EL72x1-901x - Servo Motor Terminals with OCT and STO, 48 V DC

Diagnostics – basic principles of diag messages

DiagMessages designates a system for the transmission of messages from the EtherCAT Slave to the EtherCAT Master/TwinCAT. The messages are stored by the device in its own CoE under 0x10F3 and can be read by the application or the System Manager. An error message referenced via a code is output for each event stored in the device (warning, error, status change).

 

Definition

The DiagMessages system is defined in the ETG (EtherCAT Technology Group) in the guideline ETG.1020, chapter 13 “Diagnosis handling”. It is used so that pre-defined or flexible diagnostic messages can be conveyed from the EtherCAT Slave to the Master. In accordance with the ETG, the process can therefore be implemented supplier-independently. Support is optional. The firmware can store up to 250 DiagMessages in its own CoE.

Each DiagMessage consists of

Diag Code (4-byte)
Flags (2-byte; info, warning or error)
Text ID (2-byte; reference to explanatory text from the ESI/XML)
Timestamp (8-byte, local slave time or 64-bit Distributed Clock time, if available)
Dynamic parameters added by the firmware

The DiagMessages are explained in text form in the ESI/XML file belonging to the EtherCAT device: on the basis of the Text ID contained in the DiagMessage, the corresponding plain text message can be found in the languages contained in the ESI/XML. In the case of Beckhoff products these are usually German and English.

Via the entry NewMessagesAvailable the user receives information that new messages are available.

DiagMessages can be confirmed in the device: the last/latest unconfirmed message can be confirmed by the user.

In the CoE both the control entries and the history itself can be found in the CoE object 0x10F3:

 
DiagMessages in the CoE

The subindex of the latest DiagMessage can be read under 0x10F3:02.

 
Support for commissioning
The DiagMessages system is to be used above all during the commissioning of the plant. The diagnostic values e.g. in the StatusWord of the device (if available) are helpful for online diagnosis during the subsequent continuous operation.
 
 

TwinCAT System Manager implementation

From TwinCAT 2.11 DiagMessages, if available, are displayed in the device’s own interface. Operation (collection, confirmation) also takes place via this interface.

 
Implementation of the DiagMessage system in the TwinCAT System Manager

The operating buttons (B) and the history read out (C) can be seen on the Diag History tab (A). The components of the message:

Info/Warning/Error
Acknowledge flag (N = unconfirmed, Q = confirmed)
Time stamp
Text ID
Plain text message according to ESI/XML data

The meanings of the buttons are self-explanatory.

DiagMessages within the ADS Logger/Eventlogger

Since TwinCAT 3.1 build 4022 DiagMessages send by the terminal are shown by the TwinCAT ADS Logger. Given that DiagMessages are represented IO- comprehensive at one place, commissioning will be simplified. In addition, the logger output could be stored into a data file – hence DiagMessages are available long-term for analysis.

DiagMessages are actually only available locally in CoE 0x10F3 in the terminal and can be read out manually if required, e.g. via the DiagHistory mentioned above.

In the latest developments, the EtherCAT Terminals are set by default to report the presence of a DiagMessage as emergency via EtherCAT; the event logger can then retrieve the DiagMessage. The function is activated in the terminal via 0x10F3:05, so such terminals have the following entry in the StartUp list by default:

 
Startup List

If the function is to be deactivated because, for example, many messages come in or the EventLogger is not used, the StartUp entry can be deleted or set to 0.

Reading messages into the PLC

- In preparation -

 
 

Interpretation

 
 

Time stamp

The time stamp is obtained from the local clock of the terminal at the time of the event. The time is usually the distributed clock time (DC) from register x910.

Please note: When EtherCAT is started, the DC time in the reference clock is set to the same time as the local IPC/TwinCAT time. From this moment the DC time may differ from the IPC time, since the IPC time is not adjusted. Significant time differences may develop after several weeks of operation without a EtherCAT restart. As a remedy, external synchronization of the DC time can be used, or a manual correction calculation can be applied, as required: The current DC time can be determined via the EtherCAT master or from register x901 of the DC slave.

 
 

Structure of the Text ID

The structure of the MessageID is not subject to any standardization and can be supplier-specifically defined. In the case of Beckhoff EtherCAT devices (EL, EP) it usually reads according to xyzz:

 
x
y
zz
0: Systeminfo
2: reserved
1: Info
4: Warning
8: Error
0: System
1: General
2: Communication
3: Encoder
4: Drive
5: Inputs
6: I/O general
7: reserved
Error number

Example: Message 0x4413 --> Drive Warning Number 0x13

 
 

Overview of text IDs

Specific text IDs are listed in the device documentation.

