in the following
way:
• Call the function block ResetAxisGroup.
– In this way, the EtherCAT fieldbus is reinitialised.
– The DC synchronisation is active again (C13883/C14883 = 1).

DMS 3.1 EN 01/2011 TD17 L 37

Control technology | EtherCAT communication manual
Synchronisation with "Distributed clocks"
Adjusting task cycle time and DC cycle time

6.2 Adjusting task cycle time and DC cycle time

The industrial PC is the fieldbus master in the EtherCAT network. The clock pulse of the
EtherCAT bus system is determined by the cycle time of the task which is assigned to the
drives (slaves) in the »PLC Designer«.
The task settings in the »PLC Designer« only support integer millisecond cycles and the
smallest possible bus cycle is 1 millisecond. This cycle time can be defined via the task
configuration of the »PLC Designer«.

 Note!
• The DC cycle time to be set in the »EtherCAT Configurator« must comply with
EtherCAT task cycle time set in the »PLC Designer«.
• Select the cycle times, according to the technical data, between 1 and 10 ms.

38 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Synchronisation with "Distributed clocks"
Setting the DC synchronisation with the »EtherCAT Configurator«

6.3 Setting the DC synchronisation with the »EtherCAT Configurator«

 Note!
The manual configuration of the slave DC features requires a detailed
knowledge of EtherCAT and the field device. Thus, DC settings should only be
made by experts.
A faulty configuration can cause maloperation and negative influences on the
system.

 How to set the DC synchronisation:

1. Set the Distributed clocks (DC) cycle time at the EtherCAT Master:

• The DC cycle time to be set in the »EtherCAT Configurator« must comply with
the EtherCAT task cycle time set in the »PLC Designer«.
• Select the cycle times, according to the technical data, between 1 and 10 ms.
• The (basic) cycle time set here is valid for all Logic and Motion nodes
synchronised by distributed clocks.
• For field devices with communication modules (e.g. Servo Drives 9400 or
Inverter Drives 8400), a synchronisation source must be selected via code
C01120. If the DC setting and the selection of the sync source differ from each
other (C01120 = MXI1 and "DC nused"), the devices cannot be set to the
Operational state.
• For Servo Drives 9400, code C13892/C14892 = 1 must be set (process data
mode = "deterministic mode").

DMS 3.1 EN 01/2011 TD17 L 39

Control technology | EtherCAT communication manual
Synchronisation with "Distributed clocks"
Setting the DC synchronisation with the »EtherCAT Configurator«

2. Activate the DC functionality for the first slave (DC master) connected to the bus
master (select "DC for synchronization"):

3. Also activate the DC functionality (select "DC for synchronization") for all other
slave devices which are to use the DC synchronisation.

 Note!
Maintain all other basic DC settings for the slaves to ensure a correct DC
synchronisation.

40 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Synchronisation with "Distributed clocks"
Check of the DC synchronicity

6.4 Check of the DC synchronicity

The DC synchronicity can only be checked in the Operational bus state.

You can check the DC synchronicity via the "ECAT DC: Status" parameter (code C1082/1 /
C1582/1) or via the Notifications ( 120) bEC_NOTIFY_DC_STATUS and
bEC_NOTIFY_DC_SLV_SYNC.

DMS 3.1 EN 01/2011 TD17 L 41

Control technology | EtherCAT communication manual
Commissioning of the system

7 Commissioning of the system

This chapter provides information about how to commission the Lenze control system
with EtherCAT.
Commissioning of the system requires the following Lenze engineering tools:
 »EtherCAT Configurator«
 »PLC Designer«
 »Engineer«
An overview of the commissioning steps is given in the next section Overview of
commissioning steps ( 43). Follow the instructions of these sections step by step in order
to commission your system.
At the end of this chapter you will find a chart showing a Detailed overview of the
commissioning steps ( 90) with regard to the different Lenze engineering tools.

42 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Overview of commissioning steps

7.1 Overview of commissioning steps

DMS 3.1 EN 01/2011 TD17 L 43

Control technology | EtherCAT communication manual
Commissioning of the system
Overview of commissioning steps

The main commissioning steps are listed in the following table:

Step Activity Software used

1. Installing field devices ( 45)
2. Creating a project folder ( 46)
3. Fieldbus scan with the »EtherCAT Configurator« ( 47) »EtherCAT Configurator«
Fieldbus scan with the »scandf« command line tool ( 51) Command line tool »scandf«
4. Inserting devices available on the fieldbus into the »EtherCAT »EtherCAT Configurator«
Configurator« project ( 55)
Creating the configuration in the »EtherCAT Configurator« ( 56)
5. Export of EtherCAT configuration ( 67) »EtherCAT Configurator«
6. Configuration in the »Engineer« ( 54) »Engineer«
8. Configuration in the »PLC Designer« ( 68) »PLC Designer«
9. Loading the control configuration onto the IPC ( 78) »PLC Designer«
10. Loading the master configuration onto the EtherCAT master ( 79) »PLC Designer«
11. Loading and starting the PLC program ( 79) »PLC Designer«

44 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2 Detailed commissioning steps

In the following sections, the individual commissioning steps are described.

 More detailed information about how to work with the Lenze engineering tools
can be found in the corresponding manuals and online helps.

7.2.1 Planning the bus topology

Before you start to set up an EtherCAT network, first create a plan of your EtherCAT bus.
Brief description of EtherCAT ( 16)

 How to plan the bus topology for your configuration:

1. Create an overview of the planned EtherCAT network with all field devices to be
integrated.
2. Start with the industrial PC.
3. Add the other field devices below.
4. You have to distinguish between the following two cases:
• Operation without synchronisation via distributed clocks:
DC synchronisation is not required if exclusively Logic field devices are to be
operated on the network. The sequence of the field device interface connections
on the bus can freely be selected.
• Operation with synchronisation via distributed clocks:
DC synchronisation is required if Motion and Logic field devices are to be
operated on the network. The first node connected to the control IPC must be
capable of being a DC master. The sequence of the other Logic and Motion field
device interface connections can freely be selected.

7.2.2 Installing field devices

For the installation of a field device, follow the mounting instructions for the respective
device.

 Note!
• The EtherCAT interfaces of all devices must be wired according to the planned
topology. The inputs (IN) and outputs (OUT) must not be reversed because
otherwise the topology changes.
Communication ( 18).
• The structure of the EtherCAT configuration must be identical with the order
of the devices in the »EtherCAT Configurator«.
• The master automatically assigns the node addresses to the slaves.
Therefore, a manual address assignment is not required.

DMS 3.1 EN 01/2011 TD17 L 45

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.3 Creating a project folder

Create a project folder on the engineering PC.

Use this project folder to store the below data generated in the different project
configuration steps:
 The project file created in the »EtherCAT Configurator«
 The configuration files exported from the »EtherCAT Configurator«:
– ECAT_PLC_CFG_1.XML
– ECAT_MASTER_1.XML
 The project data created in the »Engineer«
 The project file created in the »PLC Designer«

 Tip!
Create a separate project folder for every EtherCAT configuration and store the
project and configuration files in this folder.

46 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.4 Determining the physical EtherCAT configuration (fieldbus scan)

You can execute a fieldbus scan with the »EtherCAT Configurator« on the IPC in order to
check the physical EtherCAT configuration. Alternatively, the command line tool »scandf«
( 51) is also available on the IPC.

 Note!
• Scanning of the EtherCAT fieldbus is also possible without an appropriate
EtherCAT configuration.
• Communication to field devices via the EtherCAT fieldbus is only possible if at
least the Pre-Operational state has been reached.

7.2.4.1 Fieldbus scan with the »EtherCAT Configurator«

The »EtherCAT Configurator« offers the possibility to execute an online search for devices
which are connected to the EtherCAT fieldbus.
In order to search for devices you must first establish an online connection of the
»EtherCAT Configurator« with the industrial PC.

 How to execute a fieldbus scan with the »EtherCAT Configurator«:

1. Enter the IP address of the industrial PC:
• Select the L-force Controller by double-clicking in the device tree:

• Enter the IP address of the industrial PC which should serve as control unit of the
configuration into the Online access configuration dialog box in the Master
configuration area:

DMS 3.1 EN 01/2011 TD17 L 47

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

2. Execute the Login command in the context menu of the L-force Controller:

After a successful login, the L-force Controller (the industrial PC) is connected to the
engineering PC:

3. After a successful login, execute the Start Search command in the context menu of
the L-force Controller :

48 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

The »EtherCAT Configurator« determines the EtherCAT nodes available at the

fieldbus. In the Start Search dialog box, the devices are listed according to the
physical order at the fieldbus:

Further information on the Start Search dialog box can be found here:
Inserting devices available on the fieldbus into the »EtherCAT Configurator«
project ( 55)

DMS 3.1 EN 01/2011 TD17 L 49

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

Missing device descriptions

If a device available at the fieldbus is not present in the device repository, an error message
within the Start Search dialog box will inform you about it:

 The device cannot be interpolated into the project as the corresponding device
description has not been installed.
 In order to install the device in the device repository, the corresponding device
description file from the manufacturer is required. The device identification (device ID)
can be helpful to identify the device (see also EtherCAT product codes ( 24)).
Importing missing field devices ( 59)

50 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.4.2 Fieldbus scan with the »scandf« command line tool

Fieldbus scanning command

Command: scanfd <interface> /option
The interface for the EtherCAT slaves to be scanned on the fieldbus is called ECAT.

Option Output on the console

/i Determine available interfaces
/t Display device information for every network node.
/f Display additional device parameters for every device if available.
/n Suppress prompt before execution of the fieldbus scan.

 How to carry out a fieldbus scan:

1. Establish a Telnet connection to the IPC.
More detailed information is provided in the documentation for the IPC.
2. Call scanfd.exe via the command line box of the IPC to scan the fieldbus.
3. Determine the available interfaces of the IPC:
• Enter scanfd /i.
Output example:

The fieldbus scanner displays the available interfaces:

• ECAT for the EtherCAT-capable field devices,
• CAN1 and CAN2 for the CAN field devices.

DMS 3.1 EN 01/2011 TD17 L 51

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

4. Determine the field devices physically available at the ECAT

interface:
• scanfd ecat /t /f /n
Output example:

After executing the scanfd.exe file, the console displays the result of the fieldbus
scan. The first output line contains the number (x) of slaves found on the fieldbus:
x devices at interface ´ecat´!
The further output lines provide informationen on each slave:

52 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

Information about the field devices

 The individual slaves are generally listed according to the auto-increment addressing
scheme in their physically order.
 The first slave connected to the master has the node address 0. The second slave has
the negative node address -1. The other slaves have negative node addresses (-n)
corresponding to their positions on the fieldbus.

Information Function
DeviceID Node address of the slave:
• Display of the auto-increment address.
• The first slave has the node address 0.
Vendor Name of the manufacturer
ProductCode Product designation in hexadecimal format
(see also EtherCAT product codes ( 24))
Examples:
#x38079cd9: Lenze Servo Drive 9400 HighLine TA speed acuating drive
#x38079d3d: Lenze Servo Drive 9400 HighLine CiA402
RevisionNumber Version number in hexadecimal format
SerialNumber Serial number in hexadecimal format

Troubleshooting
If the fieldbus scan does not find any field devices at the selected interface, the following
error message appears:

 How to check the physical configuration:

1. Analyse the messages in the Logbook of the IPC ( 140). IPC logbook messages
( 142)

2. Check the wiring.

DMS 3.1 EN 01/2011 TD17 L 53

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.5 Configuration in the »Engineer«

The »Engineer« is used to configure and parameterise the Lenze field devices connected to
the EtherCAT bus.

 Note!
PDO mapping settings
The mapping required for a cross communication must be created in the
»EtherCAT Configurator«/»PLC Designer«.
During start-up of the PLC, the complete configuration/PDO mapping is written
into the EtherCAT slaves. Mapping entries, e.g. from the »Engineer«, are not
overwritten.
Executing PDO mapping ( 65)
Editing the EtherCAT I/O image ( 66)

 How to configure the drives in the »Engineer«:

1. Create a new »Engineer« project or open an already existing project.
2. Insert the Lenze field devices in the device tree and select the hardware
configuration of the axes.
For Servo Drives 9400:
• Select inverter.
• Select motor.
• Select modules.
3. Assign an application to the field devices and set the drive parameters.
4. Save the »Engineer« project to the project folder.

54 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.6 Inserting devices available on the fieldbus into the »EtherCAT Configurator« project

After a Fieldbus scan with the »EtherCAT Configurator« ( 47) the EtherCAT nodes are
listed according to their physical order at the fieldbus in the Start Search dialog box:

Here you can...

 assign individual unique device names in the Device name column. Observe the
IEC 61131 syntax (no spaces and leading digits in variable names)!
 select individual devices in the Device name column and copy them into your
»EtherCAT Configurator« project:
– Activate the Copy into project button.
– The Copy into project button will only appear if one or more devices are selected.
 copy all available devices into your »EtherCAT Configurator« project. ( 55)
– Activate the Copy all devices into project button.

 Note!
We recommend to copy all devices into the project.
After pasting you must check if the order of the devices in the project
corresponds to the physical order in the network.

DMS 3.1 EN 01/2011 TD17 L 55

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.7 Creating the configuration in the »EtherCAT Configurator«

The »EtherCAT Configurator« is used to set up the EtherCAT configuration. During this
process, the ECAT_PLC_CFG_1.XML and ECAT_MASTER_1.XML configuration files are
created.
These files...
 illustrate the physical structure of the EtherCAT configuration;
 contain synchronisation settings, SoftMotion parameter values (only of SoftMotion
nodes) and the variable mapping of the EtherCAT nodes.
At a later time, you have to
 import the ECAT_PLC_CFG_1.XML file into the control configuration using the »PLC
Designer«.
 write the ECAT_MASTER_1.XML file to the IPC.

 Note!
• The order of the EtherCAT slaves in the device tree must correspond to the
physical order of the EtherCAT configuration.
• In order that the system works properly, end terminals must not be used
when setting up the system configuration in the device tree.
• For the integration of external devices, the »EtherCAT Configurator« only
supports device descriptions meeting the standards.
• Select the cycle times, according to the technical data, from 1 ... 10 ms. The
cycle times are carried out by the configurations in the »EtherCAT
Configurator« and »PLC Designer«.

Observe the following conditions before you lay out a topology in the »Engineer«:
 SoftMotion operation is only possible with Servo Drives 9400 Highline CiA402.
 The »EtherCAT Configurator« supports Lenze EtherCAT slaves and EtherCAT devices of
other manufacturers. The integration of third-party devices requires the respective
manufacturer's device descriptions.
Importing missing field devices ( 59)

56 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.7.1 Setting up the EtherCAT configuration in the device tree

 Note!
The order of the devices in the »EtherCAT Configurator« must correspond with
the physical structure of the EtherCAT configuration.

 How to set up the EtherCAT configuration in the device tree:

1. Create a new project in the »EtherCAT Configurator«:
• Menu command: FileNew Project.
2. Map the physical configuration in the device tree:
• Add the individual field devices to the EtherCAT_Master of the configuration:
Execute the Add Device command of the EtherCAT_Master context menu:

DMS 3.1 EN 01/2011 TD17 L 57

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

3. Select the device in the selection list of the Add Device dialog box:

4. Enter the device name in the Name input field (example: X_axis_vertical),
• Click the Add Device button.
5. Add more slaves of the configuration to the device tree:
• Select the device to which a slave is to be added. Select the Insert Device
command from the device context menu.
• Devices missing in the selection list can be added by importing the
corresponding device description file.
Importing missing field devices ( 59)
6. Close the dialog box by clicking the Close button.

58 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.7.2 Importing missing field devices

Additional device descriptions can be installed via the device repository.
The device repository manages the device description files stored locally on the system.

 How to import additional device descriptions:

1. Open the device repository with the ToolsDevice Repository menu command:

2. Click the Install button.

3. Select the device description file(s) to be imported from the Installed device
descriptions dialog box appearing now.
4. Finally, click the Open button to execute the file import command.
• A progress bar indicates the installation process.

DMS 3.1 EN 01/2011 TD17 L 59

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.7.3 Setting up a DC synchronisation

 Note!
The manual configuration of the slave DC features requires a detailed
knowledge of EtherCAT and the field device. Thus, DC settings should only be
made by experts.
A faulty configuration can cause maloperation and negative influences on the
system.

 Motion applications always require DC synchronisation.

 DC synchronisation can also be used for Logic applications.
 To be able to use the DC function, the first slave connected to the EtherCAT master (IPC)
must be DC-master-capable.
The first EtherCAT node connected to the IPC is the DC master which provides the other
bus nodes (including the IPC) with the exact time.
 In the arrangement of the slaves following then, DC-capable and non-DC-capable
devices can be mixed.
 For field devices with communication modules (e.g. Servo Drives 9400 or Inverter
Drives 8400), a synchronisation source must be selected via code C01120. If the DC
setting and the selection of the sync source differ from each other (C01120 = MXI1 and
"DC nused"), the devices cannot be set to the Operational state.
 For Servo Drives 9400, code C13892/C14892 = 1 must be set (process data mode =
"deterministic mode").

60 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

 How to set the DC synchronisation:

1. Configure the synchronisation of the EtherCAT slaves via distributed clocks (DC).
• Set the Distributed clocks (DC) cycle time at the EtherCAT Master:

• The DC cycle time to be set in the »EtherCAT Configurator« must be identical to

the EtherCAT task cycle time set in the »PLC Designer«.
• Select the cycle times, according to the technical data, between 1 and 10 ms.
• The (basic) cycle time set here is valid for all Logic and Motion nodes
synchronised by distributed clocks.

DMS 3.1 EN 01/2011 TD17 L 61

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

2. Activate the DC functionality for the first slave (DC master) connected to the bus
master (select "DC for synchronization"):

3. Also activate the DC functionality (select "DC for synchronization") for all other
slave devices which are to use the DC synchronisation.

 Note!
Maintain all other basic DC settings for the slaves to ensure a correct DC
synchronisation.

62 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.7.4 Set SoftMotion parameters.

 Note!
The SoftMotion Drive: Basic tab is only available for Lenze EtherCAT slaves using
the CiA402 application (SM_Drives).

The settings depend on the application:

Input fields Function/description

Axis type and limits
• Virtual mode Activate virtual mode for the configuration to be selected.
• Rotary Select configuration for rotary axis.
• Linear Select configuration for linear axis.
Modulo settings (only for rotary operation)
• Modulo value Define SoftMotion units for rotary operation.
(With the value 360.0, the drive would carry out exactly one mechanical
revolution.)
Software limits (only for linear operation)
• Activated Activate software limit switches.
• Negative Define value for negative software limit switch.
• Positive Define value for positive software limit switch.
Limits for CNC (limits are only effective for CNC operation.)
• Velocity Define maximum (setpoint) velocity of the axis.
• Acceleration Define maximum acceleration.
• Deceleration Define maximum deceleration.
Velocity ramp type
• Trapezoid Trapezium
• sin2 Sine curve
• Parabolic Parabola
• Jerk Value for jerk (only for the ramp types "sin2" and "parabolic")

 A detailed description of the velocity ramp types can be found in the

documentation/online help for the »PLC Designer« (SoftMotion).

DMS 3.1 EN 01/2011 TD17 L 63

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

Not all parameters required for operating a Motion drive acan be set automatically via the
control.
Set the following parameters for the Servo Drives 9400 HighLine CiA402 manually via the
»Engineer« or the »Global Drive Control«:
 Homing mode (C02640, to be set machine-dependent)
 Touch-probe interface (to be set machine-dependent)
 Control of a holding brake (0x60FB/2 | Brake control)
– Depending on the setting of this parameter, the holding brake is applied for a short
time after the conclusion of the home position path. In order to avoid this, set bit 2
in this parameter (disable stop => does not apply the brake in standstill).

64 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.7.5 Executing PDO mapping

 Note!
The PDO mapping must only be set for the Servo Drives 9400 HighLine CiA402.

Set the PDO mapping via the process data tab (standard setting for Servo Drives 9400
HighLine CiA402):

 The settings for the outputs and inputs must be identical.

 In order to change the setting, you must first deselect the current setting. After that you
can freely select the wanted setting.

DMS 3.1 EN 01/2011 TD17 L 65

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.7.6 Editing the EtherCAT I/O image

 Assign non-ambiguous variable names to the input and output objects according to
IEC 61131 syntax (no blanks and leading digits in the variable name). After the import
of the EtherCAT configuration into the »PLC Designer« control configuration,
corresponding system variables are available for the PLC program.

 Note!
• Always use the system variables within the PLC program in order to access the
input and output objects or assign values to them.
• When copying a device in the »EtherCAT Configurator«, you must rename the
variables for the device copy, otherwise there will be a compiler error during
the compilation in the »PLC Designer«.

 By double-clicking the corresponding fields, you can make the adjustments:

In the example, variable names have been assigned to the first three output objects.
Moreover, an offset of ’1000’ has been entered for the first output object (%QW...) and the
first input object (%IW...).
 The »EtherCAT Configurator« does not work with byte addresses. The objects are
addressed with the byte address in the control configuration:

Objects Addresses in the Byte addresses

»EtherCAT Configurator«
Output objects %QX1000.0 %QB1000
%QB1000 %QB1000
%QW1000 %QB500
%QD1000 %QB250
Input objects %IX1000.0 %IB1000
%IB1000 %IB1000
%IW1000 %IB500
%ID1000 %IB250

66 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.7.7 Export of EtherCAT configuration

First save your project with the menu command FileSave project to in the project folder
before you export the EtherCAT configuration.
During the export of the EtherCAT configuration, the configuration files
ECAT_PLC_CFG_1.XML and ECAT_MASTER_1.XML created.
At a later time, you have to
 import the ECAT_PLC_CFG_1.XML file into the control configuration using the »PLC
Designer«.
 write the ECAT_MASTER_1.XML file for the EtherCAT master stack to the IPC.

 How to export the EtherCAT configuration files:

1. Select Export EtherCAT Configuration from the context menu of the master:

2. A directory tree appears. Select the prepared project folder for storing.
3. Confirm the selection by clicking the OK button.
The configuration files ECAT_PLC_CFG_1.XML and ECAT_MASTER_1.XML is now
saved to the project folder.

DMS 3.1 EN 01/2011 TD17 L 67

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.8 Configuration in the »PLC Designer«

The »PLC Designer« serves to illustrate the field device topology in the control
configuration.

 Tip!
Nodes at other fieldbus systems can be configured in the »PLC Designer«.
EtherCAT with CANopen or PROFIBUS ( 91)

7.2.8.1 Set-up of control configuration

 How to set up the control configuration in the »PLC Designer«:

1. Create a new »PLC Designer« project:
• Menu command: FileNew
2. Select the suitable target system from the Target Settings dialog box:

• L-force_Logic_x700_Vx.xx.xx for Logic target systems

• L-force_Motion_x700_Vx.xx.xx for pure Motion target systems or Motion- and
Logic target systems
EtherCAT with CANopen or PROFIBUS ( 91)
3. Confirm the configuration of the target system setting by clicking the OK button.

68 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

4. Create a block:

 Note!
The program organisation unit must contain at least one instruction to function
properly.

DMS 3.1 EN 01/2011 TD17 L 69

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

5. Create the control configuration:

• Open the Resources dialog box:

• Open the PLC Configuration dialog box:

Setting Description
Automatic calculation of addresses Every newly added module automatically gets an address which results from
the address of the module integrated before and the size of this module. If a
module is removed from the configuration, the addresses of the subsequent
modules are adapted automatically.
The ExtrasCalculate addresses menu command serves to recalculate the
addresses starting with the currently selected node (module).
Check for overlapping addresses During the compilation of the project, a check for address overlapping is
carried out and overlapping addresses are indicated.
Save configuration files in project The data of the configuration file(s) *.cfg and device files on which the
current control configuration is based are stored in the project.

 Note!
We recommend to keep the standard setting. In case of a manual address
allocation, you must ensure that each object address is non-ambiguous in the
entire control configuration.
Detailed information on this can be found in the documentation for the »PLC
Designer«.

6. Add the bus interface to the PLC configuration:

Select the Append subelement BusInterface_EtherCAT command from the
PLC_configuration context menu.

70 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7. Import the EtherCAT components (file ECAT_PLC_CFG_1.XML) for the control

configuration:
• Select the Import module command in the context menu of
BusInterface_EtherCAT:

• Select the file ECAT_PLC_CFG_1.XML from the project folder and Open:

DMS 3.1 EN 01/2011 TD17 L 71

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

• When the file has been imported successfully, the Axis_IO_Group/IO_Group is

added to the configuration:

• The configuration created in the »EtherCAT Configurator« is attached below the

Axis_IO_Group/IO_Group.

 Note!
• The EtherCAT components of the control configuration (device and variable
names) may only be changed in the »EtherCAT Configurator«!
Changes made in the »PLC Designer« will get overwritten at the import of the
ECAT_PLC_CFG_1.XML file.
• The Axis_IO_Group/IO_Group must not be renamed!
• The Axis_IO_Group/IO_Group is overwritten at every import of the
ECAT_PLC_CFG_1.XML file.
• The Axis_IO_Group/IO_Group is created automatically at every import of the
ECAT_PLC_CFG_1.XML file and assigned a default name.

