DTM for Hilscher EtherCAT Master Device

DTM for Hilscher EtherCAT Master Device
Operating Instruction Manual
DTM for Hilscher EtherCAT Master Device
Configuration of Hilscher Master Devices
Hilscher Gesellschaft für Systemautomation mbH
www.hilscher.com
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
Table of Contents
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Table of Contents
1
INTRODUCTION.........................................................................................................6
1.1
About this Manual .......................................................................................................6
1.1.1
1.1.2
1.1.3
1.1.4
1.2
Legal Notes.................................................................................................................9
1.2.1
1.2.2
1.2.3
1.2.4
1.2.5
1.2.6
1.3
General Device Information................................................................................14
Navigation Area ..................................................................................................14
Dialog Panes ......................................................................................................15
OK, Cancel, Apply and Help...............................................................................16
Table Lines .........................................................................................................16
Status Bar...........................................................................................................17
GETTING STARTED.................................................................................................18
2.1
3
Requirements .....................................................................................................12
Dialog Structure of the EtherCAT Master DTM ........................................................13
1.4.1
1.4.2
1.4.3
1.4.4
1.4.5
1.4.6
2
Copyright ..............................................................................................................9
Important Notes ....................................................................................................9
Exclusion of Liability ...........................................................................................10
Warranty .............................................................................................................10
Export Regulations .............................................................................................11
Registered Trademarks......................................................................................11
About EtherCAT Master DTM ...................................................................................12
1.3.1
1.4
Descriptions of the Dialog Panes .........................................................................6
Online Help...........................................................................................................6
List of Revisions ...................................................................................................7
Conventions in this Manual ..................................................................................8
Configuration Steps ..................................................................................................18
SETTINGS ................................................................................................................22
3.1
Overview Settings.....................................................................................................22
3.2
Settings for Driver and Device Assignment ..............................................................23
3.3
Driver ........................................................................................................................25
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.4
Verify or adapt Driver Settings ...........................................................................25
cifX Device Driver ...............................................................................................27
netX Driver..........................................................................................................27
Configuring netX Driver ......................................................................................28
netX Driver - USB/RS232 Connection................................................................29
netX Driver - TCP/IP Connection .......................................................................31
Device Assignment ...................................................................................................34
3.4.1
3.4.2
3.4.3
Scanning for Devices .........................................................................................34
Selecting the Device (with or without firmware) .................................................37
Selecting the Device once more (with Firmware)...............................................38
3.5
Firmware Download..................................................................................................40
3.6
Licensing...................................................................................................................45
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
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CONFIGURATION ....................................................................................................46
4.1
Overview Configuration ............................................................................................46
4.2
Configuring Device Parameters................................................................................47
4.3
General .....................................................................................................................48
4.4
Process Data Handshake .........................................................................................52
4.5
Topology ...................................................................................................................54
4.5.1
4.5.2
4.6
4.7
CoE.....................................................................................................................60
FMMU/SyncMan .......................................................................................................67
4.7.1
FMMU and SyncMan Common View .................................................................67
4.8
Process Data ............................................................................................................70
4.9
Address Table...........................................................................................................71
4.9.1
4.9.2
4.10
Explanation of Parameters .................................................................................72
Display Mode and CSV Export...........................................................................72
Init Commands..........................................................................................................73
ONLINE FUNCTIONS ...............................................................................................76
5.1
Connecting/Disconnecting Device ............................................................................76
5.2
Network Scan ...........................................................................................................78
5.2.1
5.2.2
5.2.3
5.2.4
5.2.5
Starting ‘Network Scan’ ......................................................................................79
Settings in the Scan Response Dialog of the Master DTM ................................81
Description on the Scan Response dialog of the Master DTM ..........................82
Creating Devices ................................................................................................83
Download to the EtherCAT Master Device ........................................................85
5.3
Download Configuration ...........................................................................................86
5.4
Start /Stop Communication.......................................................................................87
5.5
Licensing...................................................................................................................88
5.5.1
5.5.2
5.5.3
5.5.4
5.5.5
5.5.6
5.5.7
5.5.8
6
Tree View ...........................................................................................................54
Connection View.................................................................................................57
Mailbox .....................................................................................................................60
4.6.1
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Open License Dialog ..........................................................................................88
License Dialog ....................................................................................................89
Which Licenses are present in the Device? .......................................................90
How to order a License ......................................................................................92
Selecting License(s) ...........................................................................................92
Ordering Data .....................................................................................................93
Ordering the License ..........................................................................................95
How to get the License and transfer it to the Device........................................100
DIAGNOSIS ............................................................................................................101
6.1
Overview Diagnosis ................................................................................................101
6.2
General Diagnosis ..................................................................................................102
6.3
Master Diagnosis ....................................................................................................104
6.4
Station Diagnosis....................................................................................................105
6.5
Firmware Diagnosis ................................................................................................106
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EXTENDED DIAGNOSIS ........................................................................................107
7.1
Overview Extended Diagnosis................................................................................107
7.2
Task Information .....................................................................................................108
7.3
IniBatch Status........................................................................................................109
7.4
ECAT_MASTER .....................................................................................................110
7.4.1
7.4.2
7.4.3
7.5
Low Level Error Counter ..................................................................................110
Packet Counter Stack.......................................................................................111
Internal Status Stack ........................................................................................113
ECAT_MASTER_AP ..............................................................................................114
7.5.1
7.5.2
7.5.3
Packet Counter AP-Task..................................................................................114
DPM Statistics ..................................................................................................116
Internal Status of AP-Task ...............................................................................117
8
ONLINE COMPARISON .........................................................................................118
9
TOOLS ....................................................................................................................121
9.1
Overview Tools .......................................................................................................121
9.2
Packet Monitor........................................................................................................122
9.2.1
9.2.2
10
Sending Packet ................................................................................................123
Receiving Packet..............................................................................................124
9.3
IO Monitor ...............................................................................................................125
9.4
Process Image Monitor...........................................................................................127
ERROR CODES......................................................................................................129
10.1
Error Code Definition ..............................................................................................129
10.2
Overview Error Codes ............................................................................................130
10.3
General Hardware Error Codes ..............................................................................131
10.3.1
10.3.2
10.3.3
10.4
Status /Error Codes EtherCAT Master ...................................................................134
10.4.1
10.4.2
10.5
Generic Error Codes.........................................................................................146
Generic Driver Error Codes..............................................................................147
Generic Device Error Codes ............................................................................148
Error Codes netX Driver .........................................................................................149
10.7.1
10.7.2
10.8
General ODM Error Codes...............................................................................141
General ODM Driver Error Codes ....................................................................142
cifX Driver Specific ODM Error Codes .............................................................143
Error Codes cifX Device Driver and netX Driver .....................................................146
10.6.1
10.6.2
10.6.3
10.7
EtherCAT Master Task Status/Error Codes .....................................................134
EtherCAT Master AP Task Status/Error Codes ...............................................139
ODM Error Codes ...................................................................................................141
10.5.1
10.5.2
10.5.3
10.6
RCX General Task Errors ................................................................................131
RCX Common Status & Errors Codes .............................................................132
RCX Status & Error Codes...............................................................................133
CIFX API Transport Error Codes......................................................................149
CIFX API Transport Header State Error Codes ...............................................149
ODM Error Codes DBM V4.....................................................................................150
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APPENDIX ..............................................................................................................154
11.1
User Rights .............................................................................................................154
11.1.1
11.1.2
11.2
Settings.............................................................................................................154
Configuration ....................................................................................................154
Object Dictionary ....................................................................................................155
11.2.1
11.2.2
11.2.3
11.2.4
General Structure .............................................................................................155
Objects .............................................................................................................155
Data Types .......................................................................................................156
The CoE Communication Area.........................................................................158
11.3
References .............................................................................................................161
11.4
List of Figures .........................................................................................................161
11.5
List of Tables ..........................................................................................................163
11.6
Glossary..................................................................................................................166
11.7
Contacts..................................................................................................................168
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Introduction
1.1
About this Manual
This manual provides information on how to set and configure the device
parameters of a netX based EtherCAT Master device using the EtherCAT
Master DTM, and what can be read from the diagnosis panes.
1.1.1
Descriptions of the Dialog Panes
The table below gives an overview for the individual dialog panes
descriptions:
Section
Subsection
Page
Settings
Overview Settings
22
Driver
25
Device Assignment
34
Firmware Download
40
Licensing
88
Overview Configuration
46
General
48
Process Data Handshake
52
Topology
54
Mailbox
60
FMMU/SyncMan
67
Process Data
70
Address Table
71
Init Commands
73
Overview Diagnosis
101
General Diagnosis
102
Master Diagnosis
104
Station Diagnosis
105
Firmware Diagnosis
106
Overview Extended Diagnosis
107
Configuration
Diagnosis
Extended Diagnosis
118
Online Comparison
Tools
Overview Tools
121
Packet Monitor
122
IO Monitor
125
Process Image Monitor
127
Table 1: Descriptions Dialog Pages
1.1.2
Online Help
The EtherCAT Master DTM contains an integrated online help facility.
 To open the online help, click on Help or press F1.
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List of Revisions
Index
Date
Version
Component
Chapter
Revision
6
12-09-25
0.908.x.x
0.908.x.x
ECATMasterDTM.dll
ECATMasterGUI.ocx
All,
Revised,
New screenshot in pane ‘General’
Added description text in pane 'Extended
Diagnosis' > 'ECAT_MASTER_AP' > 'DPM
Statistics'
Improved text at ‚Diagnosis' > 'Station
Diagnosis'
7
13-04-05
0.922.x.x
0.922.x.x
ECATMasterDTM.dll
ECATMasterGUI.ocx
1.3.1,
2.1, 3.2,
3.3,
3.6,
3.5,
Section Requirements, Windows 8 added,
Sections Configuration Steps, Settings for
Driver and Device Assignment and Driver
updated.
Section Licensing added.
Section Firmware Download updated.
4.3
Description of Distributed Clocks feature
Added description of synchronization and
redundancy parameters
4.4,
5.2,
6.4,
9.4
Added description of Process Data
Handshake
Section Network Scan updated and
completed.
Section „Station Diagnosis“ updated
Section Process Image Monitor added.
Table 2: List of Revisions
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Conventions in this Manual
Notes, operation instructions and results of operation steps are marked as
follows:
Notes
Important: <important note>
Note: <note>
<note, where to find further information>
Operation Instructions
1.
<instruction>
2.
<instruction>
or

