Device Status

The device status function indicates whether the EtherCAT slave is in operation and exchanges data. The information can be used for EtherCAT slave diagnostics.

The device status function must be enabled in TwinCAT in order to display the corresponding variables in the tree view. If the function is enabled in TwinCAT, the following input and output variables are shown in the tree view:

Device Status 1:


The following tables show which values the variables can assume:

Inputs

Meaning

TxPDO State

The variable provides information on whether or not the EtherCAT slave is in operational mode (OP).

  • “1“ the EtherCAT slave is in operational mode.
  • “0“ the EtherCAT slave is not in operational mode.

TxPDO Toggle

The variable provides information on whether or not the EtherCAT slave is in data exchange.

  • “1“ the EtherCAT slave exchanges data.
  • “0“ the EtherCAT slave does not exchange data.

Outputs

Meaning

AIStatus Control

The variable provides information on the operating mode of the EtherCAT slave.

  • 0x0001   INIT mode
  • 0x0002   PREOP mode
  • 0x0004   SAFEOP mode
  • 0x0008   OP mode

All other bits are reserved.