 
Text ID
Type
Place
Text Message
Additional comment
0x0001
Information
System
No error
No error
0x0002
Information
System
Communication established
Connection established
0x0003
Information
System
 Initialization: 0x%X, 0x%X, 0x%X
General information; parameters depend on event. See device documentation for interpretation.
0x1000
Information
System
Information: 0x%X, 0x%X, 0x%X
General information; parameters depend on event. See device documentation for interpretation.
0x1012
Information
System
EtherCAT state change Init - PreOp
 
0x1021
Information
System
EtherCAT state change PreOp - Init
 
0x1024
Information
System
EtherCAT state change PreOp - Safe-Op
 
0x1042
Information
System
EtherCAT state change SafeOp - PreOp
 
0x1048
Information
System
EtherCAT state change SafeOp - Op
 
0x1084
Information
System
EtherCAT state change Op - SafeOp
 
0x1100
Information
General
Detection of operation mode completed: 0x%X, %d
Detection of the mode of operation ended
0x1135
Information
General
Cycle time o.k.: %d
Cycle time OK
0x1157
Information
General
Data manually saved (Idx: 0x%X, SubIdx: 0x%X)
Data saved manually
0x1158
Information
General
Data automatically saved (Idx: 0x%X, SubIdx: 0x%X)
Data saved automatically
0x1159
Information
General
Data deleted (Idx: 0x%X, SubIdx: 0x%X)
Data deleted
0x117F
Information
General
Information: 0x%X, 0x%X, 0x%X
Information
0x1201
Information
Communication
Communication re-established
Communication to the field side restored
This message appears, for example, if the voltage was removed from the power contacts and re-applied during operation.
0x1300
Information
Encoder
Position set: %d, %d
Position set - StartInputhandler
0x1303
Information
Encoder
Encoder Supply ok
Encoder power supply unit OK
0x1304
Information
Encoder
Encoder initialization successfully, channel: %X
Encoder initialization successfully completed
0x1305
Information
Encoder
Sent command encoder reset, channel: %X
Send encoder reset command
0x1400
Information
Drive
Drive is calibrated: %d, %d
Drive is calibrated
0x1401
Information
Drive
Actual drive state: 0x%X, %d
Current drive status
0x1705
Information
 
CPU usage returns in normal range (< 85%%)
Processor load is back in the normal range
0x1706
Information
 
Channel is not in saturation anymore
Channel is no longer in saturation
0x1707
Information
 
Channel is not in overload anymore
Channel is no longer overloaded
0x170A
Information
 
No channel range error anymore
A measuring range error is no longer active
0x170C
Information
 
Calibration data saved
Calibration data were saved
0x170D
Information
 
Calibration data will be applied and saved after sending the command “0x5AFE”
Calibration data are not applied and saved until the command "0x5AFE" is sent.
Text ID
Type
Place
Text Message
Additional comment
0x2000
Information
System
%s: %s
 
0x2001
Information
System
%s: Network link lost
Network connection lost
0x2002
Information
System
%s: Network link detected
Network connection found
0x2003
Information
System
%s: no valid IP Configuration - Dhcp client started
Invalid IP configuration
0x2004
Information
System
%s: valid IP Configuration (IP: %d.%d.%d.%d) assigned by Dhcp server %d.%d.%d.%d
Valid IP configuration, assigned by the DHCP server
0x2005
Information
System
%s: Dhcp client timed out
DHCP client timeout
0x2006
Information
System
%s: Duplicate IP Address detected (%d.%d.%d.%d)
Duplicate IP address found
0x2007
Information
System
%s: UDP handler initialized
UDP handler initialized
0x2008
Information
System
%s: TCP handler initialized
TCP handler initialized
0x2009
Information
System
%s: No more free TCP sockets available
No free TCP sockets available.
Text ID
Type
Place
Text Message
Additional comment
0x4000
Warning
 
Warning: 0x%X, 0x%X, 0x%X
General warning; parameters depend on event. See device documentation for interpretation.
0x4001
Warning
System
Warning: 0x%X, 0x%X, 0x%X
 
0x4002
Warning
System
%s: %s Connection Open (IN:%d OUT:%d API:%dms) from %d.%d.%d.%d successful
 
0x4003
Warning
System
%s: %s Connection Close (IN:%d OUT:%d) from %d.%d.%d.%d successful
 
0x4004
Warning
System
%s: %s Connection (IN:%d OUT:%d) with %d.%d.%d.%d timed out
 