<instruction>
Results
 <result>
Positions in Figures
The Positions
,
,
... or
,
,
... or
,
,
... refer to the
figure used in that section. If the numbers reference to a section outside the
current section then a cross reference to that section and figure is
indicated.
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Legal Notes
Copyright
© Hilscher, 2008-2013, Hilscher Gesellschaft für Systemautomation mbH
All rights reserved.
The images, photographs and texts in the accompanying material (user
manual, accompanying texts, documentation, etc.) are protected by
German and international copyright law as well as international trade and
protection provisions. You are not authorized to duplicate these in whole or
in part using technical or mechanical methods (printing, photocopying or
other methods), to manipulate or transfer using electronic systems without
prior written consent. You are not permitted to make changes to copyright
notices, markings, trademarks or ownership declarations. The included
diagrams do not take the patent situation into account. The company
names and product descriptions included in this document may be
trademarks or brands of the respective owners and may be trademarked or
patented. Any form of further use requires the explicit consent of the
respective rights owner.
1.2.2
Important Notes
The user manual, accompanying texts and the documentation were created
for the use of the products by qualified experts, however, errors cannot be
ruled out. For this reason, no guarantee can be made and neither juristic
responsibility for erroneous information nor any liability can be assumed.
Descriptions, accompanying texts and documentation included in the user
manual do not present a guarantee nor any information about proper use
as stipulated in the contract or a warranted feature. It cannot be ruled out
that the user manual, the accompanying texts and the documentation do
not correspond exactly to the described features, standards or other data of
the delivered product. No warranty or guarantee regarding the correctness
or accuracy of the information is assumed.
We reserve the right to change our products and their specification as well
as related user manuals, accompanying texts and documentation at all
times and without advance notice, without obligation to report the change.
Changes will be included in future manuals and do not constitute any
obligations. There is no entitlement to revisions of delivered documents.
The manual delivered with the product applies.
Hilscher Gesellschaft für Systemautomation mbH is not liable under any
circumstances for direct, indirect, incidental or follow-on damage or loss of
earnings resulting from the use of the information contained in this
publication.
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Exclusion of Liability
The software was produced and tested with utmost care by Hilscher
Gesellschaft für Systemautomation mbH and is made available as is. No
warranty can be assumed for the performance and flawlessness of the
software for all usage conditions and cases and for the results produced
when utilized by the user. Liability for any damages that may result from the
use of the hardware or software or related documents, is limited to cases of
intent or grossly negligent violation of significant contractual obligations.
Indemnity claims for the violation of significant contractual obligations are
limited to damages that are foreseeable and typical for this type of contract.
It is strictly prohibited to use the software in the following areas:
 for military purposes or in weapon systems;
 for the design, construction, maintenance or operation of nuclear
facilities;
 in air traffic control systems, air traffic or air traffic communication
systems;
 in life support systems;
 in systems in which failures in the software could lead to personal injury
or injuries leading to death.
We inform you that the software was not developed for use in dangerous
environments requiring fail-proof control mechanisms. Use of the software
in such an environment occurs at your own risk. No liability is assumed for
damages or losses due to unauthorized use.
1.2.4
Warranty
Although the hardware and software was developed with utmost care and
tested intensively, Hilscher Gesellschaft für Systemautomation mbH does
not guarantee its suitability for any purpose not confirmed in writing. It
cannot be guaranteed that the hardware and software will meet your
requirements, that the use of the software operates without interruption and
that the software is free of errors. No guarantee is made regarding
infringements, violations of patents, rights of ownership or the freedom from
interference by third parties. No additional guarantees or assurances are
made regarding marketability, freedom of defect of title, integration or
usability for certain purposes unless they are required in accordance with
the law and cannot be limited. Warranty claims are limited to the right to
claim rectification.
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Export Regulations
The delivered product (including the technical data) is subject to export or
import laws as well as the associated regulations of different counters, in
particular those of Germany and the USA. The software may not be
exported to countries where this is prohibited by the United States Export
Administration Act and its additional provisions. You are obligated to
comply with the regulations at your personal responsibility. We wish to
inform you that you may require permission from state authorities to export,
re-export or import the product.
1.2.6
Registered Trademarks
Windows® XP, Windows® Vista, Windows® 7 and Windows® 8 are
registered trademarks of Microsoft Corporation.
EtherCAT® is a registered trademark of Beckhoff Automation GmbH, Verl,
Germany, formerly Elektro Beckhoff GmbH.
CODESYS® is a registered trademark of 3S-Smart Software Solutions
GmbH, Deutschland.
All other mentioned trademarks are property of their respective legal
owners.
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About EtherCAT Master DTM
You can use the EtherCAT Master DTM to configure the EtherCAT Master
device within a FDT Framework.
1.3.1
Requirements
System Requirements
 PC with 1 GHz processor or higher
 Windows® XP SP3, Windows® Vista (32 bit) SP2, Windows® 7 (32 bit)
SP1, Windows® 7 (64 bit) SP1, Windows® 8 (32 bit) or Windows® 8 (64
bit)
 Administrator privilege required for installation
 Internet Explorer 5.5 or higher
 RAM: min. 512 MByte, recommended 1024 MByte
 Graphic resolution: min. 1024 x 768 pixel
 Keyboard and Mouse
Note: If the project file is saved and opened again or if it is used on
another PC, the system requirements must match. Particularly the DTM
must be installed on the used PC.
Restriction
Touch screen is not supported.
Requirements EtherCAT Master DTM
To configure the EtherCAT Master device with the EtherCAT Master DTM
the following requirements have to be accomplished:
 Completed hardware installation of a netX based DTM-compatible
EtherCAT Master device, inclusive loaded firmware, license and loaded
cifX configuration file
 Installed FDT/DTM V 1.2 compliant frame application
 Loaded DTM in the Device Catalog of the FTD Framework
Note: If the EtherCAT Master DTM and the EtherCAT Master device are
installed on the same PC, the cifX Device Driver must be installed on
that PC, as you can connect the DTM to the device.
For more information to the hardware installation, please refer to the
corresponding User Manual of your device.
To get information on how to order and to download the license to the
device, please refer to section Licensing on page 88.
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Dialog Structure of the EtherCAT Master DTM
The graphical user interface of the DTM is composed of different areas and
elements listed hereafter:
1. A header area containing the General Device Information,
2. The Navigation Area (area on the left side),
3. The Dialog Pane (main area on the right side),
4. OK, Cancel, Apply, Help,
5. The Status Line containing information e. g. the online-state of the
DTM.
Figure 1: Dialog Structure of the EtherCAT Master DTM
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General Device Information
Parameter
Meaning
IO Device
Name of the device
Vendor
Vendor name of the device
Device ID
Identification number of the device
Vendor ID
Identification number of the vendor
Table 3: General Device Information
1.4.2
Navigation Area
The Navigation Area contains folders and subfolders to open the dialog
panes of the DTM.
Figure 2: Navigation Area
 Select the required folder and subfolder.
 The corresponding Dialog pane is displayed.
Hide / display Navigation
Hiding the navigation area (above right side).
Opening the navigation area (below left side).
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Dialog Panes
At the dialog pane the Settings, Configuration, Diagnosis/Extended
Diagnosis or the Tools panes are opened via the corresponding folder in
the navigation area.
Settings
Driver
To establish a connection from the EtherCAT Master DTM to the EtherCAT Master
device, on the pane Driver you can verify if the default driver is checked and respectively
check another driver or multiple drivers. For further information, refer to section Driver on
page 25.
Device Assignment
On the pane Device Assignment you select the device and assign the device to the
driver. For further information, refer to section Device Assignment on page 34.
Firmware Download
The dialog on the pane Firmware Download is used to load a new firmware into the
device. A detailed description can be found in section Firmware Download on page 40.
Licensing
Using the license dialog, you can order licenses for Master protocols or Utilities and
download them to your device. A detailed description can be found in section Licensing
on page 88.
Configuration
General
The page “General” displays general EtherCAT Master information. For further
information, refer to section General on page 48.
Process Data Handshake
The page “ Process Data Handshake“ allows to select the desired process data
handshake method for the synchronization between host application and device. For
further information, refer to section „Process Data Handshake“ on page 52 .
Topology
The page “Topology” displays the important structural information such as the current
network topology of the EtherCAT network. For further information, refer to section
Topology on page 50.
Mailbox
The page “Mailbox” describes the CANopen over EtherCAT functionality for acyclic data
communication based on mailboxes. For further information, refer to section Mailbox on
page 60.
FMMU/ SyncMan
The page “FMMU/Sync Man” informs about the Fieldbus Memory Management Unit and
the Sync Manager. For further information, refer to section FMMU/SyncMan on page 67 .
Process Data
The Process Data pane serves for the EtherCAT Master DTM as an external process
data interface. For further information, refer to section Process Data on page 70.
Address Table
The page “Address Table” displays a list of all addresses used in the process data
image. For further information, refer to section Address Table on page 71.
Init Commands
The ‘Init commands’ page of the configuration dialog allows to display and edit a
sequence of initialization commands. For further information, refer to section Init
Commands on page 73.
Diagnosis
Diagnosis/
Extended Diagnosis
At the Diagnosis panes information can be read for troubleshooting. For further
information, refer to section Overview Diagnosis on page 101 or section Overview
Extended Diagnosis on page 107.
Tools
Packet Monitor/
IO Monitor/
Process Image Monitor
Under Tools the Packet Monitor and the IO Monitor are provided for test and diagnosis
purposes. For further information, refer to section Packet Monitor on page 122, section
IO Monitor on page 125 or section Process Image Monitor on page 127.
Table 4: Overview Dialog Panes
Note: Accessing the Diagnosis panes of the EtherCAT Master DTM
requires an online connection from the EtherCAT Master DTM to the
EtherCAT Master device.
For further information, refer to section Connecting/Disconnecting Device
on page 76.
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OK, Cancel, Apply and Help
OK, Cancel, Apply and Help you can use as described hereafter.
Meaning
OK
To confirm your latest settings, click OK. All changed values will be applied on the frame application
database.
The dialog then closes.
Cancel
To cancel your latest changes, click Cancel.
Answer to the safety query Configuration data has been changed. Do you want to save the data?
by Yes, No or Cancel.
Yes: The changes are saved or the changed values are applied on the frame application database.
The dialog then closes.
No: The changes are not saved or the changed values are not applied on the frame application
database.
The dialog then closes.
Cancel: Back to the DTM.
Apply
To confirm your latest settings, click Apply. All changed values will be applied on the frame application
database.
The dialog remains opened.
Help
To open the DTM online help, click Help.
Table 5: OK, Cancel, Apply and Help
1.4.5
Table Lines
In the DTM dialog pane table lines can be selected, inserted or deleted.
Meaning
To select the first line of a table use First Line.
To select the previous line of a table use Previous Line.
To select the next line of a table use Next Line.
To select the last line of a table use Last Line.
Create a new Line inserts new lines into the table.
Delete selected Line deletes the selected line from the table.
Table 6: Selecting, inserting, deleting Table Line
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Status Bar
The Status Bar displays information about the current state of the DTM.
The current activity, e.g. download, is signaled graphically via icons in the
status bar.
Figure 3: Status Bar – Status Fields 1 to 6
Status
Field
Icon / Meaning
1
DTM Connection States
Connected: Icon closed = Device is online
Disconnected: Icon opened = Device is offline
2
Data Source States
Data set: The displayed data are read out from the instance data set
(database).
Device: The displayed data are read out from the device.
3
States of the instance Date Set
Valid Modified: Parameter is changed (not equal to data source).
4
Changes directly made on the Device
Load/configure diagnosis parameters: Diagnosis is activated.
6
Device Diagnosis Status
Save operation succeeded: The save operation has been successful.
Further messages due to successful handling of device data.
Firmware Download: Firmware Download is running
Save operation failed: The save operation has failed.
Further fail operation messages due to incorrect communication due to
malfunction in the field device or its peripherals.
Table 7: Status Bar Icons [1]
Offline State
Save operation
succeeded
Firmware Download
Firmware Download
successful
Online State and
Diagnosis
Figure 4: Status Bar Display Examples
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Getting started
Configuration Steps
The following overview provides to you the step sequence on how to
configure a netX based EtherCAT Master device with EtherCAT Master
DTM as it is typical for many cases. At this time it is presupposed that the
hardware installation was done.
The overview lists all the steps in a compressed form. For detailed
descriptions of each step refer to the sections noted in the column For
detailed information see section.
For detailed information
see section
#
Step
Short Description
1
Add EtherCAT
Slave in the
Device Catalog
Add the Slave in the Device Catalog by
importing the device description file to the
Device Catalog.
Depending of the FDT Container.
For netDevice:
- Network > Import Device Descriptions.
Load device
catalog
Depending of the FDT Container:
For netDevice:
- select Network > Device Catalog,
- select Reload Catalog.
(See Operating Instruction
Manual netDevice and
netProject)
3
Create new
project / Open
existing project
Depending of the frame application.
For the configuration software:
- select File > New or File > Open.
(See Operating Instruction
Manual of the Frame
Application)
4
Insert Master or
Slave into
configuration
Depending of the FDT Container:
For netDevice:
- in the Device Catalog click to the Master,
- and insert the device via drag and drop
to the line in the network view,
- in the Device Catalog click to the Slave*,
- and insert the device via drag and drop
to the Master bus line in the network view.
2
Page
-
(See Operating Instruction
Manual netDevice and
netProject)
-
-
(See Operating Instruction
Manual netDevice and
netProject)
(*This step won’t be necessary if the network
structure is scanned automatically.
See step 17.)
5
Open the Master
DTM configuration
dialog
Open the Master DTM configuration dialog.
- Double click to the device icon of the Master.
- The Master DTM configuration dialog is
displayed.
-
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#
Step
Short Description
For detailed information
see section
Page
6
Verify or adapt
Driver Settings
In the Master DTM configuration dialog:
- select Settings > Driver.
Settings for Driver and
Device Assignment
and
Driver
23
Configuring netX Driver
28
Note! For PC cards cifX the cifX
Device Driver is preset as a default
driver. For all the other Hilscher
devices the netX Driver is preset as a
default driver.
25
 Use the cifX Device Driver if the
EtherCAT Master DTM is installed
on the same PC as the EtherCAT
Master device.
 Use the netX Driver to establish a
USB, Serial (RS232) or TCP/IP
connection from the EtherCAT
Master DTM to the EtherCAT
Master device.
 The 3SGateway Driver for netX
(V3.x) is used only in relationship
with CODESYS.
To search for devices you can check
one or multiple drivers simultaneously.
- Verify that the default driver is checked.
- If necessary, check another driver or multiple
drivers.
7
Configure Driver
If you use the netX Driver, you respectively
must configure it.
For netX Driver and communication via
TCP/IP set the IP address of the device:
- Select Settings > Driver > netX Driver > TCP
Connection.
add an IP range.
- Via
- Under IP Address enter the IP Address of the
device or an IP range.
- Click Save.
Adjust the driver parameters netX Driver
USB/RS232 only if they differ from the default
settings.
Note!
 The cifX Device Driver requires no
configuration.
 The configuration of the 3SGateway
Driver for netX (V3.x) is carried out
via the CODESYS surface.
8
Assign Master
device (with or
without firmware)
Assign the device to this driver.
In the Master DTM configuration dialog:
- select Settings > Device Assignment,
- select a Master device (with or without
firmware),
- therefore check the appropriate checkbox,
- select Apply.
Selecting the Device (with
or without firmware)
37
9
Select and
download
firmware
If a firmware was l not yet oaded to the device.
In the Master DTM configuration dialog:
- select Settings > Firmware Download,
- select Browse..,
- select a firmware file,
- select Open,
- select Download and Yes.
Firmware Download
40
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#
Step
Short Description
For detailed information
see section
Page
10
Assign Master
device once more
(with firmware and
system chanal)
In the Master DTM configuration dialog:
- select Settings > Device Assignment,
- select Scan,
- select the Master device (with loaded and
defined system channel),
- therefore check the appropriate checkbox,
- select Apply,
- close the Master DTM configuration dialog via
OK.
Selecting the Device once
more (with Firmware)
38
For repeated
download this step
is omitted.
11
Configure Slave
device
Configure the Slave device.
- Double click to the device icon of the Slave.
- The Slave DTM configuration dialog is
displayed.
In the Slave DTM configuration dialog:
- select Configuration > Behavior,
- set the Watchdog control and Interval,
- set the timeout values for various state
machine transitions,
- specify which verifications to perform during
device check-up,
(See Operating Instruction
Manual Generic Slave
DTM for EtherCAT Slave
Devices)
- choose between combined and separate
EtherCAT commands for read and write
accesses,
- select Configuration > Process Data,
- configure the process data of the Slave (PDO
assignment and PDO contents),
- close the Slave DTM configuration dialog via
OK.
12
Configure Master
device
Configure the Master device.
- Double click to the device icon of the Master.
- The Master DTM configuration dialog is
displayed.
In the Master DTM configuration
dialog:
- select Configuration >
Process Data Handshake
Decide to choose a process
data handshake method
to be applied.
- select Configuration >
Topology
edit the network topology in
the connection view
according to your needs,
- select Configuration >
Mailbox
- edit the CoE parameters only
for those slaves which are
configurable with respect
to CoE.
These entries can be found
at the register cards ‘Start-up’
and ‘Userdef Start-up’.
- select Configuration >
FMMU/SyncMan
- set the parameters for the FMMU and the sync
manager,
- select Configuration >
Process data,
- set symbolic names for the
configured modules
or signals.
Configuring Device
Parameters
47
Process Data Handshake
50
Topology
54
Mailbox
60
FMMU/SyncMan
67
Process Data
70
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#
Step
Short Description
12
Configure Master
device
- select Configuration >
Address Table
- set the address information
and parameters related
to the PDOs.
- select Configuration > Init Commands