72 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.8.2 Creating a task

 How to create a task in the »PLC Designer«:

1. Select the Resources tab:

2. Select Task Configuration:

3. Select the Append Task command from the Task Configuration context menu.
4. Create a new task and make the settings relevant for the respective configuration:

Define the task cycle time. (Example in the screenshot: 1 ms)

 Note!
The task cycle time must be identical with the DC cycle time set in the »EtherCAT
Configurator«.

DMS 3.1 EN 01/2011 TD17 L 73

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

5. Assign a program call to the task:

• Select Attach program call in the context menu of the task.

• Open the input assistance via the button:

• Select the required program from the list of user-defined programs.

6. Compile the project with <F11> or save the project.
Compiling project data ( 77)
7. Assign a task to the Axis_IO_Group/IO_Group:

74 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

Use of breakpoints

 Note!
The setting of breakpoints in the PLC task assigned to the EtherCAT bus is
permissible.
Please observe:
• When reaching a breakpoint this task will be stopped.
• No new setpoints are calculated (Motion drives come to a standstill), no
deceleration ramp is generated.
• The control still sends EtherCAT frames. After restarting the PLC task, the
interrupted processing is resumed.
• Motion drives continue the interrupted motion, no acceleration ramp is
generated.

 Detailed information on breakpoints can be found in the documentation/online

help for the »PLC Designer«.

DMS 3.1 EN 01/2011 TD17 L 75

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.8.3 Configuring the communication parameters

Set the communication parameters to establish a connection to the respective IPC.

 How to configure the communication parameters

1. Select the OnlineCommunication Parameters command:

• Enter the designation of the new channel in the Name input field.
• Confirm the entry by clicking the OK button.
2. Enter the parameters in the Values column in the Communication parameters
dialog box.
• Double-click the respective value to edit the default values:

76 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

3. Click the Gateway button to configure a gateway connection:

• Select the TCP/IP connection type from the Connection selection field.
• Confirm the selection by clicking the OK button.

7.2.8.4 Compiling project data

To compile the project data, select the ProjectBuild menu command or press the <F11>
function key.
 If errors occurred during the compilation process, you can locate and eliminate them by
means of the »PLC Designer« error messages. Then compile the project data again.
 If no errors occurred during the compilation process, save the »PLC Designer« project to
the project folder.

7.2.8.5 Logging on to the control system with the »PLC Designer«

To log the »PLC Designer« on to the control system, select the OnlineLogin menu
command.
 For this, the PLC program must be error-free.
 Confirm the appearing query dialog whether the new program is to be loaded with Yes.

DMS 3.1 EN 01/2011 TD17 L 77

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.8.6 Loading the control configuration onto the IPC

 How to load the control configuration onto the IPC:

1. Select the OnlineWrite file to PLC menu command.
2. Select the required file from the Write file to PLC dialog box.
3. Confirm the selection by clicking the Open button.
The file is loaded onto the IPC and saved there under the same name.

 Tip!
The OnlineRead file from PLC menu command can be used to reload a file from
the IPC onto the »PLC Designer« project.

78 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps

7.2.8.7 Loading the master configuration onto the EtherCAT master

The Reset (original) command serves to load the master configuration
(ECAT_MASTER_1.XML) onto the EtherCAT master:
1. Reset (original) re-initialises the EtherCAT master stack.
2. The master compares the EtherCAT configuration with the physical bus topology. If the
EtherCAT configuration is identical with the bus topology, the bus enters the Pre-
Operational state.
3. Now it is possible communicate with the slaves via the EtherCAT fieldbus.

Checking with »WebConfig« or »Engineer«

 Under Master Configuration, you can check whether the configuration file
ECAT_MASTER_1.XML matches the physical bus structure.
 Depending on the slot used for the EtherCAT (MC-ETC) communication card, the
parameters of the following codes should be checked:
– MC-ETC in slot 1: codes 1080.2 / 1080.3 / 1080.4
– MC-ETC in slot 2: codes 1580.2 / 1580.3 / 1580.4
 If the ECAT_MASTER_1.XML configuration file corresponds to the physical bus
structure, the checksums of "ECAT Master Config" and "ECAT Stack Master" are identical
and the "ECAT Bus Scan Match" parameter has the value 1.

7.2.8.8 Loading and starting the PLC program

 Select the OnlineDownload menu command to load the PLC program included in the
configuration onto the control system.
 Select the OnlineRun menu command to start the PLC program.

DMS 3.1 EN 01/2011 TD17 L 79

Control technology | EtherCAT communication manual
Commissioning of the system
Checking the system startup

7.3 Checking the system startup

 Note!
Checking of the system startup is only possible for SoftMotion target systems.

To check whether the system has started up correctly, you can do the following
 Evaluation of the boot-up error message of the SM_DriveBasic.lib library ( 80);
 Evaluation of the Axis_IO_Group state ( 81);
 Evaluation of the axis state ( 82).

7.3.1 Evaluation of the boot-up error message of the SM_DriveBasic.lib library

To check that the system has started up correctly, you can evaluate the boot-up error. For
this purpose, the scope of the global variables contained in the SM_DriveBasic.lib library
includes the element g_strBootupError. This element displays error messages in text
form:
g_strBootupError = no error
no error indicates that the system has started up correctly:

80 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Checking the system startup

7.3.2 Evaluation of the Axis_IO_Group state

The Axis_IO_Group structure contains the global variable wState.

The following value ranges have to be evaluated for the system startup check:

The value of the wState variable has the following meaning:

State of the Axis_IO_Group State of the system

wState = 0 • Initial state
• Project loaded
• PLC in stop
wState = 1...99 • System is starting up
• Project loaded
• PLC started
wState = 100 • System has started up successfully
wState > 1000 • Error occurred during startup, compare error message in
g_strBootupError

DMS 3.1 EN 01/2011 TD17 L 81

Control technology | EtherCAT communication manual
Commissioning of the system
Checking the system startup

7.3.3 Evaluation of the axis state

The global Ax_Ref structure of the Motion axes contains the element bCommunication:

The following axis states have to be evaluated:

State of the axis State of the system

bCommunication = true Cyclic communication is functioning properly.
bCommunication = false Cyclic communication is not functioning properly.

82 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Typical commissioning scenarios

7.4 Typical commissioning scenarios

In this chapter you will find typical commissioning scenarios and the corresponding state
diagrams, which will help you to carry out simple analyses of the system behaviour.

7.4.1 Switching on a completely configured system

Initial situation:
 The PLC application has been loaded on the IPC.
 The ECAT_Master_1.XML file matching the bus topology is available on the IPC.

System behaviour:
 The system starts up automatically.

DMS 3.1 EN 01/2011 TD17 L 83

Control technology | EtherCAT communication manual
Commissioning of the system
Typical commissioning scenarios

Switch on industrial PC and field devices

PLC: Original
EtherCAT: Unknown

Read ECAT_MASTER_1.XML

PLC: Original
EtherCAT: Init

PLC: Original
EtherCAT: Pre-Operational

PLC: Running
EtherCAT: Safe-Operational

PLC: Running
EtherCAT: Operational
System is running

Legend
PLC: Transient state of PLC and EtherCAT Load PLC Load PLC application
EtherCAT: Automatic change to next state
PLC: Steady state of PLC and EtherCAT Start PLC Start PLC application
EtherCAT: Change to next by means of an external
action
Reset Reset the PLC.
(origin) The PLC application is deleted.

84 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Typical commissioning scenarios

7.4.2 Switching on a system with an incomplete configuration

Initial situation:
 The PLC application has been loaded on the IPC.
 The ECAT_Master_1.XML file is not available on the IPC or does not match the physical
bus topology.

System behaviour:
 EtherCAT remains in "Unknown" state.
 The PLC does not start up.

 How to complete the configuration:

1. Load the correct "ECAT_Master_1.xml" file onto the IPC.
2. Execute "Reset (Original)".
– The PLC is reset, the PLC application is deleted.
3. The system starts up.
– You have to manually load and start the PLC application.

DMS 3.1 EN 01/2011 TD17 L 85

Control technology | EtherCAT communication manual
Commissioning of the system
Typical commissioning scenarios

Switch on industrial PC and field devices

PLC: Original
EtherCAT: Unknown

ECAT_MASTER_1.XML
NO
available?

PLC: Original
EtherCAT: Unknown
YES
Reset
Load PLC
(Original)
Read ECAT_MASTER_1.XML
PLC: Stop
EtherCAT: Unknown

PLC: Original
EtherCAT: Init Load correct
ECAT_MASTER_1.XML
onto IPC

Reset
ECAT_MASTER_1.XML
NO (Original)
OK?

YES

PLC: Original
EtherCAT: Pre-Operational

Load PLC

PLC: Stop
EtherCAT: Pre-Operational

Start PLC

PLC: Running
EtherCAT: Safe-Operational

PLC: Running
EtherCAT: Operational
System is running

Legend
PLC: Transient state of PLC and EtherCAT Load PLC Load PLC application
EtherCAT: Automatic change to next state
PLC: Steady state of PLC and EtherCAT Start PLC Start PLC application
EtherCAT: Change to next by means of an external
action
Reset Reset the PLC.
(origin) The PLC application is deleted.

86 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Typical commissioning scenarios

7.4.3 Updating the PLC application while the EtherCAT configuration remains unchanged

Initial situation:
 PLC and EtherCAT are running.
– PLC state: Running
– EtherCAT state: Operational

 How to update the PLC application:

1. Stop the PLC.
2. Execute "Reset (Original)".
• The PLC is reset, the PLC application is deleted.
3. The system starts up.
• You have to manually load and start the PLC application.

DMS 3.1 EN 01/2011 TD17 L 87

Control technology | EtherCAT communication manual
Commissioning of the system
Typical commissioning scenarios

PLC: Original
EtherCAT: Unknown

Read ECAT_MASTER_1.XML

PLC: Original
EtherCAT: Init

PLC: Original
EtherCAT: Pre-Operational

Load PLC

PLC: Stop
EtherCAT: Pre-Operational

Start PLC

PLC: Running
EtherCAT: Safe-Operational

Start
PLC: Running
EtherCAT: Operational
System is running

Stop PLC

PLC: Stop Reset

EtherCAT: Pre-Operational (Original)

Legend
PLC: Transient state of PLC and EtherCAT Load PLC Load PLC application
EtherCAT: Automatic change to next state
PLC: Steady state of PLC and EtherCAT Start PLC Start PLC application
EtherCAT: Change to next by means of an external
action
Reset Reset the PLC. Start Beginning of the scenario
(origin) The PLC application is deleted.

88 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Commissioning of the system
Typical commissioning scenarios

7.4.4 Stopping and starting the PLC while the configuration remains unchanged

Initial situation:
 PLC and EtherCAT are running.
– PLC state: Running
– EtherCAT state: Operational

 How to stop and start the PLC:

1. Stop the PLC.
2. Start the PLC.
3. The PLC application must call the "SMC_ResetAxisGroup" program organisation
unit.
4. The system is running again.

Start
PLC: Running
EtherCAT: Operational
System is running

Stop PLC

PLC: Stop
EtherCAT: Pre-Operational

Start PLC

PLC: Running
EtherCAT: Safe-Operational

Call
<SMC_ResetAxisGroup>
POU
from PLC application

Legend
PLC: Transient state of PLC and EtherCAT Load PLC Load PLC application
EtherCAT: Automatic change to next state
PLC: Steady state of PLC and EtherCAT Start PLC Start PLC application
EtherCAT: Change to next by means of an external
action
Reset Reset the PLC. Start Beginning of the scenario
(origin) The PLC application is deleted.

DMS 3.1 EN 01/2011 TD17 L 89

Control technology | EtherCAT communication manual
Commissioning of the system
Detailed overview of the commissioning steps

7.5 Detailed overview of the commissioning steps

In the following diagram the individual commissioning steps and their processing order
are summarised once again. Detailed information on the individual processing steps can
be found in the chapter Detailed commissioning steps ( 45).

90 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT with CANopen or PROFIBUS

8 EtherCAT with CANopen or PROFIBUS

 Note!
A mixed operation is only possible with industrial PCs which have two additional
slots for communcation cards. A mixed operation is not possible with the
"Command Station".

The EtherCAT bus system can be combined with CANopen or PROFIBUS. This makes sense
if not all field devices are available for the same bus system or a motion bus is required
parallelly to the PROFIBUS. The bus systems are sychronised in the control.
The following combinations are allowed:
 CANopen and EtherCAT
– CANopen configuration in the »PLC Designer«
– EtherCAT configuration in the »EtherCAT Configurator«
 PROFIBUS (as logic bus) and EtherCAT (as motion bus)
– PROFIBUS configuration in the »PLC Designer«
– EtherCAT configuration in the »EtherCAT Configurator«

 Communication manual "CANopen control technology"

Here you can find detailed information on how to commission CANopen
components.
Communication manual "PROFIBUS control technology"
Here you can find detailed information on how to commission PROFIBUS
components.

DMS 3.1 EN 01/2011 TD17 L 91

Control technology | EtherCAT communication manual
EtherCAT with CANopen or PROFIBUS
Addressing the PROFIBUS and CANopen stations

8.1 Addressing the PROFIBUS and CANopen stations

The addresses for input and output objects of the PROFIBUS and CANopen stations are
automatically allocated in the »PLC Designer« (standard setting):

 Note!
We recommend to keep the standard setting. In case of a manual address
allocation, you must ensure that each object address is non-ambiguous in the
entire control configuration.
Detailed information on this can be found in the documentation/online help of
the »PLC Designer«.

92 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT with CANopen or PROFIBUS
Addressing EtherCAT nodes using CANopen/PROFIBUS nodes

8.2 Addressing EtherCAT nodes using CANopen/PROFIBUS nodes

The addresses for input and output objects of the EtherCAT stations are allocated in the
»EtherCAT Configurator«. Afterwards, the EtherCAT configuration is imported into the
»PLC Designer« control configuration.
There are two cases for the control configuration in the »PLC Designer«:
1. PROFIBUS/CANopen before EtherCAT:
– Keep the standard settings for address allocation for the PROFIBUS/CANopen
stations in the »PLC Designer« control configuration. (The addressing of the
PROFIBUS/CAN stations starts with ’0’.)
– Define a sufficient address offset for the first input and output object in the
»EtherCAT Configurator« at the first EtherCAT slave (> PROFIBUS/CAN addresses).
The addresses of the other input and output objects are updated automatically after
the entry.
Thus, address conflicts can be prevented after the import of the EtherCAT
configuration into the »PLC Designer« control configuration.
2. EtherCAT before PROFIBUS/CANopen:
– Do not define any address offsets in the »EtherCAT Configurator«. (The addressing of
the EtherCAT stations starts with ’0’.)
– For PROFIBUS/CANopen stations, no address offsets must be defined in the »PLC
Designer« control configuration. If address offsets are defined, the offsets must be
greater than the EtherCAT addresses.
Settings in the »EtherCAT Configurator« ( 94)

DMS 3.1 EN 01/2011 TD17 L 93

Control technology | EtherCAT communication manual
EtherCAT with CANopen or PROFIBUS
Addressing EtherCAT nodes using CANopen/PROFIBUS nodes

Settings in the »EtherCAT Configurator«

 Assign non-ambiguous variable names to the input and output objects according to
IEC 61131 syntax (no blanks and leading digits in the variable name). After the import
of the EtherCAT configuration into the »PLC Designer« control configuration,
corresponding system variables are available for the PLC program.

 Note!
Always use the system variables within the PLC program in order to access the
input and output objects or assign values to them.

 By double-clicking the corresponding fields, you can make the adjustments:

In the example, variable names have been assigned to the first three output objects.
Moreover, an offset of ’1000’ has been entered for the first output object (%QW...) and the
first input object (%IW...).
 The »EtherCAT Configurator« does not work with byte addresses. The objects are
addressed with the byte address in the control configuration:

Objects Addresses in the Byte addresses

»EtherCAT Configurator«
Output objects %QX1000.0 %QB1000
%QB1000 %QB1000
%QW1000 %QB500
%QD1000 %QB250
Input objects %IX1000.0 %IB1000
%IB1000 %IB1000
%IW1000 %IB500
%ID1000 %IB250

94 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT with CANopen or PROFIBUS
Addressing EtherCAT nodes using CANopen/PROFIBUS nodes

In the »PLC Designer«, the output and input objects are "byte-addressed". The original
address offset of ’1000’ (word level) for the first output and input objects is set accordingly
to '2000" after the import of the EtherCAT configuration. The addresses of the other input
and output objects are also updated.

 Note!
• Changes of the EtherCAT configuration in the »PLC Designer« are overwritten
when the EtherCAT configuration is re-imported.
Always adapt the EtherCAT configuration to the »EtherCAT Configurator«.
• In a mixed operation, it must always be ensured that the CAN-Motion task
has the highest priority. The task assigned to the EtherCAT bus should have
the second-highest priority. The tasks assigned to the Logic bus systems
should be configured with a lower priority.

DMS 3.1 EN 01/2011 TD17 L 95

Control technology | EtherCAT communication manual
EtherCAT function libraries
Usability

9 EtherCAT function libraries

The SM_Ethercat.lib and AtEm.LIB function libraries contain function blocks and functions
that are required for the creation of your »PLC Designer« project.
These function blocks and functions support:
 The setting and reading of the master/slave states;
 The network management;
 The network diagnostics;
 The upload and download of CoE parameters.

9.1 Usability

The SM_Ethercat.lib and AtEm.LIB function libraries are integrated in the following target
systems:
 L-force Logic x700 from version 6.x
 L-force Motion x700 from version 6.x
Via the Library manager of the »PLC Designer« you can integrate the function libraries into
the »PLC Designer« project. They can be found in the library directory of the corresponding
target system in the subdirectory "EtherCAT".

 Note!
The integration of the SM_EthercatDrive.lib function library into a »PLC
Designer« project is not required, as the function blocks and the functions of this
library are not relevant.
In the course of this chapter only the function blocks and functions required for
the creation of a »PLC Designer« project are described.

96 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks/functions required for a »PLC Designer« project (overview)

9.2 Function blocks/functions required for a »PLC Designer« project (overview)

 Note!
Use the function blocks and functions of the function library AtEm.lib only if the
master is configured completely. Otherwise it can lead to instabilities of the
control system. A check of the master configuration can be executed with the
ecatMasterIsConfigured (FUN) ( 108) function.

Function library Function block (FB) / function (FUN)

SM_Ethercat.lib ECATDiagnostic (FB) ( 113)
ResetMasterStatus (FB) ( 114)
SMC_ETCErrorString (FUN) ( 115)
L_ECAT_ReadErrCnt (FB) ( 116)
L_ECAT_ResetErrCnt (FB) ( 117)
AtEm.lib ecatCoeSdoDownloadReq (FB) ( 122)
ecatCoeSdoUploadReq (FB) ( 123)
ecatGetMasterState (FUN) ( 105)
ecatGetNumConfiguredSlaves (FUN) ( 112)
ecatGetNumConnectedSlaves (FUN) ( 113)
ecatGetSlaveId (FUN) ( 109)
ecatGetSlaveIdAtPosition (FUN) ( 110)
ecatGetSlaveProp (FUN) ( 111)
ecatGetSlaveState (FUN) ( 106)
ecatGetSlaveStateAsync (FB) ( 107)
ecatMasterIsConfigured (FUN) ( 108)
ecatSetMasterStateAsync (FB) ( 102)
ecatSetSlaveStateAsync (FB) ( 103)
ecatStartAsync (FB) ( 100)
ecatStopAsync (FB) ( 101)
The global EtherCAT master structure ECAT_MASTER ( 118)

DMS 3.1 EN 01/2011 TD17 L 97

Control technology | EtherCAT communication manual
EtherCAT function libraries
Properties of function blocks

9.3 Properties of function blocks

The function blocks are equipped with inputs and outputs for the activation of the POU,
the display of the current POU status, and for the output of error messages:

Input/output Data type Action

bExecute / bEnable BOOL bExecute and bEnable are edge-controlled:
In the case of a positive edge, the function block is executed.
bBusy BOOL As long as a function block is executed, bBusy is TRUE and bDone is FALSE.
bDone BOOL If a function block has been executed, bDone is set to TRUE and bBusy is set
to FALSE.
If bExecute/bEnable has been reset, bDone is only active during the function
block call. If bExecute/bEnable is TRUE, then bDone remains TRUE as long as
bExecute/bEnable is reset.
bError BOOL If an error has occurred, bError is set to TRUE.
dwErrorCode DWORD If an error has occurred (output bError = TRUE), a hexadecimal error code (see
also System error messages ( 157)) is displayed at the output dwErrorCode.
The error code is only available during the function block call (if
bDone = TRUE).

9.4 The EC_T_STATE structure

 Note!
The identifiers itemised here cannot be found in IEC 61131. For all state inputs
and outputs, always the numerical values are indicated.

The ECAT_STATE structure describes all possible states of the EtherCAT bus system:

Status Identifier Value (DINT)

Unknown eEcatState_UNKNOWN 0
Initialization eEcatState_INIT 1
Pre-Operational eEcatState_PREOP 2
Bootstrap Mode eEcatState_BOOT 3
(Is currently not supported.)
Safe-Operational eEcatState_SAFEOP 4
Operational eEcatState_OP 8

98 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

9.5 Function blocks and functions for master/slave states

The function blocks and functions described in the following support the setting and
reading of the master/slave states.
 ecatStartAsync (FB) ( 100)
 ecatStopAsync (FB) ( 101)
 ecatSetMasterStateAsync (FB) ( 102)
 ecatSetSlaveStateAsync (FB) ( 103)
 ecatGetMasterState (FUN) ( 105)
 ecatGetSlaveState (FUN) ( 106)
 ecatGetSlaveStateAsync (FB) ( 107)

DMS 3.1 EN 01/2011 TD17 L 99

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

9.5.1 ecatStartAsync (FB)

Function: This function block sets the master and all slaves connected to the
Operational status.
Library: AtEm.lib
Visualisation: VISU_ecatStartAsync

 Note!
State changes are usually carried out automatically by the control system. By
means of this function block you can change the state manually. Please note
that the bus system may become unstable if the state is changed manually.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bEnable The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.
dwTimeout Time-out in milliseconds
DWORD • If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Function block is active or has not been called
BOOL TRUE: Function block has been executed.
bBusy FALSE: Function block is not active.
BOOL TRUE: Function block is active.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorCode Display of a hexadecimal error code (see also System error messages ( 157)) if an
DWORD error has occurred (bError = TRUE).

100 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

9.5.2 ecatStopAsync (FB)

Function: This function block sets the master and all slaves connected to the
"Initialization" state.
Library: AtEm.lib
Visualisation: VISU_ecatStopAsync

 Note!
State changes are usually carried out automatically by the control system. By
means of this function block you can change the state manually. Please note
that the bus system may become unstable if the state is changed manually.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bEnable The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.
dwTimeout Time-out in milliseconds
DWORD • If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Function block is active or has not been called
BOOL TRUE: Function block has been executed.
bBusy FALSE: Function block is not active.
BOOL TRUE: Function block is active.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorCode Display of a hexadecimal error code (see also System error messages ( 157)) if an
DWORD error has occurred (bError = TRUE).

DMS 3.1 EN 01/2011 TD17 L 101

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

9.5.3 ecatSetMasterStateAsync (FB)

Function: This function block sets the master and all slaves connected to the
state requested at the function block (see chapter "The EC_T_STATE
structure" ( 98)).
Library: AtEm.lib
Visualisation: VISU_ecatSetMasterStateAsync

 Note!
• State changes are usually carried out automatically by the control system. By
means of this function block you can change the state manually. Please note
that the bus system may become unstable if the state is changed manually.
• The ecatSetMasterStateAsync function block can be used to set the master
and the slaves to the Operationalstate. In this case, however, no re-
synchronisation of the distributed clocks initiated Use the ecatStartAsync
(FB) ( 100) function block for this purpose.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bEnable The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.
dwTimeout Time-out in milliseconds
DWORD • If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.
eReqState Requested state
STATE

102 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Function block is active or has not been called
BOOL TRUE: Function block has been executed.
bBusy FALSE: Function block is not active.
BOOL TRUE: Function block is active.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorCode Display of a hexadecimal error code (see also System error messages ( 157)) if an
DWORD error has occurred (bError = TRUE).

9.5.4 ecatSetSlaveStateAsync (FB)

Function: This function block sets a specific slave to the state requested at the
block (see chapter "The EC_T_STATE structure" ( 98)). The function
block can only be executed if the master is in the Operational state.
Library: AtEm.lib
Visualisation: VISU_ecatSetSlaveStateAsync

 Note!
State changes are usually carried out automatically by the control system. By
means of this function block you can change the state manually. Please note
that the bus system may become unstable if the state is changed manually.

DMS 3.1 EN 01/2011 TD17 L 103

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bEnable The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.
wSlaveStationAddress Station address of the slave
WORD • Designation in the EtherCAT configurator: "EtherCAT address"
• Designation in the EtherCAT specification and parameter reference: "Physical
address".
pwNewReqDevState Requested state
WORD

dwTimeout Time-out in milliseconds

DWORD • If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Function block is active or has not been called
BOOL TRUE: Function block has been executed.
bBusy FALSE: Function block is not active.
BOOL TRUE: Function block is active.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorCode Display of a hexadecimal error code (see also System error messages ( 157)) if an
DWORD error has occurred (bError = TRUE).

