Using the CtrlStatus DWORD
The CtrlStatus DWORD module is added automatically, it is for diagnosis information about the EtherCAT (E-Bus) status. The CtrlStatus DWORD (4 bytes) has the following meaning:
Input CtrlStatus DWORD
Structure and meaning of the input CtrlStatus DWORD module.
Byte 3 | Byte 2 | Byte 1 | Byte 0 |
|---|---|---|---|
Reserve | Diag | Counter High Byte | Counter Low Byte |
- Counter WORD (2 bytes):
The counter is an E-bus counter and is incremented with each E-bus telegram. By default, the E-bus runs at 1 ms. Thus, the counter is incremented every ms. If bit 2 is set in the Diag byte, further information about the error is included instead of the counter. - DIAG BYTE (1 byte):
0x10 E-bus fixed after error. Outputs are disabled and have to be reset manually with the control DWORD.
0x04 E-bus error. In the event of an E-bus error, the EK9500 Bus Coupler continues to exchange data with the EtherNet/IP scanner (master). However, the input data are invalid. The cause of the error is coded in the high byte, the position in the low byte of the counter.
Byte 1, error code counter | Byte 0, counter | Meaning |
|---|---|---|
1 | Terminal position | Wrong module. |
2 | Missing module. | |
3 | Module pulled. | |
4 | Wrong module connected. | |
5 | EtherCAT slave not in OP. | |
6 | State change aborted. | |
7 | Abnormal state change. | |
8 | SDO-Abort | |
9 | Wrong SDO length | |
10 | Wrong SDO data. |
Example:
Byte 1 0x03 interruption of the E-bus, byte 0 position of the interruption.
Output CtrlStatus DWORD
Structure and meaning of the output CtrlStatus DWORD module.
Byte 3 | Byte 2 | Byte 1 | Byte 0 |
|---|---|---|---|
Reserve | Reserve | Reserve | Control byte |
Control byte (bit 0):
If bit 4 (0x10) is set in the DIAG BYTE, the controller can acknowledge the error. To this end, bit 0 (in the first byte of the control DWORD) has to be set to “TRUE”, and the E-bus is restarted with a falling edge of bit 0. The output process data are active again immediately.