- edit the Init Commands table according
to your needs.
- close the Master DTM configuration
dialog via OK.
13
Save project
Depending of the frame application.
For the configuration software:
- select File > Save.
For detailed information
see section
Page
Address Table
71
Init Commands
73
(See Operating Instruction
Manual of the Frame
Application)
14
Connect Master
device
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Master,
- select Connect.
Connecting/Disconnecting
Device
76
15
Licensing
How to order licenses later and how to transfer
them to the device.
Licensing
88
16
Download
Configuration
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Master,
- select Download.
Download Configuration
86
17
Network Scan
As an alternative to manually configure the
Slave device, you can automatically scan the
network structure by using the context menu
Network Scan.
Network Scan
78
Therefore proceed the following steps:
1. Start the Network Scan function.
2. Make the settings in the Scan Response of
Device dialog.
3. Create devices.
4. Download of the Device configuration to the
Master device (Download).
18
Diagnosis
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Master,
- select Diagnosis.
- The Master DTM diagnosis dialog is displayed.
(1) Check whether the communication is OK:
Diagnosis > General Diagnosis > Device
status "Communication" must be green!
(2) "Communication" is green: Open thel IO
Monitor and test the input or output data.
(3) "Communication" is not green: Use
Diagnosis and Extended diagnosis for
troubleshooting.
- close the Master DTM diagnosis dialog via OK.
Overview Diagnosis
101
19
IO Monitor
Depending of the FDT Container:
For netDevice:
- right click to the device icon of the Master,
- select Diagnosis,
- select Tools > IO Monitor.
- Check the input or output data,
- close the IO Monitor dialog via OK.
IO Monitor
125
20
Disconnect
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Master,
- select Disconnect.
Connecting/Disconnecting
Device
76
Table 8: Getting started - Configuration Steps
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Settings
Overview Settings
Settings Dialog Panes
The table below gives an overview for the individual Settings dialog panes
descriptions:
EtherCAT Master DTM
Folder Name /
Section
Manual
Page
Subsection
25
Driver
Verify or adapt Driver Settings
25
cifX Device Driver
27
netX Driver
27
28
Configuring netX Driver
34
Device Assignment
Navigation Area –
Settings (Example)
Scanning for Devices
Additional drivers can be
displayed.
Scanning for all Devices or for suitable only
36
Selecting the Device (with or without firmware)
37
Selecting the Device once more (with Firmware)
38
34
Firmware Download
40
Licensing
88
Table 9: Descriptions of the Dialog Panes Settings
Note: To edit the Settings dialog panes you need User Rights for
“Maintenance”.
Notice the descriptions in the section Settings for Driver and Device
Assignment on page 23.
To access to the online help with the descriptions of the drivers:
 Select Settings > Driver > [Name of the assigned driver].
 Press the F1 key.
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Settings for Driver and Device Assignment
The following steps are needed to establish a connection from the
EtherCAT Master DTM to the EtherCAT Master device:
Verify or adapt Driver Settings
Verify the Driver Settings and adapt them if necessary.
1. Open the DTM configuration dialog.
 In the FDT container netDevice double click to the EtherCAT Master
device icon.
2. Verify that the default driver is checked and respectively check another
or multiple drivers.
 Select Settings > Driver.
Note! For PC cards cifX the cifX Device Driver is preset as a default
driver. For all the other Hilscher devices the netX Driver is preset as a
default driver.
 Use the cifX Device Driver if the EtherCAT Master DTM is installed on
the same PC as the EtherCAT Master device.
 Use the netX Driver to establish a USB, Serial (RS232) or TCP/IP
connection from the EtherCAT Master DTM to the EtherCAT Master
device.
 The 3SGateway Driver for netX (V3.x) is used only in relationship with
CODESYS.
To search for devices on the network you can check one or multiple
drivers simultaneously.
 Verify that the default driver for your device is checked.
 If necessary, check another driver or multiple drivers.
Configure Driver
Note!
 The cifX Device Driver requires no configuration.
 The configuration of the 3SGateway Driver for netX (V3.x) is carried
out via the CODESYS surface.
If you use the netX Driver, you respectively must configure it.
3. Configure the netX Driver if necessary.
For the driver netXDriver an individual driver dialog window can be opened
where you can configure the driver.
 Select Settings > Driver > netX Driver.
 For netX Driver and communication via TCP/IP set the IP address of
the device.
Adjust the driver parameters netX Driver USB/RS232 only if they differ
from the default settings.
Assigning the Master device to the DTM
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4. Scan for and select the devices (with or without firmware).
 Select Settings > Device Assignment.
 Under Device selection select suitable only or all and then Scan.
 In the table check the required devices.
 Select Apply.
Select and download the Firmware
5. If not yet a firmware was loaded to the device, select and download the
firmware.
 Select Settings > Firmware Download.
 Select and download the firmware via Download.
 Select Apply.
6. Scan for and select the devices (with firmware and defined system
channel) once more.
For repeated download this step is omitted.
 Select Settings > Device Assignment.
 Select Scan.
 In the table check the required devices.
7. Close the DTM configuration dialog via OK.
Connecting the Device
8. In netDevice put a right-click on the EtherCAT Master device icon.
9. Select the Connect command from the context menu.
 In the network view the device description at the device icon of the
Master is displayed with a green colored background. The EtherCAT
Master device now is connected to the EtherCAT Master DTM via an
online connection.
Further Information
For descriptions about these steps refer to the sections following hereafter.
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Driver
The Driver dialog pane displays the drivers to be used for a EtherCAT
Master DTM to establish a device communication connection.
Note! A default driver is set in the configuration software.
Figure 5: Default Driver ‚cifX Device Driver’ for PC cards cifX
Parameter
Meaning
Driver
Name of the driver (for more details see descriptions hereafter)
Version
ODMV3 Version of the respective driver
ID
ID of the driver (driver identification)
Table 10: Driver Selection List Parameters
To establish a connection from the EtherCAT Master DTM to the EtherCAT
Master device, verify if the default driver is checked and respectively check
another driver or multiple drivers.
3.3.1
Verify or adapt Driver Settings
Proceed as follows:
1. Select Settings > Driver in the navigation area.
 The Driver dialog pane is displayed with the available drivers and the
setting for the default driver.
Figure 6: Default Driver ‚cifX Device Driver’ for PC cards cifX (example)
Figure 7: Default Driver ‚netX Driver’ for Hilscher devices except for PC cards cifX (example)
2. Verify that the default driver is checked.
 Verify that the default driver for your device is checked.
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Default Driver (Pre-settings in the Configuration Software): For PC cards
cifX the cifX Device Driver is preset as a default driver. For all the other
Hilscher devices the netX Driver is preset as a default driver.
3. Respectively check another driver.
Note! The driver used for the connection from the EtherCAT Master DTM
to the EtherCAT Master device must be supported by the device and must
be available for the device.
 Use the cifX Device Driver if the EtherCAT Master DTM is installed on
the same PC as the EtherCAT Master device.
 Use the netX Driver to establish a USB, Serial (RS232) or TCP/IP
connection from the EtherCAT Master DTM to the EtherCAT Master
device.
 The 3SGateway Driver for netX (V3.x) is used only in relationship with
CODESYS. The version V3.x refers to the driver version defined by 3SSmart Software Solutions GmbH.
 Check the checkbox for the driver in the selection list.
4. Respectively check multiple drivers.
To search for devices on the network you can check multiple drivers
simultaneously.
Figure 8: Manual Selection of multiple drivers (Example)
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cifX Device Driver
In the EtherCAT Master DTM for the cifX Device Driver no driver dialog
pane is available, since for the cifX Device Driver no driver settings are
required.
The cifX Device Driver will be used if the EtherCAT Master DTM is
installed in the same PC as the EtherCAT Master device.
Note: To establish a connection from a DTM to a Master device via the
cifX Device Driver, the cifX Device Driver must be installed and the
driver must have access to the Master device.
3.3.3
netX Driver
The netX Driver is used to connect the DTM to the device via different
connection types. The DTM communicates with the device via an USB
connection, a serial (RS232) connection or a TCP/IP connection. The netX
Driver establishes
 via the USB interface of the device and the USB port of the PC an USB
connection to the device,
 via the RS232 interface of the device and the COM port of the PC a
serial connection (RS232) to the device
 and via Ethernet a TCP/IP connection to the device.
To connect the DTM to the physical layer of the device the netX Driver
software works in combination with the software components:
 “USB/COM connector” for the USB connection and for the serial
connection (RS232) and
 “TCP/IP connector” for the Ethernet connection.
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Configuring netX Driver
The following steps are required to configure the netX Driver:
USB/RS232 Connection
To set the driver parameters for an USB/RS232 connection note:
Note: Adjust the driver parameters netX Driver USB/RS232 only if they
differ from the default settings. After saving the changed driver
parameters, these parameters are used for the device assignment when
scanning devices.
For setting the driver parameters for an USB connection or a serial
connection:
1. Select Settings > Driver > netX Driver > USB/RS232 Connection.
 Set the driver netX Driver USB/RS232 parameters.
TCP/IP Connection
For setting the driver parameters for a TCP/IP connection:
1. Select Settings > Driver > netX Driver > TCP Connection.
2. Set IP Address of the device:
 Add an IP Range via Select IP Range
.
3. Under IP Range Configuration > IP Address enter the IP Address of
the device (Use IP Range is unchecked).
Or
4. Set IP Range:
 Check Use IP Range.
 Under IP Range Configuration > IP Address enter the start address
(left side) and the ending address of the IP scanning range (right side).
5. Click Save, to save the IP address or the IP range.
 After saving the changed driver parameters, these parameters are used
for the device assignment when scanning devices.
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netX Driver - USB/RS232 Connection
The communication from the DTM to the device via an USB/RS232
Connection is used when the DTM is installed on a PC and between the
PC and the device
 an USB connection
 or a serial connection (RS232) exists.
The DTM accesses the device via the USB interface or via the RS232
interface. This requires either to connect an USB port of the PC to the USB
interface of the device using an USB cable or to connect a physical COM
port of the PC to the RS232 interface of the device via a serial cable.
The netX Driver / USB/RS232 Connection supports all physical and
virtual COM ports available on the PC.
Via the RS232 interface or USB interface, the device is configured or
diagnosis is performed.
3.3.5.1
Driver Parameters for netX Driver - USB/RS232 Connection
The settings of the driver parameters for the USB/RS232 connection are
made via the netX Driver / USB/RS232 Connection configuration dialog.
 Open the USB/RS232 Connection dialog via navigation area Settings
> Driver > netX Driver.
 The USB/RS232 Connection dialog is displayed:
Figure 9: netX Driver > USB/RS232 Connection
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Parameter
Meaning
Range of Value /
Default Value
Enable USB/RS232
Connector (Restart of
ODM required)
checked: The netX Driver can communicate via the
USB/RS232 interface.
checked,
unchecked;
Default:
unchecked
unchecked: The netX Driver can not communicate via the
USB/RS232 interface.
If the check mark for Enable USB/RS232 Connector is set
1
or removed, then the ODM server must be restarted , to
make the new setting valid.
_______
1
Restart the ODM server via the ODMV3 Tray Application:
-In the foot line click on
using the right mouse key.
- In the context menu select Service > Start.
Select Port
Depending on the COM ports (interfaces) available on the
PC, they will be listed under Select Port.
COM 1 to COM N
checked: No connection.
checked,
unchecked (Default)
Port Configuration
Disable Port
unchecked: The netX Driver tries to establish a connection
using the configured USB/RS232 interface.
The device must support the baud rate.
9.6, 19.2, 38.4, 57.6 or
115.2 [kBit/s];
Default (RS232): 115.2
[kBit/s]
Stop bits
Number of stop bits sent after the transfer of the send data
for synchronization purposes to the receiver.
Stop bit: 1, 1.5, 2;
Default (RS232): 1
Send Timeout
Maximum time before the transfer of the transmission data is
canceled, when the send process fails, for example, because
of the transfer buffer is full.
100 … 60.000 [ms];
Default (RS232 and
USB): 1000 ms
Reset Timeout
Maximum time for a device reset, including the reinitialization of the physical interface used for the
communication.
100 … 60.000 [ms];
Default (RS232 and
USB): 5000 ms
Byte size
Number of bits per byte by byte specification
7 Bit, 8 Bit;
Default (RS232): 8 Bit
Parity
In the error detection in data transmission using parity bits,
"parity" describes the number of bits occupied with 1 in the
transmitted information word.
No Parity: no parity bit
Odd Parity: The parity is "odd" if the number of bits occupied
with 1 in the transmitted information word will be odd.
Even parity: The parity is "even" if the number of bits
occupied with 1 in the transmitted information word will be
even.
Mark Parity: if the parity bit is always 1, this will be named
mark-parity (the bit does not contain any information).
Space Parity: if the parity bit always 0, this will be named
space-parity (the bit represents an empty space).
No Parity,
Odd Parity,
Even Parity,
Mark Parity,
Space Parity;
Default (RS232):
No Parity
Keep Alive Timeout
The "Keep Alive" mechanism is used to monitor whether the
connection to the device is active. Connection errors are
detected using a periodic heartbeat mechanism. The
heartbeat mechanism will be initiated after the set time has
elapsed if the communication has failed.
100 … 60.000 [ms];
Default (RS232 and
USB): 2000 ms
Restore
Resets all settings in the configuration dialog to the default
values.
Save
Saving all settings made in the configuration dialog netX
Driver > Save USB/RS232 Connection, i. e. only for the
selected connection type.
Save All
Saving all settings made in the configuration dialog netX
Driver, i. e. for all connection types.
Baud rate
Transfer rate: number of bits per second.
Table 11: Parameters netX Driver > USB/RS232 Connection
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netX Driver - TCP/IP Connection
The communication from the DTM to the device via a TCP/IP Connection
is used in the following two typical applications:
Application 1: The device has its own Ethernet interface. The DTM is
installed on a PC and the TCP/IP connection is established from this PC to
the stand-alone device. The IP address of the device is used.
Application 2: The device is installed in a remote PC. The DTM is installed
on an additional PC and the TCP/IP connection is established from this PC
to the remote PC. The IP address of the remote PC is used. For the TCP/IP
connection is made, on the remote PC the cifX TCP/IP server must be
started. The cifX TCP/IP server allows the remote access to the device via
a TCP/IP connection.
Note: An exe file for the cifXTCP/IP server is provided on the product CD
in the Tools directory.
Via the TCP/IP interface of the device or of the remote PC, the device is
configured or diagnosis is performed.
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Driver Parameters for netX Driver - TCP/IP Connection
The settings of the driver parameters for the TCP/IP connection are made
via the netX Driver / TCP Connection configuration dialog.
 Open the TCP Connection dialog via navigation area Settings >
Driver > netX Driver.
 The dialog netX Driver is displayed:
 Select TCP Connection.
Figure 10: netX Driver > TCP Connection
Parameter
Meaning
Range of Value /
Default Value
Enable TCP Connector
(Restart of ODM
required)
checked: The netX Driver can communicate via the TCP/IP
interface.
checked,
unchecked;
Default:
unchecked
unchecked: The netX Driver can not communicate via the
TCP/IP interface.
If the check mark for Enable TCP Connector is set or
removed, then the ODM server must be restarted1, to make
the new setting valid.
_______
1
Restart the ODM server via the ODMV3 Tray Application:
-In the foot line click on
using the right mouse key.
- In the context menu select Service > Start.
Select IP Range
Via Select IP Range already created IP ranges can be
selected.
Via
an additional IP range can be added.
Via
an IP range can be deleted.
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Parameter
Meaning
Range of Value /
Default Value
Scan Timeout [ms]
With Scan Timeout can be set, how long to wait for a
response while a connection is established.
10 … 10000 [ms];
Default: 100 ms
checked: No connection.
checked,
unchecked (Default)
IP Range Configuration
Disable IP Range
unchecked: The netX Driver tries to establish a connection
using the configured TCP/IP interface.
IP Address (left)
Enter the IP address of the device, (if Use IP Range is not
checked).
valid IP address;
Default: 192.168.1.1
Enter the start address of the IP scanning range, (if Use IP
Range is checked).
unchecked: Only one IP address is used.
checked,
unchecked;
Default:
unchecked
IP Address (right)
Enter the ending address of the IP scanning range, (only if
Use IP Range is checked).
valid IP address;
Default: 0.0.0.0
Address Count
Displays the scanning range address count, depending on
the selected IP-start or IP-end address. (For this read the
note given below.)
recommended: 10
TCP Port
Identifies the endpoint of a logical connection or addresses a
specific endpoint on the device or PC.
0 - 65535;
Default Hilscher device:
50111
Send Timeout [ms]
Maximum time before the transfer of the transmission data is
canceled, when the send process fails, for example, because
of the transfer buffer is full.
100 … 60.000 [ms];
Default (TCP/IP): 1000
ms
Reset Timeout [ms]
Maximum time for a device reset, including the reinitialization of the physical interface used for the
communication.
100 … 60.000 [ms];
Default (TCP/IP): 2000
ms
Keep Alive Timeout
[ms]
The "Keep Alive" mechanism is used to monitor whether the
connection to the device is active. Connection errors are
detected using a periodic heartbeat mechanism. The
heartbeat mechanism will be initiated after the set time has
elapsed if the communication has failed.
100 … 60.000 [ms];
Default (TCP/IP): 2000
ms
Restore
Resets all settings in the configuration dialog to the default
values.
Save
Saving all settings made in the configuration dialog netX
Driver > Save TCP/IP Connection, i. e. only for the selected
connection type.
Save All
Saving all settings made in the configuration dialog netX
Driver, i. e. for all connection types.
Use IP Range
checked: An IP address range is used.
Table 12: Parameters netX Driver > TCP Connection
Note: Do not use large IP ranges in combination with a low scan timeout. Microsoft
introduced in Windows® XP SP2 a limit of concurrent half-open outbound
TCP/IPconnections (connection attempts) to slow the spread of virus and malware from
system to system. This limit makes it impossible to have more than 10 concurrent halfopen outbound connections. Every further connection attempt is put in a queue and
forced to wait. Due to this limitation a large IP range used in combination with a low scan
timeout could prevent the connection establishment to a device.
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Device Assignment
Note: In the Device Assignment dialog pane you first must assign the
EtherCAT Master device to the EtherCAT Master DTM by checking the
check box. This is essential to establish an online connection from the
EtherCAT Master DTM to the EtherCAT Master device later, as described
in section Connecting/Disconnecting Device on page 126.
Therefore in the Device Assignment dialog pane you scan for the
EtherCAT Master device and select it.
If the device did not get a firmware or shall get a new firmware:
1. first you scan for the device (with or without firmware) and select the
device,
2. then you download a firmware to the device and
3. subsequently you scan for the device (with firmware) once more and
select the device again.
3.4.1
Scanning for Devices
1. Select Settings > Device Assignment in the navigation area.