104 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

9.5.5 ecatGetMasterState (FUN)

Function: This function shows the current state of the master (see chapter "The
EC_T_STATE structure" ( 98)).
Library: AtEm.lib
Visualisation: -

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

dummy No function
DINT

Return value

Identifier/data type Meaning/possible settings

ecatGetMasterState Current state of the master
STATE

DMS 3.1 EN 01/2011 TD17 L 105

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

9.5.6 ecatGetSlaveState (FUN)

Function: This function shows the current state of the slave (see chapter "The
EC_T_STATE structure" ( 98)).
Library: AtEm.lib
Visualisation: -

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

wSlaveStationAddress Station address of the slave
WORD • Designation in the EtherCAT configurator: "EtherCAT address"
• Designation in the EtherCAT specification and parameter reference: "Physical
address".
pwCurrDevState Current state of the slave
POINTER TO WORD
pwReqDevState Set value of the current slave state
POINTER TO WORD
dwTimeout Time-out in milliseconds
DWORD • If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.

Return value

Identifier/data type Meaning/possible settings

ecatGetSlaveState Current state of the slave
DWORD

106 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for master/slave states

9.5.7 ecatGetSlaveStateAsync (FB)

Function: This function block shows the current state of the slave (see chapter
"The EC_T_STATE structure" ( 98)).
Library: AtEm.lib
Visualisation: VISU_ecatGetSlaveStateAsync

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bEnable The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.
wSlaveStationAddress Station address of the slave
WORD • Designation in the EtherCAT configurator: "EtherCAT address"
• Designation in the EtherCAT specification and parameter reference: "Physical
address".
pwCurrDevState Current state of the slave
POINTER TO WORD
pwNewReqDevState State last requested at the slave.
POINTER TO WORD
dwTimeout Time-out in milliseconds
DWORD • If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Function block is active or has not been called
BOOL TRUE: Function block has been executed.
bBusy FALSE: Function block is not active.
BOOL TRUE: Function block is active.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorCode Display of a hexadecimal error code (see also System error messages ( 157)) if an
DWORD error has occurred (bError = TRUE).

DMS 3.1 EN 01/2011 TD17 L 107

Control technology | EtherCAT communication manual
EtherCAT function libraries
Functions for the network management

9.6 Functions for the network management

The functions described in the following support the network management:

 ecatMasterIsConfigured (FUN) ( 108)
 ecatGetSlaveId (FUN) ( 109)
 ecatGetSlaveIdAtPosition (FUN) ( 110)
 ecatGetSlaveProp (FUN) ( 111)

9.6.1 ecatMasterIsConfigured (FUN)

Function: This function supplies TRUE if the master has been fully configured,
and FALSE, if not.
Library: AtEm.lib
Visualisation: -

 Note!
This function should be evaluated at the start of every cycle requiring EtherCAT
functions. If the master has not been fully configured and functions/function
blocks of an EtherCAT function library are called, the control system may become
unstable.

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bDummy No function
BOOL

Return value

Identifier/data type Meaning/possible settings

ecatMasterIsConfigured TRUE: The master was configured correctly/successfully.
BOOL FALSE: The master was not configured correctly/successfully.

Example

IF (ecatMasterIsConfigured(TRUE) = FALSE) THEN

RETURN;
END_IF

108 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Functions for the network management

9.6.2 ecatGetSlaveId (FUN)

Function: This function shows the slave ID of the slave the station address of
which (EtherCAT address/physical address) is configured in the
control configuration file (XML). The slave ID is used by the
ecatGetSlaveProp (FUN) ( 111) function.
Library: AtEm.lib
Visualisation: -

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

wSlaveStationAddress Station address of the slave
WORD • Designation in the EtherCAT configurator: "EtherCAT address"
• Designation in the EtherCAT specification and the parameter reference: "Physical
address".

Return value

Identifier/data type Meaning/possible settings

ecatGetSlaveId Slave ID of the slave specified under wSlaveStationAddress.
DWORD

Example

dwSlaveId := ecatGetSlaveId (1005);

DMS 3.1 EN 01/2011 TD17 L 109

Control technology | EtherCAT communication manual
EtherCAT function libraries
Functions for the network management

9.6.3 ecatGetSlaveIdAtPosition (FUN)

Function: This function shows the slave ID of the slave the auto-increment
address of which is configured in the control configuration file (XML).
The slave ID is used by the ecatGetSlaveProp (FUN) ( 111) function.
Library: AtEm.lib
Visualisation: -

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

wAutoIncAddress Auto-increment address of the slave
WORD The auto-increment address is the logic position of the slave in the bus, starting with
16#0000, then descending with 16#FFFF, 16#FFFD, 16#FFFC, etc.

Return value

Identifier/data type Meaning/possible settings

ecatGetSlaveIdAtPosition Slave ID of the slave specified under wAutoIncAddress.
DWORD

Example

dwSlaveId := ecatGetSlaveAtPosition(16#FFFC);

110 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Functions for the network management

9.6.4 ecatGetSlaveProp (FUN)

Function: This function shows the properties of the slave with the slave ID
transmitted.
Library: AtEm.lib
Visualisation: -

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

dwSlaveId The slave ID can be identified via the functions ecatGetSlaveId (FUN) ( 109)
DWORD (physical address) and ecatGetSlaveIdAtPosition (FUN) ( 110) (auto-increment
address).
pSlaveProp Pointer to the EC_T_SLAVE_PROP structure (see below), in which the properties of
POINTER TO the slave are indicated after the POU has been executed.
EC_T_SLAVE_PROP

The EC_T_SLAVE_PROP structure

TYPE EC_T_SLAVE_PROP :
wStationAddress : EC_T_WORD;
wAutoIncAddr : EC_T_WORD;
achName : ARRAY [0..79] OF EC_T_CHAR;

Identifier/data type Description

wStationAddress Station address (EtherCAT address/physical address)
WORD
wAutoIncAddr Auto-increment address
WORD
achName Designation of the slave with max. 80 characters
ARRAY [0..79] OF
EC_T_CHAR

Return value

Identifier/data type Meaning/possible settings

ecatGetSlaveProp TRUE: A slave with the specified slave ID exists.
BOOL FALSE: A slave with the specified slave ID does not exist.

DMS 3.1 EN 01/2011 TD17 L 111

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

9.7 Function blocks and functions for diagnosing the network

The function blocks and functions described in the following support the diagnostics of the
network:
 ecatGetNumConfiguredSlaves (FUN) ( 112)
 ecatGetNumConnectedSlaves (FUN) ( 113)
 ECATDiagnostic (FB) ( 113)
 ResetMasterStatus (FB) ( 114)
 SMC_ETCErrorString (FUN) ( 115)
 L_ECAT_ReadErrCnt (FB) ( 116)
 L_ECAT_ResetErrCnt (FB) ( 117)
 The global EtherCAT master structure ECAT_MASTER ( 118)

9.7.1 ecatGetNumConfiguredSlaves (FUN)

Function: This function shows the number of slaves that are configured in the
control configuration file (XML).
Library: AtEm.lib
Visualisation: -

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

dummy No function
VOID

Return value

Identifier/data type Meaning/possible settings

ecatGetNumConfigured Number of slaves configured in the control configuration file (XML)
Slaves
DWORD

112 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

9.7.2 ecatGetNumConnectedSlaves (FUN)

Function: This function shows the number of slaves that are physically
connected in the control system.
Library: AtEm.lib
Visualisation: -

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

dummy No function
VOID

Return value

Identifier/data type Meaning/possible settings

ecatGetNumConnected Number of slaves that are physically connected in the control system
Slaves
DWORD

9.7.3 ECATDiagnostic (FB)

Function: This function block is the collection of all FBs of the AtEm.lib function
library.
Library: SM_Ethercat.lib
Visualisation: VISU_ECATDiagnostic

 Tip!
Using the VISU_ECATDiagnostic visualisation template ( 136) you can operate all
relevant EtherCAT functions and view all Notifications ( 120) in the
"ETHERCATMaster status" template.

DMS 3.1 EN 01/2011 TD17 L 113

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

9.7.4 ResetMasterStatus (FB)

Function: This function block resets the Notifications ( 120). It is typically used
after a bus restart. A bus restart is initiated by executing the following
function blocks in the listed order:
1. ecatStopAsync (FB) ( 101)
2. ecatStartAsync (FB) ( 100)
3. ResetMasterStatus (FB)
(After the bus has been restarted, the distributed clocks are
synchronised and the EtherCAT bus is in the Operational state.)
Library: SM_Ethercat.lib
Visualisation: -

Inputs and outputs (VAR_IN_OUT)

Identifier/data type Meaning/possible settings

EcatMaster Input: Master state before the reset
ECAT_MASTER Output: Master state Operational (The global EtherCAT master structure
ECAT_MASTER ( 118) contains the master state for the ECAT1 interface.)

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Function block is active or has not been called
BOOL TRUE: Function block has been executed.

114 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

9.7.5 SMC_ETCErrorString (FUN)

Function: On the basis of the error number (ErrorID), this function returns the
corresponding error description as a string with max. 100 characters.
Library: SM_Ethercat.lib
Visualisation: -

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

ErrorID Number of the error message (see also System error messages ( 157))
SMC_ECATERROR
Language Language selection:
ETC_LANGUAGE_TYPE • 0: English
• 1: German

Return value

Identifier/data type Meaning/possible settings

SMC_ECATErrorString Error description as a string with max. 100 characters
STRING[100]

DMS 3.1 EN 01/2011 TD17 L 115

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

9.7.6 L_ECAT_ReadErrCnt (FB)

Function: This function block reads the telegram error counters of all connected
slaves (see Error counters of the EtherCAT slaves ( 143)). This block
should be executed cyclically at longer intervals (e.g. every 10
minutes) to evaluate the state of the bus. The values in the
abRedErrCnt array serve to evaluate the cabling quality/EMC
sensitivity of the EtherCAT bus.
Library: SM_Ethercat.lib
Visualisation: VISU_L_ECAT_ReadErrCnt

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bExecute The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Function block is active or has not been called
BOOL TRUE: Function block has been executed.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorID Display of a hexadecimal error code (see also System error messages ( 157)) if an
DWORD error has occurred (bError = TRUE).
abRedErrCnt This array contains the values of the error counters of the telegram errors occurred
Array [n] of for the first time of all connected slaves.
L_ECAT_ErrCnt • Each slave has 4 telegram error counters.
• ’n’ corresponds to the number of connected slaves.
abGreenErrCnt This array contains the values of the error counters of the forwarded telegram errors
Array [n] of of all connected slaves.
L_ECAT_ErrCnt • Each slave has 4 telegram error counters.
• ’n’ corresponds to the number of connected slaves.

116 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

The L_ECAT_ErrCnt structure

The L_ECAT_ErrCnt structure contains the error counters of the single ports of a connected
device.
TYPE L_ECAT_ErrCnt :
STRUCT
Port0 : BYTE;
Port1 : BYTE;
Port2 : BYTE;
Port3 : BYTE;
END_STRUCT
END_TYPE

Identifier/data type Description

Port[n] Error counter value of the errors recorded at the port[n]
BYTE n: 0 ... 3

9.7.7 L_ECAT_ResetErrCnt (FB)

Function: This function block resets the telegram error counters of all connected
slaves (see Error counters of the EtherCAT slaves ( 143)). This block
should be executed before one of the telegram error counters of the
slaves has reached the maximum value of 255.
Library: SM_Ethercat.lib
Visualisation: VISU_L_ECAT_ResetErrCnt

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bExecute The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Function block is active or has not been called
BOOL TRUE: Function block has been executed.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorID Display of a hexadecimal error code (see also System error messages ( 157)) if an
DWORD error has occurred (bError = TRUE).

DMS 3.1 EN 01/2011 TD17 L 117

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

9.7.8 The global EtherCAT master structure ECAT_MASTER

Function: The global EtherCAT master structure is contained in the

SM_EthercatDrive.lib function library. The structure comprises
variables and "Notifications" ( 120) which indicate the state of the
EtherCAT bus system.
Library: SM_Ethercat.lib
Visualisation: VISU_ETHERCATMaster

How to find the variable in the Library Manager of the »PLC Designer«:

118 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

9.7.8.1 Definition in the SM_EtherCAT.lib library

 Note!
Only one EtherCAT master instance can be executed on an IPC. (The global
variable g_ecatMaster[1] contains the master state for the ECAT1 interface.)

g_EcatMaster: ARRAY[1.._ETC_NUMBER_OF_MASTERS] OF ECAT_MASTER;

9.7.8.2 The data type ECAT_STATE

The data type ECAT_STATE describes all possible states of the EtherCAT bus system:

Status Identifier
Unknown SMC_ECATSTATE_UNKNOWN
Initialization SMC_ECATSTATE_INIT
Pre-Operational SMC_ECATSTATE_PREOP
Bootstrap Mode (Is currently not supported.) SMC_ECATSTATE_BOOT
Safe-Operational SMC_ECATSTATE_SAFEOP
Operational SMC_ECATSTATE_OP

9.7.8.3 Variables
The variables of the EtherCAT master structure ECAT_MASTER provide additional
information besides the state of the EtherCAT bus system:

Identifier/data type Meaning/possible settings

eCATState Current state of the EtherCAT bus system as an ECAT_STATE value (see chapter "The
ECAT_STATE data type ECAT_STATE" ( 119))
stState Current state of the EtherCAT bus system as a character string
STRING • Contains the types of ECAT_STATE as a character string.
(E.g. "SMC_ECATSTATE_INIT")
diFrameRCounter Number of response frames received by the master
DINT
diCycWKCFrameRCounter Number of frames with WKC error
DINT
diNo_of_Slaves Number of slaves participating in the communication via the EtherCAT bus
DINT
bEmergencyOccured FALSE: No emergency message has occurred.
BOOL TRUE: At least one emergency message has occurred.
diEmergencyNo Number of emergency messages
DINT
aEcatSlaveEmergency Numbers of the emergency messages
ARRAY

DMS 3.1 EN 01/2011 TD17 L 119

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

9.7.8.4 Notifications
If an event (information, warning, error) occurs on the EtherCAT bus system, the user or the
PLC program receives a "notification".
The notifications only provide information about the fact that an event of a certain type
has occurred.
In the »PLC Designer«, the notifications are implemented as boolean elements in the
global EtherCAT master structure ECAT_MASTER ( 118).

Overview of notifications

Notification Description
bEC_NOTIFY_ETH_LINK_ This notification is set when the interrupted connection between the EtherCAT
CONNECTED master and the first slave (see also bEC_NOTIFY_ETH_LINK_NOT_CONNECTED) is
restored.
bEC_NOTIFY_STATUS_ When cyclic frames are processed, the EtherCAT master checks whether the ERROR
SLAVE_ERROR bit has been set in the AL-STATUS register of at least one of the slaves. If this is the
case, the error is indicated.
bEC_NOTIFY_RED_LINEBRK Redundancy support (is currently not supported):
This notification is set for every bus/communication interruption detected by the
master (see also bEC_NOTIFY_ETH_LINK_NOT_CONNECTED).
bEC_NOTIFY_NOT_ALL_ When cyclic frames are processed, the EtherCAT master checks that all slaves are still
DEVICES_OPERATIONAL in the Operational state. If at least one slave is not in the Operational state, this this
notification is set.
bEC_NOTIFY_ETH_LINK_ This notification is set when the connection between the EtherCAT master and the
NOT_CONNECTED first slave is interrupted.
Note: A missing connection can only be detected directly at the master. If, for
instance, a switch or a multi-channel probe is connected downstream of the master
and the connection is interrupted downstream of these devices, missing frames
and/or the error message EC_NOTIFY_CYCCMD_WKC_ERROR are indicated. (This
only applies to the cabling directly at the master.)
bEC_NOTIFY_SB_STATUS Bus state notification:
This notification is set when the EtherCAT bus is scanned.
bEC_NOTIFY_DC_STATUS DC state notification:
This notification is either received after starting the master (ecatStart) or after
loading and then starting the PLC program, if all slave clocks have successfully been
updated with the compensation values for the transmission delay.
bEC_NOTIFY_DC_SLV_SYNC This notification is set when the maximum permissible DC deviation for the
connected slaves (code C1082/2 / C1582/2) has been exceeded.
dwEC_NOTIFY_DC_SLV_ Indicates the limit value of the DC deviation (in nanoseconds):
SYNCDeviation 0: 1 ns
1: 3 ns
2: 7 ns
3: 15 ns
4: 31 ns
5: 63 ns
6: 127 ns
7: 255 ns
...
31:2147483647 ns
32: reserved
bEC_NOTIFY_DCL_STATUS DC latching state notification:
This notification is set after the master has been started (ecatStart) and the DC latch
instance has been initialised correctly.
bEC_NOTIFY_DCL_SLV_ DC latch notification (single mode):
LATCH_EVT This notification is set when a slave generates a latch event in "single latch mode".

120 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks and functions for diagnosing the network

Notification Description
bEC_NOTIFY_FRAME_ This notification is set when the response frame currently received by the master
RESPONSE_ERROR does not correspond with the expected frame or when the master has received no
response at all.
bEC_NOTIFY_CYCCMD_ This notification is set if within a cycle the current value of the working counter in
WKC_ERROR the control/PLC does not correspond with the value read back via the fieldbus. (Not
all of the slaves addressed have reached.)

9.7.8.5 Setting and resetting the master structure

The notifications and variables are set by the EtherCAT master stack when the event
occurs. If a notification/variable has been set, it remains set until the master structure is
explicitly reset.
When an error has been eliminated, the notifications/variables must be reset. This can be
done with the following actions:
 Calling the ResetMasterStatus (FB) function block of the SM_EtherCAT.lib function
library (typically used in Logic control systems).
 Calling the SMC_ResetAxisGroup PLCopen function block of the SM_DriveBasic.lib
function library.
 Reset PLC (cold and original)

DMS 3.1 EN 01/2011 TD17 L 121

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks for CANopen over EtherCAT (CoE)

9.8 Function blocks for CANopen over EtherCAT (CoE)

The function blocks described in the following support the upload and download of CoE
parameters:
ecatCoeSdoDownloadReq (FB) ( 122)
ecatCoeSdoUploadReq (FB) ( 123)

9.8.1 ecatCoeSdoDownloadReq (FB)

Function: This function block activates the download of a CoE parameter to the
slave.
Library: AtEm.lib
Visualisation: VISU_ecatCoeSdoDownloadReq

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bExecute The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.
wObIndex CANopen index
WORD The indexes for codes can be calculated with 16#5FFFhex - code number.
byObSubIndex Object subindex
BYTE
dwTimeout Time-out in milliseconds
DWORD • If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.
wSlaveStationAddress Station address of the slave
WORD • Designation in the EtherCAT configurator: "EtherCAT address"
• Designation in the EtherCAT specification and parameter reference: "Physical
address".
dwDataLen Number of the data bytes to be written
DWORD
pbyData Pointer to the service data object (SDO) to be written
POINTER TO BYTE

122 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks for CANopen over EtherCAT (CoE)

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Download is active.
BOOL TRUE: Download has been executed.
bBusy FALSE: Download is not active.
BOOL TRUE: Download is active.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorCode Display of a hexadecimal error code (see also System error messages ( 157)) if the
DWORD download has failed (bError = TRUE).

9.8.2 ecatCoeSdoUploadReq (FB)

Function: This function block activates the upload of a CoE parameter from the
slave to the master.
Library: AtEm.lib
Visualisation: VISU_ecatCoeSdoUploadReq

Inputs (VAR_INPUT)

Identifier/data type Meaning/possible settings

bExecute The function block is activated in an edge-controlled manner:
BOOL • Positive edge (TRUE) = function block is executed.
wObIndex CANopen index
WORD The indexes for codes can be calculated with 16#5FFFhex - code number.
byObSubIndex Object subindex
BYTE
dwTimeout Time-out in milliseconds
DWORD • If the action could not be carried out successfully after time-out, bError is set
to TRUE.
• The time required for the action depends on the structure of the EtherCAT
network.
wSlaveStationAddress Station address of the slave
WORD • Designation in the EtherCAT configurator: "EtherCAT address"
• Designation in the EtherCAT specification and parameter reference: "Physical
address".

DMS 3.1 EN 01/2011 TD17 L 123

Control technology | EtherCAT communication manual
EtherCAT function libraries
Function blocks for CANopen over EtherCAT (CoE)

Identifier/data type Meaning/possible settings

dwDataLen Number of the data bytes to be read
DWORD
pbyData Pointer to the service data object (SDO) to be written
POINTER TO BYTE
pdwOutDataLen Size of the memory buffer transmitted under pByData. The memory buffer has to be
POINTER TO DWORD great enough to contain the object read.

Outputs (VAR_OUTPUT)

Identifier/data type Meaning/possible settings

bDone FALSE: Upload is active.
BOOL TRUE: Upload has been executed.
bBusy FALSE: Upload is not active.
BOOL TRUE: Upload is active.
bError FALSE: No error
BOOL TRUE: An error has occurred.
dwErrorCode Display of a hexadecimal error code (see also System error messages ( 157)) if the
DWORD upload has failed (bError = TRUE).

124 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Defining the minimum cycle time of the PLC project
Calculating the total access time to the peripheral devices (TCorrection)

10 Defining the minimum cycle time of the PLC project

This chapter will inform you on how the minimum cycle time of the PLC project can be
defined.
The minimum cycle time is calculated in three steps:
1. Calculating the total access time TCorrection to the peripheral devices.
Calculating the total access time to the peripheral devices (TCorrection) ( 125)
2. Detecting the task utilisation TTask utilisation of the application during operation.
Detecting the task utilisation of the application (TTask utilisation) ( 126)
3. Calculating the minimum cycle time.
Calculating the minimum cycle time ( 128)
4. Optimising the system.
Optimising the system ( 129)

10.1 Calculating the total access time to the peripheral devices (TCorrection)

The cycle times depend on the number of configured field devices and the IPC hardware
used.

Configuration Access time with processor

Intel Celeron Intel Celeron Intel Celeron Intel Pentium M
600 MHz 1 GHz 1.5 GHz 1.8 GHz
EtherCAT bus: 160 μs 130 μs 100 μs 90 μs
Axis_IO_Group and
IO_Group
EtherCAT bus: 10 μs 5 μs 5 μs 5 μs
per motion axis or
logic field device

 Note!
The LX 800 system is not supported with EtherCAT.

Example

Configuration with Intel Celeron Access time Total access time

1 GHz processor
Axis_IO_Group 130 μs
six Motion axes + 6 x 5 μs = 160 μs

DMS 3.1 EN 01/2011 TD17 L 125

Control technology | EtherCAT communication manual
Defining the minimum cycle time of the PLC project
Detecting the task utilisation of the application (TTask utilisation)

10.2 Detecting the task utilisation of the application (TTask utilisation)

The time TTask utilisation cannot be calculated. It is determined in the running system. For
this the system is commissioned on the basis of cycle times that are sufficiently long, and
afterwards it is optimised.
In order to detect the task utilisation, use the task editor in the »PLC Designer«.

10.2.1 Display of the system utilisation in the »PLC Designer« with the task editor

 Note!
In order to be able to display the utilisation for all tasks, the IEC61131
SysTaskInfo library has to be included in the project.

The task editor contains a dialog window consisting of two parts.

 The left part represents the tasks in a configuration tree.
 If the Task configuration entry is highlighted, the utilisation for all tasks is shown in bar
diagrams in the right dialog window.

 How to display the system utilisation:

1. Select the Resources tab:

2. Open the task configuration in the online mode of the »PLC Designer«.

126 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Defining the minimum cycle time of the PLC project
Detecting the task utilisation of the application (TTask utilisation)

10.2.2 Detecting the task utilisation

Initial situation
A project has been completely created with, for instance, a Motion task and two tasks of
lower priority.

 How to detect the task utilisation TTask utilisation:

1. For a first measurement of TTask utilisation the cycle times of all cyclic tasks in the PLC
system are set to 'long'.
• Example: Motion task = 10 ms, all other cyclic tasks = 20 ms
2. Log in and load project.
3. After the system has started up completely, press the Reset button on the Task
processing tab.
• The displayed task runtimes are reset.
4. Read the maximum computing time of the task with the highest priority that is
shown in the task configuration (TTask utilisation).

DMS 3.1 EN 01/2011 TD17 L 127

Control technology | EtherCAT communication manual
Defining the minimum cycle time of the PLC project
Calculating the minimum cycle time

10.3 Calculating the minimum cycle time

 Note!
The safety factor 1.5 is included in the calculation.

The minimum cycle time Tmin for a system results from the sum of the times detected
before, multiplied by the safety factor:
Tmin > Safety factor * ( TTask utilisation + TCorrection )

Example

Configuration: System with Intel Celeron 1 GHz processor and six motion axes
Detected access time Result
Calculated correction value TCorrection 160 μs (= 130 μs + 6 * 5 μs
Value read from task configuration: TTask utilisation 500 μs
Actual required computing time 660 μs
Minimum cycle time including the safety factor 1.5 Tmin 990 μs
Actual cycle time 1000 μs

128 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Defining the minimum cycle time of the PLC project
Optimising the system

10.4 Optimising the system

 How to optimise the system:

1. Log in and load project.
2. Check the task processing times.
3. Optimising the cycle times:
• If required technologically, the cycle times of the remaining tasks with lower
priorities can be decreased.
• Condition: No task with a low priority may assign more than 60 percent of the
corresponding cycle time in its task utilisation.