0x4005
Warning
System
%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Error: %u)
 
0x4006
Warning
System
%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Input Data Size expected: %d Byte(s) received: %d Byte(s))
 
0x4007
Warning
System
%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (Output Data Size expected: %d Byte(s) received: %d Byte(s))
 
0x4008
Warning
System
%s: %s Connection Open (IN:%d OUT:%d) from %d.%d.%d.%d denied (RPI:%dms not supported -> API:%dms)
 
0x4101
Warning
General
Terminal-Overtemperature
Overtemperature. The internal temperature of the terminal exceeds the parameterized warning threshold.
0x4102
Warning
General
Discrepancy in the PDO-Configuration
The selected PDOs do not match the set operating mode.
Sample: Drive operates in velocity mode, but the velocity PDO is but not mapped in the PDOs.
0x417F
Warning
General
Warning: 0x%X, 0x%X, 0x%X
 
0x428D
Warning
General
Challenge is not Random
 
0x4300
Warning
Encoder
Subincrements deactivated: %d, %d
Sub-increments deactivated (despite activated configuration)
0x4301
Warning
Encoder
Encoder-Warning
General encoder error
0x4302
Warning
Encoder
Maximum frequency of the input signal is nearly reached (channel %d)
 
0x4303
Warning
Encoder
Limit counter value was reduced because of the PDO configuration (channel %d)
 
0x4304
Warning
Encoder
Reset counter value was reduced because of the PDO configuration (channel %d)
 
0x4400
Warning
Drive
Drive is not calibrated: %d, %d
Drive is not calibrated
0x4401
Warning
Drive
Starttype not supported: 0x%X, %d
Start type is not supported
0x4402
Warning
Drive
Command rejected: %d, %d
Command rejected
0x4405
Warning
Drive
Invalid modulo subtype: %d, %d
Modulo sub-type invalid
0x4410
Warning
Drive
Target overrun: %d, %d
Target position exceeded
0x4411
Warning
Drive
DC-Link undervoltage (Warning)
The DC link voltage of the terminal is lower than the parameterized minimum voltage. Activation of the output stage is prevented.
0x4412
Warning
Drive
DC-Link overvoltage (Warning)
The DC link voltage of the terminal is higher than the parameterized maximum voltage. Activation of the output stage is prevented.
0x4413
Warning
Drive
I2T-Model Amplifier overload (Warning)
The amplifier is being operated outside the specification.
The I2T-model of the amplifier is incorrectly parameterized.
0x4414
Warning
Drive
I2T-Model Motor overload (Warning)
The motor is being operated outside the parameterized rated values.
The I2T-model of the motor is incorrectly parameterized.
0x4415
Warning
Drive
Speed limitation active
The maximum speed is limited by the parameterized objects (e.g. velocity limitation, motor speed limitation). This warning is output if the set velocity is higher than one of the parameterized limits.
0x4416
Warning
Drive
Step lost detected at position: 0x%X%X
Step loss detected
0x4417
Warning
Drive
Motor overtemperature
The internal temperature of the motor exceeds the parameterized warning threshold
0x4418
Warning
Drive
Limit: Current
Limit: current is limited
0x4419
Warning
Drive
Limit: Amplifier I2T-model exceeds 100%%
The threshold values for the maximum current were exceeded.
0x441A
Warning
Drive
Limit: Motor I2T-model exceeds 100%%
Limit: Motor I2T-model exceeds 100%
0x441B
Warning
Drive
Limit: Velocity limitation
The threshold values for the maximum speed were exceeded.
0x441C
Warning
Drive
STO while the axis was enabled
An attempt was made to activate the axis, despite the fact that no voltage is present at the STO input.
0x4600
Warning
General IO
Wrong supply voltage range
Supply voltage not in the correct range
0x4610
Warning
General IO
Wrong output voltage range
Output voltage not in the correct range
0x4705
Warning
 
Processor usage at %d %%
Processor load at %d %%
0x470A
Warning
 
EtherCAT Frame missed (change Settings or DC Operation Mode or Sync0 Shift Time)
EtherCAT frame missed (change DC Operation Mode or Sync0 Shift Time under Settings)
Text ID
Type
Place
Text Message
Additional comment
0x8000
Error
System
%s: %s
 
0x8001
Error
System
Error: 0x%X, 0x%X, 0x%X
General error; parameters depend on event. See device documentation for interpretation.
0x8002
Error
System
Communication aborted
Communication aborted
0x8003
Error
System
Configuration error: 0x%X, 0x%X, 0x%X
General; parameters depend on event.
See device documentation for interpretation.
0x8004
Error
System
%s: Unsuccessful FwdOpen-Response received from %d.%d.%d.%d (%s) (Error: %u)
 