 The dialog pane Device Assignment is displayed.
Figure 11: Device Assignment - detected Devices (* The name of the device class is
displayed.) – Example for a device without firmware
2. Under Device Selection select suitable only.
3. Select Scan, to start the scanning process.
 In the table all devices are displayed, which can be connected to the
EtherCAT Master DTM via the preselected driver.
Note: For devices, which have been found via the cifX Device Driver in
the column Access path the indication …\cifX[0toN]_SYS is displayed.
This is correct, as long as a device did not get a firmware. After the
firmware download has been completed, in the column Access path the
indication …\cifX[0toN]_Ch[0to3] is displayed.
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Parameter
Meaning
Range of Value /
Default Value
Device selection
Selecting suitable only or all devices.
suitable only, all
Device
Device class of the EtherCAT Master Devices.
Hardware Port
0/1/2/3
Shows, which hardware is assigned to which communication interface.
Slot number
Shows the Slot Number (Card ID) preset at the PC card cifX via the Rotary 1 to 9,
Switch Slot Number (Card ID).
n/a
The indication n/a means, that no Slot-Nummer (Card ID) exists. This will
occure if the PC card cifX is not equipped with a Rotary Switch Slot
Number (Card ID) or for PC cards cifX equipped with a Rotary Switch Slot
Number (Card ID) if the rotary switch is set to the value 0 (zero).
Serial number
Serial number of the device
Driver
Name of the driver
Channel Protocol Shows, which firmware is loaded to which device channel.
The data for the used channel consists of the protocol class and the
communication class.
a.) For devices without firmware: Undefined Undefined,
b.) For devices with firmware: Protocol name corresponding to the used
Firmware
Access path
(last column on
the right)
Depending on the used driver in the column Access path different data to
the device are displayed.
For the cifX Device Driver the following data are displayed:
a.) For devices without firmware: …\cifX[0toN]_SYS,
b.) For devices with firmware: …\cifX[0toN]_Ch[0to3].
cifX[0toN] = Board number 0 to N
Ch[0to3] = Channel number 0 to 3
Access path
(at the lower side
of the dialog
pane)
If in the table a device is checked, under Access path (at the lower side of
the dialog pane) the driver identification or depending on the used driver
additional data to the device will be displayed.
For the cifX Device Driver the following data are displayed:
a.) For devices without firmware: …\cifX[0toN]_SYS,
b.) For devices with firmware: …\cifX[0toN]_Ch[0to3].
cifX[0toN] = Board number 0 to N
Ch[0to3] = Channel number 0 to 3
Depending on the
device and on the
driver:
board or channel
number, IP address
or COM interface
driver identification
(ID)
depending on the
device and on the
driver:
board or channel
number, IP address
or COM interface
Table 13: Parameters of the Device Assignment
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Scanning for all Devices or for suitable only
all
1. Under Device Selection select all.
2. Select Scan.
Figure 12: Device Assignment - detected Devices (* The name of the device class is
displayed.) Example for Devices without Firmware
 In the table all devices are displayed, which are attainable in the
network and which can be connected to a single DTM each via the
preselected drivers.
Note: During a subsequent firmware download in the selection window
Select Firmware File all files from the selected folder are displayed,
under Files of Type „All Files (*.*)“ is displayed and the check box
Validate the selected firmware file. is unchecked.
suitable only
1. Under Device Selection select suitable only.
2. Select Scan.
 In the table all devices are displayed, which can be connected to the
EtherCAT Master DTM via the preselected drivers.
Note: During a subsequent firmware download in the selection window
Select Firmware File only firmware files from the selected folder are
displayed, under Files of Type „Firmware Files (*.nxm)“ or „Firmware
Files (*.nxf)“ is displayed and the check box Validate the selected
firmware file. is checked.
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Selecting the Device (with or without firmware)
Note: A connection with the EtherCAT Master DTM can only be
established with one EtherCAT Master device.
To select the physical EtherCAT Master device (with or without firmware):
1. Check the appropriate device.
Figure 13: Device Assignment - Selecting the Device (* The name of the device class is
displayed.) – Example for a device without firmware / one Device is selected
 Under Access path (below in the dialog pane) the access path to the
device, e. g. the driver identification, or depending on the used driver
additional access data of the device are displayed.
2. Select Apply, to apply the selection.
Note: Before an online connection from the EtherCAT Master DTM to the
EtherCAT Master device can be established, a firmware must be loaded
to the device and the device must be selected once more.
For further information refer to section to section Firmware Download on
page 40 or to section Selecting the Device once more (with Firmware) on
page 38.
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Selecting the Device once more (with Firmware)
Note: For repeated download this step is omitted.
To select the EtherCAT Master device (with firmware and defined system
channel) once more, proceed as described hereafter:
all
1. Under Device Selection select all.
2. Select Scan.
 In the table all devices are displayed, which are attainable in the
network and which can be connected to a DTM via the preselected
drivers.
3. Check the appropriate device.
Figure 14: Device Assignment - Selecting the Device (* The name of the device class is
displayed.) – Example for Devices with and without Firmware / one Device is selected
Note: After the firmware download has been completed, for the devices which have been
detected via the cifX Device Driver the following data are displayed:
- In the column Channel Protocol: the data for the firmware for the used channel
-
In the column Access path or under Access path (below in the dialog pane):
the data: …\cifX[0toN]_Ch[0to3].
cifX[0toN] = board number 0 to N
Ch[0to3] = channel number 0 to 3
4. Select Apply, to apply the selection.
5. Or select OK, to apply the selection and to close the DTM interface
dialog.
6. Connect the DTM to the device using the context menu (right mouse
click).
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Or:
suitable only
1. Under Device Selection select suitable only.
2. Select Scan.
 In the table all devices are displayed, which can be connected to the
EtherCAT Master DTM via the preselected drivers.
3. Check the appropriate device.
Figure 15: Device Assignment - Selecting the Device (* The name of the device class is
displayed.) – Example for a device with firmware / one Device is selected
Note: After the firmware download has been completed, for the devices which have been
detected via the cifX Device Driver the following data are displayed:
- In the column Channel Protocol: the data for the firmware for the used channel
-
In the column Access path or under Access path (below in the dialog pane):
the data: …\cifX[0toN]_Ch[0to3].
cifX[0toN] = board number 0 to N
Ch[0to3] = channel number 0 to 3
4. Select Apply, to apply the selection.
5. Or select OK, to apply the selection and to close the DTM interface
dialog.
6. Connect the DTM to the device using the context menu (right mouse
click).
For further information how to establish an online connection from the
EtherCAT Master DTM to the EtherCAT Master device, refer to section
Connecting/Disconnecting Device on page 76.
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Firmware Download
Using the Firmware Download dialog a firmware can be transferred to the
device.
CAUTION! The firmware download
- Stops the bus communication,
- erases the configuration data base and
- overwrites the existing firmware in the device.
To complete the update and to make the device operable again, please
re-download the configuration when this operation has finished.
Note: Prior to the firmware download, you must select the driver and the
Master device (with or without firmware).
For further information refer to section Overview Settings on page 22.
To load the firmware to the device:
1. In the navigation area select Settings > Firmware Download.
 The dialog Firmware-Download pane is displayed.
Figure 16: Firmware Download
Parameter
Meaning
Name
Name of the Firmware
Version
Version and Build Version of the Firmware
Browse…
Button to select the firmware file.
Download
Button to download the firmware.
Table 14: Parameter Firmware Download
2. Select Browse.
 The selection window Select Firmware File is displayed.
 Enlarge the selection window to view the columns Hardware and
Version.
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Figure 17: Window ‘Select Firmware File’ (Example CIFX)
Parameter
Meaning
Range of Value /
Default Value
Column Name
File name of the firmware file
nxf, nxm
To sort the entries of the window Select Firmware File by name click to
the column head
.
Column
Firmware
Name of the firmware (consisting of the protocol name and protocol class)
Column
Hardware
Device class of the associated hardware
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e. g. CIFX,
COMX, COMX 51,
NETJACK 10,
NETJACK 50,
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NETJACK 51,
NETJACK 100,
NETTAP 50 (Gateway),
NETTAP 100 (Gateway),
NETBRICK 100 (Gateway)
Column
Version
Firmware version
Tooltip
To view the tooltip information move with the mouse pointer over the
selected firmware line.
Files of Type
„All Files (*.*)“ if before in the Device Assignment pane under Device
selection all was selected.
x.x (build x)
„ Firmware Files (*.nxm)“ or Firmware Files (*.nxf) if before in the Device
Assignment pane under Device selection suitable only was selected.
All Files (*.*),
Firmware Files (*.nxm),
Firmware Files (*.nxf)
Recent folders Path of the recently opened folder
Firmware
As soon as the firmware file has been selected, under Firmware the
name, the version and the build version as well as the device class for the
selected firmware is displayed.
Help
Button, to open the online help of the DTM.
Name, Version, Build
Version, Device Class
for the selected firmware
Table 15: Parameters Select Firmware File
Further descriptions to the selection window Select Firmware File are
included in the context sensitive help (F1 key) of the Microsoft
Corporation.
Note: After in the Device Assignment pane under Device selection all or suitable only
has been set, during a subsequent firmware download in the selection window Select
Firmware File the following data are displayed or set:
(for list box entry )
all
suitable only
In the selection window
Select Firmware File:
all files from the
selected folder
only firmware files from the
selected folder
Under Files of Type*:
„All Files (*.*)“
„Firmware Files (*.nxm)“,
„Firmware Files (*.nxf)“
Validation:
A restricted validation
will be performed if
the selected firmware
is applied for the
download.
A validation is made whether
the firmware file is suitable for
the EtherCAT Master DTM.
*These settings in the selection window Select Firmware File can also be changed
manually.
3. In the selection window mark the firmware file to be loaded using the
mouse.
 In the selection window under Firmware the name and the version of
the firmware are displayed.
4. In the selection window select the Open button.
 A validation is made, whether the selected firmware file is suitable for
the EtherCAT Master DTM.
 In the dialog pane Firmware Download during the validation
Download is grayed out.
 The selection window is closed.
5. In the dialog pane Firmware Download click to the Download button,
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to download the firmware.
Firmware is not valid for the selected device
 If a firmware file is selected, which is not valid for the assigned device,
the request Select Firmware File will be displayed.
Figure 18: Request Select Firmware File - Example
 Answer to the request with No.
Figure 19: Firmware Download – Download
 The request Do you really want to download the firmware? is
displayed.
Figure 20: Firmware-Download –Question
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 During the download a progress bar is displayed, in the status line a
clock / green hook symbol is displayed and Download is grayed out.
Figure 21: Clock Symbol and Hook Symbol green
Figure 22: Firmware Download - Progress Bar
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Licensing
To open the Licensing pane:
1. In the navigation area select Settings > Licensing.
 The dialog Licensing pane is displayed.
Figure 23: Licensing
For a detailed description refer to section Licensing on page88.
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Configuration
Overview Configuration
Dialog Panes “Configuration”
The table below gives an overview about the available Configuration
dialog panes descriptions:
EtherCAT Master DTM
Folder Name / Section
Page
General
48
Process Data Handshake
52
Topology
50
Mailbox
60
FMMU/SyncMan
67
Process Data
70
Address Table
71
Init Commands
73
Navigation Area – Configuration
Table 16: Descriptions of the Dialog Panes Configuration
Have in mind the descriptions in section Configuration Steps on page 18.
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Configuring Device Parameters
The following steps are required to configure the parameters of the
EtherCAT Master device using the EtherCAT Master DTM:
In the EtherCAT Master configuration dialog:
Process Data Handshake
1. Select Configuration > Process Data Handshake
- in order to set the Process Data Handshake method.
Topology
2. Select Configuration > Topology in order to edit the network topology
according to your needs. You can do this very easily in a graphical
manner within the in the connection view of the topology.
FMMU/SyncMan
3. Select Configuration > FMMU/ SyncMan
- in order to set the parameters for the FMMU and the sync manager.
Process Data
4. Select Configuration > Process Data in the navigation area.
- in order to set symbolic names for the configured modules or signals.
Address Table
5. Select Configuration > Address Table
- in order to set the address information and parameters related to the
PDOs.
Init Commands
6. Select Configuration > Init Commands
- in order to edit the Init Commands table according to your needs.
Close Master DTM Configuration Dialog
7. Click OK in order to close the Master DTM configuration dialog and to
store your configuration.
Configuration Download to the EtherCAT Master Device
Note: In order to transfer the configuration to the EtherCAT Master
device, download the data of the configuration parameters in the
EtherCAT Master device. See section Download Configuration on page
86.
Further Information
For further information refer to section Process Data Handshake on page
52 ,to section Topology on page 54, to section FMMU/SyncMan on page
67, to section Process Data on page 70, to section Address Tableon page
71 and to section Init Commands on page 73, of this document.
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General
The General dialog page shows the current device name, and the
description of the EtherCAT Master.
To edit the description:
 Select Configuration > General in the navigation area.
 The mask ‘General Settings’ appears.
The General dialog page also allows to perform basic settings for:
 Synchronization mode
 Redundancy
 Timing
 Target state
Figure 24: Configuration > General (*The current device name is displayed.)
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The fields contained in the mask General Settings have the following
meaning:
Parameter
Meaning
Range of Value /
Value
Name of Station
Network name of the EtherCAT Master station. Must be a DNS
compatible name.
1 - 240 characters
Device Name
Symbolic Name of the EtherCAT Master DTM.
Synchronization
Mode
There is the choice between 3 Synchronization Modes. These modes
are required for the distibuted clocks features.
Reference clock
In this field, the DTM automatically displays the device name with
appended AutoInc and Station Addresses’ values.
Activate
redundancy
This checkbox shall be marked if working with redundancy is intended. If
you use distributed clocks or do not intend working with redundancy,
then do not mark this checkbox.
checked,
Freerun cycle
(μs)
Cycle time of the EtherCAT-Master running free.
>= 250 μs
This parameter is only relevant when running the EtherCAT Master
firmware V3 and configuring it via *.nxd file (not *.xml).
Default: 1000 μs
Target state
Desired state of the EtherCAT-Master
Init
This parameter is only relevant when running the EtherCAT Master
firmware V3 and configuring it via *.nxd file (not *.xml).
Pre-Operational
Freerun only
Freerun with DC
DC Synchronized
not checked
Safe-Operational
Operational
Table 17: Configuration > General – Parameters
 Edit the text in the Description field to change the name of the device
according to your needs.
The following synchronization
Synchronization:
modes
can
be
selected
under
Figure 25: EtherCAT Master DTM, “General” page, Synchronization Modes
These have the following meaning:
EtherCAT slave devices can operate in different synchronization modes, for
more information see below:
 „Free Run‟ -> no synchronization
 „SM Synchronous‟ -> synchronized on SyncManager event when
process data is written (read)
 „DC-Synchronous„ -> synchronized on DC sync event
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The following actions only apply to the EtherCAT Master firmware V3.
 In case Freerun with DC or DC Synchronization is activated, the first
EtherCAT slave with DC enabled will be used as the reference clock.
EtherCAT Master cyclically has to read the bus time from the
appropriate register of the clock master and write this value in the
corresponding registers of all other DC slaves.
 Adjust the desired cycle time of the EtherCAT Master for free running
operation. Values lower than 250 μs are not permitted. Avoid larger
values of the free running cycle time than 5000 μs as there is no
experience with such long cycle times, these have not been tested.
 Adjust the desired target state of the EtherCAT-Master.
Synchronization Modes
In general, there are three synchronization modes:
1. Free run – Local timer
Synchronization mode Free run means the EtherCAT Slave exclusively
uses local timers and does not synchronize with any external time sources
at all.
2. Sync. With SM
Synchronization mode Sync. With SM2/3 SyncManager Event means the
EtherCAT Slave synchronizes with sync managers for output or input.
3. Sync. With DC Sync Event (Sync0/Sync1 Hardware Signals)
Synchronization mode Sync. With DC Sync Event means the EtherCAT
Slave synchronizes with the Sync0/Sync1 Hardware Signals by the
EtherCAT Slave hardware.
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Error Messages
The following error messages may be issued when errors occur while
specifying data:
Invalid cycle time for free run (i.e. value too small (< 250) or too large
(>65535)):
Figure 26: Error "Invalid Freerun Cycle"
Action to be done:
Put in a value within the specified range of permitted values between 250
and 65535.
When synchronization mode is [Freerun with DC]
Synchronized], it is not allowed to activate redundancy!
or
[DC
Figure 27: Error "When synchronization mode is [Freerun with DC] or [DC Synchronized], it
is not allowed to activate redundancy!"
Action to be done:
Distributed clocks and redundancy exclude each other. Decide, whether
you prefer working with distributed clocks or with redundancy and select the
settings accordingly!
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Process Data Handshake
Various types of Process Data Handshakes are used for setting the
handshake of the process data for the netX EtherCAT Master device. The
selection of the used process data handshake is important for the correct
data exchange between the application program and the device.
Figure 28: Process Data Handshake
Process data exchange between the netX-based protocol stack (Device)
and host based application (Host) can be controlled either by the one or by
the other side over Process Data Handshakes in DPM:
The host application can exchange the process data with the protocol stack
over DPM in host controlled mode.
In buffered mode without synchronization the data exchange between netX
based protocol stack and host based application is decoupled from each
other (not synchronized). In this case, the stack handles the reception and
transmission of the data from/to the bus/network automatically and uses
buffers to handle data consistently. Independently of the bus/network state
(i.e. cycle start, incoming data, requests etc.) the host application can
access the already completely received data or provide to netX the data
required to send, which will be processed with the next bus cycle.
In buffered mode with synchronization the process data exchange between
netX based protocol stack and host based application is linked
(synchronized) to the bus communication. In this case the stack handles
the receiving and transmission of the data from/to the bus/network and
process data exchange with the host application is synchronized with
protocol specific bus/network event.
EtherCAT Master supports the following handshake modes:

buffered host controlled mode without synchronization
(Default, the data exchange by is decoupled from bus cycle.)

buffered device controlled mode with synchronization at input received.
(Mode 1)

buffered device controlled mode with synchronization at start of cycle.
(Mode 2)
The latter two process data handshake modes are only applicable for input
data handshake. These are explained in the following:
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Mode 1
(Device controlled Mode with Synchronization at Input received)
Mode 1 provides the synchronization event to the host after all frames were
transmitted and received by the master. Master updates the input image in
DPM (Bus -> Host) with received data and toggles handshake. This
handshake toggle serves as the synchronization event (i.e. interrupt) for the
host application to start the “read-calculate-write” process.
Figure 29: Data Exchange Timing in Mode 1
Note: EtherCAT master starts the bus cycle based on the internal timer
EtherCAT master sends the old data again if the host application does not
finish the data update in DPM until the start of the next bus cycle.
Diagnosis is reported in this case.
Mode 2
(Device controlled Mode with Synchronization at Start of Cycle)
Mode 2 provides the synchronisation event to the host at bus cycle start.
Before that the master has updated the input image in DPM (Bus -> Host)
with data received in previous cycle and toggles handshake. This
handshake toggle serves as the synchronisation event (i.e. interrupt) for the
host application to start the“read-calculate-write” process. In the same time
starts the master to transmit and receive the frames on the bus.
Figure 30: Data Exchange Timing in Mode 2
Note: EtherCAT master starts the bus cycle based on the internal timer
EtherCAT master sends the old data again if the host application does not
finish the data update in DPM until the start of the next bus cycle.
Diagnosis is reported in this case.
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Topology
Tree View
The upper part of the page displays the ‘Tree View’ of the topology
providing an overview about the structure of the EtherCAT network.
To access the tree view of the topology:
 Select Topology > Tree View in the navigation area.
Figure 31: Topology >Tree View
The first element of the tree is the EtherCAT project, which is located on
the highest hierarchy level. One level below you find the EtherCAT master
device. A further level below you can find simple and complex EtherCAT
slaves.
For all slaves the station address and both the short and the long form of
the device name are included in the tree view. Complex slaves can be
recognized by expandable entries while the entries belonging to simple
slaves cannot be expanded.
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Left of the device entry in the tree there is a checkbox. Checking it denotes
deactivating the slave that is the slave device will be excluded from the
configuration, removing also all ports’ connection information. If you do so,
the device entries’ checkbox is marked with a red cross. In order to activate
the device again, it is just necessary to uncheck the box and reconnect the
device as needed.
If you click at a slave’s entry in the screen with right mouse button, a
context menu appears.
Choosing the ‘Open DTM’ entry will open the configuration dialog of the
corresponding EtherCAT slave’s DTM. This allows quickly adjusting slave
parameters when checking the EtherCAT master’s configuration.
If you click at any entry in the screen with left mouse button, the entry will
be highlighted. If the entry was not the project entry, the name of the device
is displayed in an editable field within the ‘Device info’ area of the page.
This allows to change the name of device, if necessary. Changes made by
editing the field are stored by clicking the ‘Update’ button. The
corresponding entries in the tree view of the network topology are adapted
accordingly then. An ‘Update’ button is available for the following input
fields:
 Name in ‚Device info’ area
 Station address in ‚Device info’ area
 Name in ‚Project info’ area
About possible errors during updating, see below.
The ‘Device info’ area also provides the following information besides the
name of the device:
 The ‘Station address’ (only if an EtherCAT slave has been selected
previously). This field is also editable and has an ‘Update’ button
allowing to store changes, if necessary.
 The read-only ‘Auto Increment’ Value according to the EtherCAT
specification. This field is not editable.
 The read-only field ‘Physics’ denotes the physical medium (and thus the
port type) used for the connections . Also this field is not editable.
Physics in the context of EtherCAT Port configuration is described by a
sequence of up to four characters (depending on the number of ports)
indicating the port type(s) to be applied. The coding is as follows:
Physics
Port type
K
E-Bus
Y
100Base-TX
F
100Base-FX
Table 18: Coding of Parameter "Physics"
The ‚Project info’ area always shows the name of the project in an editable
field, again along with a respective ‚Update’ button. It also displays both the
number of configured and of deactivated slaves.
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The following error messages may be issued when errors occur while
updating:
1. Wrong station address (i.e. value too small or too large):
Figure 32: Error "Wrong station address"
Action to be done:
 Put in a value within the specified range of permitted values between 0
and 65535.
2. Wrong station name:
Figure 33: Error "Wrong station name "
Action to be done:
 Put in a valid name (i.e. not empty, does not contain any special
characters).
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Connection View
The upper part of the page displays the topology tree in connection view
allowing you to check how all EtherCAT slave devices configured for use
with the EtherCAT master are connected.
To access the connection view of the topology:
 Select Topology >Connection View in the navigation area.
 A screen similar to the following will appear:
Figure 34: Topology > Connection View
The color coding is:
 Yellow lines indicate Ethernet connections (such as 100-TX).
 Red lines indicate Beckhoff E-Bus connections.
Note: To fix or pin a device’s position in the view, right-click on it and
choose the option “Pin device” from the context menu appearing then.
Fixed devices are marked with a blue arrow symbol. To unpin it, right-click
on it and choose the option “Unpin device” from the context menu in the
same manner, also see below.
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In order to restore the initial state of the arrangement after reordering
EtherCAT slave devices of the EtherCAT network, do the following:
 Click at the ‘Auto arrange’ button
 The initial state of the arrangement is restored then.
The ‘Find device’ functionality allows you to easily locate any EtherCAT
slave device in the graphical representation of the EtherCAT network
topology.
 Just select the desired device in the drop-down list. All devices of the
network should be listed there.
 An additional lamp symbol will indicate the location of the chosen
device in the connection view of the EtherCAT network topology
Multiple tool tip for devices is available which is composed of the title
“Selected device’s info”
The following information about this device is displayed:
Item
Meaning
Descr.
Description, i.e. long and short form of device name
Physics
Used port type, see below
AutoInc
Auto increment address as described in the EtherCAT
specification.
Logical
Logical address (i.e. station address)
Table 19: Information displayed when pointing at Symbol of a Device
Physics in the context of EtherCAT Port configuration is described by a
sequence of up to four characters (depending on the number of ports)
indicating the port type(s) to be applied. The coding is as follows:
Physics
Port type
K
E-Bus
Y
100Base-TX
F
100Base-FX
Table 20: Coding of Parameter "Physics"
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In order to open the context menu of any EtherCAT Slave device, proceed
as follows:
 Perform a mouse click with the right mouse button at the graphical
representation of the desired EtherCAT slave device.
 The context menu will be opened.
If the selected EtherCAT slave device has not been fixed previously (i.e. it
has not been marked with a blue arrows), the context menu offers the
following entries
‘Pin device’
Fixes (or pins) the device in the connection view.
‘Open Slave DTM’
If you choose this context menu option, the
configuration dialog of the corresponding EtherCAT
slave’s DTM will be opened. This allows quickly
adjusting slave parameters when checking the
EtherCAT master’s configuration.
Table 21: Context Menu Entries for unpinned EtherCAT Slave Devices in Connection View
If the selected EtherCAT slave device has been fixed previously (i.e. it has
been marked with a blue arrows), the context menu offers the following
entries
‘Unpin device’
Inhibits fixing (pinning) the device in the connection
view.
‘Open Slave DTM’
If you choose this context menu option, the
configuration dialog of the corresponding EtherCAT
slave’s DTM will be opened, see above.
Table 22: Context Menu Entries for pinned EtherCAT Slave Devices in Connection View
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Mailbox
CoE
The CoE page displays information about the CoE (CANopen over
EtherCAT) functionality for acyclic, mailbox-based communication.
To access the CoE page:
 Select Mailbox >CoE in the navigation area.
 The CoE page appears. It looks like this:
Figure 35: Mailbox > CoE
The upper part of the page displays a topology tree allowing an easier
access to the configured slaves.
For each EtherCAT slave device, the station address and name of the
slave will be displayed. Items which are deactivated are present in the tree
structure, but the description text is displayed in red color.
Configurable slaves with respect to CoE are marked with a check mark
(indicated in green color). If you select the master or a slave which has not
been checked, then the lower part of the page will be simply grey and the
text “No CoE configuration needed” will appear in the center of this area:
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Figure 36: Mailbox > CoE:
Otherwise, the following will happen:
 The station address and name of the selected EtherCAT slave device
will be displayed
 A register consisting of 3 register cards will appear:
o
General
o
Start-up
o
Userdef Start-up
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‘General’ Register Card
The general page displays some important general information concerning
mailboxes. In detail, these are:
 The Sync Manager Channel Number of the Input Mailbox
 The Sync Manager Channel Number of the Output Mailbox
 The size of the Input Mailbox and the Output Mailbox
Figure 37: Mailbox > CoE, 'General' Register Card
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Start-up Register Card
The start-up page allows to specify which data should be written into the
EtherCAT object dictionary of the selected device (whose station address
and name are displayed at the top of the register card) when particular
changes of state of the EtherCAT device take place.
In detail, the following information may be specified
Transition
The transition which triggers the write access to the object dictionary.
Index and subindex
Index and subindex are used for addressing objects within the object
dictionary. Refer to the EtherCAT specification for more information about
the object dictionary.
Data
The data to write to the location specified using index and subindex within
the object dictionary upon occurrence of the specified transition. The length
depends on the chosen index and subindex.
Comment
Description of start-up command.
Note: A key symbol in front of the line denotes a fixed startup command.
Figure 38: Mailbox > CoE, 'Start-up' Register Card
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‘User defined Start-up’ Register Card
Similarly, the Userdefined start-up page allows to specify data to be written
to a specific location within the object dictionary addressed by index and
subindex triggered by a transition that also can be explicitly specified.
Again, a comment can be added to the entry.
Transition
You can select which transition triggers the write access to the object
dictionary. by marking the corresponding check box. The following state
transitions are available to be chosen as triggering event for writing into the
object dictionary:
State
transition
Meaning
I2P
Init state to Pre-Operational State
P2S
Pre-Operational State to Safe-Operational State
S2P
Safe-Operational State to Pre-Operational State
O2S
Operational State to Safe-Operational State
S2O
Safe-Operational State to Operational State
Table 23: Mailbox > CoE, 'Start-up' Register Card, Meaning of State Transitions
Note: It is also possible to mark more than one check box to trigger
the same action by separate state transitions.
 SDO (Index and subindex)
The SDO input area is used to specify which index and subindex should
be used for addressing the desired object within the object dictionary.
 The index is specified hexadecimally within the left field of the SDO
input area. At maximum 4 positions can be specified here for input.
 The sub-index is specified decimally within the right field of the SDO
input area. At maximum 3 positions can be specified here for input.
Refer to the EtherCAT specification or the EtherCAT Protocol API
Reference Manuals for more information about the object dictionary.
 Data
The data to write to the location specified using index and subindex
within the object dictionary upon occurrence of the specified transition.
The length depends on the chosen index and subindex.
You may specify a string here as it is converted if necessary.
 Comment
Description of start-up command.
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Add CoE Start-up Command Button
You have to click this button to add a newly defined SDO to the list of startup commands shown in page ‘Startup’.
If the data are not correctly entered in hexadecimal format at ‚Add CoE
Start-up’, the following error message box will be displayed:
Figure 39: Error Message Box at incorrect Input of Init Command Data
Note: Omit the leading ‚0x’ when entering hexadecimal data ‚Add CoE
Start-up’. Otherwise, this message box might also be displayed.
If at ‚Add CoE Start-up’ no transition at all has been specified, the following
error message box will be displayed:
Figure 40: Error Message Box at incorrect Input of Init Command Data
‘Load Object Dictionary from DDF’ Button
The object dictionary can be loaded from the Device Description XML file if
available and displayed here. Objects can be directly selected from the
dictionary for further editing of its data and comment and for defining
transition states for its transfer!
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The list box in the lower part of the register card may contain a part of the
contents of the object dictionary.
Figure 41: Mailbox > CoE, 'Userdef Start-up' Register Card
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FMMU/SyncMan
FMMU and SyncMan Common View
The FMMU/ Sync Man dialog page displays a combined view of all
Fieldbus Memory Management Units defined in the EtherCAT Master
configuration together with the associated sync managers.
All values shown here cannot be edited.
To access the FMMU/ Sync Man dialog page:
 Select FMMU / Sync Man in the navigation area.
 The dialog pane FMMU / Sync Man will be displayed.
Figure 42: Configuration > FMMU/ SyncMan
The upper part of the page displays a table containing information related
to the Fieldbus Memory Management Units.
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Note: The contents of this table can be sorted in ascending (arrow
upwards) or descending order (arrow downwards) of the following
columns by clicking once or twice at the respective column head:
Station address, L start, Length, L EndBit, P start, Sm
A Fieldbus Memory Management Unit, shortly FMMU, provides a mapping
between logical addresses within the EtherCAT network on one hand and
physical addresses on the various slaves within the EtherCAT network on
the other hand.
EtherCAT supports combining information from multiple slaves even within
one single data telegram. This central feature of EtherCAT is achieved by
the use of the FMMU logically mapping physical addresses from different
slaves into one combined space of memory.
The FMMU provides up to 16 FMMU channels depending on the device.
Each FMMU channel defines a specific memory assignment (denominated
as memory translation) between a contiguous area of logical memory of the
EtherCAT network and another contiguous area of physical memory of the
slave device.
Aim of this concept is mapping any memory area within an EtherCAT slave
to any logical memory area within the address space of the EtherCAT
network . bit-wise mapping is supported.
Parameter
Meaning
Range of Value /
Default Value
Station
Address
This parameter denotes the station address which has been assigned to the
EtherCAT slave by the master at initialization and which has been stored in
the configured station address register of the slave.
0-65535/None
Logical Start
Address
This parameter contains the byte address in the logical memory area of the
memory translation where the contiguous area to be mapped starts.
0-232-1/None
Length
This parameter contains the size in bytes of the translated memory area.
0-65535/None
Logical End
Bit
This parameter contains the bit offset of the logical end address, i.e. the
address where the contiguous memory area ends..
0-255/None
Physical Start
Address
This parameter contains the byte address in the physical memory area of the
memory translation where the contiguous area to be mapped starts.
0-65535/None
Flags
See explanations just below.
True or
false/None
Sync Manager
Number of sync manager, see explanation below
0-31/None
Sync unit
Sync unit
Table 24: FMMU-related Information
The flags each stored within a single bit of its own have the following
meaning:
 Read Enable
This flag contains the information whether a read operation is currently
allowed, or not. If set to 1, reading will be enabled, otherwise disabled.
Note: A read operation in this context denotes a data transfer where the
physical memory is the source and the logical memory is the destination.
 Write Enable
This flag contains the information whether a write operation is currently
allowed, or not. If set to 1, writing will be enabled, otherwise disabled.
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Note: A write operation in this context denotes a data transfer where the
logical memory is the source and the physical memory is the destination.
 Channel Enable
This flag contains the information whether the memory translation defined
in the channel is currently active, or not. If set to 1, writing will be enabled,
otherwise disabled.
The lower part of the page displays a table containing information related to
the sync managers.
Note: The contents of this table can be sorted in ascending (arrow
upwards) or descending order (arrow downwards) of the following
columns by clicking once or twice at the respective column head:
Station address, Channel, Start Address, Length, Buffer Type, Access
According to the EtherCAT specification, the main task of a sync manager
is the coordination of access to concurrently used objects.
In order to perform this coordination task, a sync manager is organized as a
collection of control elements, these are usually denominated as channels.
A sync manager channel defines a consistent area of application memory.
Parameter
Meaning
Station
Address
This parameter denotes the station address which has been assigned to the EtherCAT slave by the
master at initialization and which has been stored in the configured station address register of the
slave.
Channel
Channel number (Allowed range of values: 0...3)
Start Address
This parameter contains the start address of the consistent application memory area.
Length
This parameter contains the size of the consistent application memory area (specified in bytes).
Buffer Type
This parameter contains the information whether the access type to the consistent application
memory area is queued or buffered.
Access
This parameter contains the information if the consistent application memory area is read or written
by the master.
Watchdog
This parameter contains the information if the monitoring of an access to the consistent application
memory area is enabled. Values are Enabled and Disabled.
Master
This parameter may contain additional data associated with the EtherCAT Master.
Table 25: SyncManager-related Information
The connection used for logically joining the FMMU channels to the sync
manager channels is the station address.
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Process Data
For the EtherCAT Master DTM the Process Data pane serves as an
external process data interface, e. g. for data transfer to a PLC unit. The
process data pane lists the Slave devices connected to the Master, as well
as the configured modules or input or output signals of the devices. This
makes the fieldbus structure visible.
For the configured modules or signals names can be set (Column Tag).
In addition signal data available to the OPC server can be checked
(Column SCADA).
Figure 43: Process Data (*The name of the Slave device is displayed.)
Column
Meaning
Type
Device labeling provided by the hardware:
Also description of the modules or input or output signals configured to the device.
Tag
Device name provided by the hardware (not changeable in the FDT container) or symbolic name for the
modules configured to the device or for the input or output signals (changeable).
SCADA
Option which module or signal data shall be provided for the OPC server.
„SCADA“ (= Supervisory Control and Data Acquisition),
here used with the meaning „to provide for visualizing purposes“.
Table 26: Process Data
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Address Table
The Address Table dialog page shows a list of all addresses used in the
process data image. The displayed addresses refer to the used EtherCAT
Master. They can be displayed in decimal or hexadecimal representation.
 The upper part of the page displays the address list related to the inputs.
 The lower part of the page does the same for the outputs.
To access the Address Table dialog page:
 Select Address Table in the navigation area.
 The Address Table dialog page is displayed then:
Figure 44: Configuration > Address Table
Note: The contents of these two tables can be sorted in ascending (arrow
upwards) or descending order (arrow downwards) of any column by
clicking once or twice at the respective column head.
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Explanation of Parameters
Parameter
Meaning
Device
Descriptive name of a device
Station address
The station address having been assigned to the EtherCAT
slave by the master at initialization and which has been stored
in the configured station address register of the slave.
PDO index
Index of Process Data Object within object dictionary
PDO name
Name of Process Data Object
PDO-Entry index
Index of Process Data Object Entry within object dictionary
PDO-Entry name
Descriptive name of Process Data Object Entry
Type
Data type (such as integer or Boolean).
Address
Address
Length
Length in bytes or bits (if specified after decimal point).
Table 27: Address Table Page Parameters - Inputs / Outputs
4.9.2
Display Mode and CSV Export
Display Mode
 Use the Display Mode drop-down list to select the decimal or
hexadecimal data display mode.
Figure 45: Configuration > Address Table - Display Mode
CSV Export
The CSV Export option allows to export input- and output addresses as
CSV file (CSV = comma separated value). Therefore:
 Click to the CSV Export button.
 A file saving dialog opens.
 Save the data as *.csv file.
You can open the generated data by means of a spreadsheet application.
Sort Addresses
 To sort the address data, click on the respective column header.
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4.10 Init Commands
The Init commands page of the configuration dialog allows to display a
sequence of initialization commands.
To access the Init commands dialog page:
 Select Init commands in the navigation area.
 The Init commands screen will appear.
Figure 46: ‘Init Commands’ Page
The upper part of the ‘Init commands’ page displays the structure of the
EtherCAT network in a very similar manner as the ‘Topology>TreeView’
page does. The only relevant difference is the absence of the project item,
so only the master and all of its slaves are present in this structure tree of
the EtherCAT network.
The lower part of the ‘Init Commands’ page displays:
 The long form of the name of the selected EtherCAT (master or slave)
device.
 The heading ‘Init Commands’
Note: In case a slave has been selected for display, the station address
uniquely identifying this slave. This is displayed directly subsequent to the
heading ‘Init Commands’.
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 A table indicating the sequence of command execution and the
dependence from state transition of the device’s EtherCAT state
machine.
 An area containing some fields displaying the parameters of the selected
command.
The table shows the sequence how the commands are executed and the
information at which state transitions this happens. For each command the
following information is displayed:
 Whether the command should be executed at 9 specific state transitions
(first 9 columns)
 The command code
 A comment (short text describing the intention of the command)
 These 9 state transitions are in this sequence:
 Init to Pre-Operational
 Pre-Operational to Init
 Pre-Operational to Safe- Operational
 Safe- Operational to Pre-Operational
 Safe- Operational to Init
 Safe- Operational to Operational
 Operational to Safe- Operational
 Operational to Pre-Operational
 Operational to Init
Possible command codes are:
Command code
Meaning
APRD
Auto-Increment Read
APWR
Auto-Increment Write
NPRD
Node-addressed Physical Read
NPWR
Node-addressed Physical Write
BRD
Broadcast Read
BWR
Broadcast Write
LRD
Logical Read
LWR
Logical Write
Table 28: Possible Command Codes in Init Commands
For more information on this topic see section 7.1.3 “EtherCAT telegram
structure” of the EtherCAT specification, version 1.0, on page 70.
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The parameter area contains the following items:
Parameters
Description
Command code
The command code of the selected line (one of the codes from the table just above)
ADP
This numeric parameter contains the configured station address.
ADO
This numeric parameter contains the physical memory address
New Cycle
An Boolean parameter whether a new cycle should be started.
New Frame
An Boolean parameter whether a new frame should be started.
Size
The size of the command.
Timeout
The timeout value valid for the command
Retries
The valid retry limit for the command (i.e. the maximum number of allowed retries)
Validate
Validation data
Mask
A mask indicating which bits are valid.
Data
The relevant data.
Table 29: Parameters of EtherCAT Command
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Online Functions
Connecting/Disconnecting Device
Note: Several EtherCAT Master DTM functions e. g. Diagnosis or the
configuration download in the FDT Framework require an online
connection from the EtherCAT Master DTM to the EtherCAT Master
device.
Connecting Device
The following steps are needed to establish a connection from the
EtherCAT Master DTM to a EtherCAT Master device:
Under Settings in the Driver pane:
1. Select one or several drivers.
2. Configure the driver if necessary.
Under Settings in the Device Assignment pane:
3. Scan for the devices (with or without firmware).
4. Select the devices (with or without firmware) and apply the selection.
Under Settings in the Firmware Download pane if not yet a firmware was
loaded to the device:
5. Select and download the firmware.
Under Settings in the Device Assignment pane if not yet a firmware was
loaded to the device:
6. Scan for the device (with firmware) once more.
7. Select the device (with firmware) once more.
An overview of the descriptions for these steps you find in the section
Overview Settings on page 22.
8. In the DTM interface dialog select the OK button, to apply the selection
and to close the DTM interface dialog.
9. Put a right-click on the EtherCAT Master device icon.
10. Select the Connect command from the context menu.
 The EtherCAT Master device now is connected to the EtherCAT Master
DTM via an online connection. In the network view the device
description at the device icon of the Master is displayed with a green
colored background.
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Disconnecting Device
To disconnect an online connection from the EtherCAT Master device to a
EtherCAT Master DTM take the following steps:
1. In the DTM interface dialog select the OK button, to close the DTM
interface dialog.
2. Right-click on the EtherCAT Master device icon.
3. Select the Disconnect command from the context menu.
 In the network view the device description at the device icon of the
Master is not any more displayed with a green colored background.
Now the EtherCAT Master device is disconnected from the DTM.
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Network Scan
With the function Network Scan... of the EtherCAT Master DTM you can
find out automatically which EtherCAT Slaves are attached to the EtherCAT
Master device and how these devices are configured. During the network
scan the Master device requests the ident codes of the Slave devices found
at the bus. For each connected Slave device its ident code is read out.
In the Scan Response dialog of the Master DTM the assigned device
description files or DTM devices are displayed. Exactly one ident code is
assigned to each device description file and to each DTM device. Different
versions (also language versions) of the same device description file are
defined by the same ident code. For every identified device you can select
the assigned DTM device according to the firmware loaded in that Slave
device. Via Create Devices for each Slave device the selected DTM device
is created.
Requirements
The EtherCAT Master device must be configured.
Important: The configuration of the Master device must be downloaded in
the Master device. For more see section Configuration Steps on page 18 .
Overview of the Steps
1. Starting the Network Scan function of the Master DTM.
2. Make the settings in the Scan Response dialog of the Master DTM.
3. Click Create Devices.
4. Via the Download function of the Master DTM, download the current
configurations of the Slave devices to the Master device.
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Starting ‘Network Scan’
1. Starting the Network Scan function of the Master DTM.
 In netDevice: right-click on the device symbol of the EtherCAT Master
DTM.
 Select Network Scan… from the context menu.
Figure 47: Starting ‘Network Scan’ (Example)
 Wait for a short time.
 If the query is displayed if the IO communication shall be stopped, click
Yes.
Note: It can last some seconds, until the Network Scan... dialog is
displayed.
Via Network Scan... an online connection from the EtherCAT Master DTM
to the EtherCAT Master device is established. The configuration software
scans, which EtherCAT Slaves are attached to the EtherCAT network or to
the EtherCAT Master device.
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 The Scan Response dialog of the Master DTM is displayed.
Figure 48: Scan Response dialog of the Master DTM (Example)
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Settings in the Scan Response Dialog of the Master DTM
2. Make the settings in the Scan Response dialog of the Master DTM
 In the DTM to Use column the DTM devices assigned to the found ident
codes appear.
Figure 49: Scan Response dialog of the Master DTM (Example)
 In the DTM to Use column select for every identified device the DTM
device corresponding to the firmware loaded in this Slave device (only if
the corresponding DTM devices are in use).