DMS 3.1 EN 01/2011 TD17 L 129

Control technology | EtherCAT communication manual
Diagnostics

11 Diagnostics
This chapter provides information about diagnostic tools, error scenarios for the most
frequent user errors and system error messages.
Use the following tools for diagnostics:
 Diagnostics with the »EtherCAT Configurator« ( 131)
 Diagnostics with the »PLC Designer« ( 134)
 Diagnostic codes ( 140) in the »Engineer« and the »WebConfig«
 Logbook of the IPC ( 140)

130 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »EtherCAT Configurator«

11.1 Diagnostics with the »EtherCAT Configurator«

The »EtherCAT Configurator« provides the following tools for system diagnostics:
 "Diagnostics" tab ( 131)
 Representation in the online mode ( 133)

11.1.1 "Diagnostics" tab

When an online connection has been established to the IPC, the Diagnostics tab of the
EtherCAT master displays different status information on the master, distributed clocks
and the EtherCAT nodes.
 The checkmarks (;) are set at the corresponding status information if this applies.

DMS 3.1 EN 01/2011 TD17 L 131

Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »EtherCAT Configurator«

Dialog box/section Function

Master Status information on the EtherCAT master:
• Configurator corresponds to the stack configuration:
– Information whether the configuration file exported from the »Engineer«
matches the configuration that is loaded in the master stack.
• Master OK
(active if the value from code C1081.5/C1581.5 = "Master OK"*)
– Current master status: OK
• Master status (value from code C1081.2/C1581.2*)
Possible states are:
– Unknown
– INIT (initialisation)
– PREOP (Pre-Operational))
– SAFEOP (Safe-Operational)
– OP (Operational)
• Master in the requested mode
(active if value from code C1081.3/C1581.3* = "1")
– Master status is identical to the requested mode (by PLC).
• Bus scan compliance (active if value from code C1080.4/C1584.4* = "1")
– Information whether the master configuration corresponds to the physical bus
structure. The master configuration of the stack is compared with the actual
bus structure.
• Network link available:
– Information on the active Ethernet connection of the EtherCAT card.
Distributed clocks Status information on the distributed clocks (DC) settings (value from code C1082.1/
C1582.1*). Possible states are:
• active
– DC synchronisation is actviated.
• in sync
– Distributed clocks in the EtherCAT system are synchronised
• busy
– DC synchronisation adjustment takes place.

More information on how to configure the settings of the distributed clocks:

Synchronisation with "Distributed clocks" ( 36)
Slaves Status information on the EtherCAT nodes
(active if value from code C1081.4/C1581.4* = "1")
• Slaves are in the status required by the master
* Depending on the IPC slot used (1/2) of the MC-ETC communication card, the first or second code is relevant.

132 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »EtherCAT Configurator«

11.1.2 Representation in the online mode

When an online connection has been established to the Industrial PC, the icon in front of
the single entries in the configuration tree provides the information on the status of the
corresponding EtherCAT node (in the example: two green arrows each):

Icon Meaning
Device is online
• Successful online connection to the L-force controller
• Successful online connection to the EtherCAT node. Status of the node:
Operational (OP)
Device status is unknown
• Status: Unknown
Device is online
Possible states of the EtherCAT node:
• INIT (initialisation)
• PREOP (Pre-Operational)
• SAFEOP (Safe-Operational)
no icon Device is offline
• No connection to the Industrial PC (L-force controller)

DMS 3.1 EN 01/2011 TD17 L 133

Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »PLC Designer«

11.2 Diagnostics with the »PLC Designer«

The »PLC Designer« provides the following tools for system diagnostics:
 The global EtherCAT master structure ECAT_MASTER ( 118)
 VISU_ETHERCATMaster visualisation template ( 135)
 VISU_ECATDiagnostic visualisation template ( 136)
 Function blocks and functions for diagnosing the network ( 112)
 The global variable wState ( 137)

134 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »PLC Designer«

11.2.1 VISU_ETHERCATMaster visualisation template

The VISU_ETHERCATMaster visualisation template of the »PLC Designer« displays the

Notifications ( 120) of the global EtherCAT master variable (function library
SM_Ethercat.lib).

 Note!
• When the target system is set to L-force_Motion_x700_Vx.xx.xx, the
displays of the "EtherCAT master status" are always correct even if no
instance of ECATDiagnostic (FB) ( 113) is available in the »PLC Designer«.
• When the target system is set to L-force_Logic_x700_Vx.xx.xx, the displays
of the "EtherCAT master status" are only updated if an instance of
ECATDiagnostic (FB) ( 113) is called in the »PLC Designer« project. Without
such an instance, there will be no display.

First, all notification fields are white. If a notification is set or active (TRUE), the
corresponding field is displayed in green or red:
 Red fields represents an "error".
 Green fields display an "information".

DMS 3.1 EN 01/2011 TD17 L 135

Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »PLC Designer«

11.2.2 VISU_ECATDiagnostic visualisation template

The VISU_ECATDiagnostic visualisation template of the »PLC Designer« can be used to

integrate the function blocks of the function libraries SM_Ethercat.lib and AtEm.lib. Then
you can operate all relevant EtherCAT functions and see all notifications in the
"ETHERCATMaster Status" template (Fig. below on the left):

136 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »PLC Designer«

11.2.3 The global variable wState

When Motion nodes are used for control, »PLC Designer« displays the current status of the
control acceleration in the global variable wState of the "AxisGroup" structure.
The value of the wState variable has the following meaning:

Status of the AxisGroup State of the system

wState = 0 • Initial state
• Project loaded
• PLC in stop
wState = 1...99 • System is starting up
• Project loaded
• PLC started
wState = 100 • System has started up successfully
wState > 1000 • Error occurred during startup, compare error message in
g_strBootupError

Example for a faulty acceleration:

DMS 3.1 EN 01/2011 TD17 L 137

Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »PLC Designer«

Additional information on the type of error occurred are provided in the global variables of
the SM_DriveBasic.lib function library.
The g_strBootupError variable, for instance, contains an error text:

Here, an SDO access of the control has not been responded by the slave.

138 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Diagnostics with the »PLC Designer«

11.2.4 Error scenario (example)

A slave is switched off or removed from the bus system while the system is in operation.
During operation, the master cyclically sends EtherCAT commands to read the process data
from the slave and to write process data to the slave. The working counter (WKC) is
incremented by the corresponding value through the slaves.
When a slave is switched off or removed, the master generates the
EC_NOTIFY_CYCCMD_WKC_ERROR notification to indicate such an event.
The slave can be re-commissioned by calling the function block SMC_ResetAxisGroup
(SM_DriveBasic.lib function library) or by a bus restart within the PLC program . (The
distributed clocks are synchronised and the EtherCAT bus is in the Operational state.)

Bus restart
Since the SMC_ResetAxisGroup function block cannot be used in logic systems, you must
program a bus restart in your PLC program. A bus restart is executed through call sequence
of the following function blocks:
1. ecatStopAsync (FB) ( 101)
2. ecatStartAsync (FB) ( 100)
3. ResetMasterStatus (FB) ( 114)

For a more detailed analysis of a problem, function blocks (see EtherCAT function libraries
( 96)), EtherCAT parameters (see Parameter reference ( 165)) and the IPC logbook ( 140)
are available.

DMS 3.1 EN 01/2011 TD17 L 139

Control technology | EtherCAT communication manual
Diagnostics
Diagnostic codes

11.3 Diagnostic codes

The diagnostic codes can be displayed in the »Engineer« and »WebConfig«.

 Interface parameters of the MC-ETC communication card in slot 1 ( 167)
 Interface parameters of the MC-ETC communication card in slot 2 ( 183)

11.4 Logbook of the IPC

»Engineer« and »WebConfig« provide access to the IPC logbook.

 Note!
The ClearLog button deletes the contents of the logbook on the IPC without a
prior confirmation prompt.

140 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Logbook of the IPC

11.4.1 Displaying the EtherCAT entries of the logbook

Enable the "EtherCAT" checkbox to display only the EtherCAT entries of the logbook.

DMS 3.1 EN 01/2011 TD17 L 141

Control technology | EtherCAT communication manual
Diagnostics
Logbook of the IPC

11.4.2 Messages in the logbook of the industrial PC

 Errors, warnings or information are indicated as messages in the logbook.

 Read the messages in the logbook from bottom to top. The most recent message
always appears at the top of the logbook.

Structure of the messages in the logbook:

• Consecutive number • Type of EtherCAT message: CTRL, PRJ, CFG, SLV, PRJ, LLA, RAP, ISW
• Date/time of occurrence (see System error messages ( 157))
• Location of occurrence • Error description
• Message type: error / warning / information

Examples of logbook messages

...

00007 14-06-2008 10:48:11 CTRL: Cannot set EtherCAT-Master to init! (Errorcode =

EtherCAT Master Stack 0x98110010), retry...
Communication on bus systems
Error

00006 14-06-2008 10:47:56 CTRL: Master state change from <init> to <unknown>
EtherCAT Master Stack Communication on bus systems
Information

00005 14-06-2008 10:47:55 CTRL: Cannot set EtherCAT-Master to preop! (Errorcode =

EtherCAT Master Stack 0x98110010), retry...
Communication on bus systems
Error

00004 14-06-2008 10:47:50 CTRL: Master state change from <unknown>to <init>
EtherCAT Master Stack Communication on bus systems
Information

...

142 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Error counters of the EtherCAT slaves

11.5 Error counters of the EtherCAT slaves

The EtherCAT slaves have numerical error counters for detecting and analysing error
states. All error counters have a limited counting range of 0 ... 255. After the maximum
value of 255 is reached, no "wrap-around" takes place. If the PLC application is to make a
sensible evaluation of the error counters, these must be deleted by the application after
the evaluation via a write access.

11.5.1 Error types: "Errors" and "Forwarded Errors"

The EtherCAT differ betweeen errors detected in the slave for the first time (red error) and
forwarded errors, i.e. errors that have already been detected in a previous slave (green
error).
When the corresponding error counters are evaluated, an error in the EtherCAT network
can be clearly assigned in a bus segment or a slave.

The different error counters are assigned to the following IPC parameters:

Error counters MC-ETC in slot 1 MC-ETC in slot 2

Port 1 Port 2 Port 1 Port 2
Errors detected for the first time C1096/25 C1096/26 C1096/25 C1096/26
(red error)
Forwarded errors C1096/29 C1096/30 C1096/29 C1096/30
(green error)

DMS 3.1 EN 01/2011 TD17 L 143

Control technology | EtherCAT communication manual
Diagnostics
Error counters of the EtherCAT slaves

11.5.2 Error counter reset from the application

The L_ECAT_ReadErrCnt (FB) ( 116) function block enables the PLC application to access
the telegram failure error counter by reading.
The L_ECAT_ResetErrCnt (FB) ( 117) function block resets the error counters to the initial
value 0.

Example
Once per minute the PLC reads the error counters and evaluates the contents. If it
recognises a error counter value of 250, the application will reset the error counters.
Depending on the EMC load of the network environment, approx. 1 to 2 frame errors per
day in the bus are normal. The error counters should not reach the value of 255.

144 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6 Error scenarios

In the following sections, the causes and remedies for the most frequent user errors are
described.
The state diagram and the table on the next page serve to localise an error.

Switch on industrial PC and field devices

PLC: Original
EtherCAT: Unknown

ECAT_MASTER_1.XML
NO
available?

PLC: Original
EtherCAT: Unknown
YES
Reset
Load PLC
(Original)
Read ECAT_MASTER_1.XML
PLC: Stop
EtherCAT: Unknown

PLC: Original
EtherCAT: Init Load correct
ECAT_MASTER_1.XML
onto IPC

Reset
ECAT_MASTER_1.XML
NO (Original)
OK?

YES Reset
(Original)
PLC: Original
EtherCAT: Pre-Operational

Executable boot project

available?

YES NO

PLC: Original
EtherCAT: Pre-Operational

Load PLC

PLC: Stop
EtherCAT: Pre-Operational

Start PLC

PLC: Running
EtherCAT: Safe-Operational

PLC: Running
EtherCAT: Operational
System is running

Stop PLC

PLC: Stop
EtherCAT: Pre-Operational

Start PLC

PLC: Running
EtherCAT: Safe-Operational

Call
<SMC_ResetAxisGroup>
POU
from PLC application

DMS 3.1 EN 01/2011 TD17 L 145

Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

Expected state changes Current states Error

PLC EtherCAT bus
• PLC: Origin Unknown EtherCAT bus does not enter the Pre-Operational state
OriginRUN ( 147)
• Bus:
UnknownInit
Pre-Operational
• PLC: Origin Pre- • Compilation error in »PLC Designer« ( 147)
OriginRUN Operational • Control unit/PLC does not enter the RUN state
• Bus: ( 147)
Pre-Operational
Safe-Operational
Operational
• PLC: RUN Pre- EtherCAT bus does not enter the Operational state
OriginRUN Operational ( 148)
• Bus:
Pre-Operational
Safe-Operational
Operational
• PLC: RUN Operational Shafts make clicking noises ( 149)
OriginRUN
Shafts do not rotate ( 150)
• Bus:
Safe-Operational Messages in the logbook of the IPC:
Operational • Error during EtherCAT data transmission ( 148)
• Logbook message: "Cannot spawn Remote API
Server" ( 151)
• Logbook message: "Ethernet cable not connected"
( 152)
• Logbook message: "Ethernet cable connected"
( 153)
• Logbook messages: "Slave at index X missing" with
"Cyclic command WKC error ..." ( 154)
• Logbook message: "Cyclic command WKC error ..."
( 156)

146 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.1 Compilation error in »PLC Designer«

Causes Remedies
Logic system: No update task has been created for the Create an update task.
IO_Group.
SoftMotion system: No update task has been created for
the Axis_IO_Group.

11.6.2 EtherCAT bus does not enter the Pre-Operational state

During the start-up of the EtherCAT bus, a check is carried out at the transition InitPre-
Operational to determine if the physical bus configuration corresponds to the configured
bus configuration. If theses configurations are different the master does not enter the Pre-
Operational state.
Furthermmore, the slaves are reset during the transition from initialization in Pre-
Operational. If this fails because, for instance, a slave denies the configuration, the master
does not enter the Pre-Operational state.

Causes Remedies
The current master configuration has not been loaded on Load the current master configuration onto the control
the control system or imported into the »PLC Designer« system or import it into the »PLC Designer« project.
project (Axi-IO_Group or IO_Group are missing)
Faulty master configuration Correct the master configuration with the »EtherCAT
• Slaves are missing. Configurator« and load it onto the control system or
• Slaves have been interchanged or their configuration import it into the »PLC Designer« project.
is faulty.
• A wrong slave type has been configured.
Wiring error Check the wiring and correct it.
• Cabling is incomplete or there is a cable break. 1. Stopping the PLC program: Execute the menu
• Faulty cabling of the slave command OnlineStop.
• The inputs and outputs of the EtherCAT 2. Plug in the bus cable.
communication module are reversed (IN/OUT 3. Execute the SMC_ResetAxisGroup function block or a
connections). Bus restart ( 139).

11.6.3 Control unit/PLC does not enter the RUN state

Causes Remedies
Boot project is missing or faulty. • Start the control unit/PLC manually.
• Create a boot project.
• Correct the boot project.
Note: Only save a tested and consistent boot project to
the control unit.
The task and DC-cycle times set in the logic/motion Set identical task and DC cycle times.
system differ. Note: Unlike loading a project and starting the PLC
program via the »PLC Designer«, starting via a boot
project also starts the PLC - even if there is a DC/task
cycle difference!

DMS 3.1 EN 01/2011 TD17 L 147

Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.4 EtherCAT bus does not enter the Operational state

The control unit/PLC transfers the EtherCAT bus to the Operational state if it set to the RUN
mode.
The EtherCAT bus can only reach the Operational state if the bus has already been set to
the Pre-Operational state.

Causes Remedies
The current master configuration has not been loaded on Load the current master configuration onto the control
the control system or imported into the »PLC Designer« system or import it into the »PLC Designer« project.
project.
The DC cycle time of the master configuration is not Set identical task and DC cycle times.
identical with the task cycle time of the Axis_IO_Group/ Note: Unlike loading a project and starting the PLC
IO_Group. program via the »PLC Designer«, starting via a boot
project also starts the PLC - even if there is a DC/task
cycle difference!

11.6.5 Error during EtherCAT data transmission

Causes Remedies
The »PLC Designer« project does not access the EtherCAT Check and correct the mapping settings in the master
inputs and outputs via symbolic addresses, but via configuration.
logical addresses. This causes problems if the bus Executing PDO mapping ( 65)
structure, the PDO selection, etc. have been changed. During start-up of the PLC, the complete configuration/
For the Servo Drive 9400 HighLine, the ports are not PDO mapping is written into the EtherCAT slaves.
mapped correctly or not mapped at all in the »Engineer«, Mapping entries, e.g. from the »Engineer«, are not
and parameters have therefore not been transferred to overwritten.
the device.

148 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.6 Shafts make clicking noises

If the shafts make clicking noises, this is often caused by faulty synchronisation or a shift
of data in the process image.

Causes Remedies
The current master configuration has not been loaded on Load the current master configuration onto the control
the control system or imported into the »PLC Designer« system or import it into the »PLC Designer« project.
project.
Faulty settings in master configuration Carry out the following settings for the master
configuration on the Slave device tab of the »EtherCAT
Configurator«:
• Select "DC".
• Enable "Sync0". (Standard setting)
• Set Sync Unit Cycle "x 1". (Standard setting)
The DC cycle time of the master configuration is not Set identical task and DC cycle times.
identical with the task cycle time of the Axis_IO_Group/ Note: Unlike loading a project and starting the PLC
IO_Group. program via the »PLC Designer«, starting via a boot
project also starts the PLC - even if there is a DC/task
cycle difference!
For a Servo Drive 9400 HighLine, the synchronisation Correct the setting in C01120 (synchronisation source).
source of the EtherCAT communication module has not
been entered correctly in C01120. During the
initialisation, the Softmotion Kernel sets C01120.
If the last 9400 SoftMotion drive makes clicking noises, Check the wiring and correct it.
the wiring of in- and outputs of the communication Especially check the wiring at the input and output of the
module (IN/OUT ports)may have been reversed. EtherCAT communication module (IN/OUT ports).
Note: A bus scan does not indicate this error!

DMS 3.1 EN 01/2011 TD17 L 149

Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.7 Shafts do not rotate

Causes Remedies
The EtherCAT bus could not be set to the Operational See: EtherCAT bus does not enter the Operational state
state ( 148)
The current master configuration has not been loaded on Load the current master configuration onto the control
the control system or imported into the »PLC Designer« system or import it into the »PLC Designer« project.
project.
The process image on the EtherCAT bus does not comply Correct the current master configuration and load it onto
with the one in the control. the control system or import it into the »PLC Designer«
project.
In the EtherCAT Configurator, the increments per Check the following settings and correct them if
revolution are not set for the SoftMotion scaling/ required:
mapping. • Gearbox ratio in the »PLC Designer« project
• Mapping settings in the master configuration
Executing PDO mapping ( 65)
• During start-up of the PLC, the complete
configuration/PDO mapping is written into the
EtherCAT slaves. Mapping entries, e.g. from the
»Engineer«, are not overwritten.
• Tip: In case of the Servo Drive 9400 HighLine Cia402,
65536 increments per revolution are correct.
The »PLC Designer« project does not access the EtherCAT Check and correct the mapping settings in the master
inputs and outputs via symbolic addresses, but via configuration.
logical addresses. This causes problems if the bus Executing PDO mapping ( 65)
structure, the PDO selection, etc. have been changed. During start-up of the PLC, the complete configuration/
For the Servo Drive 9400 HighLine, the ports are not PDO mapping is written into the EtherCAT slaves.
mapped correctly or not mapped at all in the »Engineer«, Mapping entries, e.g. from the »Engineer«, are not
and parameters have therefore not been transferred to overwritten.
the device.

150 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.8 Logbook message: "Cannot spawn Remote API Server"

...

xxxxx DD-MM-YYYY hh:mm:ss CTRL: Cannot spawn Remote API Server Communication on bus
EtherCAT Master Stack systems
Error

...

The remote API server enables the access from an engineering tool (e.g. the »Engineer«)
which superimposes the IPC to an EtherCAT slave parameter. The access is made via CoE
(CANopen over EtherCAT).

Causes Remedies
No master configuration or a master configuration not • Create a master configuration with the »EtherCAT
matching the physical bus has been loaded on the Configurator« and load it onto the control system.
control system. SDO communication with the slave field • Load the current master configuration onto the
devices is not possible. control system.

DMS 3.1 EN 01/2011 TD17 L 151

Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.9 Logbook message: "Ethernet cable not connected"

...

xxxxx DD-MM-YYYY hh:mm:ss LLA: Ethernet cable not connected

EtherCAT Master Stack Communication on bus systems
Error

...

This error message is entered into the logbook when the error is detected for the first time
and then cyclically every 5 seconds until 65535 messages have occurred or the error is not
active anymore.

Causes Remedies
The bus cable between the IPC and the first node has 1. Stopping the PLC program: Execute the menu
been unplugged. command OnlineStop.
2. Plug in the bus cable.
3. Execute the SMC_ResetAxisGroup function block or a
Bus restart ( 139).
(For this, see also Logbook message: "Ethernet cable
connected" ( 153).)

Error notifications in the »PLC Designer«

In the "ETHERCATMaster Status" visualisation template of the »PLC Designer«, the
following error notifications are highlighted in red (fault):

152 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.10 Logbook message: "Ethernet cable connected"

...

xxxxx DD-MM-YYYY hh:mm:ss LLA: Ethernet cable connected

EtherCAT Master Stack Communication on bus systems
Error

...

When an unplugged bus cable is plugged in again into the first EtherCAT node, this
message is entered into the logbook of the industrial PC. The EtherCAT connection has
been re-established.
As the EtherCAT slave sync managers do not receive any messages, a time-out expires. This
information is sent to the master.

Error notifications in the »PLC Designer«

In the "ETHERCATMaster Status" visualisation template of the »PLC Designer«, the
following error notifications are highlighted in green (information) or red (fault):

DMS 3.1 EN 01/2011 TD17 L 153

Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.11 Logbook messages: "Slave at index X missing" with "Cyclic command WKC error ..."

...

xxxxx DD-MM-YYYY hh:mm:ss SLV: Cyclic command WKC error on LWR - Address: 0x10000 -
EtherCAT Master Stack WKC act/set=2/7
Communication on bus systems
Error

...

xxxxx DD-MM-YYYY hh:mm:ss SLV: Slave at index X missing. State req/act=Operational/

EtherCAT Master Stack UNKNOWN
Communication on bus systems
Error

...

The "Cyclic command WKC error" message is entered cyclically every 5 seconds into the
logbook of the industrial PC until the error is not active anymore.

Causes Remedies
The bus cable between two EtherCAT nodes has been 1. Stopping the PLC program: Execute the menu
unplugged. command OnlineStop.
2. Plug in the bus cable.
3. Execute the SMC_ResetAxisGroup function block or a
Bus restart ( 139).
(For this, see also Logbook message: "Cyclic command
WKC error ..." ( 156).)
The node at position X is deenergised. Switch-on the node and execute the
SMC_ResetAxisGroup function block or a Bus restart
( 139).

154 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

Error notifications in the »PLC Designer«

In the "ETHERCATMaster Status" visualisation template of the »PLC Designer«, the
following error notifications are highlighted in red (fault):

DMS 3.1 EN 01/2011 TD17 L 155

Control technology | EtherCAT communication manual
Diagnostics
Error scenarios

11.6.12 Logbook message: "Cyclic command WKC error ..."

...

xxxxx DD-MM-YYYY hh:mm:ss SLV: Cyclic command WKC error on LWR - Address: 0x10000 -
EtherCAT Master Stack WKC act/set=2/7
Communication on bus systems
Error

...

The "Cyclic command WKC error" message is entered cyclically every 5 seconds into the
logbook of the industrial PC until the error is not active anymore.

Causes Remedies
The EtherCAT slave sync managers do not receive any 1. Stopping the PLC program: Execute the menu
messages and a time-out expires. command OnlineStop.
Example: An unplugged bus cable between two 2. Plug in the bus cable.
EtherCAT nodes has been replugged. Afterwards, 3. Execute the SMC_ResetAxisGroup function block or a
however, neither the SMC_ResetAxisGroup function Bus restart ( 139).
block nor a Bus restart ( 139) have been executed.

Error notifications in the »PLC Designer«

In the "ETHERCATMaster Status" visualisation template of the »PLC Designer«, the
following error notifications are highlighted in red (fault):

156 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
System error messages

11.7 System error messages

For system error messages, the following error types are distinguished:

Error type Abbr. Description

Application error CTRL Internal error in the application operating the master.
• E.g. an API function has been called with invalid parameters.
Project error PRJ The XML file of the master does not correspond to the slaves.
• E.g. not all slaves included in the XML file have been detected during
the bus scan.
Configuration error (master) CFG Faulty or insufficient configuration of the master.
• E.g. mailbox command queue too small.
Bus/slave error SLV Error cause by slave
• E.g. "Working Counter Error"
Link layer error LLA Error in the link layer (network driver).
• E.g. the Intel Pro 1000 card could not be found.
• These are mostly internal errors.
Remote API error RAP Error in remote API
(The applications and engineering tools »EtherCAT OPC server«,
»EtherCAT Configurator«, »Engineer« use the remote API.)
• E.g. a connection between slave and master is not possible.
Internal software error ISW Internal master error
• E.g. the master state machine is in an invalid state.