0x8005
Error
System
%s: FwdClose-Request sent to %d.%d.%d.%d (%s)
 
0x8006
Error
System
%s: Unsuccessful FwdClose-Response received from %d.%d.%d.%d (%s) (Error: %u)
 
0x8007
Error
System
%s: Connection with %d.%d.%d.%d (%s) closed
 
0x8100
Error
General
Status word set: 0x%X, %d
Error bit set in the status word
0x8101
Error
General
Operation mode incompatible to PDO interface: 0x%X, %d
Mode of operation incompatible with the PDO interface
0x8102
Error
General
Invalid combination of Inputs and Outputs PDOs
Invalid combination of input and output PDOs
0x8103
Error
General
No variable linkage
No variables linked
0x8104
Error
General
Terminal-Overtemperature
The internal temperature of the terminal exceeds the parameterized error threshold. Activation of the terminal is prevented
0x8105
Error
General
PD-Watchdog
Communication between the fieldbus and the output stage is secured by a Watchdog. The axis is stopped automatically if the fieldbus communication is interrupted.
The EtherCAT connection was interrupted during operation.
The Master was switched to Config mode during operation.
0x8135
Error
General
Cycle time has to be a multiple of 125 µs
The IO or NC cycle time divided by 125 µs does not produce a whole number.
0x8136
Error
General
Configuration error: invalid sampling rate
Configuration error: Invalid sampling rate
0x8137
Error
General
Electronic type plate: CRC error
Content of the external name plate memory invalid.
0x8140
Error
General
Sync Error
Real-time violation
0x8141
Error
General
Sync%X Interrupt lost
Sync%X Interrupt lost
0x8142
Error
General
Sync Interrupt asynchronous
Sync Interrupt asynchronous
0x8143
Error
General
Jitter too big
Jitter limit violation
0x817F
Error
General
Error: 0x%X, 0x%X, 0x%X
 
0x8200
Error
Communication
Write access error: %d, %d
Error while writing
0x8201
Error
Communication
No communication to field-side (Auxiliary voltage missing)
There is no voltage applied to the power contacts.
A firmware update has failed.
0x8281
Error
Communication
Ownership failed: %X
 
0x8282
Error
Communication
To many Keys founded
 
0x8283
Error
Communication
Key Creation failed: %X
 
0x8284
Error
Communication
Key loading failed
 
0x8285
Error
Communication
Reading Public Key failed: %X
 
0x8286
Error
Communication
Reading Public EK failed: %X
 
0x8287
Error
Communication
Reading PCR Value failed: %X
 
0x8288
Error
Communication
Reading Certificate EK failed: %X
 
0x8289
Error
Communication
Challenge could not be hashed: %X
 
0x828A
Error
Communication
Tickstamp Process failed
 
0x828B
Error
Communication
PCR Process failed: %X
 
0x828C
Error
Communication
Quote Process failed: %X
 
0x82FF
Error
Communication
Bootmode not activated
Boot mode not activated
0x8300
Error
Encoder
Set position error: 0x%X, %d
Error while setting the position
0x8301
Error
Encoder
Encoder increments not configured: 0x%X, %d
Encoder increments not configured
0x8302
Error
Encoder
Encoder error
The amplitude of the resolver is too small
0x8303
Error
Encoder
Encoder power missing (channel %d)
 
0x8304
Error
Encoder
Encoder communication error, channel: %X
Encoder communication error
0x8305
Error
Encoder
EnDat2.2 is not supported, channel: %X
EnDat2.2 is not supported
0x8306
Error
Encoder
Delay time, tolerance limit exceeded, 0x%X, channel: %X
Runtime measurement, tolerance exceeded
0x8307
Error
Encoder
Delay time, maximum value exceeded, 0x%X, channel: %X
Runtime measurement, maximum value exceeded
0x8308
Error
Encoder
Unsupported ordering designation, 0x%X, channel: %X (only 02 and 22 is supported)
Wrong EnDat order ID
0x8309
Error
Encoder
Encoder CRC error, channel: %X
Encoder CRC error
0x830A
Error
Encoder
Temperature %X could not be read, channel: %X
Temperature cannot be read
0x830C
Error
Encoder
Encoder Single-Cycle-Data Error, channel. %X
CRC error detected. Check the transmission path and the CRC polynomial
0x830D
Error
Encoder
Encoder Watchdog Error, channel. %X
The sensor has not responded within a predefined time period
0x8310
Error
Encoder
Initialisation error
 