If in the DTM to Use column no DTM device or a DTM device not
desired is displayed, add the required DTM devices to the device
catalog.

or adapt the creation mode under Creation Mode.
 In the Action column select, whether the found DTM device shall be:

added or skipped
(if a device is not yet present in the project),

or replaced or skipped
(if a device is already present in the project)
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Description on the Scan Response dialog of the Master DTM
In the following table you find a description about the Scan Response
dialog of the Master DTM.
Column
Description
Title Bar
With the text: Symbolic Name of the Master Device [Device Description] <Device Address>
(#Network ID) channel: /EtherCAT.
Instruction
In the Network Scan window the instruction text is displayed: The following hardware-devices
have been found during network scan. Please check automatic selection of corresponding
devices found in device catalog in column ‘DTM Devices’ before creating devices.
Station
Address
EtherCAT station address, which displays the logical sequence of the devices within a EtherCAT
network.
Colors
Meaning of colors in the Scan Response dialog of the Master DTM:
Red
If a field marked in red appears in column Station address, the respective DTM device
is already present on the network.
Yellow
If a field appears marked in yellow, a selection can be made by a combo box.
Device Type ID
Value of the EtherCAT Slave device parameter „I/O Configuration“ according to the first position
of the Slave profile.
Sub Device
Type
Value of the EtherCAT Slave device parameter „I/O Code“ according to the second position of the
Slave profile.
DTM to Use
Display of the DTM devices, which are assigned to the ident codes found during scanning:
If
possibility.
is displayed without color marking, there is no selection
If
made:
is displayed marked in yellow, the following selection can be
(In the figure shown example DTMs are
displayed.)
A selection will only be displayed if under Creation Mode > Choose for each device was
selected and if another DTM has been found for the respective device.
Device Class
DTM Specific Group (Information from DTM)
DTM Device
Found DTM device (the device name as taken from the DTM)
Only the device description files or DTM devices can be displayed within the column DTM
Devices:

Which are available in the device catalog for the scanned ident code,

Respectively, which belong to the selection made under Creation Mode

and which belong to the selection made under Creation Mode > Choose for each device
under DTM to create.
For each device type ID in
the column DTM Device
the following is displayed:
Quality
This means, within the device catalog of netDevice for the
found ident code and the selected Creation Mode these
alternatives are available:

no device,
 no DTM

one single device
 A device description file or a DTM device of the manufacturer

or multiple devices
(within a combobox).
 One or more device description files or DTM devices of a
manufacturer
Associated quality information
Display: [1] DTM found, [3] Generic found
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Column
Description
Action
The action to be performed with the corresponding device during the process of device creation.

If no device is present within the current project, the selection Add/Skip will appear.

If there is already a device present within the current project, the selection Replace/Skip will
appear.
Add adds a new instance for the selected DTM during the process of creation of a device.
Skip skips the process of creation of a device for the respective device address.
Replace erases the instance of the DTM currently located at this address during the process of
creation of a device, and replaces it with the instance of the chosen DTM.
Table below
The lower table in the Scan Response dialog of the Master DTM shows a comparison of possible
differences in device information taken from:

The hardware device (displayed in central column of 3)

and the DTM (displayed in right column of 3)
The left column contains which information is compared between the information sources
‘Hardware Device’ and ‘DTM’.
Note: If a field contains the text ‘n/a’, the corresponding information is not applicable
in the current context (fieldbus).
Creation Mode
Under Creation Mode one of the following options can be selected:

User Hilscher generic DTM if available

Use vendors DTMs if available

Choose for each device
Scan Response dialog of the Master DTM >
‘Creation Mode’
Create Devices
About Create Devices …

for each Slave device the previously selected DTM device is created.

the Slave device configuration is uploaded to the created Slave-DTM and thereby the module
configuration is generated.
In case a conflict occurs between a device description file and a device, the Upload dialog
appears, where conflicts are displayed in red.
Cancel
Click Cancel to leave the dialog without creating a Device.
Table 30: Description on the Scan Response dialog of the Master DTM
5.2.4
Creating Devices
3. Click Create Devices
 In the Scan Response dialog of the Master DTM click Create Devices.
 For each Slave device the previously selected DTM device is created.
 The dialog netDevice appears showing the progress bar Creating DTM
Device. The dialog shows the the progress of the device creating
process.
Note: Depending on the manufacturer of the respective device, also a
dialog with some slight deviations from this one may be displayed.
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Figure 50: Creating the DTM devics (Example)

The generated Slave devices are added to the Master bus in the
network.
Figure 51: Created Slave Devices in the Network (Example)
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Download to the EtherCAT Master Device
4.
Via the Download function of the Master DTM, download the current
configurations of the Slave devices to the Master device.

In netDevice: right-click on the device symbol of the EtherCAT
Master DTM.

Select Download from the context menu.
Figure 52: ‚Download’ current Configuration to EtherCAT Master (Example)
 The Dialog netDevice - Download appears:
If you attempt to download during bus operation, communication
between master and slaves is stopped.
Do you really want to download?
 Click Yes.
 The dialog netDevice appears showing the progress bar Download
active, device performs initialisation…
 The netDevice window shows the message (example): Download
succeeded to device CIFX_RE_ECM[CIFX RE/ECM]<>(# 1).
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Download Configuration
Note: To download configuration parameter data to the EtherCAT Master
device an online connection from the EtherCAT Master DTM to the
EtherCAT Master device is required.
Further information can be found in the section Connecting/Disconnecting
Device on page 76.
To transfer the configuration with the corresponding parameter data to the
EtherCAT Master device you download the data to it using the frame
application of the configuration software.
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Start/Stop Communication
You can manually start or stop the communication between a EtherCAT
Master device and EtherCAT Slave devices.
 Start Communication can be enabled if the communication was
stopped before or if the configuration requires this (Controlled release of
communication).
 Stop Communication can be enabled if the communication was started.
To start or to stop the communication, proceed as follows:
Start Communication
1. Connecting Device:
Note: To start the communication of the device at the bus manually, an
online connection from the EtherCAT Master DTM to the EtherCAT
Master device is required.
Further information can be found in the Connecting/Disconnecting Device
section on page 76.
2. Select Additional Functions > Service > Start Communication from
the context menu (right mouse click).
 The device communicates at the bus.
Stop Communication
1. Select Additional Functions > Service > Stop Communication from
the context menu (right mouse click).
 The communication of the device at the bus is stopped.
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Licensing
Using the license dialog, you can order licenses for Master protocols or
Utilities and download them to your device.
5.5.1
Open License Dialog
You first open the License window.
Note: You first need to assign the Controller device to the DTM. Only then
the device data and the licenses already present in the device are
displayed in the License dialog.
How to proceed:
A.) Assigning the Controller device to the DTM
1. Open the DTM configuration dialog.
 In the FDT container netDevice double click to the device icon.
2. Select one or several driver/s.
 Select Settings > Driver.
 Check the driver/s.
3. Configure the driver, if necessary.
 Select Settings > Driver > [Name of the assigned driver].
 Configure the driver settings.
4. Scan for and select the device/s.
 Select Settings > Device Assignment.
 Select suitable only or all and then Scan.
 Under Device selection check the required device/s.
 Select Apply.
5. Close the DTM configuration dialog via OK.
For details to the device assignment, refer to section Overview Settings
on page 22.
B.) Open the License pane
 In the FDT container netDevice right click to the device icon.
 From the context menu select Additional Functions > License.
 The License pane opens.
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License Dialog
In the License1 pane you can:
 check, which licenses for Master protocols or Utilities are present in the
device (Position
in the figure below),
 order licenses (Positions
to
 transfer licenses to the device
),
.
Figure 53: License Pane
Note: To display further entries under License Type, move the scroll box
downwards or upwards. To display further entries under Request
Form, please fill out, move the scroll box
downwards or upwards.
__________________________________________
1
The title bar contains the notation of the device description:
Symbolic Name [Device Description] <Station Address > (#Network ID).
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Which Licenses are present in the Device?
Check, which licenses are present in the device.
How to proceed:
 Open the License pane as described under section Open License
Dialog on page 88.
Figure 54: License Pane - License Type
 Under License Type click
at Master protocols.
 The Master protocols overview opens:
Figure 55: License Pane – License Type / Master protocols
 Or click
at Utilities.
 The Utilities overview opens:
Figure 56: License Pane – License Type / Utilities
 The column Existing indicates which licenses are present in the device.
Yes = License is present in the device.
No = License is not present in the device.
Note: In newer versions of the present configuration software under
License Type may be displayed additional licenses or other protocols that
can be ordered later.
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License for Master Protocols
One General Master License:
On the device maximally 1 communication protocol with master function
can be implemented.
Two General Master Licenses:
On the device maximally 2 communication protocols with master function
can be implemented.
The license includes the following Master protocols:
 AS-Interface Master
 CANopen Master
 DeviceNet Master
 EtherCat Master
 EtherNet/IP Scanner
 PROFIBUS Master
 PROFINET IO RT Controller
 sercos Master
5.5.3.2
License for Utilities
 SYCON.net
 OPC Server
 QVis Minimum Size
 QVis Standard Size
 QVis Maximum Size
 CoDeSys Minimum Size
 CoDeSys Standard Size
 CoDeSys Maximum Size
For the utilities QVis and CoDeSys, only one license each may be chosen
alternatively as:
 Minimum Size,
 Standard Size or
 Maximum Size.
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How to order a License
To order a license, proceed as follows:
1. Open the license dialog.
5.5.5
Refer to Section:
Page
Open License Dialog
88
2. Select the required licenses. Selecting License
92
3. Enter the ordering data.
Ordering Data
93
4. Place your order.
Ordering the License
95
Selecting License(s)
You can select licenses for Master protocols and / or utilities.
1. Selecting license(s) for Master protocol(s):
 Under License Type click
at Master protocols in the License pane.
 Under Order check as many licenses must run simultaneously on your
device:
One General Master License or
Two General Master Licenses.
2. And/or select license(s) for utility(utilities):
 In the License pane under License Type click
at Utilities.
 Under Order check the required utility(utilities)
(single or several)2:

SYCON.net

OPC Server

QVis Minimum Size*

QVis Standard Size*

QVis Maximum Size*

CoDeSys Minimum Size**

CoDeSys Standard Size**

CoDeSys Maximum Size**
2
For *) and **) minimum size, standard size or maximum size can be selected only as
an alternative.
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Ordering Data
1. Device Information
 The Device Information required for the order are read from the device
and automatically filled in the order.
2. Ordering Data
Enter the Ordering Data into the License pane.
 Enter the Data to manage the Order (therefore refer to section Data to
manage the Order (License Information)on page 94).
5.5.6.1
Device Information (Ordering data read from the Device)
The following ordering data are read from the device and displayed in the
License pane:
 Manufacturer
 Device number
 Serial number
 Chiptype
 Step (chip revision)
 Romcode revision
 Checksum (checksum of the device data)
 The gray fields under Request Form, please fill out contain the
ordering data read from the device:
Figure 57: License Pane - Request Form, please fill out / Device Information
 These ordering data read out from the device are displayed
automatically from the device.
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Data to manage the Order (License Information)
For your order you must enter the following data to the License pane:
1. License Type (User Single Device License).
Figure 58: License Pane - Request Form, please fill out / License Type
 Select the license type under Request Form, please fill out > Value,
(for future application, currently only User Single Device License can be
selected).
2. Mandatory data to the order request (editable fields):
 First Name
 Surname
 E Mail (address, to which the license download link shall be send.)
 Telephone
 Company
 Address
 Country
 City, State, Zip
Figure 59: License Pane - Request Form, please fill out / Mandatory data
 Enter all mandatory fields under Request Form, please fill out > Value
(marked with*).
3. Additional order data, not mandatory (editable fields):
 Fax
 Customer Number
 Order Number
 Value added tax identification number
 Under Request Form, please fill out > Value enter all fields for the
additional data, which are not mandatory.
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Ordering the License
Place your order in the License pane. Therefore:
Figure 60: License Pane – Selecting the Subsidiary / Ordering / Contacts
1. Select the Subsidiary
, to which the order shall be send.
2. Place the order:

by E-Mail

or by Fax
or by Telephone

or in a File
,
.
,
Refer to Section:
Page
Ordering the License by E Mail
96
Ordering the License by Fax or
by Telephone
97
Exporting License Request to
a File
99
 The Contact Data of the selected subsidiary are displayed under
,
and
.
Position
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Ordering the License by E Mail
You can place your order by e-mail.
Figure 61: License Pane – placing the order by E-mail
 Click E-mail…
.
 The order E-mail License request opens:
Figure 62: Example: Order E-Mail License request
 The order e-mail License request contains:
 the E-mail… of the selected subsidiary
,
 the automatically generated XML file
EmailOrderRequest_[Devicenumber]_[Serialnumber].xml with a summary info of the order
information,
 the Order Address
,
 the License Information
 the License Type
 the Device Data
,
,
,
 the ordered Licenses
.
 Send the order e-mail License request.
 The order process is complete.
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Ordering the License by Fax or by Telephone
You can place your order by Fax or by Telephone.
Figure 63: License Pane - placing the order by Fax or by Telephone
 Click Print Fax Form
or Telephone…
.
 The summary of the ordering data PrintOrderRequest_[Devicenumber]_[Serialnumber].html is opened in a browser window.
Note: If your browser does not display the order data or the window Move
Element or Copy Element are displayed, check the safety settings of
your system.
Figure 64: Example: Order Data Form PrintOrderRequest
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 The order data form contains:
 the Order Address
,
,
 the License Information
 the License Type
 the Device Data
,
,
 the ordered Licenses
.
 Print the order data form, sign it and send it by Fax.
Figure 65: License Pane – Fax Number of the selected Subsidiary
 Use the Fax number
, which is displayed after the subsidiary was
selected in the License pane.
Or:
 Keep ready the order data form and communicate the order data via
telephone.
Figure 66: License Pane – Telephone Number of the selected Subsidiary
 Use the telephone number
, which is displayed after the subsidiary
was selected in the License pane.
 The order process is complete.
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Exporting License Request to a File
If you are working on a process computer without an e-mail client, you can
export your order information to a file, save the file to a removable disk and
place your order manually via e-mail from a different PC.
Figure 67: License Pane - Ordering by exported File and E-Mail
 Click Export License Request…
.
 The window Browse For Folder is displayed.
 Choose for or create a new folder on a removable disk.
 Save the automatically generated XML file EmailOrderRequest_[Devicenumber]_[Serialnumber].xml with a summary info of the order
information to this folder.
 Send this file from a PC with an e-mail client manually via e-mail.
 Therefore use an e-mail address , which is displayed after the
Figure
subsidiary was selected in the License pane (see Position
License Pane on page 89).
 The order process is complete.
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How to get the License and transfer it to the Device
Note: License files can only be delivered via e-mail. The e-mail contains a
link to download the license file.
According to the license you ordered, you will receive an e-mail containing
a Link to download the License File. This leads to a server PC on which
the license file is provided. Using the received link you will have to save the
license file on your PC and then transfer the license to your device. If your
e-mail client is on another PC as your device, you must save your license
file e. g. to an USB stick.
Steps how to proceed
1. Save the license file to a PC or a disk.
 Click to the Link to download the License File in the e-mail.
 Save the license file *.nxl to a PC or a removable disk.
2. Download the license file to the device.
 Respectively connect the removable disk with the license file to the PC,
which is connected to your device.
 Click Download License
software.
in the License pane in the configuration
Figure 68: License Pane - Download License
 The File selection window Open is displayed.
 Therein select the license file netX License Files (*.nxl).
 Click Open.
 The license file is transferred to the device.
 After this the license is present in the device and is activated with the
next device reset.
3. Activate Device Reset
Hint: To activate the license in the first device, a device reset is required.
 To check whether the license has been activated, follow the steps in
section Which Licenses are present in the Device? on page 90.
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Diagnosis
Overview Diagnosis
The dialog Diagnosis serves to diagnose the device behavior and
communication errors. For diagnosis the device must reside in online state.
Diagnosis Panes
The table below gives an overview for the individual Diagnosis dialog
panes descriptions:
EtherCAT Master DTM
Folder Name / Section
Manual Page
General Diagnosis
102
Master Diagnosis
104
Station Diagnosis
105
Firmware Diagnosis
106
Navigation Area - Diagnosis
Table 31: Descriptions of the Diagnosis Panes
Online Connection to the Device
Note: Accessing the Diagnosis panes of the EtherCAT Master DTM
requires an online connection from the EtherCAT Master DTM to the
EtherCAT Master device. For further information refer to section
Connecting/Disconnecting Device on page 126.
How to proceed
1. In the Master DTM diagnosis dialog check whether the communication
is OK:
Diagnosis > General Diagnosis > Device status "Communication" must
be green!
2. "Communication" is green: Open the IO Monitor and test the input or
output data..
3. "Communication" is not green: Use Diagnosis and Extended
diagnosis for troubleshooting.
Extended Diagnosis
The Extended Diagnosis helps to find communication and configuration
errors, when default diagnosis fails. For further information refer to section
Overview Extended Diagnosis on page 107.
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General Diagnosis
Information regarding the Device State and other general diagnosis
parameters are displayed in the General Diagnosis dialog.
Figure 69: General Diagnosis
LED
Meaning
Color
State
Device State
Communication
Run
Shows whether the EtherCAT device executes the
network communication.
Shows whether the EtherCAT device has been
configured correctly.
(green)
In COMMUNICATION
state
(gray)
Not in
COMMUNICATION state
(green)
Configuration OK
(gray)
Ready
Error
Shows whether the EtherCAT device has been
started correctly. The EtherCAT device waits for a
configuration.
(yellow)
Shows whether the EtherCAT device records a
device status error. For further information about the
error characteristics and the number of counted
errors refer to the extended diagnosis.
(red)
(gray)
(gray)
Configuration not OK
Device READY
Device not READY
ERROR
No ERROR
Network State
Operate
Idle
Shows whether the EtherCAT device is in data
exchange. In a cyclic data exchange the input data
or the output data of the EtherCAT Master are
transmitted to the EtherCAT Slave.
(green)
In OPERATION state
(gray)
Not
in OPERATION state
Shows whether the EtherCAT device is in idle state.
(yellow)
In IDLE state
(gray)
Not in IDLE state
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Stop
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Meaning
Shows whether the EtherCAT device is in Stop
state: There is no cyclic data exchange at the
EtherCAT network. The EtherCAT device was
stopped by the application program or it changed to
the Stop state because of a bus error.
Color
State
(red)
In STOP state
(gray)
Not in STOP state
(yellow)
In OFFLINE state
(gray)
Not in OFFLINE state
Shows whether the EtherCAT device configuration
is locked, to avoid the configuration data are typed
over.
(yellow)
Configuration LOCKED
(gray)
Configuration not
LOCKED
Shows whether a new EtherCAT device
configuration is available.
(yellow)
New Configuration
pending
(gray)
No new Configuration
pending
Shows whether a firmware reset is required as a
new EtherCAT device configuration has been
loaded into the device.
(yellow)
RESET required
(gray)
No RESET required
Shows whether the bus communication was started
or stopped. I. e., whether the device is active on the
bus or no bus communication to the device is
possible and no response telegrams are sent.
(green)
Bus ON
(gray)
Bus OFF
The EtherCAT Master is offline as long as it does
not have a valid configuration.
Configuration State
Configuration
locked
New Configuration pending
Reset required
Bus ON
Table 32: Indication General Diagnosis
Parameter
Meaning
Communication Error
Shows the name of the communication error. If the cause of error is resolved, the value will be
set to zero again.
Watchdog time
Shows the watchdog time in ms.
Error Count
This field holds the total number of errors detected since power-up, respectively after reset.
The protocol stack counts all sorts of errors in this field no matter whether they were network
related or caused internally.
Table 33: Parameter General Diagnosis
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Master Diagnosis
Information regarding the Slave State, slave errors and slaves configured,
active or in diagnostic are displayed in the Master Diagnosis dialog.
Figure 70: Master Diagnosis
Range of Value /
Default Value
Parameter
Meaning
Slave state
UNDEFINED, OK,
Shows whether slave state is ok or not.
The Slave state field for Master diagnosis shows whether the Master is FAILED
in cyclic data exchange to all configured slaves. In case there is at
least one slave missing or if the slave has a diagnostic request
pending, the status will be set to FAILED. For protocols that support
non-cyclic communication only, the slave state is set to OK as soon as
a valid configuration is found.
Slave error log
indicator
Shows whether the Slave Error Log Indicator is available.
Configured slaves
EMPTY, AVAILABLE
The error log indicator field holds the number of entries in the internal
error log. If all entries are read from the log, the field will be set to zero.
Shows number of configured slaves.
Number of configured slaves in the network according to the slave list
derived from the configuration database created by the configuration
software . The list includes the slaves to which the Master has to open
a connection.
Active slaves
Shows number of active slaves.
Number of slaves in data exchange mode. The list includes the slaves
to which the Master has successfully opened a connection.
Slaves with diagnostic
Shows number of slaves with diagnostic.
Number of Slaves with diagnosis or error slaves.
Table 34: Parameter Master Diagnosis
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Station Diagnosis
Figure 71: Station Diagnosis
The Station Diagnosis shows the status for all EtherCAT Slave device
which are configured in the EtherCAT Master. The DTM updates this
display cyclically.
Column
Meaning
Status
The current status of the device assigned to the displayed station address, see Table 36: Possible .
Station Address
Station address, to which the device is assigned.
AutoIncAddress
Auto Increment Address (Auto-increment addressing means addressing of the slave devices
according to their physical position in the communication ring.)
SlaveName
The name of the device assigned to the displayed station address
Table 35: Columns of table ‘Station Diagnosis"
The legend below describes the possible values for the state of a device,
which is assigned to a station address.
Color
Name
Meaning
green
Running
The device assigned to this station address is running.
yellow
Diagnosis
Diagnosis is available for the device assigned to this station address.
blue
Not found
The device assigned to this station address was parameterized, but not found.
red
Error
An error message is available for the device assigned to this station address.
Table 36: Possible Values for the Status
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Firmware Diagnosis
In the dialog Firmware Diagnosis the actual task information of the
firmware is displayed.
Under Firmware or Version the name of the firmware and version
(including the date) are indicated.
Figure 72: Firmware-Diagnose (* Der Name der Firmware erscheint.)
Task Information:
The table Task Information is listing the task information of the single
firmware tasks.
Column
Meaning
Task
Task number
Name of task
Name of the task
Version
Version number of the task
Prio
Priority of the task
Description
Description of the task
Status
Current status of the task
Table 37: Description Table Task Information
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Extended Diagnosis
Overview Extended Diagnosis
The Extended Diagnosis of the EtherCAT Master DTM helps to find
communication and configuration errors. Therefore it contains a list of
diagnosis structures as online counter, states and parameters.
Dialog Panes “Extended Diagnosis”
The table below gives an overview for the Extended Diagnosis dialog
panes descriptions:
EtherCAT Master DTM
Folder Name in the
Navigation Area
Dialog Pane
Manual
Page
RX-SYSTEM
Task Information
108
IniBatch Status
109
DPM_COMO_SMBX Task Information
108
DPM_COMO_RMBX Task Information
108
ECAT_MASTER
Task Information
108
Low Level Error Counter
110
Packet Counter Stack
111
Internal Status Stack
113
ECAT_MASTER_AP Task Information
108
Packet Counter AP-Task
114
DPM Statistics
116
Internal Status of AP-Task
117
MARSHALLER
Task Information
108
PACKET_ROUTER
Task Information
108
Navigation Area - Extended Diagnosis
Table 38: Descriptions of the Dialog Panes Extended Diagnosis
Online Connection to the Device
Note: Accessing the Extended Diagnosis dialog panes of the EtherCAT
Master DTM requires an online connection from the EtherCAT Master
DTM to the EtherCAT Master device. For further information refer to
section Connecting/Disconnecting Device on page 76.
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Task Information
Figure 73: Extended Diagnosis > [Folder Name] > Task Information Example Display
Name
Description
Identifier
Identification number of the task
Major version
Task version, contains incompatible changes
Minor version
Task version, contains compatible changes
Maximum packet size
Maximum packet size, which the task sends
Default Queue
Queue handle, which is accessible via DPM by mailbox.
UUID
Unique user ID, 16 Byte indicator used for task identification and its affiliation e. g. to a stack
(therein different identification data are coded in).
Init result
Error Code, 0= no Error
The description of the error codes can be found in this manual or in the corresponding
software reference manuals.
Table 39: Extended Diagnosis > [Folder Name] > Task Information
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IniBatch Status
Figure 74: Extended Diagnosis > [Folder Name] > IniBatch Status Example Display
Name
Description
Communication Channel
Number of the communication channel used by the device.
Current State
0 =Idle;
1 =IniBatch packets in progress;
2 =Retrying to send last packet;
3 = Error
IniBatch Result
0 = Ok;
1 = No DBM file;
2 = No Packet table;
3 = No data set available;
4 = Data set is shorter than packet length;
5 = Packet Buffer is shorter than Packet length;
6 = Invalid packet destination;
7 = Logical queue not defined
8 = Send packet failed;
9 = Too many retries;
10 = Error in confirmation packet status
OpenDbm Result
Error when opening the IniBatch data base
Under "OpenDbm Result" the error code is typed in, when "IniBatch Result" == "No DBM
file" (1) is.
SendPacket Result
Error when sending a packet
Under "SendPacket Result" the error code is typed in, when "IniBatch Result" == “send
packet failed" (8) is.
Confirmation Result
Confirmation error when sending packets
Under "Confirmation Result" the packet specific error code from the ulSta is typed in, when
"IniBatch Result " == "Error in confirmation packet status" (10) is.
Last Packet Number
Value depends by the communication system.
Last Packet Command
Value depends by the communication system.
Last Packet Length
Value depends by the communication system.
Last Packet Destination
Value depends by the communication system.
Table 40: Extended Diagnosis > [Folder Name] > IniBatch Status
The task status "Confirmation Result" is bus specific. The other task
statuses are rcx-related error codes.
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ECAT_MASTER
Low Level Error Counter
Figure 75: Extended Diagnosis > ECAT_MASTER > Low Level Error Counter
Name
Description
CYCCMD_WKC_ERROR counter
Counter for CYCCMD_WKC_ERROR
MASTER_INITCMD_WKC_ERROR counter
Counter for MASTER_INITCMD_WKC_ERROR
SLAVE_INITCMD_WKC_ERROR counter
Counter for SLAVE_INITCMD_WKC_ERROR
EOE_MBXRCV_WKC_ERROR counter
Counter for EOE_MBXRCV_WKC_ERROR
COE_MBXRCV_WKC_ERROR counter
Counter for COE_MBXRCV_WKC_ERROR
FOE_MBXRCV_WKC_ERROR counter
Counter for FOE_MBXRCV_WKC_ERROR
EOE_MBXSND_WKC_ERROR counter
Counter for EOE_MBXSND_WKC_ERROR
COE_MBXSND_WKC_ERROR counter
Counter for COE_MBXSND_WKC_ERROR
FOE_MBXSND_WKC_ERROR
Counter for FOE_MBXSND_WKC_ERROR
FRAME_RESPONSE_ERROR
Counter for FRAME_RESPONSE_ERROR
SLAVE_INITCMD_RESPONSE_ERROR
Counter for SLAVE_INITCMD_RESPONSE_ERROR
MASTER_INITCMD_RESPONSE_ERROR
counter
Counter for MASTER_INITCMD_RESPONSE_ERROR
CMD_MISSING counter
Counter for CMD_MISSING
MBSLAVE_INITCMD_TIMEOUT counter
Counter for MBSLAVE_INITCMD_TIMEOUT
NOT_ALL_DEVICES_OPERATIONAL
counter
Counter for NOT_ALL_DEVICES_OPERATIONAL
ETH_LINK_NOT_CONNECTED counter
Counter for ETH_LINK_NOT_CONNECTED
CYCCMD_TIMEOUT counter
Counter for CYCCMD_TIMEOUT
RED_LINEBRK counter
Counter for RED_LINEBRK
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Name
Description
STATUS_SLAVE_ERROR counter
Counter for STATUS_SLAVE_ERROR
SLAVE_ERROR_STATUS_INFO counter
Counter for SLAVE_ERROR_STATUS_INFO
SLAVE_NOT_ADDRESSABLE counter
Counter for SLAVE_NOT_ADDRESSABLE
Table 41: Extended Diagnosis > ECAT_MASTER > Low Level Error Countern
7.4.2
Packet Counter Stack
Figure 76: Extended Diagnosis > ECAT_MASTER > Packet Counter Stack
Name
Description
ulEthercatMasterCmdRegisterAtStackReq
Counter for ulEthercatMasterCmdRegisterAtStackReq
ulEthercatMasterCmdSetBusparamReq
Counter for ulEthercatMasterCmdSetBusparamReq
ulEthercatMasterCmdBusOnReq
Counter for ulEthercatMasterCmdBusOnReq
ulEthercatMasterCmdBusOffReq
Counter for ulEthercatMasterCmdBusOffReq
ulEthercatMasterCmdHostWdgTimeoutRe
q
Counter for ulEthercatMasterCmdHostWdgTimeoutReq
ulRcxGetSlaveHandleReq
Counter for ulRcxGetSlaveHandleReq
ulRcxGetSlaveConnInfoReq
Counter for ulRcxGetSlaveConnInfoReq
ulConfigurationReloadReq
Counter for ulConfigurationReloadReq
ulEthercatMasterCmdUpdateCommunicati
onStateRes
Counter for ulEthercatMasterCmdUpdateCommunicationStateRes
ulEthercatMasterCmdUpdateGlobalSlaveI
nfoRes
Counter for ulEthercatMasterCmdUpdateGlobalSlaveInfoRes
ulUnknownCommandReq
Counter for ulUnknownCommandReq
ulEthercatMasterCmdSdoUploadReq
Counter for ulEthercatMasterCmdSdoUploadReq
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Name
Description
ulEthercatMasterCmdSdoDownloadReq
Counter for ulEthercatMasterCmdSdoDownloadReq
ulEthercatMasterCmdGetOdListReq
Counter for ulEthercatMasterCmdGetOdListReq
ulEthercatMasterCmdGetObjectDescReq
Counter for ulEthercatMasterCmdGetObjectDescReq
ulEthercatMasterCmdGetEntryDescReq
Counter for ulEthercatMasterCmdGetEntryDescReq
ulEthercatMasterCmdReadEmergencyReq
Counter for ulEthercatMasterCmdReadEmergencyReq
ulEthercatMasterCmdGetDcDeviationReq
Counter for ulEthercatMasterCmdGetDcDeviationReq
ulEthercatMasterCmdStartBusScanReq
Counter for ulEthercatMasterCmdStartBusScanReq
ulEthercatMasterCmdBusScanInfoReq
Counter for ulEthercatMasterCmdBusScanInfoReq
Table 42: Extended Diagnosis > ECAT_MASTER > Packet Counter Stack
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Internal Status Stack
Figure 77: Extended Diagnosis > ECAT_MASTER > Internal Status Stack
Name
Description
Current state
Current state of EtherCAT Stack:
Possible Values:
ETHERCAT_MASTER_NOT_INIT
ETHERCAT_MASTER_WAIT_FOR_BUSPARAM
ETHERCAT_MASTER_CONFIGURED
ETHERCAT_MASTER_WAIT_FOR_LINK
ETHERCAT_MASTER_RUNNING
ETHERCAT_MASTER_COMMUNICATING
ETHERCAT_MASTER_IDLE
ETHERCAT_MASTER_WATCHDOG_ERROR
ETHERCAT_MASTER_BUS_SCAN
Error during reset
Link
If an error occurred during reset, ist error code is displayed here. In case of
successful reset, the value 0x0 is displayed here.
Status of link
Possible Values:
down
up
Hard reset required
A hard reset is required
Possible Values:
no
yes
Table 43: Extended Diagnosis > ECAT_MASTER > Internal Status Stack
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ECAT_MASTER_AP
Packet Counter AP-Task
Figure 78: Extended Diagnosis > ECAT_MASTER_AP > Packet Counter AP-Task
Name
Description
ulDiagInfoGetCommonStateReq
Counter for ulDiagInfoGetCommonStateReq
ulDiagInfoGetWatchdogTimeReq
Counter for ulDiagInfoGetWatchdogTimeReq
ulDiagInfoSetWatchdogTimeReq
Counter for ulDiagInfoSetWatchdogTimeReq
ulRcxGetSlaveHandleReq
Counter for ulRcxGetSlaveHandleReq
ulRcxGetSlaveHandleCnf
Counter for ulRcxGetSlaveHandleCnf
ulRcxGetSlaveConnInfoReq
Counter for ulRcxGetSlaveConnInfoReq
ulRcxGetSlaveConnInfoCnf
Counter for ulRcxGetSlaveConnInfoCnf
ulUnknownCommandReq
Counter for ulUnknownCommandReq
ulEthercatMasterCmdSetBusparamReq
Counter for ulEthercatMasterCmdSetBusparamReq
ulEthercatMasterCmdSetBusparamCnf
Counter for ulEthercatMasterCmdSetBusparamCnf
ulEthercatMasterCmdBusOnCnf
Counter for ulEthercatMasterCmdBusOnCnf
ulEthercatMasterCmdBusOffCnf
Counter for ulEthercatMasterCmdBusOffCnf
ulEthercatMasterCmdUpdateCommunicationState
Ind
Counter for
ulEthercatMasterCmdUpdateCommunicationStateInd
ulEthercatMasterCmdUpdateGlobalSlaveInfoInd
Counter for ulEthercatMasterCmdUpdateGlobalSlaveInfoInd
ulConfigurationReloadReq
Counter for ulConfigurationReloadReq
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Name
Description
ulConfigurationReloadCnf
Counter for ulConfigurationReloadCnf
ulEthercatMasterApCmdHostWdgTimeoutReq
Counter for ulEthercatMasterApCmdHostWdgTimeoutReq
ulEthercatMasterCmdHostWdgTimeoutCnf
Counter for ulEthercatMasterCmdHostWdgTimeoutCnf
ulEthercatMasterCmdRegisterAtStackCnf
Counter for ulEthercatMasterCmdRegisterAtStackCnf
ulEthercatMasterCmdSdoUploadReq
Counter for ulEthercatMasterCmdSdoUploadReq
ulEthercatMasterCmdSdoDownloadReq
Counter for ulEthercatMasterCmdSdoDownloadReq
ulEthercatMasterCmdGetOdListReq
Counter for ulEthercatMasterCmdGetOdListReq
ulEthercatMasterCmdGetObjectDescReq
Counter for ulEthercatMasterCmdGetObjectDescReq
ulEthercatMasterCmdGetEntryDescReq
Counter for ulEthercatMasterCmdGetEntryDescReq
ulEthercatMasterCmdReadEmergencyReq
Counter for ulEthercatMasterCmdReadEmergencyReq
ulEthercatMasterCmdGetDcDeviationReq
Counter for ulEthercatMasterCmdGetDcDeviationReq
ulEthercatMasterCmdStartBusScanReq
Counter for ulEthercatMasterCmdStartBusScanReq
ulEthercatMasterCmdBusScanInfoReq
Counter for ulEthercatMasterCmdBusScanInfoReq
ulRcxStartStopCommReq
Counter for ulRcxStartStopCommReq
Table 44: Extended Diagnosis > ECAT_MASTER_AP > Packet Counter AP-Task
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DPM Statistics
Figure 79: Extended Diagnosis > ECAT_MASTER_AP > DPM Statistics
Name
Description
cyclic input data exchange
requested counter
Counter for requested cyclic input data exchanges
cyclic output data exchange
requested counter
Counter for requested cyclic output data exchanges
cyclic input data exchange
executed counter
Counter for executed cyclic input data exchanges
cyclic output data exchange
executed counter
Counter for executed cyclic output data exchanges
size of input process image
Size of input process image
size of output process image
Size of output process image
Table 45: Extended Diagnosis > ECAT_MASTER_AP > DPM Statistics
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Internal Status of AP-Task
Figure 80: Extended Diagnosis > ECAT_MASTER_AP > Internal Status of AP-Task
Name
hard reset required
Description
A hard reset is required
Possible Values:
no
yes
Table 46: Extended Diagnosis > ECAT_MASTER_AP > Internal Status of AP-Task
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Online Comparison
SYCON.net offers the possibility to compare online between the configured
devices and the scanned devices on the other hand.
Online Connection to the Device
Note: Accessing the Online Comparison dialog panes of the EtherCAT
Master DTM requires an online connection from the EtherCAT Master
DTM to the EtherCAT Master device. For further information refer to
section Connecting/Disconnecting Device on page 126.
To access the online comparison of the topology:
 Select Online Comparison in the navigation area.
 A ‘split screen’ display appears allowing to precisely compare:
1. The device information stored in the configuration of SYCON.net on
the left half of the window.
2. The device information scanned from the network presented on the
right half of the window.
Figure 81: Online Comparison (before pressing button 'Compare online')
At the bottom you find a button
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In order to start the comparison process between the configuration
information stored internally in SYCON.net and the current configuration
information derived by an EtherCAT network scan, proceed as follows:
 Click at the button ‘Compare online’, which you can find at the bottom of
the window.
 The text in the button will immediately change to ‘Stop process’ then.
The display will look like this:
Figure 82: Online Comparison (after pressing button 'Compare online'
In order to stop the comparison process described above:
 Just click the button again.
 The comparison process will be interrupted.
The information which is displayed for each device may include:
 The Vendor ID
 The Product Code
 The Revision number
 Information on previously used ports
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Information items differing between configuration and network scan are
displayed in red. If the results are equal, they are displayed by black text.
In front of the name of the respective slave device additional information
can be displayed. The meaning is:
Sign
Description
A red x indicates that the configured devices could not be discovered on
the bus.
No sign at all
The configured device exactly matches the scanned information about
the device in the same position, i.e. the position addresses are equal.
The configured device matches the scanned information about the
device, but in a different position, i.e. the position addresses are not
equal. Both values are displayed separated by a colon (for instance, 2.3
means, the device configured at position 2 could be found by the
network scan, but under position 3)
A red exclamation mark indicates a slave has been discovered by the
network scan which has not been configured at all. This can only appear
on the right part of the screen.
Table 47: Meaning of signs in Online Comparison
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Tools
Overview Tools
Under Tools the Packet Monitor and the IO Monitor are provided for test
and diagnosis purposes.
Tools Panes
The table below gives an overview for the individual Tools dialog panes
descriptions:
EtherCAT Master DTM
Folder Name / Section
Manual Page
Packet Monitor
122
IO Monitor
125
Process Image Monitor
127
Navigation Area - Tools
Table 48: Descriptions of the Diagnosis Panes
Online Connection to the Device
Note: Accessing the Tools dialog panes of the EtherCAT Master DTM
requires an online connection from the EtherCAT Master DTM to the
EtherCAT Master device. For further information refer to section
Connecting/Disconnecting Device on page 126.
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Packet Monitor
The Packet Monitor serves for test and diagnosis purposes.
Data packets, i. e. messages are self-contained blocks of defined data
length. The packets are used to communicate with the firmware and they
are exchanged between the application (configuration software) and the
firmware in the device. Packets can be sent once or cyclically to the
connected device controlled by the user and packets received can be
displayed.
Data packets comprise from a Packet Header and the Send Data or from
a Packet Header and the Receive Data. The packet header can be
evaluated by the receiver of the packet and contain the sender and receiver
address, the data length, an ID number, status and error messages and the
command or response code. The minimum packet size amounts 40 Byte
for the packet header. The sending and receiving data are added.
For further information to the packet description refer to the Protocol API
Manual.
 Open the Packet Monitor via Tools > Packet Monitor.
Figure 83: Packet Monitor
Display Mode switches the representation of the send and reception data
between decimal and hexadecimal.
 Select Reset Counter to reset the packet counter.
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Sending Packet
Figure 84: Send > Packet Header and Send Data
Packet Header
Under Send > Packet Header the elements of the packet header of the
sending packet are displayed, which is transmitted from the application
(configuration software) to the device. The packet header of the sending
packets contain the elements described in the following table.
Element
Description
Contains the identifier of the receiver for the packet (destination task
queue of the firmware).
Dest
Destination Queue Handle
Src
Source Queue Handle
Contains the identifier of the sender of the packet (sending task).
Dest
ID
Destination Queue Reference
Contains an identifier for the receiver of unsolicited sent packets from the
firmware to the application (configuration software).
Src ID
Source Queue Reference
Contains an identifier of the sender.
Len
Packet Data Length (in Bytes)
Length of the send respectively receive data.
ID
Packet Identification As
Unique Number
Identifies identical data packets among each other.
State
Status / Error Code
Transmits status or error codes to the packet sender.
Cmd
Command / Response Code
Command or respond code.
Ext
Extension
Field for extensions (reserved).
Rout
Routing Information
Internal value of the firmware.
Table 49: Descriptions Packet Header
 Under Dest select the receiver (destination task queue).
 Under Cmd select the command identification (Request).
Auto Increment ID is an increment for the identifier of the data packets
and increments the ID by 1 for each newly sent packet.
Send Data
 Under Send > Send data enter the send data of the packet, which shall
be transmitted from the application (configuration software) to the
mailbox of the device. The meaning of the transmitted data depends on
the command or response code.
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Sending Packets once or cyclic
 To send packet once, select Put packet.
 To send packet cyclic, select Put cyclic.
9.2.2
Receiving Packet
Figure 85: Packet Header and Receive Data
Packet Header
Under Receive > Packet Header the elements of the packet header of the
receiving packet are displayed, which are transmitted back from the device
to the application (configuration software). The packet header of the
receiving packets contain the elements described in the following table.
Element
Description
Dest
Destination Queue Handle
Contains the identifier of the receiver for the packet (destination task
queue of the firmware).
Src
Source Queue Handle
Contains the identifier of the sender of the packet (sending task).
Dest ID
Destination Queue Reference
Contains an identifier for the receiver of unsolicited sent packets from
the firmware to the application (configuration software).
Src ID
Source Queue Reference
Contains an identifier of the sender.
Len
Packet Data Length (in Bytes)
Length of the send respectively receive data.
ID
Packet Identification As
Unique Number
Identifies identical data packets among each other.
State
Status / Error Code
Transmits status or error codes to the packet sender.
Cmd
Command / Response Code
Command or respond code.
Ext
Extension
Field for extensions (reserved).
Rout
Routing Information
Internal value of the firmware.
Table 50: Descriptions Packet Header
Receive Data
Under Receive > Receive Data the receiving data of the packet, which is
transmitted back from the device to the application (configuration software)
are displayed.
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IO Monitor
The IO Monitor serves for test and diagnosis purposes. It provides to view
data of the process data image and to change output data easily. The
display is always in a Byte manner.
Note: Only change and write output data if you know that no plant
disturbances are caused by this. All output data written by the IO Monitor
are transmitted at the bus and have effect on subordinate drives, IO etc.
Figure 86: IO Monitor
Columns switches the number of columns.
Display mode switches the representation of the input and output data
between decimal and hexadecimal.
Offset / Go moves the indication of the data to the entered offset value.
 Enter the output value and select Update.
 Always the data of the process image are displayed, also when these
Bytes have not been reserved by the configuration.
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Note: Extra data are added to the input area. This allows to easily identify
slave problems. The following data are added