11.7.1 IPC logbook messages

IPC logbook messages are indicated as errors, warnings, or information.

 Note!
The WKC error messages (highlighted in blue in the table) are entered into the
logbook when the error is detected for the first time and then cyclically every 5
seconds until 65535 messages have occurred or the error is not active anymore.
In the following table, "[...]" serves as a wildcard for addresses, indexes, message
types, error numbers, etc.

Error type Error text in the IPC logbook Description

CTRL Master state change from [...] to [...] State change of the master from [...] to [...]
CTRL Cyclic command time-out: Time between sending cyclic Time-out of cyclic commands:
commands too high The time between the transmission processes is too long.
LLA Retry sending a [...] frame due to [...] Retry to send a data frame
LLA [...] response on [...] Ethernet frame Response to an Ethernet frame
LLA Ethernet cable connected Ethernet cable is connected.
LLA Ethernet cable not connected Ethernet cable is not connected.
PRJ Cyclic command wrong size (too long) The process image seize in the EtherCAT master configuration
(ECAT_MASTER_1.XML) is too large (Example: 35 MB).
PRJ Invalid input offset in cyc cmd, please check InputOffs
PRJ Invalid output offset in cyc cmd, please check OutputOffs
SLV Scan Bus Succeeded, found [...] slaves Bus scan has been completed successfully.
[...] slaves were found.
SLV Scan Bus Error [...], found [...] slaves Bus scan error [...]
[...] slaves were found.
SLV Distributed Clocks status [...] ([...]) Distributed clocks status

DMS 3.1 EN 01/2011 TD17 L 157

Control technology | EtherCAT communication manual
Diagnostics
System error messages

Error type Error text in the IPC logbook Description

SLV Distributed Clocks latching status [...] ([...]) Distributed clocks - latching status
SLV CoE: SDO Download failure, statVal=[...], errCode=[...] ([...]) CoE: SDO download has failed.
SLV CoE: SDO Upload failure, statVal=[...], errCode=[...] ([...]) CoE: SDO upload has failed.
SLV CoE: OD-List Upload failure, statVal=[...], errCode=[...] ([...]) CoE: OD list upload has failed.
SLV CoE: Object Description Upload failure, statVal=[...], errCode=[...] CoE: Object description upload has failed.
([...])
SLV CoE: Object Entry Description Upload failure, statVal=[...], CoE: Object entry description upload has failed.
errCode=[...] ([...])
SLV CoE: Emergency transfer failure, statVal=[...], errCode=[...]([...]) CoE: Emergency transfer has failed
SLV CoE: Emergency request, id=[...], len=[...] ===> slave address=[...], CoE: Emergency request to slave [...]
ErrCode=[...], ErrReg=[...], data: '[...] [...] [...] [...] [...]'.
SLV Cyclic command working counter error - Command: [...] - Cyclic command - WKC error at the node with the logic/physical
Logical/Physical address: [...], WKC act/set=[...]/[...] address [...]
SLV Master init command working counter error - Command: [...] - Master init command - WKC error at the node with the logic/
Logical/Physical address: [...], WKC act/set=[...]/[...] physical address [...]
SLV Slave init command working counter error - Properties for slave Slave init command - WKC error at the node with the logic/
\"[...]\": - EtherCAT address=[...] - Command: [...] - Logical/ physical address [...]
Physical address: [...], WKC act/set=[...]/[...]
SLV EoE receive working counter error - Properties for slave \"[...]\": - EoE receive - WKC error at the slave with the logic/physical
EtherCAT address=[...] - Command: [...] - Logical/Physical address [...]
address: [...], WKC act/set=[...]/%6!lu!
SLV CoE receive working counter error - Properties for slave \"%1!hs! CoE receive - WKC error at the slave with the logic/physical
- EtherCAT address=%2!lu! - Command: %3!hs! - Logical/ address [...]
Physical address: 0x%4!lx!, WKC act/set=[...]/[...]
SLV FoE receive working counter error - Properties for slave \"[...]\": - FoE receive - WKC error at the slave with the logic/physical
EtherCAT address=[...] - Command: [...] - Logical/Physical address [...]
address: [...], WKC act/set=[...]/[...]
SLV SoE receive working counter error - Properties for slave \"[...]\": - SoE receive - WKC error at the slave with the logic/physical
EtherCAT address=[...] - Command: [...] - Logical/Physical address [...]
address: [...], WKC act/set=[...]/[...]
SLV EoE send working counter error - Properties for slave \"[...]\": - EoE send - WKC error at the slave with the logical/physical
EtherCAT address=[...] - Command: [...] - Logical/Physical address [...]
address: [...], WKC act/set=[...]/[...]
SLV CoE send working counter error - Properties for slave \"[...]\": - CoE send - WKC error at the slave with the logical/physical
EtherCAT address=[...] - Command: [...] - Logical/Physical address [...]
address:[...], WKC act/set=[...]/[...]
SLV FoE send working counter error - Properties for slave \"[...]\": - FoE send - WKC error at the slave with the logical/physical
EtherCAT address=[...] - Command: [...] - Logical/Physical address [...]
address: [...], WKC act/set=[...]/[...]
SLV SoE send working counter error – Properties for slave \"[...]\": - SoE send - WKC error at the slave with the logical/physical
EtherCAT address=[...] – Command: [...] – Logical/Physical address [...]
address: [...], WKC act/set=[...]/[...]
SLV Additional error information: [...] Additional error information [...]
SLV Ecat command IDX act value=[...] EtherCAT command - IDX actual value
SLV Ecat command IDX set value=[...] EtherCAT command - IDX setpoint
SLV Init command response error – Properties for slave \"[...]\": - Response error to Init command to slave [...]:
EtherCAT address=[...] – Current State change of slave=\"[...]\" No response: Is there a slave at this position?
No Response, is there a slave at this position?]
SLV Init command response error – Properties for slave \"[...]\": - Response error to Init command to slave [...]:
EtherCAT address=[...] – Current State change of slave=\"[...]\" Validation error: Is the correct slave at this position?
Validation error, is the correct slave at this position?
SLV Init command response error – Properties for slave \"[...]\": - Response error to Init command to slave [...]:
EtherCAT address=[...] – Current State change of slave=\"[...]\" Target state has not been reached. Is the correct slave at this
target state could not be reached, is the correct slave at this position?
position?
SLV Master init command response error – Current State change of Response error to master init command:
master=\"[...]\" No Response, is there anything connected? State change of the master
No response: Is there anything connected at all?
SLV Master init command response error – Current State change of Response error to master init command:
master=\"[...]\" Validation error, are the correct slaves State change of the master
connected? Validation error, are the correct slaves connected?
SLV Missing EtherCAT [...] command in Ethernet frame – Properties EtherCAT command [...] is missing in the Ethernet frame to slave
for slave \"[...]": - EtherCAT address=[...] – Index of missing [...].
command in the Ethernet frame=[...]
SLV Mailbox Slave init command timeout – Properties for slave Time-out "Mailbox init command" to slave [...]
\"[...]\": - EtherCAT address=[...] – Current State change of
mailbox slave=\"[...]\

158 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
System error messages

Error type Error text in the IPC logbook Description

SLV Not all EtherCAT slave devices are in Operational state Some EtherCAT slaves are not in Operational state
SLV Redundancy: Line Break Redundant operation:
Bus/communication interruption (Ethernet cable is not
connected.)
SLV At least one slave signals error status! At least one slave has an active error.
SLV Slave error status info – Properties for slave \"[...]\": - EtherCAT Error status information of the slave [...]
address=[...] – slave status <[...] [...]>([...]), control status
<[...]>([...])
SLV Slave [...] not Addressable - Properties for slave \"[...]\": - The slave [...] cannot be addressed.
EtherCAT address=[...] -
SLV SDO Abort - Properties for slave \"[...]\": - EtherCAT address=[...] SDO abort at slave [...]
- [...] ([...]) - Index=[...] SubIndex=[...]
SLV DC Slaves In-Sync. Deviation : [...] nanosec DC slaves are "in-sync":
DC deviation: [...] nanoseconds
SLV DC Slaves Out-Of-Sync. Deviation : [...] nanosec DC slaves are "out-of-sync":
DC deviation: [...] nanoseconds
SLV DC Single Latch on Slave [...] Ident [...] DC Single Latch:
Transfer of the I/O data to slave [...]

11.7.2 General error codes (0x00000000hex, 0x98110001 ... 0x98110038hex)

 General error codes are provided at the dwErrorCode output of the EtherCAT function
blocks (see chapter "EtherCAT function libraries" ( 96).
 In the Logbook of the IPC ( 140) the error messages are output as additional error
information:
...

00007 14-06-2008 10:48:11 CTRL: Cannot set EtherCAT-Master to init! (Errorcode =

EtherCAT Master Stack 0x98110010), retry...
Communication on bus systems
Error

...

Error number [hex] Error type Description

Designation
0x00000000 - Function completed successfully.
EC_E_NOERROR
0x98110001 CTRL Function or feature not available.
EC_E_NOTSUPPORTED
0x98110002 CTRL CoE: invalid SDO index
EC_E_INVALIDINDEX
0x98110003 ISW Invalid offset value during access to process data image
EC_E_INVALIDOFFSET
0x98110005 CTRL Invalid offset value
EC_E_INVALIDSIZE - during access to process data image
- during storage of data in a data area
0x98110006 ISW Invalid data
EC_E_INVALIDDATA
0x98110007 ISW Internal software error (numerous possible causes)
EC_E_NOTREADY
0x98110008 CTRL The master is busy at the moment and cannot process the API function. The function should be repeated
EC_E_BUSY at a later time.
0x98110009 ISW The queue for acyclic commands is full.
EC_E_ACYC_FRM_FREEQ_
EMPTY
0x9811000A CFG Not enough application memory available.
EC_E_NOMEMORY

DMS 3.1 EN 01/2011 TD17 L 159

Control technology | EtherCAT communication manual
Diagnostics
System error messages

Error number [hex] Error type Description

Designation
0x9811000B CTRL An API function has been called with incorrect parameters.
EC_E_INVALIDPARM
0x9811000C CTRL An API function has been called with an invalid slave ID.
EC_E_NOTFOUND
0x9811000E ISW Invalid state
EC_E_INVALIDSTATE
0x9811000F ISW Not enough application memory available.
EC_E_TIMER_LIST_FULL
0x98110010 All A time-out is active.
EC_E_TIMEOUT
0x98110011 ISW Internal software error (numerous possible causes)
EC_E_OPENFAILED
0x98110012 LLA The transmission of the frame has failed.
EC_E_SENDFAILED
0x98110013 CFG The mailbox command cannot be enqueued on the internal queue.
EC_E_INSERTMAILBOX
0x98110014 ISW Unknown mailbox command code
EC_E_INVALIDCMD
0x98110015 ISW Unknown mailbox protocol
EC_E_UNKNOWN_MBX_ Mailbox command ID with unknown protocol assignment
PROTOCOL
0x98110016 ISW Access denied (internal software error on the master)
EC_E_ACCESSDENIED
0x9811001A CFG The evaluation version of the master is used. The master enters the "Stop" mode after 30 minutes.
EC_E_PRODKEY_INVALID
0x9811001B PRJ The XML file contains no or faulty content.
EC_E_WRONG_FORMAT
0x9811001C CTRL Attempt to execute a non-existing or deactivated function.
EC_E_FEATURE_DISABLED
0x9811001E PRJ The bus configuration of the master and the connected slaves in the XML file does not comply with the
EC_E_BUSCONFIG_ physical bus structure.
MISMATCH
0x9811001F PRJ The XML file cannot be read.
EC_E_CONFIGDATAREAD
0x98110021 PRJ The XML file of the master does not contain any cyclic commands.
EC_E_XML_CYCCMDS_
MISSING
0x98110022 PRJ The XML file of the master does not contain the command for reading the AL Status Register.
EC_E_XML_ALSTATUS_
READ_MISSING
0x98110023 ISW The master state machine is in an invalid state.
EC_E_MCSM_FATAL_ERROR
0x98110024 SLV The slave cannot be addressed.
EC_E_SLAVE_ERROR
0x98110025 SLV An EtherCAT frame was lost on the bus, i.e. it has not been received. If this error occurred frequently, this
EC_E_FRAME_LOST indicates the wiring may be faulty.
0x98110026 SLV The received EtherCAT frame is not complete.
EC_E_CMD_MISSING
0x98110028 CTRL This function cannot be used when DC latching is in the "Auto Read" operating mode.
EC_E_INVALID_DCL_MODE
0x98110029 SLV The bus configuration (XML file of the master) does not correspond with the connected slaves. This error
EC_E_AI_ADDRESS only occurs if a previously existing slave disappears.
0x9811002A CTRL The mailbox commands are not permissible in the current slave state.
EC_E_INVALID_SLAVE_
STATE
0x9811002B SLV The slave has been switched on/off.
EC_E_SLAVE_NOT_
ADDRESSABLE
0x9811002C PRJ Error during XML file creation by the configurator
EC_E_CYC_CMDS_
OVERFLOW
0x9811002D SLV The EtherCAT cable is not connected to the control unit/is not plugged in.
EC_E_LINK_DISCONNECTED
0x9811002E RAP The connection to the master (server) is interrupted or the master has been stopped.
EC_E_MASTERCORE_
INACCESSIBLE

160 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
System error messages

Error number [hex] Error type Description

Designation
0x9811002F SLV It is not possible to write to the CoE mailbox in the slave. The slave has not yet read the mailbox.
EC_E_COE_MBXSND_
WKC_ERROR
0x98110030 SLV It is not possible to read the CoE mailbox in the slave.
EC_E_COE_MBXRCV_WKC_
Error
0x98110031 CTRL The slave does not support mailbox transfer.
EC_E_NO_MBX_SUPPORT
0x98110032 PRJ Configurator error or the slave description file does not correspond with the slave firmware.
EC_E_NO_COE_SUPPORT
0x98110033 PRJ Configurator error or the slave description file does not correspond with the slave firmware.
EC_E_NO_EOE_SUPPORT
0x98110034 PRJ Configurator error or the slave description file does not correspond with the slave firmware.
EC_E_NO_FOE_SUPPORT
0x98110035 PRJ Configurator error or the slave description file does not correspond with the slave firmware.
EC_E_NO_SOE_SUPPORT
0x98110036 PRJ Configurator error or the slave description file does not correspond with the slave firmware.
EC_E_NO_VOE_SUPPORT
0x98110037 PRJ The number of slaves indicated in the XML file is too large for the evaluation version of the master.
EC_E_EVAL_VIOLATION
0x98110038 CFG The evaluation time has expired. The bus is stopped.
EC_E_EVAL_EXPIRED

11.7.3 CANOpen over EtherCAT (CoE) SDO error codes (0x98110040 ... 0x9811005Dhex)

The CoE SDO error codes are relevant for:

 The function blocks ecatSdoUploadReq and ecatSdoDownloadReq.
 SDO read/write error messages caused by SDO requests from the system (e.g.
initialisation code or SDO requests from the engineering tool).
The CoE SDO error codes present the SDO abort codes ( 164).

Error number [hex] Error type Description

Designation
0x98110040 SLV The status of the toggle bit has not changed.
EC_E_SDO_ABORTCODE_ Abort code 0x05030000
TOGGLE
0x98110041 SLV SDO protocol time-out
EC_E_SDO_ABORTCODE_ Abort code 0x05040000
TIMEOUT
0x98110042 SLV Invalid or unknown specification symbol for the client/server command
EC_E_SDO_ABORTCODE_ Abort code 0x05040001
CCS_SCS
0x98110043 SLV Invalid block size (only in "Block mode")
EC_E_SDO_ABORTCODE_ Abort code 0x05040002
BLK_SIZE
0x98110044 SLV Invalid sequence number (only in "Block mode")
EC_E_SDO_ABORTCODE_ Abort code 0x05040003
SEQNO
0x98110045 SLV CRC error (only in "Block mode")
EC_E_SDO_ABORTCODE_ Abort code 0x05040004
CRC
0x98110046 SLV There is not sufficient space in the main memory.
EC_E_SDO_ABORTCODE_ Abort code 0x05040005
MEMORY
0x98110047 SLV Access to object not supported
EC_E_SDO_ABORTCODE_ Abort code 0x06010000
ACCESS
0x98110048 SLV Read access to a write-protected object
EC_E_SDO_ABORTCODE_ Abort code 0x06010001
WRITEONLY

DMS 3.1 EN 01/2011 TD17 L 161

Control technology | EtherCAT communication manual
Diagnostics
System error messages

Error number [hex] Error type Description

Designation
0x98110049 SLV Write access to a write-protected object
EC_E_SDO_ABORTCODE_ Abort code 0x06010002
READONLY
0x9811004A SLV Object is not listed in the object directory.
EC_E_SDO_ABORTCODE_ Abort code 0x06020000
INDEX
0x9811004B SLV Object cannot be mapped into the PDO.
EC_E_SDO_ABORTCODE_ Abort code 0x06040041
PDO_MAP
0x9811004C SLV The number and/or length of the mapped objects would exceed the PDO length.
EC_E_SDO_ABORTCODE_ Abort code 0x06040042
PDO_LEN
0x9811004D SLV General parameter incompatibility
EC_E_SDO_ABORTCODE_P_ Abort code 0x06040043
INCOMP
0x9811004E SLV General internal device incompatibility
EC_E_SDO_ABORTCODE_I_ Abort code 0x06040047
INCOMP
0x9811004F SLV Access has failed because of hardware errors.
EC_E_SDO_ABORTCODE_ Abort code 0x06060000
HARDWARE
0x98110050 SLV Wrong data type or parameter length.
EC_E_SDO_ABORTCODE_ Abort code 0x06070010
DATA_SIZE
0x98110051 SLV Wrong data type (parameter length is too large).
EC_E_SDO_ABORTCODE_ Abort code 0x06070012
DATA_SIZE1
0x98110052 SLV Wrong data type (parameter length is too small).
EC_E_SDO_ABORTCODE_ Abort code 0x06070013
DATA_SIZE2
0x98110053 SLV Subindex does not exist.
EC_E_SDO_ABORTCODE_ Abort code 0x06090011
OFFSET
0x98110054 SLV The value range for parameters is too large (only for write access).
EC_E_SDO_ABORTCODE_ Abort code 0x06090030
DATA_RANGE
0x98110055 SLV The parameter value is too high.
EC_E_SDO_ABORTCODE_ Abort code 0x06090031
DATA_RANGE1
0x98110056 SLV The parameter value is too low.
EC_E_SDO_ABORTCODE_ Abort code 0x06090032
DATA_RANGE2
0x98110057 SLV The maximum value is smaller than the minimum value.
EC_E_SDO_ABORTCODE_ Abort code 0x06090036
MINMAX
0x98110058 SLV General error
EC_E_SDO_ABORTCODE_ Abort code 0x08000000
GENERAL
0x98110059 SLV Data cannot be transferred/saved to the application.
EC_E_SDO_ABORTCODE_ Abort code 0x08000020
TRANSFER
0x9811005A SLV Data cannot be transferred/saved to the application because of local control.
EC_E_SDO_ABORTCODE_ Abort code 0x08000021
TRANSFER1
0x9811005B SLV Data cannot be transferred/saved to the application because of current device state.
EC_E_SDO_ABORTCODE_ Abort code 0x08000022
TRANSFER2
0x9811005C SLV Dynamic object directory generation has failed or no object directory available.
EC_E_SDO_ABORTCODE_ Abort code 0x08000023
DICTIONARY
0x9811005D SLV Unknown internal slave error
EC_E_SDO_ABORTCODE_
UNKNOWN

162 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Diagnostics
System error messages

11.7.4 Remote API error codes (0x98110181 ... 0x98110196hex)

Remote API error codes are software-internal errors when the EtherCAT master stack is
accessed. The applications and engineering tools »EtherCAT OPC server«, »EtherCAT
Configurator«, »Engineer« use the remote API.

Error number [hex] Error type Description

Designation
0x98110181 RAP Reconnecting using the old cookie has failed. A new reconnection attempt is made automatically.
EMRAS_E_INVALIDCOOKIE
0x98110182 RAP Connection abort because of missing keep-alive messages. (Server or client frozen/does not respond
EMRAS_E_WDEXPIRED anymore.)
0x98110183 RAP Attempt to connect to another remote server has been rejected because the multi-instance API has not
EMRAS_E_ been used for establishing an already existing connection.
MULSRVDISMULCON
0x98110184 RAP Server aborts connection during client logon.
EMRAS_E_
LOGONCANCELLED
0x98110186 RAP Server and client version are not identical (different protocol versions). Therefore, connecting has been
EMRAS_E_INVALIDVERSION rejected.
0x98110191 RAP Detailed description for connection abort/termination if connection to server has been closed due to "API
EMRAS_EVT_ call (local)".
SERVERSTOPPED
0x98110192 RAP Detailed description for connection abort/termination if connection has been closed due to missing keep-
EMRAS_EVT_WDEXPIRED alive messages.
0x98110193 RAP Client attempts to reopen an old connection (after the connection has been aborted), but the server has
EMRAS_EVT_ already cleared the session. A new connection must be established (register client and mailbox objects
RECONEXPIRED must be created again)
0x98110194 RAP Server message when a new client has connected.
EMRAS_EVT_CLIENTLOGON
0x98110195 RAP Server message when a client has successfully reopened an old connection.
EMRAS_EVT_RECONNECT
0x98110196 RAP Detailed description (event) which marks the successful socket transfer of a new connection to an already
EMRAS_EVT_SOCKCHANGE existing session object (reconnect).

DMS 3.1 EN 01/2011 TD17 L 163

Control technology | EtherCAT communication manual
Diagnostics
SDO abort codes

11.8 SDO abort codes

The abort codes are relevant for:

 The function blocks ecatSdoUploadReq and ecatSdoDownloadReq.
 SDO read/write error messages caused by SDO requests from the system (e.g.
initialisation code or SDO requests from the engineering tool).

Error number [hex] Description

0x05030000 The status of the toggle bit has not changed.
0x05040000 SDO protocol time-out
0x05040001 Invalid or unknown specification symbol for the client/server command
0x05040002 Invalid block size (only in "Block mode")
0x05040003 Invalid sequence number (only in "Block mode")
0x05040004 CRC error (only in "Block mode")
0x05040005 There is not sufficient space in the main memory.
0x06010000 Access to object not supported
0x06010001 Read access to a write-protected object
0x06010002 Write access to a write-protected object
0x06020000 Object is not listed in the object directory.
0x06040041 Object cannot be mapped into the PDO.
0x06040042 The number and/or length of the mapped objects would exceed the PDO length.
0x06040043 General parameter incompatibility
0x06040047 General internal device incompatibility
0x06060000 Access has failed because of hardware errors.
0x06070010 Wrong data type or parameter length.
0x06070012 Wrong data type (parameter length is too large).
0x06070013 Wrong data type (parameter length is too small).
0x06090011 Subindex does not exist.
0x06090030 The value range for parameters is too large (only for write access).
0x06090031 The parameter value is too high.
0x06090032 The parameter value is too low.
0x06090036 The maximum value is smaller than the minimum value.
0x08000000 General error
0x08000020 Data cannot be transferred/saved to the application.
0x08000021 Data cannot be transferred/saved to the application because of local control.
0x08000022 Data cannot be transferred/saved to the application because of current device state.
0x08000023 Dynamic object directory generation has failed or no object directory available.

164 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference

12 Parameter reference
This chapter complements the parameter list of the online documentation for the
industrial PC by the parameters of the Communication card MC-ETC:
 Parameters of the MC-ETC communication card in slot 1 ( 166)
 Interface parameters of the MC-ETC communication card in slot 1 ( 167)
 Parameters of the MC-ETC communication card in slot 2 ( 182)
 Interface parameters of the MC-ETC communication card in slot 2 ( 183)

 Note!
• Only one MC-ETC communication card can be installed per industrial PC. The
»WebConfig« designation of the card is MC-ETC1, independently of the slot in
which the communication card has been inserted.
• Depending on the slot used, the code numbers differ by an offset of ’500’. To
obtain the code numbers for a communication card inserted in slot 2, an
offset of ’500’ must be added to the code numbers of a card inserted in slot 1.

 Tip!
For general information about parameters please see the online documentation
for the industrial PC.

DMS 3.1 EN 01/2011 TD17 L 165

Control technology | EtherCAT communication manual
Parameter reference
Parameters of the MC-ETC communication card in slot 1

12.1 Parameters of the MC-ETC communication card in slot 1

The parameters are listed in numerically ascending order.