0x8311
Error
Encoder
Maximum frequency of the input signal is exceeded (channel %d)
 
0x8312
Error
Encoder
Encoder plausibility error (channel %d)
 
0x8313
Error
Encoder
Configuration error (channel %d)
 
0x8314
Error
Encoder
Synchronisation error
 
0x8315
Error
Encoder
Error status input (channel %d)
 
0x8400
Error
Drive
Incorrect drive configuration: 0x%X, %d
Drive incorrectly configured
0x8401
Error
Drive
Limiting of calibration velocity: %d, %d
Limitation of the calibration velocity
0x8402
Error
Drive
Emergency stop activated: 0x%X, %d
Emergency stop activated
0x8403
Error
Drive
ADC Error
Error during current measurement in the ADC
0x8404
Error
Drive
Overcurrent
Overcurrent in phase U, V or W
0x8405
Error
Drive
Invalid modulo position: %d
Modulo position invalid
0x8406
Error
Drive
DC-Link undervoltage (Error)
The DC link voltage of the terminal is lower than the parameterized minimum voltage. Activation of the output stage is prevented.
0x8407
Error
Drive
DC-Link overvoltage (Error)
The DC link voltage of the terminal is higher than the parameterized maximum voltage. Activation of the output stage is prevented.
0x8408
Error
Drive
I2T-Model Amplifier overload (Error)
The amplifier is being operated outside the specification.
The I2T-model of the amplifier is incorrectly parameterized.
0x8409
Error
Drive
I2T-Model motor overload (Error)
The motor is being operated outside the parameterized rated values.
The I2T-model of the motor is incorrectly parameterized.
0x840A
Error
Drive
Overall current threshold exceeded
Total current exceeded
0x8415
Error
Drive
Invalid modulo factor: %d
Modulo factor invalid
0x8416
Error
Drive
Motor overtemperature
The internal temperature of the motor exceeds the parameterized error threshold. The motor stops immediately. Activation of the output stage is prevented.
0x8417
Error
Drive
Maximum rotating field velocity exceeded
Rotary field speed exceeds the value specified for dual use (EU 1382/2014).
0x841C
Error
Drive
STO while the axis was enabled
An attempt was made to activate the axis, despite the fact that no voltage is present at the STO input.
0x8550
Error
Inputs
Zero crossing phase %X missing
Zero crossing phase %X missing
0x8551
Error
Inputs
Phase sequence Error
Wrong direction of rotation
0x8552
Error
Inputs
Overcurrent phase %X
Overcurrent phase %X
0x8553
Error
Inputs
Overcurrent neutral wire
Overcurrent neutral wire
0x8581
Error
Inputs
Wire broken Ch %D
Wire broken Ch %d
0x8600
Error
General IO
Wrong supply voltage range
Supply voltage not in the correct range
0x8601
Error
General IO
Supply voltage to low
Supply voltage too low
0x8602
Error
General IO
Supply voltage to high
Supply voltage too high
0x8603
Error
General IO
Over current of supply voltage
Overcurrent of supply voltage
0x8610
Error
General IO
Wrong output voltage range
Output voltage not in the correct range
0x8611
Error
General IO
Output voltage to low
Output voltage too low
0x8612
Error
General IO
Output voltage to high
Output voltage too high
0x8613
Error
General IO
Over current of output voltage
Overcurrent of output voltage
0x8700
Error
 
Channel/Interface not calibrated
Channel/interface not synchronized
0x8701
Error
 
Operating time was manipulated
Operating time was manipulated
0x8702
Error
 
Oversampling setting is not possible
Oversampling setting not possible
0x8703
Error
 
No slave controller found
No slave controller found
0x8704
Error
 
Slave controller is not in Bootstrap
Slave controller is not in bootstrap
0x8705
Error
 
Processor usage to high (>= 100%%)
Processor load too high (>= 100%%)
0x8706
Error
 
Channel in saturation
Channel in saturation
0x8707
Error
 
Channel overload
Channel overload
0x8708
Error
 
Overloadtime was manipulated
Overload time was manipulated
0x8709
Error
 
Saturationtime was manipulated
Saturation time was manipulated
0x870A
Error
 
Channel range error
Measuring range error for the channel
0x870B
Error
 
no ADC clock
No ADC clock available
0xFFFF
Information
 
Debug: 0x%X, 0x%X, 0x%X
Debug: 0x%X, 0x%X, 0x%X