C1031
Parameter | Name: Data type: VISIBLE_STRING
C1031 | Device: type key Index: 23544d = 5BF8h

Identification of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1032
Parameter | Name: Data type: VISIBLE_STRING
C1032 | Device: type version Index: 23543d = 5BF7h

Version number of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1033
Parameter | Name: Data type: VISIBLE_STRING
C1033 | Device: name Index: 23542d = 5BF6h

Device name of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1034
Parameter | Name: Data type: VISIBLE_STRING
C1034 | Device: software revision Index: 23541d = 5BF5h

Software version of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1035
Parameter | Name: Data type: VISIBLE_STRING
C1035 | Device: hardware revision Index: 23540d = 5BF4h

Hardware version of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1036
Parameter | Name: Data type: VISIBLE_STRING
C1036 | Device: serial number Index: 23539d = 5BF3h

Serial number of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1037
Parameter | Name: Data type: VISIBLE_STRING
C1037 | Device: manufacturer Index: 23538d = 5BF2h

Manufacturer of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1038
Parameter | Name: Data type: VISIBLE_STRING
C1038 | Device: manufacturing date Index: 23537d = 5BF1h

Manufacturing date of the card

; Read access … Write access … CINH … PLC STOP … No transfer

166 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

12.2 Interface parameters of the MC-ETC communication card in slot 1

The parameters are listed in numerically ascending order.

C1074
Parameter | Name: Data type: VISIBLE_STRING
C1074 | ECAT MAC address Index: 23501d = 5BCDh

MAC address of the interface

; Read access … Write access … CINH … PLC STOP … No transfer

C1080/1
Parameter | Name: Data type: DATE
C1080/1 | ECAT Master Configuration Date Index: 23495.1d =
0x5BC7.0x01h

Date of the master configuration file in the file system of the IPC
The file manager determines the date of the master configuration file in the index ...\storage\IPC\PLC. If this file
does not exist, the date "01/01/1980 00:00:00" is displayed.
; Read access … Write access … CINH … PLC STOP … No transfer

C1080/2
Parameter | Name: Data type: UNSIGNED_32
C1080/2 | ECAT Master Config Checksum Index: 23495.2d =
0x5BC7.0x02h

Checksum of the master configuration file in the file system of the IPC
The data manager determines the checksum of the master configuration file in the ...\storage\IPC\PLC directory. If
this file does not exist, the value "0x00000000" is displayed.
; Read access … Write access … CINH … PLC STOP … No transfer

C1080/3
Parameter | Name: Data type: UNSIGNED_32
C1080/3 | ECAT Stack Master Checksum Index: 23495.3d =
0x5BC7.0x03h

The stack determines the checksum of the loaded/active master configuration file. If there is no loaded/active
master configuration file, the value "0x00000000" is displayed.
; Read access … Write access … CINH … PLC STOP … No transfer

C1080/4
Parameter | Name: Data type: UNSIGNED_8
C1080/4 | ECAT Bus Scan Match Index: 23495.4d =
0x5BC7.0x04h

Brief information whether the master configuration corresponds to the physical bus structure. The master
configuration of the stack is compared with the actual bus structure.
Selection list (Lenze setting printed in bold) Information
0 No match The master configuration does not correspond to the bus
structure.
1 OK The master configuration corresponds to the bus
structure.
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 167

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1081/1
Parameter | Name: Data type: UNSIGNED_32
C1081/1 | ECAT State Change Command Index: 23494.1d =
0x5BC6.0x01h

This code can be used to change the master state.

Note: The parameter should only be set to analyse start problems (e.g. master/bus does not reach the Operational
state). Setting this parameter only sets the state of the master stack. All other nodes remain in their previous states.
Changing the master state via this code may result in an unstable system state.

• A higher bus state than the one initiated by the PLC can never be reached.
• A reload of the master configuration cannot be initiated.
• Loading the PLC program normally stops the bus and sets it to the Pre-Operational state. If this is not possible,
the bus remains in the Unknown or Initialisation state.
• Starting the PLC program normally sets the bus to the Operational state. If this is not possible, the bus remains
in the Pre-Operational or Safe Operational state.
Selection list (Lenze setting printed in bold)
0 No Operation
1 Init
2 Pre-Operational
4 Safe-Operational
8 Operational
; Read access ; Write access … CINH … PLC STOP ; No transfer

C1081/2
Parameter | Name: Data type: UNSIGNED_8
C1081/2 | ECAT Master State Index: 23494.2d =
0x5BC6.0x02h

Display of the current master state

Selection list(read only)
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap Mode Bootstrap Mode is not supported.
4 Safe-Operational
8 Operational
; Read access … Write access … CINH … PLC STOP … No transfer

C1081/3
Parameter | Name: Data type: UNSIGNED_8
C1081/3 | ECAT Master in requested Mode Index: 23494.3d =
0x5BC6.0x03h

The state is usually requested by the PLC. For possible requested states see C1080/1 ( 168).
• Value "0": Master is not in the requested state.
• Value "1": Master is in the requested state.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

168 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1081/4
Parameter | Name: Data type: UNSIGNED_8
C1081/4 | ECAT Slaves in requested Mode Index: 23494.4d =
0x5BC6.0x04h

• Value "0": One or more slaves are not in the state requested by the master.
• Value "1": All slaves are in the state requested by the master.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1081/5
Parameter | Name: Data type: UNSIGNED_32
C1081/5 | ECAT Master State Summary Index: 23494.5d =
0x5BC6.0x05h

Display of additional information about the current master state

The bits are set to the value 1 when the respective states are reached.
Value is bit-coded:
Bit 0 Master ok
Bit 1 Reserved 1
Bit 2 Reserved 2
Bit 3 Reserved 3
Bit 4 Init
Bit 5 Pre-Operational
Bit 6 Safe Operational
Bit 7 Operational
Bit 8 Slaves in Requested State
Bit 9 Master in Requested State
Bit 10 Bus Scan Match
Bit 11 Reserved 4
Bit 12 DC: Activated
Bit 13 DC: Synchronised
Bit 14 DC: Busy
Bit 15 Reserved 5
Bit 16 Link Up
Bit 17 Reserved 6
... ...
Bit 31 Reserved 20
; Read access … Write access … CINH … PLC STOP … No transfer

C1081/6
Parameter | Name: Data type: UNSIGNED_8
C1081/6 | ECAT BusScan Index: 23494.6d =
0x5BC6.0x06h

Activation of the bus scan

The bus scan updates all EtherCAT codes.
Selection list (Lenze setting printed in bold)
0 No Operation
1 Scan Bus
; Read access ; Write access … CINH … PLC STOP ; No transfer

DMS 3.1 EN 01/2011 TD17 L 169

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1082/1
Parameter | Name: Data type: BITFIELD_3
C1082/1 | ECAT Distributed Clocks State Index: 23493.1d =
0x5BC5.0x01h

Display of the state of the distributed clocks

The bits are set to the value 1 when the respective states are reached.
Value is bit-coded:
Bit 0 DC: Activated
Bit 1 DC: Synchronised
Bit 2 DC: Busy
; Read access … Write access … CINH … PLC STOP … No transfer

C1082/2
Parameter | Name: Data type: UNSIGNED_32
C1082/2 | ECAT DC Slave Sync Deviation Limit Index: 23493.2d =
0x5BC5.0x02h

Permitted deviation of the distributed clocks of all devices in nanoseconds. If the permitted deviation is exceeded,
the master initiates a resynchronisation of the distributed clocks.
Display range (min. value | unit | max. value)
0 ns 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1082/3
Parameter | Name: Data type: INTEGER_32
C1082/3 | ECAT DC Current Deviation Index: 23493.3d =
0x5BC5.0x03h

Current maximum deviation of the distributed clocks of all devices in nanoseconds.

Display range (min. value | unit | max. value)
0 ns 2147483647
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/2
Parameter | Name: Data type: UNSIGNED_32
C1086/2 | ECAT Configuration Checksum CRC-32 Index: 23489.2d =
0x5BC1.0x02h

Checksum of the master configuration file (loaded from stack/active). The stack determines the checksum of the
loaded/active master configuration file. If this file does not exist, the value "0x00000000" is displayed.
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/3
Parameter | Name: Data type: UNSIGNED_32
C1086/3 | ECAT Number of found Slaves Index: 23489.3d =
0x5BC1.0x03h

Number of slaves connected to the fieldbus

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/4
Parameter | Name: Data type: UNSIGNED_32
C1086/4 | ECAT Number of found DC-Slaves Index: 23489.4d =
0x5BC1.0x04h

Number of slaves connected to the fieldbus supporting distributed clocks

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

170 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1086/5
Parameter | Name: Data type: UNSIGNED_32
C1086/5 | ECAT Number Slaves in Configuration Index: 23489.5d =
0x5BC1.0x05h

Number of slaves configured in the master configuration file

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/6
Parameter | Name: Data type: UNSIGNED_32
C1086/6 | ECAT Number Mailbox Slaves in Configuration Index: 23489.6d =
0x5BC1.0x06h

Number of mailbox slaves configured in the master configuration file

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/7
Parameter | Name: Data type: UNSIGNED_32
C1086/7 | ECAT TX-Frames Counter Index: 23493.7d =
0x5BC5.0x07h

Number of sent frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/8
Parameter | Name: Data type: UNSIGNED_32
C1086/8 | ECAT RX-Frames Counter Index: 23489.8d =
0x5BC1.0x08h

Number of received frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/9
Parameter | Name: Data type: UNSIGNED_32
C1086/9 | ECAT Lost Frames Counter Index: 23489.9d =
0x5BC1.0x09h

Number of lost frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/10
Parameter | Name: Data type: UNSIGNED_32
C1086/10 | ECAT Cyclic Frames Counter Index: 23489.10d =
0x5BC1.0x0Ah

Number of cyclic frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 171

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1086/11
Parameter | Name: Data type: UNSIGNED_32
C1086/11 | ECAT Cyclic Datagrams Counter Index: 23489.11d =
0x5BC1.0x0Bh

Number of cyclic datagrams

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/12
Parameter | Name: Data type: UNSIGNED_32
C1086/12 | ECAT Acyclic Frames Counter Index: 23489.12d =
0x5BC1.0x0Ch

Number of acyclic frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/13
Parameter | Name: Data type: UNSIGNED_32
C1086/13 | ECAT Acyclic Datagrams Counter Index: 23489.13d =
0x5BC1.0x0Dh

Number of acyclic datagrams

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1086/14
Parameter | Name: Data type: UNSIGNED_32
C1086/14 | ECAT Clear specific Counters Index: 23489.14d =
0x5BC1.0x0Eh

Reset of frame and datagram counters (C1086/7 ... 13)

Selection list (Lenze setting printed in bold)
0 No Operation
1 Clear all Counters
2 Clear TX-Frame Counter
4 Clear RX-Frame Counter
8 Clear Lost Frame Counter
16 Clear Cyclic Frame Counter
32 Clear Cyclic Datagram Counter
64 Clear Acyclic Frame Counter
128 Clear Acyclic Datagram Counter
; Read access ; Write access … CINH … PLC STOP ; No transfer

172 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1095/1
Parameter | Name: Data type: UNSIGNED_8
C1095/1 | ECAT Slave-Address-Mode Index: 23480.1d =
0x5BB8.0x01h

The address mode refers to the slave address (C1095/2).

Selection list (Lenze setting printed in bold)
0 Position Addressing Auto-increment addressing:
The addresses depend on the position of the respective
slave in the EtherCAT bus (i.e. 0, -1, -2, ...)
1 Node Addressing Physical addresses:
The addresses are consecutively assigned by the
EtherCAT configurator (i.e. 1001, 1002, ...)
; Read access ; Write access … CINH … PLC STOP ; No transfer

C1095/2
Parameter | Name: Data type: INTEGER_32
C1095/2 | ECAT Slave-Address Index: 23480.2d =
0x5BB8.0x02h

This code can be used to select a slave and display its parameters.
The addressing mode can be selected in code C1095/1. A maximum of 4096 slave addresses can follow after the
master address.
Setting range (min. value | unit | max. value) Lenze setting
-65536 65536 0
; Read access ; Write access … CINH … PLC STOP … No transfer

C1096/1
Parameter | Name: Data type: UNSIGNED_8
C1096/1 | ECAT Is Entry Valid Index: 23479.1d =
0x5BB7.0x01h

This code indicates whether the entries/values of the subcodes C1096/2 ... /38 are valid.
• Value "0": Invalid entry/value
• Value "1": Valid entry/value (The parameters for an existing slave are displayed.)
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/2
Parameter | Name: Data type: UNSIGNED_32
C1096/2 | ECAT Slave Vendor-ID Index: 23479.2d =
0x5BB7.0x02h

ID number of the slave manufacturer (e.g. 0x0000003B for Lenze)

; Read access … Write access … CINH … PLC STOP … No transfer

C1096/3
Parameter | Name: Data type: UNSIGNED_32
C1096/3 | ECAT Product Code Index: 23479.3d =
0x5BB7.0x03h

Product code of the slave

; Read access … Write access … CINH … PLC STOP … No transfer

C1096/4
Parameter | Name: Data type: UNSIGNED_32
C1096/4 | ECAT Revision Number Index: 23479.4d =
0x5BB7.0x04h

Revision number of the slave

; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 173

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1096/5
Parameter | Name: Data type: UNSIGNED_32
C1096/5 | ECAT Serial Number Index: 23479.5d =
0x5BB7.0x05h

Serial number of the slave

; Read access … Write access … CINH … PLC STOP … No transfer

C1096/6
Parameter | Name: Data type: VISIBLE_STRING
C1096/6 | ECAT Slave Device Name Index: 23479.6d =
0x5BB7.0x06h

Device name of the slave

The name is stored in the master configuration file.
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/7
Parameter | Name: Data type: INTEGER_32
C1096/7 | ECAT Auto Increment Address Index: 23479.7d =
0x5BB7.0x07h

The auto-increment address is determined by the slave position. The first node obtains the address "0". Consecutive
descending numbers: 0, -1, -2 ...
Display range (min. value | unit | max. value)
-65536 0
; Read access ; Write access … CINH … PLC STOP … No transfer

C1096/8
Parameter | Name: Data type: UNSIGNED_16
C1096/8 | ECAT Physical Address Index: 23479.8d =
0x5BB7.0x08h

Physical address of the slave

Consecutive ascending numbers, starting with 1001.
Display range (min. value | unit | max. value)
0 65536
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/9
Parameter | Name: Data type: UNSIGNED_16
C1096/9 | ECAT Config Physical Address Index: 23479.9d =
0x5BB7.0x09h

The physical slave address set in the master configuration file

This address is assigned by the configurator; consecutive ascending numbers starting with 1001.
Display range (min. value | unit | max. value)
0 65536
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/10
Parameter | Name: Data type: UNSIGNED_16
C1096/10 | ECAT Alias Address Index: 23479.10d =
0x5BB7.0x0Ah

Alias addresses are addresses which are set directly on the device (e.g. via DIP switches).
At the moment, our system does not support alias addresses.
Display range (min. value | unit | max. value)
0 65536
; Read access … Write access … CINH … PLC STOP … No transfer

174 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1096/11
Parameter | Name: Data type: BITFIELD_16
C1096/11 | ECAT Port State Index: 23479.11d =
0x5BB7.0x0Bh

Display of the port states/connections (ports 0 ... 3) of a slave.

The states are bit-coded (WORD).
Value is bit-coded:
Bit 0 Port 0 1 (TRUE) = slave
connected (logical result
Bit 1 Port 1
of bits 0 ... 11)
Bit 2 Port 2
Bit 3 Port 3
Bit 4 Port 0 1 (TRUE) = link known
Bit 5 Port 1
Bit 6 Port 2
Bit 7 Port 3
Bit 8 Port 0 1 (TRUE) = loop closed
Bit 9 Port 1
Bit 10 Port 2
Bit 11 Port 3
Bit 12 Port 0 1 (TRUE) = signal received
Bit 13 Port 1
Bit 14 Port 2
Bit 15 Port 3
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/12
Parameter | Name: Data type: UNSIGNED_8
C1096/12 | ECAT DC Support Index: 23479.12d =
0x5BB7.0x0Ch

Support of distributed clocks by the slave:

• Value "0": Distributed clocks are not supported.
• Value "1": Support of distributed clocks.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/13
Parameter | Name: Data type: UNSIGNED_8
C1096/13 | ECAT DC Support 64-Bit Index: 23479.13d =
0x5BB7.0x0Dh

Support of distributed clocks (64 bits) by the slave:

• Value "0": Distributed clocks (64 bits) are not supported.
• Value "1": Support of distributed clocks (64 bits).
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 175

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1096/14
Parameter | Name: Data type: UNSIGNED_8
C1096/14 | ECAT Mailbox Support Index: 23479.14d =
0x5BB7.0x0Eh

Mailbox support by the slave:

• Value "0": Mailbox is not supported.
• Value "1": Support of mailbox.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/15
Parameter | Name: Data type: UNSIGNED_32
C1096/15 | ECAT Requested State Index: 23479.15d =
0x5BB7.0x0Fh

This code displays the state specified by the master. At the same time, this code can also be used by the user to
request a state.
Note: This is a debug code. Setting this parameter only sets the state of the currently selected slave. All other nodes
remains in their states. Changing the slave state via this code may result in an unstable system state.
Selection list (Lenze setting printed in bold)
0 Invalid
1 Init
2 Pre-Operational
4 Safe-Operational
8 Operational
; Read access ; Write access … CINH … PLC STOP ; No transfer

C1096/16
Parameter | Name: Data type: UNSIGNED_32
C1096/16 | ECAT Current State Index: 23479.16d =
0x5BB7.0x10h

Display of the current slave state

Selection list(read only)
0 Unknown
1 Init
2 Pre-Operational
4 Safe-Operational
8 Operational
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/17
Parameter | Name: Data type: UNSIGNED_8
C1096/17 | ECAT Is Error Flag set Index: 23479.17d =
0x5BB7.0x11h

• Value "0": No error

• Value "1": Active error
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

176 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1096/18
Parameter | Name: Data type: UNSIGNED_8
C1096/18 | ECAT Enable Linkmessages Index: 23479.18d =
0x5BB7.0x12h

Debug parameter:
If the parameter is set to the value "1", all state changes of the slave are output as diagnostic frames via the Ethernet
interface. In the event of a fault, this enables error diagnosing by means of a Wireshark recording.
(»Wireshark«: Program for analysing network communication links)
• Value "0": No link messages
• Value "1": Enable link messages
Setting range (min. value | unit | max. value) Lenze setting
0 1 0
; Read access ; Write access … CINH … PLC STOP … No transfer

C1096/19
Parameter | Name: Data type: UNSIGNED_32
C1096/19 | ECAT Error Code Index: 23479.19d =
0x5BB7.0x13h

Display of the AL status code (slave register "0x0134 : 0x0135")

; Read access … Write access … CINH … PLC STOP … No transfer

AL status codes

Code (hex) Description Current state or state Resulting state

change
0x0000 No error Any Current state
0x0001 Unspecified error Any Any + E
0x0011 Invalid requested state IS, IO, PO, OB, Current state + E
SB, PB
0x0012 Unknown requested state Any Current state + E
0x0013 Bootstrap not supported IB I+E
0x0014 No valid firmware IP I+E
0x0015 Invalid mailbox configuration IB I+E
0x0016 Invalid mailbox configuration IP I+E
0x0017 Invalid sync manager configuration PS, SO Current state + E
0x0018 No valid inputs available O, S, PS P+E
0x0019 No valid outputs O, SO S+E
0x001A Synchronisation error O, SO S+E
0x001B Sync manager watchdog O, S S+E
0x001C Invalid sync manager types O, S S+E
PS P+E
0x001D Invalid output configuration O, S S+E
PS P+E
0x001E Invalid input configuration O, S, PS P+E
0x001F Invalid watchdog configuration O, S, PS P+E
Legend:
I: Init (initialisation)
B: Bootstrap (not supported)
P: Pre-Operational
S: Safe Operational
O: Operational
E: Error Flag

DMS 3.1 EN 01/2011 TD17 L 177

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

Code (hex) Description Current state or state Resulting state

change
0x0020 Slave needs cold start Any Current state + E
0x0021 Slave requires Init state B, P, S, O Current state + E
0x0022 Slave requires Pre-Operational state s S+E
O O+E
0x0023 Slave requires Safe-Operational state O O+E
0x0030 Invalid DC configuration O, S S+E
0x0031 Invalid DC Latch configuration O, S S+E
0x0032 PLL error O, S S+E
0x0033 DC I/O error O, S S+E
0x0034 DC time-out error O, S S+E
0x0042 MBX_EOE B, P, S, O Current state + E
0x0043 MBX_COE B, P, S, O Current state + E
0x0044 MBX_FOE B, P, S, O Current state + E
0x0045 MBX_SOE B, P, S, O Current state + E
0x004F MBX_VOE B, P, S, O Current state + E
Legend:
I: Init (initialisation)
B: Bootstrap (not supported)
P: Pre-Operational
S: Safe Operational
O: Operational
E: Error Flag

C1096/20
Parameter | Name: Data type: UNSIGNED_8
C1096/20 | ECAT Is Sync Pulse active Index: 23479.20d =
0x5BB7.0x14h

• Value "0": Distributed clocks sync pulse on slave not activated.

• Value "1": Distributed clocks sync pulse on slave activated.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/21
Parameter | Name: Data type: UNSIGNED_32
C1096/21 | ECAT DC Sync 0 Period Index: 23479.21d =
0x5BB7.0x15h

Period within which setpoints from the control system are expected if distributed clock support is activated.
Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

178 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1096/22
Parameter | Name: Data type: UNSIGNED_32
C1096/22 | ECAT DC Sync 1 Period Index: 23479.22d =
0x5BB7.0x16h

Distributed clocks sync 1 period

Note: At the moment, Lenze slaves do not support distributed clocks on sync 1.
Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/23
Parameter | Name: Data type: UNSIGNED_32
C1096/23 | ECAT Bus Scan Error Code Index: 23479.23d =
0x5BB7.0x17h

Error code after bus scan

The parameter has the value "0" if the slave corresponds to the configuration. In the event of an error, the error code,
e.g. 0x9811001Ehex (Bus Scan Mismatch), is stored here.
See also System error messages ( 157).
Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/24
Parameter | Name: Data type: UNSIGNED_16
C1096/24 | ECAT RX Error Counter Port 0 Index: 23479.24d =
0x5BB7.0x18h

Number of errors that have occurred during data reception via port 0.
Display range (min. value | unit | max. value)
0 65535
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/25
Parameter | Name: Data type: UNSIGNED_16
C1096/25 | ECAT RX Error Counter Port 1 Index: 23479.25d =
0x5BB7.0x19h

Number of errors that have occurred during data reception via port 1.
Display range (min. value | unit | max. value)
0 65535
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/26
Parameter | Name: Data type: UNSIGNED_16
C1096/26 | ECAT RX Error Counter Port 2 Index: 23479.26d =
0x5BB7.0x1Ah

Number of errors that have occurred during data reception via port 2.
Display range (min. value | unit | max. value)
0 65535
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 179

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1096/27
Parameter | Name: Data type: UNSIGNED_16
C1096/27 | ECAT RX Error Counter Port 3 Index: 23479.27d =
0x5BB7.0x1Bh

Number of errors that have occurred during data reception via port 3.
Display range (min. value | unit | max. value)
0 65535
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/28
Parameter | Name: Data type: UNSIGNED_8
C1096/28 | Forwarded ECAT RX Error Counter Port 0 Index: 23479.28d =
0x5BB7.0x1Ch

Number of errors which have occurred at upstream slave nodes (referred to the position of the current slave in the
bus topology) during data reception via port 0.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/29
Parameter | Name: Data type: UNSIGNED_8
C1096/29 | Forwarded ECAT RX Error Counter Port 1 Index: 23479.29d =
0x5BB7.0x1Dh

Number of errors which have occurred at upstream slave nodes (referred to the position of the current slave in the
bus topology) during data reception via port 1.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/30
Parameter | Name: Data type: UNSIGNED_8
C1096/30 | Forwarded ECAT RX Error Counter Port 2 Index: 23479.30d =
0x5BB7.0x1Eh

Number of errors which have occurred at upstream slave nodes (referred to the position of the current slave in the
bus topology) during data reception via port 2.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/31
Parameter | Name: Data type: UNSIGNED_8
C1096/31 | Forwarded ECAT RX Error Counter Port 3 Index: 23479.31d =
0x5BB7.0x1Fh

Number of errors which have occurred at upstream slave nodes (referred to the position of the current slave in the
bus topology) during data reception via port 3.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

180 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 1

C1096/32
Parameter | Name: Data type: UNSIGNED_8
C1096/32 | ECAT Processing Unit Error Counter Index: 23479.32d =
0x5BB7.0x20h

Number of errors which have occurred in the processing unit.

EtherCAT slave controller error counter register "0x030C": Internal slave error
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/33
Parameter | Name: Data type: UNSIGNED_8
C1096/33 | ECAT PDI Error Counter Index: 23479.33d =
0x5BB7.0x21h

Number of internal errors of the slave indicated by the process data interface.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/35
Parameter | Name: Data type: UNSIGNED_8
C1096/35 | ECAT Lost Link Counter Port 0 Index: 23479.35d =
0x5BB7.0x23h

Number of connection interruptions on port 0

Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/36
Parameter | Name: Data type: UNSIGNED_8
C1096/36 | ECAT Lost Link Counter Port 1 Index: 23479.36d =
0x5BB7.0x24h

Number of connection interruptions on port 1

Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/37
Parameter | Name: Data type: UNSIGNED_8
C1096/37 | ECAT Lost Link Counter Port 2 Index: 23479.37d =
0x5BB7.0x25h

Number of connection interruptions on port 2

Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1096/38
Parameter | Name: Data type: UNSIGNED_8
C1096/38 | ECAT Lost Link Counter Port 3 Index: 23479.38d =
0x5BB7.0x26h

Number of connection interruptions on port 3

Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 181

Control technology | EtherCAT communication manual
Parameter reference
Parameters of the MC-ETC communication card in slot 2

12.3 Parameters of the MC-ETC communication card in slot 2

The parameters are listed in numerically ascending order.

C1531
Parameter | Name: Data type: VISIBLE_STRING
C1531 | Device: type key Index: 23044d = 5A04h

Identification of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1532
Parameter | Name: Data type: VISIBLE_STRING
C1532 | Device: type version Index: 23043d = 5A03h

Version number of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1533
Parameter | Name: Data type: VISIBLE_STRING
C1533 | Device: name Index: 23042d = 5A02h

Device name of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1534
Parameter | Name: Data type: VISIBLE_STRING
C1534 | Device: software revision Index: 23041d = 5A01h

Software version of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1535
Parameter | Name: Data type: VISIBLE_STRING
C1535 | Device: hardware revision Index: 23040d = 5A00h

Hardware version of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1536
Parameter | Name: Data type: VISIBLE_STRING
C1536 | Device: serial number Index: 23039d = 59FFh

Serial number of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1537
Parameter | Name: Data type: VISIBLE_STRING
C1537 | Device: manufacturer Index: 23038d = 59FEh

Manufacturer of the card

; Read access … Write access … CINH … PLC STOP … No transfer

C1538
Parameter | Name: Data type: VISIBLE_STRING
C1538 | Device: manufacturing date Index: 23037d = 59FDh

Manufacturing date of the card

; Read access … Write access … CINH … PLC STOP … No transfer

182 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

12.4 Interface parameters of the MC-ETC communication card in slot 2

The parameters are listed in numerically ascending order.

C1574
Parameter | Name: Data type: VISIBLE_STRING
C1574 | ECAT: MAC address Index: 23001d = 59D9h

MAC address of the interface

; Read access … Write access … CINH … PLC STOP … No transfer

C1580/1
Parameter | Name: Data type: DATE
C1580/1 | ECAT Master Configuration Date Index: 22995.1d =
0x59D3.0x01h

Date of the master configuration file in the file system of the IPC
The data manager determines the date of the master configuration file in the ...\storage\IPC\PLC directory. If this
file does not exist, the date "01.01.1900" is displayed.
; Read access … Write access … CINH … PLC STOP … No transfer

C1580/2
Parameter | Name: Data type: UNSIGNED_32
C1580/2 | ECAT Master Config Checksum Index: 22995.2d =
0x59D3.0x02h

Checksum of the master configuration file in the file system of the IPC
The data manager determines the checksum of the master configuration file in the ...\storage\IPC\PLC directory. If
this file does not exist, the value "0x00000000" is displayed.
; Read access … Write access … CINH … PLC STOP … No transfer

C1580/3
Parameter | Name: Data type: UNSIGNED_32
C1580/3 | ECAT Stack Master Checksum Index: 22995.3d =
0x59D3.0x03h

The stack determines the checksum of the loaded/active master configuration file. If there is no loaded/active
master configuration file, the value "0x00000000" is displayed.
; Read access … Write access … CINH … PLC STOP … No transfer

C1580/4
Parameter | Name: Data type: UNSIGNED_8
C1580/4 | ECAT Bus Scan Match Index: 22995.4d =
0x59D3.0x04h

Brief information whether the master configuration corresponds to the physical bus structure. The master
configuration of the stack is compared with the actual bus structure.
Selection list (Lenze setting printed in bold) Info
0 No match The master configuration does not correspond to the bus
structure.
1 OK The master configuration corresponds to the bus
structure.
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 183

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1581/1
Parameter | Name: Data type: UNSIGNED_32
C1581/1 | ECAT State Change Command Index: 22994.1d =
0x59D2.0x01h

This code can be used to change the master state.

Note: The parameter should only be set to analyse start problems (e.g. master/bus does not reach the Operational
state). Setting this parameter only sets the state of the master stack. All other nodes remain in their previous states.
Changing the master state via this code may result in an unstable system state.

• A higher bus state than the one initiated by the PLC can never be reached.
• A reload of the master configuration cannot be initiated.
• Loading the PLC program normally stops the bus and sets it to the Pre-Operational state. If this is not possible,
the bus remains in the Unknown or Initialisation state.
• Starting the PLC program normally sets the bus to the Operational state. If this is not possible, the bus remains
in the Pre-Operational or Safe Operational state.
Selection list (Lenze setting printed in bold)
0 No Operation
1 Init
2 Pre-Operational
4 Safe-Operational
8 Operational
; Read access ; Write access … CINH … PLC STOP ; No transfer

C1581/2
Parameter | Name: Data type: UNSIGNED_8
C1581/2 | ECAT Master State Index: 22994.2d =
0x59D2.0x02h

Display of the current master state

Selection list(read only)
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap Mode Bootstrap Mode is not supported.
4 Safe-Operational
8 Operational
; Read access … Write access … CINH … PLC STOP … No transfer

C1581/3
Parameter | Name: Data type: UNSIGNED_8
C1581/3 | ECAT Master in requested Mode Index: 22994.3d =
0x59D2.0x03h

The state is usually requested by the PLC. For possible requested states see C1581/1 ( 184).
• Value "0": Master is not in the requested state.
• Value "1": Master is in the requested state.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

184 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1581/4
Parameter | Name: Data type: UNSIGNED_8
C1581/4 | ECAT Slaves in requested Mode Index: 22994.4d =
0x59D2.0x04h

• Value "0": One or more slaves are not in the state requested by the master.
• Value "1": All slaves are in the state requested by the master.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1581/5
Parameter | Name: Data type: BITFIELD_32
C1581/5 | ECAT Master State Summary Index: 22994.5d =
0x59D2.0x05h

Display of additional information about the current master state

The bits are set to the value 1 when the respective states are reached.
Value is bit-coded:
Bit 0 Master ok
Bit 1 Reserved 1
Bit 2 Reserved 2
Bit 3 Reserved 3
Bit 4 Init
Bit 5 Pre-Operational
Bit 6 Safe Operational
Bit 7 Operational
Bit 8 Slaves in Requested State
Bit 9 Master in Requested State
Bit 10 Bus Scan Match
Bit 11 Reserved 4
Bit 12 DC: Activated
Bit 13 DC: Synchronised
Bit 14 DC: Busy
Bit 15 Reserved 5
Bit 16 Link Up
Bit 17 Reserved 6
... ...
Bit 31 Reserved 20
; Read access … Write access … CINH … PLC STOP … No transfer

C1581/6
Parameter | Name: Data type: UNSIGNED_8
C1581/6 | ECAT BusScan Index: 22994.6d =
0x59D2.0x06h

Activation of the bus scan

The bus scan updates all EtherCAT codes.
Selection list (Lenze setting printed in bold)
0 No Operation
1 Scan Bus
; Read access ; Write access … CINH … PLC STOP ; No transfer

DMS 3.1 EN 01/2011 TD17 L 185

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1582/1
Parameter | Name: Data type: BITFIELD_3
C1582/1 | ECAT Distributed Clocks State Index: 22993.1d =
0x59D1.0x01h

Display of the state of the distributed clocks

The bits are set to the value 1 when the respective states are reached.
Value is bit-coded:
Bit 0 DC: Activated
Bit 1 DC: Synchronised
Bit 2 DC: Busy
; Read access … Write access … CINH … PLC STOP … No transfer

C1582/2
Parameter | Name: Data type: UNSIGNED_32
C1582/2 | ECAT DC Slave Sync Deviation Limit Index: 22993.2d =
0x59D1.0x02h

Permitted deviation of the distributed clocks of all devices in nanoseconds. If the permitted deviation is exceeded,
the master initiates a resynchronisation of the distributed clocks.
Display range (min. value | unit | max. value)
0 ns 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1582/3
Parameter | Name: Data type: INTEGER_32
C1582/3 | ECAT DC Current Deviation Index: 22993.3d =
0x59D1.0x03h

Current maximum deviation of the distributed clocks of all devices in nanoseconds.

Display range (min. value | unit | max. value)
0 ns 2147483647
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/2
Parameter | Name: Data type: UNSIGNED_32
C1586/2 | ECAT Configuration Checksum CRC-32 Index: 22989.2d =
0x59CD.0x02h

Checksum of the master configuration file (loaded from stack/active). The stack determines the checksum of the
loaded/active master configuration file. If this file does not exist, the value "0x00000000" is displayed.
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/3
Parameter | Name: Data type: UNSIGNED_32
C1586/3 | ECAT Number of found Slaves Index: 22989.3d =
0x59CD.0x03h

Number of slaves connected to the fieldbus

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/4
Parameter | Name: Data type: UNSIGNED_32
C1586/4 | ECAT Number of found DC-Slaves Index: 22989.4d =
0x59CD.0x04h

Number of slaves connected to the fieldbus supporting distributed clocks

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

186 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1586/5
Parameter | Name: Data type: UNSIGNED_32
C1586/5 | ECAT Number Slaves in Configuration Index: 22989.5d =
0x59CD.0x05h

Number of slaves configured in the master configuration file

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/6
Parameter | Name: Data type: UNSIGNED_32
C1586/6 | ECAT Number Mailbox Slaves in Configuration Index: 22989.6d =
0x59CD.0x06h

Number of mailbox slaves configured in the master configuration file

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/7
Parameter | Name: Data type: UNSIGNED_32
C1586/7 | ECAT TX-Frames Counter Index: 22989.7d =
0x59CD.0x07h

Number of sent frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/8
Parameter | Name: Data type: UNSIGNED_32
C1586/8 | ECAT RX-Frames Counter Index: 22989.8d =
0x59CD.0x08h

Number of received frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/9
Parameter | Name: Data type: UNSIGNED_32
C1586/9 | ECAT Lost Frames Counter Index: 22989.9d =
0x59CD.0x09h

Number of lost frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/10
Parameter | Name: Data type: UNSIGNED_32
C1586/10 | ECAT Cyclic Frames Counter Index: 22989.10d =
0x59CD.0x0Ah

Number of cyclic frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 187

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1586/11
Parameter | Name: Data type: UNSIGNED_32
C1586/11 | ECAT Cyclic Datagrams Counter Index: 22989.11d =
0x59CD.0x0Bh

Number of cyclic datagrams

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/12
Parameter | Name: Data type: UNSIGNED_32
C1586/12 | ECAT Acyclic Frames Counter Index: 22989.12d =
0x5BC1.0x0Ch

Number of acyclic frames

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/13
Parameter | Name: Data type: UNSIGNED_32
C1586/13 | ECAT Acyclic Datagrams Counter Index: 22989.13d =
0x59CD.0x0Dh

Number of acyclic datagrams

Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1586/14
Parameter | Name: Data type: UNSIGNED_32
C1586/14 | ECAT Clear specific Counters Index: 22989.14d =
0x59CD.0x0Eh

Reset of frame and datagram counters (C1586/7 ... 13)

Selection list (Lenze setting printed in bold)
0 No Operation
1 Clear all Counters
2 Clear TX-Frame Counter
4 Clear RX-Frame Counter
8 Clear Lost Frame Counter
16 Clear Cyclic Frame Counter
32 Clear Cyclic Datagram Counter
64 Clear Acyclic Frame Counter
128 Clear Acyclic Datagram Counter
; Read access ; Write access … CINH … PLC STOP ; No transfer

188 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1595/1
Parameter | Name: Data type: UNSIGNED_8
C1595/1 | ECAT Slave-Address-Mode Index: 22980.1d =
0x59C4.0x01h

The address mode refers to the slave address (C1595/2).

Selection list (Lenze setting printed in bold)
0 Position Addressing Auto-increment addressing:
The addresses depend on the position of the respective
slave in the EtherCAT bus (i.e. 0, -1, -2, ...)
1 Node Addressing Physical addresses:
The addresses are consecutively assigned by the
EtherCAT configurator (i.e. 1001, 1002, ...)
; Read access ; Write access … CINH … PLC STOP ; No transfer

C1595/2
Parameter | Name: Data type: INTEGER_32
C1595/2 | ECAT Slave-Address Index: 22980.2d =
0x59C4.0x02h

This code can be used to select a slave and display its parameters.
The addressing mode can be selected in code C1595/1. A maximum of 4096 slave addresses can follow after the
master address.
Setting range (min. value | unit | max. value)
-65536 65536
; Read access ; Write access … CINH … PLC STOP … No transfer

C1596/1
Parameter | Name: Data type: UNSIGNED_8
C1596/1 | ECAT Is Entry Valid Index: 22979.1d =
0x59C3.0x01h

This code indicates whether the entries/values of the subcodes C1596/2 ... /38 are valid.
• Value "0": Invalid entry/value
• Value "1": Valid entry/value (The parameters for an existing slave are displayed.)
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/2
Parameter | Name: Data type: UNSIGNED_32
C1596/2 | ECAT Slave Vendor-ID Index: 22979.2d =
0x59C3.0x02h

ID number of the slave manufacturer (e.g. 0x0000003B for Lenze)

; Read access … Write access … CINH … PLC STOP … No transfer

C1596/3
Parameter | Name: Data type: UNSIGNED_32
C1596/3 | ECAT Product Code Index: 22979.3d =
0x59C3.0x03h

Product code of the slave

; Read access … Write access … CINH … PLC STOP … No transfer

C1596/4
Parameter | Name: Data type: UNSIGNED_32
C1596/4 | ECAT Revision Number Index: 22979.4d =
0x59C3.0x04h

Revision number of the slave

; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 189

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1596/5
Parameter | Name: Data type: UNSIGNED_32
C1596/5 | ECAT Serial Number Index: 22979.5d =
0x59C3.0x05h

Serial number of the slave

; Read access … Write access … CINH … PLC STOP … No transfer

C1596/6
Parameter | Name: Data type: VISIBLE_STRING
C1596/6 | ECAT Slave Device Name Index: 22979.6d =
0x59C3.0x06h

Device name of the slave

The name is stored in the master configuration file.
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/7
Parameter | Name: Data type: INTEGER_32
C1596/7 | ECAT Auto Increment Address Index: 22979.7d =
0x59C3.0x07h

The auto-increment address is determined by the slave position. The first node obtains the address "0". Consecutive
descending numbers: 0, -1, -2 ...
Display range (min. value | unit | max. value)
-65536 0
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/8
Parameter | Name: Data type: UNSIGNED_16
C1596/8 | ECAT Physical Address Index: 22979.8d =
0x59C3.0x08h

Physical address of the slave

Consecutive ascending numbers, starting with 1001.
Display range (min. value | unit | max. value)
0 65536
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/9
Parameter | Name: Data type: UNSIGNED_16
C1596/9 | ECAT Config Physical Address Index: 22979.9d =
0x59C3.0x09h

The physical slave address set in the master configuration file

This address is assigned by the configurator; consecutive ascending numbers starting with 1001.
Display range (min. value | unit | max. value)
0 65536
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/10
Parameter | Name: Data type: UNSIGNED_16
C1596/10 | ECAT Alias Address Index: 22979.10d =
0x59C3.0x0Ah

Alias addresses are addresses which are set directly on the device (e.g. via DIP switches).
At the moment, our system does not support alias addresses.
Display range (min. value | unit | max. value)
0 65536
; Read access … Write access … CINH … PLC STOP … No transfer

190 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1596/11
Parameter | Name: Data type: BITFIELD_16
C1596/11 | ECAT Port State Index: 22979.11d =
0x59C3.0x0Bh

Display of the port states/connections (ports 0 ... 3) of a slave.

The states are bit-coded (WORD).
Value is bit-coded:
Bit 0 Port 0 1 (TRUE) = slave
connected (logical result
Bit 1 Port 1
of bits 0 ... 11)
Bit 2 Port 2
Bit 3 Port 3
Bit 4 Port 0 1 (TRUE) = link known
Bit 5 Port 1
Bit 6 Port 2
Bit 7 Port 3
Bit 8 Port 0 1 (TRUE) = loop closed
Bit 9 Port 1
Bit 10 Port 2
Bit 11 Port 3
Bit 12 Port 0 1 (TRUE) = signal received
Bit 13 Port 1
Bit 14 Port 2
Bit 15 Port 3
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/12
Parameter | Name: Data type: UNSIGNED_8
C1596/12 | ECAT DC Support Index: 22979.12d =
0x59C3.0x0Ch

Support of distributed clocks by the slave:

• Value "0": Distributed clocks are not supported.
• Value "1": Support of distributed clocks.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/13
Parameter | Name: Data type: UNSIGNED_8
C1596/13 | ECAT: DC Support 64-Bit Index: 22979.13d =
0x59C3.0x0Dh

Support of distributed clocks (64 bits) by the slave:

• Value "0": Distributed clocks (64 bits) are not supported.
• Value "1": Support of distributed clocks (64 bits).
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 191

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1596/14
Parameter | Name: Data type: UNSIGNED_8
C1596/14 | ECAT Mailbox Support Index: 22979.14d =
0x59C3.0x0Eh

Mailbox support by the slave:

• Value "0": Mailbox is not supported.
• Value "1": Support of mailbox.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/15
Parameter | Name: Data type: UNSIGNED_32
C1596/15 | ECAT Requested State Index: 22979.15d =
0x59C3.0x0Fh

This code displays the state specified by the master. At the same time, this code can also be used by the user to
request a state.
Note: This is a debug code. Setting this parameter only sets the state of the currently selected slave. All other nodes
remains in their states. Changing the slave state via this code may result in an unstable system state.
Selection list (Lenze setting printed in bold)
0 Invalid
1 Init
2 Pre-Operational
4 Safe-Operational
8 Operational
; Read access ; Write access … CINH … PLC STOP ; No transfer

C1596/16
Parameter | Name: Data type: UNSIGNED_32
C1596/16 | ECAT Current State Index: 22979.16d =
0x59C3.0x10h

Display of the current slave state

Selection list(read only)
0 Unknown
1 Init
2 Pre-Operational
4 Safe-Operational
8 Operational
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/17
Parameter | Name: Data type: UNSIGNED_8
C1596/17 | ECAT Is Error Flag set Index: 22979.17d =
0x59C3.0x11h

• Value "0": No error

• Value "1": Active error
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

192 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1596/18
Parameter | Name: Data type: UNSIGNED_8
C1596/18 | ECAT Enable Linkmessages Index: 22979.18d =
0x59C3.0x12h

Debug parameter:
If the parameter is set to the value "1", all state changes of the slave are output as diagnostic frames via the Ethernet
interface. In the event of a fault, this enables error diagnosing by means of a Wireshark recording.
(»Wireshark«: Program for analysing network communication links)
• Value "0": No link messages
• Value "1": Enable link messages
Setting range (min. value | unit | max. value) Lenze setting
0 1 0
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/19
Parameter | Name: Data type: UNSIGNED_32
C1596/19 | ECAT Error Code Index: 22979.19d =
0x59C3.0x13h

Display of the AL status code (slave register "0x0134 : 0x0135")

; Read access … Write access … CINH … PLC STOP … No transfer

AL status codes

Code (hex) Description Current state or state Resulting state

change
0x0000 No error Any Current state
0x0001 Unspecified error Any Any + E
0x0011 Invalid requested state IS, IO, PO, OB, Current state + E
SB, PB
0x0012 Unknown requested state Any Current state + E
0x0013 Bootstrap not supported IB I+E
0x0014 No valid firmware IP I+E
0x0015 Invalid mailbox configuration IB I+E
0x0016 Invalid mailbox configuration IP I+E
0x0017 Invalid sync manager configuration PS, SO Current state + E
0x0018 No valid inputs available O, S, PS P+E
0x0019 No valid outputs O, SO S+E
0x001A Synchronisation error O, SO S+E
0x001B Sync manager watchdog O, S S+E
0x001C Invalid sync manager types O, S S+E
PS P+E
0x001D Invalid output configuration O, S S+E
PS P+E
0x001E Invalid input configuration O, S, PS P+E
0x001F Invalid watchdog configuration O, S, PS P+E
Legend:
I: Init (initialisation)
B: Bootstrap (not supported)
P: Pre-Operational
S: Safe Operational
O: Operational
E: Error Flag

DMS 3.1 EN 01/2011 TD17 L 193

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

Code (hex) Description Current state or state Resulting state

change
0x0020 Slave needs cold start Any Current state + E
0x0021 Slave requires Init state B, P, S, O Current state + E
0x0022 Slave requires Pre-Operational state s S+E
O O+E
0x0023 Slave requires Safe-Operational state O O+E
0x0030 Invalid DC configuration O, S S+E
0x0031 Invalid DC Latch configuration O, S S+E
0x0032 PLL error O, S S+E
0x0033 DC I/O error O, S S+E
0x0034 DC time-out error O, S S+E
0x0042 MBX_EOE B, P, S, O Current state + E
0x0043 MBX_COE B, P, S, O Current state + E
0x0044 MBX_FOE B, P, S, O Current state + E
0x0045 MBX_SOE B, P, S, O Current state + E
0x004F MBX_VOE B, P, S, O Current state + E
Legend:
I: Init (initialisation)
B: Bootstrap (not supported)
P: Pre-Operational
S: Safe Operational
O: Operational
E: Error Flag

C1596/20
Parameter | Name: Data type: UNSIGNED_8
C1596/20 | ECAT Is Sync Pulse active Index: 22979.20d =
0x59C3.0x14h

• Value "0": Distributed clocks sync pulse on slave not activated.

• Value "1": Distributed clocks sync pulse on slave activated.
Display range (min. value | unit | max. value)
0 1
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/21
Parameter | Name: Data type: UNSIGNED_32
C1596/21 | ECAT DC Sync 0 Period Index: 22979.21d =
0x59C3.0x15h

Period within which setpoints from the control system are expected if distributed clock support is activated.
Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

194 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1596/22
Parameter | Name: Data type: UNSIGNED_32
C1596/22 | ECAT DC Sync 1 Period Index: 22979.22d =
0x59C3.0x16h

Distributed clocks sync 1 period

Note: At the moment, Lenze slaves do not support distributed clocks on sync 1.
Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/23
Parameter | Name: Data type: UNSIGNED_32
C1596/23 | ECAT Bus Scan Error Code Index: 22979.23d =
0x59C3.0x17h

Error code after bus scan

The parameter has the value "0" if the slave corresponds to the configuration. In the event of an error, the error code,
e.g. 0x9811001Ehex (Bus Scan Mismatch), is stored here.
See also System error messages ( 157).
Display range (min. value | unit | max. value)
0 4294967295
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/24
Parameter | Name: Data type: UNSIGNED_16
C1596/24 | ECAT RX Error Counter Port 0 Index: 22979.24d =
0x59C3.0x18h

Number of errors that have occurred during data reception via port 0.
Display range (min. value | unit | max. value)
0 65535
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/25
Parameter | Name: Data type: UNSIGNED_16
C1596/25 | ECAT RX Error Counter Port 1 Index: 22979.25d =
0x59C3.0x19h

Number of errors that have occurred during data reception via port 1.
Display range (min. value | unit | max. value)
0 65535
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/26
Parameter | Name: Data type: UNSIGNED_16
C1596/26 | ECAT RX Error Counter Port 2 Index: 22979.26d =
0x59C3.0x1Ah

Number of errors that have occurred during data reception via port 2.
Display range (min. value | unit | max. value)
0 65535
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 195

Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1596/27
Parameter | Name: Data type: UNSIGNED_16
C1596/27 | ECAT RX Error Counter Port 3 Index: 22979.27d =
0x59C3.0x1Bh

Number of errors that have occurred during data reception via port 3.
Display range (min. value | unit | max. value)
0 65535
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/28
Parameter | Name: Data type: UNSIGNED_8
C1596/28 | Forwarded ECAT RX Error Counter Port 0 Index: 22979.28d =
0x59C3.0x1Ch

Number of errors which have occurred at upstream slave nodes (referred to the position of the current slave in the
bus topology) during data reception via port 0.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/29
Parameter | Name: Data type: UNSIGNED_8
C1596/29 | Forwarded ECAT RX Error Counter Port 1 Index: 22979.29d =
0x59C3.0x1Dh

Number of errors which have occurred at upstream slave nodes (referred to the position of the current slave in the
bus topology) during data reception via port 1.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/30
Parameter | Name: Data type: UNSIGNED_8
C1596/30 | Forwarded ECAT RX Error Counter Port 2 Index: 22979.30d =
0x59C3.0x1Eh

Number of errors which have occurred at upstream slave nodes (referred to the position of the current slave in the
bus topology) during data reception via port 2.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/31
Parameter | Name: Data type: UNSIGNED_8
C1596/31 | Forwarded ECAT RX Error Counter Port 3 Index: 22979.31d =
0x59C3.0x1Fh

Number of errors which have occurred at upstream slave nodes (referred to the position of the current slave in the
bus topology) during data reception via port 3.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

196 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Parameter reference
Interface parameters of the MC-ETC communication card in slot 2

C1596/32
Parameter | Name: Data type: UNSIGNED_8
C1596/32 | ECAT Processing Unit Error Counter Index: 22979.32d =
0x59C3.0x20h

Number of errors which have occurred in the processing unit.

EtherCAT slave controller error counter register "0x030C": Internal slave error
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/33
Parameter | Name: Data type: UNSIGNED_8
C1596/33 | ECAT PDI Error Counter Index: 22979.33d =
0x59C3.0x21h

Number of internal errors of the slave indicated by the process data interface.
Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/35
Parameter | Name: Data type: UNSIGNED_8
C1596/35 | ECAT Lost Link Counter Port 0 Index: 22979.35d =
0x59C3.0x23h

Number of connection interruptions on port 0

Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/36
Parameter | Name: Data type: UNSIGNED_8
C1596/36 | ECAT Lost Link Counter Port 1 Index: 22979.36d =
0x59C3.0x24h

Number of connection interruptions on port 1

Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/37
Parameter | Name: Data type: UNSIGNED_8
C1596/37 | ECAT Lost Link Counter Port 2 Index: 22979.37d =
0x59C3.0x25h

Number of connection interruptions on port 2

Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

C1596/38
Parameter | Name: Data type: UNSIGNED_8
C1596/38 | ECAT Lost Link Counter Port 3 Index: 22979.38d =
0x59C3.0x26h

Number of connection interruptions on port 3

Display range (min. value | unit | max. value)
0 255
; Read access … Write access … CINH … PLC STOP … No transfer

DMS 3.1 EN 01/2011 TD17 L 197

Control technology | EtherCAT communication manual
Index

13 Index
A C1082/3 | ECAT DC Current Deviation 170
Abort codes (SDO) 164 C1086/10 | ECAT Cyclic Frames Counter 171
Addressing EtherCAT nodes using CANopen/PROFIBUS C1086/11 | ECAT Cyclic Datagrams Counter 172
nodes 93 C1086/12 | ECAT Acyclic Frames Counter 172
Addressing of the slaves 20 C1086/13 | ECAT Acyclic Datagrams Counter 172
Addressing the PROFIBUS and CANopen stations 92 C1086/14 | ECAT Clear specific Counters 172
Adjusting task cycle time and DC cycle time 38 C1086/2 | ECAT Configuration Checksum CRC-32 170
AL status codes 177, 193 C1086/3 | ECAT Number of found Slaves 170
Application notes (representation) 12 C1086/4 | ECAT Number of found DC-Slaves 170
AtEm.lib 96 C1086/5 | ECAT Number Slaves in Configuration 171
Auto-increment addressing 20 C1086/6 | ECAT Number Mailbox Slaves in
Configuration 171
B C1086/7 | ECAT TX-Frames Counter 171
Baud rate 34 C1086/8 | ECAT RX-Frames Counter 171
bEC_NOTIFY_CYCCMD_WKC_ERROR 121 C1086/9 | ECAT Lost Frames Counter 171
bEC_NOTIFY_DC_SLV_SYNC 120 C1095/1 | ECAT Slave-Address-Mode 173
bEC_NOTIFY_DC_STATUS 120 C1095/2 | ECAT Slave-Address 173
bEC_NOTIFY_DCL_SLV_LATCH_EVT 120 C1096/1 | ECAT Is Entry Valid 173
bEC_NOTIFY_DCL_STATUS 120 C1096/10 | ECAT Alias Address 174
bEC_NOTIFY_ETH_LINK_CONNECTED 120 C1096/11 | ECAT Port State 175
bEC_NOTIFY_ETH_LINK_NOT_CONNECTED 120 C1096/12 | ECAT DC Support 175
bEC_NOTIFY_NOT_ALL_DEVICES_OPERATIONAL 120 C1096/13 | ECAT DC Support 64-Bit 175
bEC_NOTIFY_RED_LINEBRK 120 C1096/14 | ECAT Mailbox Support 176
bEC_NOTIFY_SB_STATUS 120 C1096/15 | ECAT Requested State 176
bEC_NOTIFY_STATUS_SLAVE_ERROR 120 C1096/16 | ECAT Current State 176
Breakpoints 75 C1096/17 | ECAT Is Error Flag set 176
Brief description of EtherCAT 16 C1096/18 | ECAT Enable Linkmessages 177
Bus restart 114, 139 C1096/19 | ECAT Error Code 177
C1096/2 | ECAT Slave Vendor-ID 173
C C1096/20 | ECAT Is Sync Pulse active 178
C1031 | Device - type key 166 C1096/21 | ECAT DC Sync 0 Period 178
C1032 | Device - type version 166 C1096/22 | ECAT DC Sync 1 Period 179
C1033 | Device - name 166 C1096/23 | ECAT Bus Scan Error Code 179
C1034 | Device - software version 166 C1096/24 | ECAT RX Error Counter Port 0 179
C1035 | Device - hardware version 166 C1096/25 | ECAT RX Error Counter Port 1 179
C1036 | Device - serial number 166 C1096/26 | ECAT RX Error Counter Port 2 179
C1037 | Device - manufacturer 166 C1096/27 | ECAT RX Error Counter Port 3 180
C1038 | Device - manufacturing date 166 C1096/28 | Forwarded ECAT RX Error Counter Port 0
C1074 | ECAT MAC address 167 180
C1080/1 | ECAT Master Configuration Date 167 C1096/29 | Forwarded ECAT RX Error Counter Port 1
180
C1080/2 | ECAT Master Config Checksum 167
C1096/3 | ECAT Product Code 173
C1080/3 | ECAT Stack Master Checksum 167
C1096/30 | Forwarded ECAT RX Error Counter Port 2
C1080/4 | ECAT Bus Scan Match 167
180
C1081/1 | ECAT State Change Command 168
C1096/31 | Forwarded ECAT RX Error Counter Port 3
C1081/2 | ECAT Master State 168 180
C1081/3 | ECAT Master in requested Mode 168 C1096/32 | ECAT Processing Unit Error Counter 181
C1081/4 | ECAT Slaves in requested Mode 169 C1096/33 | ECAT PDI Error Counter 181
C1081/5 | ECAT Master State Summary 169 C1096/35 | ECAT Lost Link Counter Port 0 181
C1081/6 | ECAT BusScan 169 C1096/36 | ECAT Lost Link Counter Port 1 181
C1082/1 | ECAT Distributed Clocks State 170 C1096/37 | ECAT Lost Link Counter Port 2 181
C1082/2 | ECAT DC Slave Sync Deviation Limit 170 C1096/38 | ECAT Lost Link Counter Port 3 181

198 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Index

C1096/4 | ECAT Revision Number 173 C1596/18 | ECAT Enable Linkmessages 193
C1096/5 | ECAT Serial Number 174 C1596/19 | ECAT Error Code 193
C1096/6 | ECAT Slave Device Name 174 C1596/2 | ECAT Slave Vendor-ID 189
C1096/7 | ECAT Auto Increment Address 174 C1596/20 | ECAT Is Sync Pulse active 194
C1096/8 | ECAT Physical Address 174 C1596/21 | ECAT DC Sync 0 Period 194
C1096/9 | ECAT Config Physical Address 174 C1596/22 | ECAT DC Sync 1 Period 195
C1531 | Device - type key 182 C1596/23 | ECAT Bus Scan Error Code 195
C1532 | Device - type version 182 C1596/24 | ECAT RX Error Counter Port 0 195
C1533 | Device - name 182 C1596/25 | ECAT RX Error Counter Port 1 195
C1534 | Device - software version 182 C1596/26 | ECAT RX Error Counter Port 2 195
C1535 | Device - hardware version 182 C1596/27 | ECAT RX Error Counter Port 3 196
C1536 | Device - serial number 182 C1596/28 | Forwarded ECAT RX Error Counter Port 0
C1537 | Device - manufacturer 182 196
C1538 | Device - manufacturing date 182 C1596/29 | Forwarded ECAT RX Error Counter Port 1
C1574 | ECAT MAC address 183 196
C1580/1 | ECAT Master Configuration Date 183 C1596/3 | ECAT Product Code 189
C1580/2 | ECAT Master Config Checksum 183 C1596/30 | Forwarded ECAT RX Error Counter Port 2
196
C1580/3 | ECAT Stack Master Checksum 183
C1596/31 | Forwarded ECAT RX Error Counter Port 3
C1580/4 | ECAT Bus Scan Match 183
196
C1581/1 | ECAT State Change Command 184
C1596/32 | ECAT Processing Unit Error Counter 197
C1581/2 | ECAT Master State 184
C1596/33 | ECAT PDI Error Counter 197
C1581/3 | ECAT Master in requested Mode 184
C1596/35 | ECAT Lost Link Counter Port 0 197
C1581/4 | ECAT Slaves in requested Mode 185
C1596/36 | ECAT Lost Link Counter Port 1 197
C1581/5 | ECAT Master State Summary 185
C1596/37 | ECAT Lost Link Counter Port 2 197
C1581/6 | ECAT BusScan 185
C1596/38 | ECAT Lost Link Counter Port 3 197
C1582/1 | ECAT Distributed Clocks State 186
C1596/4 | ECAT Revision Number 189
C1582/2 | ECAT DC Slave Sync Deviation Limit 186
C1596/5 | ECAT Serial Number 190
C1582/3 | ECAT DC Current Deviation 186
C1596/6 | ECAT Slave Device Name 190
C1586/10 | ECAT Cyclic Frames Counter 187
C1596/7 | ECAT Auto Increment Address 190
C1586/11 | ECAT Cyclic Datagrams Counter 188
C1596/8 | ECAT Physical Address 190
C1586/12 | ECAT Acyclic Frames Counter 188
C1596/9 | ECAT Config Physical Address 190
C1586/13 | ECAT Acyclic Datagrams Counter 188
Cable length (max.) 34
C1586/14 | ECAT Clear specific Counters 188
Cable type 34
C1586/2 | ECAT Configuration Checksum CRC-32 186
Calculating the minimum cycle time 128
C1586/3 | ECAT Number of found Slaves 186
Calculating the total access time to the peripheral
C1586/4 | ECAT Number of found DC-Slaves 186 devices 125
C1586/5 | ECAT Number Slaves in Configuration 187 CANopen 91
C1586/6 | ECAT Number Mailbox Slaves in Check of the DC synchronicity 41
Configuration 187
Checking the system startup 80
C1586/7 | ECAT TX-Frames Counter 187
Checking with »WebConfig« or »Engineer« 79
C1586/8 | ECAT RX-Frames Counter 187
Codes 165
C1586/9 | ECAT Lost Frames Counter 187
CoE/SDO error codes (0x98110040 ... 0x9811005Dhex)
C1595/1 | ECAT Slave-Address-Mode 189 161
C1595/2 | ECAT Slave-Address 189 Commissioning of the system 42
C1596/1 | ECAT Is Entry Valid 189 Commissioning steps (detailed overview) 90
C1596/10 | ECAT Alias Address 190 Commissioning steps (short overview) 43
C1596/11 | ECAT Port State 191 Communication 18
C1596/12 | ECAT DC Support 191 Communication between engineering PC and field
C1596/13 | ECAT devices 32
DC Support 64-Bit 191 Communication medium 34
C1596/14 | ECAT Mailbox Support 192 Communication profile 34
C1596/15 | ECAT Requested State 192 Communication times and drive-specific data 35
C1596/16 | ECAT Current State 192 Compiling project data 77
C1596/17 | ECAT Is Error Flag set 192

DMS 3.1 EN 01/2011 TD17 L 199

Control technology | EtherCAT communication manual
Index

Configuring the communication parameters 76 Acyclic Datagrams Counter (C1086/13) 172

Conventions used 10 Acyclic Datagrams Counter (C1586/13) 188
Copyright 2 Acyclic Frames Counter (C1086/12) 172
Creating a project folder 46 Acyclic Frames Counter (C1586/12) 188
Creating a task 73 Alias Address (C1096/10) 174
Alias Address (C1596/10) 190
Creating manual configurations in the »EtherCAT
Configurator« 56 Auto Increment Address (C1096/7) 174
Auto Increment Address (C1596/7) 190
Cross communication 35
Bus Scan Error Code (C1096/23) 179
Cycle synchronisation 35
Bus Scan Error Code (C1596/23) 195
Clear specific Counters (C1086/14) 172
D Clear specific Counters (C1586/14) 188
Data type ECAT_STATE 119 Current State (C1096/16) 176
DC master 36, 60 Current State (C1596/16) 192
Defining the minimum cycle time of the PLC project Cyclic Datagrams Counter (C1086/11) 172
125 Cyclic Datagrams Counter (C1586/11) 188
Deleting the error counter from the application 144 Cyclic Frames Counter (C1086/10) 171
Detecting the task utilisation 127 Cyclic Frames Counter (C1586/10) 187
Detecting the task utilisation of the application 126 DC Support (C1096/12) 175
Determining the physical EtherCAT configuration 47 DC Support (C1596/12) 191
Device DC Support 64-Bit (C1096/13) 175
Hardware revision (C1035) 166 DC Support 64-Bit (C1596/13) 191
hardware version (C1535) 182 DC Sync 0 Period (C1096/21) 178
identification (C1531) 182 DC Sync 0 Period (C1596/21) 194
Manufacturer (C1037) 166 DC Sync 1 Period (C1096/22) 179
manufacturer (C1537) 182 DC Sync 1 Period (C1596/22) 195
Manufacturing date (C1038) 166 Enable Linkmessages (C1096/18) 177
manufacturing date (C1538) 182 Enable Linkmessages (C1596/18) 193
Name (C1033) 166 Error Code (C1096/19) 177
name (C1533) 182 Error Code (C1596/19) 193
Serial number (C1036) 166 Forwarded RX Error Counter Port 0 (C1096/28) 180
serial number (C1536) 182 Forwarded RX Error Counter Port 0 (C1596/28) 196
Software revision (C1034) 166 Forwarded RX Error Counter Port 1 (C1096/29) 180
software version (C1534) 182 Forwarded RX Error Counter Port 1 (C1596/29) 196
Type key (C1031) 166 Forwarded RX Error Counter Port 2 (C1096/30) 180
Type version (C1032) 166 Forwarded RX Error Counter Port 2 (C1596/30) 196
version (C1532) 182 Forwarded RX Error Counter Port 3 (C1096/31) 180
Device ID 24 Forwarded RX Error Counter Port 3 (C1596/31) 196
Is Entry Valid (C1096/1) 173
Diagnostic codes 140
Is Entry Valid (C1596/1) 189
Diagnostics 130
Is Error Flag set (C1096/17) 176
Diagnostics tab 131
Is Error Flag set (C1596/17) 192
Diagnostics with the »EtherCAT Configurator« 131 Is Sync Pulse active (C1096/20) 178
Diagnostics with the »PLC Designer« 134 Is Sync Pulse active (C1596/20) 194
Display of the system utilisation in the »PLC Designer« Lost Frames Counter (C1086/9) 171
with the task editor 126 Lost Frames Counter (C1586/9) 187
Displaying the EtherCAT entries of the logbook 141 Lost Link Counter Port 0 (C1096/35) 181
Distributed clocks 36 Lost Link Counter Port 0 (C1596/35) 197
dwEC_NOTIFY_DC_SLV_SYNCDeviation 120 Lost Link Counter Port 1 (C1096/36) 181
Lost Link Counter Port 1 (C1596/36) 197
E Lost Link Counter Port 2 (C1096/37) 181
EC_NOTIFY_FRAME_RESPONSE_ERROR 121 Lost Link Counter Port 2 (C1596/37) 197
EC_T_SLAVE_PROP 111 Lost Link Counter Port 3 (C1096/38) 181
EC_T_SLAVE_PROP structure 111 Lost Link Counter Port 3 (C1596/38) 197
MAC address (C1074) 167
EC_T_STATE 98
MAC address (C1574) 183
EC_T_STATE structure 98
Mailbox Support (C1096/14) 176
ECAT
Mailbox Support (C1596/14) 192

200 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Index

Number of found DC-Slaves (C1086/4) 170 Current Deviation (C1582/3) 186

Number of found DC-Slaves (C1586/4) 186 Slave Sync Deviation Limit (C1082/2) 170
Number of found Slaves (C1086/3) 170 Slave Sync Deviation Limit (C1582/2) 186
Number of found Slaves (C1586/3) 186 State (C1082/1) 170
PDI Error Counter (C1096/33) 181 State (C1582/1) 186
PDI Error Counter (C1596/33) 197 ECAT Master
Physical Address (C1096/8) 174 State (C1081/2) 168
Physical Address (C1596/8) 190 State (C1581/2) 184
Port State (C1096/11) 175 State Summary (C1081/5) 169
Port State (C1596/11) 191 State Summary (C1581/5) 185
Processing Unit Error Counter (C1096/32) 181 ECAT Master Config
Processing Unit Error Counter (C1596/32) 197 Checksum (C1080/2) 167
Product Code (C1096/3) 173 ECAT Master Configuration
Product Code (C1596/3) 189 Checksum (C1580/2) 183
Requested State (C1096/15) 176 Date (C1080/1) 167
Requested State (C1596/15) 192 Date (C1580/1) 183
Revision Number (C1096/4) 173 ECAT Master in requested Mode (C1081/3) 168
Revision Number (C1596/4) 189
ECAT Master in requested Mode (C1581/3) 184
RX Error Counter Port 0 (C1096/24) 179
ECAT Slaves in requested Mode (C1081/4) 169
RX Error Counter Port 0 (C1596/24) 195
ECAT Slaves in requested Mode (C1581/4) 185
RX Error Counter Port 1 (C1096/25) 179
RX Error Counter Port 1 (C1596/25) 195 ECAT Stack
RX Error Counter Port 2 (C1096/26) 179 Master Checksum (C1080/3) 167
RX Error Counter Port 2 (C1596/26) 195 Master Checksum (C1580/3) 183
RX Error Counter Port 3 (C1096/27) 180 ECAT State
RX Error Counter Port 3 (C1596/27) 196 Change Command (C1081/1) 168
RX-Frames Counter (C1086/8) 171 Change Command (C1581/1) 184
RX-Frames Counter (C1586/8) 187 ECAT_MASTER 118
Serial Number (C1096/5) 174 ECAT_STATE 119
Serial Number (C1596/5) 190 ecatCoeSdoDownloadReq (FB) 122
Slave Device Name (C1096/6) 174 ecatCoeSdoUploadReq (FB) 123
Slave Device Name (C1596/6) 190 ECATDiagnostic (FB) 113
Slave Vendor-ID (C1096/2) 173 ecatGetMasterState (FUN) 105
Slave Vendor-ID (C1596/2) 189
ecatGetNumConfiguredSlaves (FUN) 112
Slave-Address (C1095/2) 173
ecatGetNumConnectedSlaves (FUN) 113
Slave-Address (C1595/2) 189
ecatGetSlaveId (FUN) 109
Slave-Address-Mode (C1095/1) 173
Slave-Address-Mode (C1595/1) 189 ecatGetSlaveIdAtPosition (FUN) 110
TX-Frames Counter (C1086/7) 171 ecatGetSlaveProp (FUN) 111
TX-Frames Counter (C1586/7) 187 ecatGetSlaveState (FUN) 106
ECAT Bus Scan ecatGetSlaveStateAsync (FB) 107
Match (C1080/4) 167 ecatMasterIsConfigured (FUN) 108
Match (C1580/4) 183 ecatSetMasterStateAsync (FB) 102
ECAT BusScan (C1081/6) 169 ecatSetSlaveStateAsync (FB) 103
ECAT BusScan (C1581/6) 185 ecatStartAsync (FB) 100
ECAT Config. ecatStopAsync (FB) 101
Checksum CRC-32 (C1086/2) 170 Editing the EtherCAT I/O image 66
Checksum CRC-32 (C1586/2) 186 Engineering tools 28, 42
Number Mailbox Slaves in Configuration (C1086/6) Error codes (CoE/SDO, 0x98110040 ...
171 0x9811005Dhex) 161
Number Mailbox Slaves in Configuration (C1586/6) Error codes (general, 0x00000000hex, 0x98110001 ...
187 0x98110038hex) 159
Number Slaves in Configuration (C1086/5) 171
Error codes (remote API, 0x98110181 ...
Number Slaves in Configuration (C1586/5) 187 0x98110196hex) 163
Physical Address (C1096/9) 174
Error counters of the EtherCAT slaves 143
Physical Address (C1596/9) 190
Error scenario (example) 139
ECAT DC
Error scenarios 145
Current Deviation (C1082/3) 170

DMS 3.1 EN 01/2011 TD17 L 201

Control technology | EtherCAT communication manual
Index

Error types 157 L_ECAT_ErrCnt structure 117

"Errors" and "Forwarded Errors" 143 L_ECAT_ReadErrCnt 116
EtherCAT 16 L_ECAT_ResetErrCnt 117
EtherCAT connection 34 LEDs on RJ45 socket 34
EtherCAT connection (SUB-D, 9-pole socket) 34 Loading and starting the PLC program 79
EtherCAT cycle times 35 Loading the control configuration onto the IPC 78
EtherCAT hardware for the industrial PC 26 Loading the master configuration onto the EtherCAT
EtherCAT master structure ECAT_MASTER 118 master 79
EtherCAT module 34 Logbook message
EtherCAT product codes 24 "Cannot spawn Remote API Server" 151
EtherCAT state machine 19 "Cyclic command WKC error ..." 156
EtherCAT with CANopen or PROFIBUS 91 "Ethernet cable connected" 153
"Ethernet cable not connected" 152
Evaluation of the axis state 82
Logbook messages 157
Evaluation of the Axis_IO_Group state 81
"Slave at index X missing" with "Cyclic command
Evaluation of the boot-up error message of the
WKC error ..." 154
SM_DriveBasic.lib library 80
Logbook of the IPC 140
Executing PDO mapping 65
Logging on to the control system with the »PLC
Designer« 77
F
Field devices 23 M
Fieldbus scan with the »EtherCAT Configurator« 47
Max. number of Servo Drives 9400 HighLine per frame
Fieldbus scan with the »scandf« command line tool 51 35
Fieldbus scanning command 51 MC-ETC communication card 26
Fixed-address addressing 20 Messages in the logbook of the industrial PC 142
Function block libraries 96 Mixed operation (EtherCAT with CANopen or
Function blocks and functions for diagnosing the PROFIBUS) 91
network 112
Function blocks and functions for master/slave states N
99 Network topology 34
Function blocks for CANopen over EtherCAT (CoE) 122 Notes used 12
Functions for the network management 108 Notifications 120
Number of nodes 34
G
g_EcatMaster 119 O
General data of the EtherCAT bus 34 Optimising the system 129
General error codes (0x00000000hex, 0x98110001 ... Overview of notifications 120
0x98110038hex) 159
Global EtherCAT master structure ECAT_MASTER 118 P
Parameter data (SDO) 35
H
Parameter reference 165
Hardware components 22
Parameters of the MC-ETC communication card in slot
1 166
I Parameters of the MC-ETC communication card in slot
Importing missing field devices 59 2 182
Inserting devices available on the fieldbus into the Permissible EtherCAT cycle times 35
»EtherCAT Configurator« project 55
Pin assignment 34
Installing field devices 45
Process data words (PZD) for Servo Drives 9400
Interface parameters of the MC-ETC communication HighLine 35
card in slot 1 167
Product codes for Inverter Drives 8400 25
Interface parameters of the MC-ETC communication
Product codes for Servo Drives 9400 24
card in slot 2 183
Product codes for the ECS servo system 25
IPC logbook messages 157
Product codes for the I/O system 1000 25
L PROFIBUS 91
Properties of function blocks 98
L_ECAT_ErrCnt 117

202 L DMS 3.1 EN 01/2011 TD17

 Control technology | EtherCAT communication manual
Index

R
Remote API error codes (0x98110181 ...
0x98110196hex) 163
Representation in the online mode 133
Required engineering tools 28
Required hardware components 22
ResetMasterStatus (FB) 114
Resetting the master structure 121
Runtime of the actual values 35
Runtime of the setpoints 35

S
Safety 13
Safety instructions (representation) 12
scanfd (command line tool) 51
SDO abort codes 164
Set DC synchronisation at the field devices 39
Setting and resetting the master structure 121
Setting up a DC synchronisation 60
Setting up the EtherCAT configuration in the device
tree 57
SM_Ethercat.lib 96
SMC_ETCErrorString (FUN) 115
State machine 19
State machine of the Lenze control technology 30
Structure of the EtherCAT bus system 17
Structure of the messages in the logbook 142
Synchronisation 34
Synchronisation with "distributed clocks" 36
Synchronous communication 37
System error messages 157

T
Target group 9
Technical data 34
Technical data of MC-ETC 34
Terms 11
Total signal runtime for a cycle time of 1ms 35

U
Usability of the EtherCAT function libraries 96
User data per frame 35

V
Variable wState 137
VISU_ECATDiagnostic 136
VISU_ECATDiagnostic visualisation template 136
VISU_ETHERCATMaster visualisation template 135

W
Working counter 21

DMS 3.1 EN 01/2011 TD17 L 203

 © 01/2011
) Lenze Automation GmbH Service Lenze Service GmbH
Grünstraße 36 Breslauer Straße 3
D-40667 Meerbusch D-32699 Extertal
Germany Germany
 +49 (0)21 32 / 99 04-0  00 80 00 / 24 4 68 77 (24 h helpline)

¬ +49 (0)21 32 / 7 21 90 ¬ +49 (0)51 54 / 82-11 12

| [email protected] | [email protected]

Þ www.Lenze.com

KHBETCPCBAUTO ƒ 13369406 ƒ EN 3.1 ƒ TD17

10 9 8 7 6 5 4 3 2 1