One or more Logical Memory Read commands to read slave mailbox
states.The number of commands and the data length of each
command depend on the number of slaves which support the mailbox
state.

One Broadcast Read command to read the Register AL Status of all
slaves.
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Process Image Monitor
The window Process Image Monitor lists the Slave devices connected to
the Master, as well as the configured modules or input or output signals of
the devices. This makes visible the fieldbus structure and the data structure
of the device’s input and output data transmitted at the bus. Furthermore
the values of the signal data provided to the OPC server are displayed
here.
 Open Tools > Process Image Monitor.
Figure 87: Window ‘Process Image Monitor’
Parameter
Meaning
Range of Value /
Value
Display Mode
Display of the values in the column Value in decimal or
hexadecimal mode.
Decimal (Default),
Hexadecimal
The tree shows the structure of the devices (1), modules (2) and the
input data (3) and output data (4).
Display when the input and output data are not completely read and
analyzed.
Display when the input and output data are not valid.
Display when the input and output data are valid.
Typ
Device labeling provided by the hardware:
Also description of the modules or input or output signals configured
to the device.
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Parameter
Meaning
TAG
Device name provided by the hardware (not changeable in the FDT
container) or symbolic name for the modules configured to the
device or for the input or output signals (changeable in the window
Configuration > Process Data).
Value
Display of the valid input and output data values.
Last Error
Last occurred error (Description see appropriate Application
Programming Manual)
Range of Value /
Value
Table 51: Notes to the Window ‘Process Image Monitor’
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10 Error Codes
10.1 Error Code Definition
For COM based application, like the ODM Server and ODM drivers, a
common error definition is used, similar to the Microsoft Windows®
HRESULT definition.
Error Code Structure:
COM Errors are HRESULTs, which are 32 bit values using the following
layout:
3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1
1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0
+---+-+-+-----------------------+-------------------------------+
|Sev|C|R|
Facility
|
Code
|
+---+-+-+-----------------------+-------------------------------+
where
Sev
- is the severity code:
00 - Success
01 - Informational
10 - Warning
11 - Error
C
- is the Customer code flag
R
- is a reserved bit
Facility
- is the facility code
Code
- is the facility's status code
In this common error definition, several error code regions are already
reserved by Windows® itself, the ODM and some other modules.
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10.2 Overview Error Codes
Overview Error Codes
Range
General Hardware Errors
RCX Operating System
RCX General Task: 0xC02B0001 to 0xC02B4D52
RCX Common Status & Errors Codes: 0x00000000 to 0xC002000C
RCX Status & Error Codes: 0x00000000 to 0xC0000008
EtherCAT Master /
Status /Error Codes
EtherCAT Master
EtherCAT Master AP Task Status/Error Codes 0xC0640001 to 0xC064000B
ODM Server
General ODM Error Codes: 0x8004C700 to 0x8004C761
EtherCAT Master Task Status/Error Codes: 0xC00C0001 to 0xC00C0053
General ODM Driver Error Codes: 0x8004C7A0 to 0x8004C7C2
ODM Drivers
cifX Driver Specific ODM Error: 0x8004C001 to 0x8004C0A4
cifX Device Driver
and netX Driver
Generic Error: 0x800A0001 bis 0x800A0017
Generic Driver Error: 0x800B0001 bis0x800B0042
Generic Device Error: 0x800C0010 bis0x800C0041
netX Driver
CIFX API Transport: 0x800D0001 bis 0x800D0013
CIFX API Transport Header State Error: 0x800E0001 bis 0x800E000B
DBM
ODM Error Codes: 0xC004C810 to 0xC004C878
Table 52: Overview Error Codes and Ranges
Further fieldbus specific error codes are described in the manuals of the
corresponding protocol tasks.
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10.3 General Hardware Error Codes
10.3.1
RCX General Task Errors
Error Code (Definition)
Value
Description
RCX_E_QUE_UNKNOWN
0xC02B0001
Unknown Queue
RCX_E_QUE_INDEX_UNKNOWN
0xC02B0002
Unknown Queue Index
RCX_E_TASK_UNKNOWN
0xC02B0003
Unknown Task
RCX_E_TASK_INDEX_UNKNOWN
0xC02B0004
Unknown Task Index
RCX_E_TASK_HANDLE_INVALID
0xC02B0005
Invalid Task Handle
RCX_E_TASK_INFO_IDX_UNKNOWN
0xC02B0006
Unknown Index
RCX_E_FILE_XFR_TYPE_INVALID
0xC02B0007
Invalid Transfer Type
RCX_E_FILE_REQUEST_INCORRECT
0xC02B0008
Invalid File Request
RCX_E_TASK_INVALID
0xC02B000E
Invalid Task
RCX_E_SEC_FAILED
0xC02B001D
Security EEPROM Access Failed
RCX_E_EEPROM_DISABLED
0xC02B001E
EEPROM Disabled
RCX_E_INVALID_EXT
0xC02B001F
Invalid Extension
RCX_E_SIZE_OUT_OF_RANGE
0xC02B0020
Block Size Out Of Range
RCX_E_INVALID_CHANNEL
0xC02B0021
Invalid Channel
RCX_E_INVALID_FILE_LEN
0xC02B0022
Invalid File Length
RCX_E_INVALID_CHAR_FOUND
0xC02B0023
Invalid Character Found
RCX_E_PACKET_OUT_OF_SEQ
0xC02B0024
Packet Out Of Sequence
RCX_E_SEC_NOT_ALLOWED
0xC02B0025
Not Allowed In Current State
RCX_E_SEC_INVALID_ZONE
0xC02B0026
Security EEPROM Invalid Zone
RCX_E_SEC_EEPROM_NOT_AVAIL
0xC02B0028
Security EEPROM Eeprom Not Available
RCX_E_SEC_INVALID_CHECKSUM
0xC02B0029
Security EEPROM Invalid Checksum
RCX_E_SEC_ZONE_NOT_WRITEABLE
0xC02B002A
Security EEPROM Zone Not Writeable
RCX_E_SEC_READ_FAILED
0xC02B002B
Security EEPROM Read Failed
RCX_E_SEC_WRITE_FAILED
0xC02B002C
Security EEPROM Write Failed
RCX_E_SEC_ACCESS_DENIED
0xC02B002D
Security EEPROM Access Denied
RCX_E_SEC_EEPROM_EMULATED
0xC02B002E
Security EEPROM Emulated
RCX_E_INVALID_BLOCK
0xC02B0038
Invalid Block
RCX_E_INVALID_STRUCT_NUMBER
0xC02B0039
Invalid Structure Number
RCX_E_INVALID_CHECKSUM
0xC02B4352
Invalid Checksum
RCX_E_CONFIG_LOCKED
0xC02B4B54
Configuration Locked
RCX_E_SEC_ZONE_NOT_READABLE
0xC02B4D52
Security EEPROM Zone Not Readable
Table 53: RCX General Task Errors
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RCX Common Status & Errors Codes
Error Code (Definition)
Value
Description
RCX_S_OK
0x00000000
Success, Status Okay
RCX_E_FAIL
0xC0000001
Fail
RCX_E_UNEXPECTED
0xC0000002
Unexpected
RCX_E_OUTOFMEMORY
0xC0000003
Out Of Memory
RCX_E_UNKNOWN_COMMAND
0xC0000004
Unknown Command
RCX_E_UNKNOWN_DESTINATION
0xC0000005
Unknown Destination
RCX_E_UNKNOWN_DESTINATION_ID
0xC0000006
Unknown Destination ID
RCX_E_INVALID_PACKET_LEN
0xC0000007
Invalid Packet Length
RCX_E_INVALID_EXTENSION
0xC0000008
Invalid Extension
RCX_E_INVALID_PARAMETER
0xC0000009
Invalid Parameter
RCX_E_WATCHDOG_TIMEOUT
0xC000000C
Watchdog Timeout
RCX_E_INVALID_LIST_TYPE
0xC000000D
Invalid List Type
RCX_E_UNKNOWN_HANDLE
0xC000000E
Unknown Handle
RCX_E_PACKET_OUT_OF_SEQ
0xC000000F
Out Of Sequence
RCX_E_PACKET_OUT_OF_MEMORY
0xC0000010
Out Of Memory
RCX_E_QUE_PACKETDONE
0xC0000011
Queue Packet Done
RCX_E_QUE_SENDPACKET
0xC0000012
Queue Send Packet
RCX_E_POOL_PACKET_GET
0xC0000013
Pool Packet Get
RCX_E_POOL_GET_LOAD
0xC0000015
Pool Get Load
RCX_E_REQUEST_RUNNING
0xC000001A
Request Already Running
RCX_E_INIT_FAULT
0xC0000100
Initialization Fault
RCX_E_DATABASE_ACCESS_FAILED
0xC0000101
Database Access Failed
RCX_E_NOT_CONFIGURED
0xC0000119
Not Configured
RCX_E_CONFIGURATION_FAULT
0xC0000120
Configuration Fault
RCX_E_INCONSISTENT_DATA_SET
0xC0000121
Inconsistent Data Set
RCX_E_DATA_SET_MISMATCH
0xC0000122
Data Set Mismatch
RCX_E_INSUFFICIENT_LICENSE
0xC0000123
Insufficient License
RCX_E_PARAMETER_ERROR
0xC0000124
Parameter Error
RCX_E_INVALID_NETWORK_ADDRESS
0xC0000125
Invalid Network Address
RCX_E_NO_SECURITY_MEMORY
0xC0000126
No Security Memory
RCX_E_NETWORK_FAULT
0xC0000140
Network Fault
RCX_E_CONNECTION_CLOSED
0xC0000141
Connection Closed
RCX_E_CONNECTION_TIMEOUT
0xC0000142
Connection Timeout
RCX_E_LONELY_NETWORK
0xC0000143
Lonely Network
RCX_E_DUPLICATE_NODE
0xC0000144
Duplicate Node
RCX_E_CABLE_DISCONNECT
0xC0000145
Cable Disconnected
RCX_E_BUS_OFF
0xC0000180
Network Node Bus Off
RCX_E_CONFIG_LOCKED
0xC0000181
Configuration Locked
RCX_E_APPLICATION_NOT_READY
0xC0000182
Application Not Ready
RCX_E_TIMER_APPL_PACKET_SENT
0xC002000C
Timer App Packet Sent
Table 54: RCX Common Status & Errors Codes
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RCX Status & Error Codes
Error Code (Definition)
Value
Description
RCX_S_OK
0x00000000
SUCCESS, STATUS OKAY
RCX_S_QUE_UNKNOWN
0xC02B0001
UNKNOWN QUEUE
RCX_S_QUE_INDEX_UNKNOWN
0xC02B0002
UNKNOWN QUEUE INDEX
RCX_S_TASK_UNKNOWN
0xC02B0003
UNKNOWN TASK
RCX_S_TASK_INDEX_UNKNOWN
0xC02B0004
UNKNOWN TASK INDEX
RCX_S_TASK_HANDLE_INVALID
0xC02B0005
INVALID TASK HANDLE
RCX_S_TASK_INFO_IDX_UNKNOWN
0xC02B0006
UNKNOWN INDEX
RCX_S_FILE_XFR_TYPE_INVALID
0xC02B0007
INVALID TRANSFER TYPE
RCX_S_FILE_REQUEST_INCORRECT
0xC02B0008
INVALID FILE REQUEST
RCX_S_UNKNOWN_DESTINATION
0xC0000005
UNKNOWN DESTINATION
RCX_S_UNKNOWN_DESTINATION_ID
0xC0000006
UNKNOWN DESTINATION ID
RCX_S_INVALID_LENGTH
0xC0000007
INVALID LENGTH
RCX_S_UNKNOWN_COMMAND
0xC0000004
UNKNOWN COMMAND
RCX_S_INVALID_EXTENSION
0xC0000008
INVALID EXTENSION
Table 55: RCX Status & Error Codes
10.3.3.1
RCX Status & Error Codes Slave State
Error Code (Definition)
Value
Description
RCX_SLAVE_STATE_UNDEFINED
0x00000000
UNDEFINED
RCX_SLAVE_STATE_OK
0x00000001
OK
RCX_SLAVE_STATE_FAILED
0x00000002
FAILED (at least one slave)
Table 56: RCX Status & Error Codes Slave State
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10.4 Status /Error Codes EtherCAT Master
10.4.1
EtherCAT Master Task Status/Error Codes
Error Code (Definition)
Value
Description
TLR_E_ETHERCAT_MASTER_COMMAND_INVA
LID
0xC0650001
Invalid command received.
TLR_E_ETHERCAT_MASTER_NO_LINK
0xC0650002
No link exists.
TLR_E_ETHERCAT_MASTER_ERROR_READIN
G_BUSCONFIG
0xC0650003
Error during reading the bus configuration.
TLR_E_ETHERCAT_MASTER_ERROR_PARSING
_BUSCONFIG
0xC0650004
Error during processing the bus
configuration.
TLR_E_ETHERCAT_MASTER_ERROR_BUSSCA
N_FAILED
0xC0650005
Existing bus does not match configured
bus.
TLR_E_ETHERCAT_MASTER_NOT_ALL_SLAVE
S_AVAIL
0xC0650006
Not all slaves are available.
TLR_E_ETHERCAT_MASTER_STOPMASTER_E
RROR
0xC0650007
Error during Reset (stopping the master).
TLR_E_ETHERCAT_MASTER_DEINITMASTER_E
RROR
0xC0650008
Error during Reset (deinitialize the master).
TLR_E_ETHERCAT_MASTER_CLEANUP_ERRO
R
0xC0650009
Error during Reset (cleanup the dynamic
resources).
TLR_E_ETHERCAT_MASTER_CRITIAL_ERROR_
STATE
0xC065000A
Master is in critical error state, reset
required.
TLR_E_ETHERCAT_MASTER_CRITIAL_ERROR_
STATE
0xC065000B
The requested bus cycle time is invalid.
TLR_E_ETHERCAT_MASTER_INVALID_BROKEN
_SLAVE_BEHAVIOUR_PARA
0xC065000C
Invalid parameter for broken slave
behaviour.
TLR_E_ETHERCAT_MASTER_WRONG_INTERN
AL_STATE
0xC065000D
Master is in wrong internal state.
TLR_E_ETHERCAT_MASTER_WATCHDOG_TIM
EOUT_EXPIRED
0xC065000E
The watchdog expired.
TLR_E_ETHERCAT_MASTER_COE_INVALID_SL
AVEID
0xC065000F
Invalid SlaveId was used for CoE.
TLR_E_ETHERCAT_MASTER_COE_NO_RESOU
RCE
0xC0650010
No available resources for CoE Transfer.
TLR_E_ETHERCAT_MASTER_COE_INTERNAL_
ERROR
0xC0650011
Internal error during CoE usage.
TLR_E_ETHERCAT_MASTER_COE_INVALID_IN
DEX
0xC0650012
Invalid Index on Slave requested.
TLR_E_ETHERCAT_MASTER_COE_INVALID_CO
MMUNICATION_STATE
0xC0650013
Invalid bus communication state for CoEUsage.
TLR_E_ETHERCAT_MASTER_COE_FRAME_LO
ST
0xC0650014
Frame with CoE data is lost.
TLR_E_ETHERCAT_MASTER_COE_TIMEOUT
0xC0650015
Timeout during CoE service.
TLR_E_ETHERCAT_MASTER_COE_SLAVE_NOT
_ADDRESSABLE
0xC0650016
Slave is not addressable (not on bus or
power down?).
TLR_E_ETHERCAT_MASTER_COE_INVALID_LIS
T_TYPE
0xC0650017
Invalid list type requested (during
GetOdList).
TLR_E_ETHERCAT_MASTER_COE_SLAVE_RES
PONSE_TOO_BIG
0xC0650018
Data in Slave Response is too big for
confirmation packet.
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Error Code (Definition)
Value
Description
TLR_E_ETHERCAT_MASTER_COE_INVALID_AC
CESSBITMASK
0xC0650019
Invalid access mask selected (during
GetEntryDesc).
TLR_E_ETHERCAT_MASTER_COE_WKC_ERRO
R
0xC065001A
Slave Working Counter Error during CoE
service.
TLR_E_ETHERCAT_MASTER_SERVICE_IN_USE
0xC065001B
The service is already in use.
TLR_E_ETHERCAT_MASTER_INVALID_COMMU
NICATION_STATE
0xC065001C
Command is not usable in the
communication state.
TLR_E_ETHERCAT_MASTER_DC_NOT_ACTIVA
TED
0xC065001D
Distributed Clocks must be activated for
this command.
TLR_E_ETHERCAT_MASTER_BUS_SCAN_CUR
RENTLY_RUNNING
0xC065001E
The scan is already running. It cannot be
started twice at the same time.
TLR_E_ETHERCAT_MASTER_BUS_SCAN_TIME
OUT
0xC065001F
Timeout during bus scan. But at least a
link is established.
TLR_E_ETHERCAT_MASTER_BUS_SCAN_NOT_
READY_YET
0xC0650020
The bus scan was not started before or is
not finished yet.
TLR_E_ETHERCAT_MASTER_BUS_SCAN_INVA
LID_SLAVE
0xC0650021
The requested slave is invalid.
TLR_E_ETHERCAT_MASTER_COE_INVALIDAC
CESS
0xC0650022
Slave does not allow reading or writing
(CoE-Access).
TLR_E_ETHERCAT_MASTER_COE_NO_MBX_S
UPPORT
0xC0650023
Slave does not support a mailbox.
TLR_E_ETHERCAT_MASTER_COE_NO_COE_S
UPPORT
0xC0650024
Slave does not support CoE.
TLR_E_ETHERCAT_MASTER_TASK_CREATION
_FAILED
0xC0650025
Task could not be created during runtime.
TLR_E_ETHERCAT_MASTER_INVALID_SLAVE_
SM_CONFIGURATION
0xC0650026
The Sync Manager configuration of a slave
is invalid.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_TOGGLE
0xC0650027
SDO abort code: Toggle bit not alternated.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_TIMEOUT
0xC0650028
DO abort code: SDO protocol timed out.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_CCS_SCS
0xC0650029
SDO abort code: Client/server command
specifier not valid or unknown.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_BLK_SIZE
0xC065002A
SDO abort code: Invalid block size (block
mode only).
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_SEQNO
0xC065002B
SDO abort code: Invalid sequence number
(block mode only).
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_CRC
0xC065002C
SDO abort code: CRC error (block mode
only).
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_MEMORY
0xC065002D
SDO abort code: Out of memory.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_ACCESS
0xC065002E
SDO abort code: Unsupported access to
an object.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_WRITEONLY
0xC065002F
SDO abort code: Attempt to read a write
only object.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_READONLY
0xC0650030
SDO abort code: Attempt to write a read
only object.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_INDEX
0xC0650031
SDO abort code: Object does not exist in
the object dictionary.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_PDO_MAP
0xC0650032
SDO abort code: Object cannot be
mapped to the PDO.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_PDO_LEN
0xC0650033
SDO abort code: The number and length
of the objects to be mapped would exceed
PDO length.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_P_INCOMP
0xC0650034
SDO abort code: General parameter
incompatibility reason.
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Error Code (Definition)
Value
Description
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_I_INCOMP
0xC0650035
SDO abort code: General internal
incompatibility in the device.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_HARDWARE
0xC0650036
SDO abort code: Access failed due to an
hardware error.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_DATA_SIZE
0xC0650037
SDO abort code: Data type does not
match, length of service parameter does
not match.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_DATA_SIZE1
0xC0650038
SDO abort code: Data type does not
match, length of service parameter too
high.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_DATA_SIZE2
0xC0650039
SDO abort code: Data type does not
match, length of service parameter too
low.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_OFFSET
0xC065003A
SDO abort code: Sub-index does not exist.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_DATA_RANGE
0xC065003B
SDO abort code: Value range of parameter
exceeded (only for write access).
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_DATA_RANGE1
0xC065003C
SDO abort code: Value of parameter
written too high.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_DATA_RANGE2
0xC065003D
SDO abort code: Value of parameter
written too low.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_MINMAX
0xC065003E
SDO abort code: Maximum value is less
than minimum value.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_GENERAL
0xC065003F
SDO abort code: general error.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_TRANSFER
0xC0650040
SDO abort code: Data cannot be
transferred or stored to the application.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_TRANSFER1
0xC0650041
SDO abort code: Data cannot be
transferred or stored to the application
because of local control.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_TRANSFER2
0xC0650042
SDO abort code: Data cannot be
transferred or stored to the application
because of the present device state.
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_DICTIONARY
0xC0650043
SDO abort code: Object dictionary
dynamic generation fails or no object
dictionary is present (e.g. object dictionary
is generated from file and generation fails
because of an file error).
TLR_E_ETHERCAT_MASTER_SDO_ABORTCOD
E_UNKNOWN
0xC0650044
SDO abort code: unknown code.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_ERROR
0xC0650045
Slave status code: Unspecified error.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVREQSTATECNG
0xC0650046
Slave status code: Invalid requested state
change.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_UNKREQSTATE
0xC0650047
Slave status code: Unknown requested
state.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_BOOTSTRAPNSUPP
0xC0650048
Slave status code: Bootstrap not
supported.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_NOVALIDFW
0xC0650049
Slave status code: No valid firmware.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVALIDMBXCNF1
0xC065004A
Slave status code: Invalid mailbox
configuration1.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVALIDMBXCNF2
0xC065004B
Slave status code: Invalid mailbox
configuration2.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVALIDSMCNF
0xC065004C
Slave status code: Invalid sync manager
configuration.
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
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Error Codes
137/168
Error Code (Definition)
Value
Description
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_NOVALIDIN
0xC065004D
Slave status code: No valid inputs
available.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_NOVALIDOUT
0xC065004E
Slave status code: No valid outputs.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_SYNCERROR
0xC065004F
Slave status code: Synchronization error.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_SMWATCHDOG
0xC0650050
Slave status code: Sync manager
watchdog.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVSMTYPES
0xC0650051
Slave status code: Invalid Sync Manager
Types.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVOUTCONFIG
0xC0650052
Slave status code: Invalid Output
Configuration.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVINCONFIG
0xC0650053
Slave status code: Invalid Input
Configuration.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVWDCONFIG
0xC0650054
Slave status code: Invalid Watchdog
Configuration.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_SLVNEEDCOLDRS
0xC0650055
Slave status code: Slave needs cold start.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_SLVNEEDINIT
0xC0650056
Slave status code: Slave needs INIT.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_SLVNEEDPREOP
0xC0650057
Slave status code: Slave needs PREOP.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_SLVNEEDSAFEOP
0xC0650058
Slave status code: Slave needs SAFEOP.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVOUTFMMUCNFG
0xC0650059
Slave status code: Invalid Output FMMU
Configuration.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVINFMMUCNFG
0xC065005A
Slave status code: Invalid Input FMMU
Configuration.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVDCSYNCCNFG
0xC065005B
Slave status code: Invalid DC SYNCH
Configuration.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVDCLATCHCNFG
0xC065005C
Slave status code: Invalid DC Latch
Configuration.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_PLLERROR
0xC065005D
Slave status code: PLL Error.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVDCIOERROR
0xC065005E
Slave status code: Invalid DC IO Error.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_INVDCTOERROR
0xC065005F
Slave status code: Invalid DC Timeout
Error.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_MBX_EOE
0xC0650060
Slave status code: MBX_EOE.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_MBX_COE
0xC0650061
Slave status code: MBX_COE.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_MBX_FOE
0xC0650062
Slave status code: MBX_FOE.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_MBX_SOE
0xC0650063
Slave status code: MBX_SOE.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_MBX_VOE
0xC0650064
Slave status code: MBX_VOE.
TLR_E_ETHERCAT_MASTER_DEVICE_STATUS
CODE_OTHER
0xC0650065
Slave status code: vendor specific error
code.
TLR_E_ETHERCAT_MASTER_PREVIOUS_PORT
_MISSING
0xC0650066
Slave status code: PreviousPort
configuration missing in bus configuration
file (outdated configurator).
TLR_E_ETHERCAT_MASTER_CONFIG_ALREAD
Y_STARTED
0xC0650067
Configuration already started, cannot be
started again.
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
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Error Codes
138/168
Error Code (Definition)
Value
Description
TLR_E_ETHERCAT_MASTER_CONFIG_NOT_ST
ARTED
0xC0650068
Configuration was not started before.
TLR_E_ETHERCAT_MASTER_CONFIG_SLAVE_I
NDEX_ALREADY_EXISTS
0xC0650069
Slave index already exists, cannot be
created again.
TLR_E_ETHERCAT_MASTER_CONFIG_SLAVE_
PHYS_ADDR_ALREADY_EXISTS
0xC065006A
Slave physical address already exits,
cannot be created again.
TLR_E_ETHERCAT_MASTER_CONFIG_SLAVE_
AUTOINC_ADDR_ALREADY_EXISTS
0xC065006B
Slave auto increment address already
exists, cannot be created again.
TLR_E_ETHERCAT_MASTER_CONFIG_SLAVE_I
NDEX_NOT_EXISTS
0xC065006C
Slave index does not exist, must be
created before.
TLR_E_ETHERCAT_MASTER_WRONG_VALIDAT
E_DATA_LEN
0xC065006D
Wrong length value for validate data.
TLR_E_ETHERCAT_MASTER_INVALID_ECAT_C
MD
0xC065006E
Invalid value for EtherCAT command.
TLR_E_ETHERCAT_MASTER_PRECONFIGURE
D_DATA_CURRENTLY_NOT_SUPPORTED
0xC065006F
Sending preconfigured cyclic data is
currently not supported.
TLR_E_ETHERCAT_MASTER_INVALID_STATE
0xC0650070
Invalid value for EtherCAT state.
TLR_E_ETHERCAT_MASTER_INVALID_TRANSI
TION
0xC0650071
Invalid value for EtherCAT transition.
TLR_E_ETHERCAT_MASTER_COPY_INFOS_EX
CEEDED
0xC0650072
Maximum amount of copy infos exeeded.
TLR_E_ETHERCAT_MASTER_REDUNDANCY_A
ND_DC_ENABLED
0xC0650073
Redundancy and Distributed clocks
enabled at the same time (not possible).
TLR_E_ETHERCAT_MASTER_NO_SLAVES_CO
NFIGURED
0xC0650074
At least one slave must be configured.
TLR_E_ETHERCAT_MASTER_STATE_CHANGE_
BUSY
0xC0650075
State change is currently busy.
TLR_E_ETHERCAT_MASTER_INVALID_TARGET
_PHASE
0xC0650076
Parameter target phase is invalid.
Table 57: EtherCAT Master Task Status/Error Codes
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
© Hilscher, 2008-2013
Error Codes
10.4.2
139/168
EtherCAT Master AP Task Status/Error Codes
Error Code (Definition)
Value
Description
TLR_E_ETHERCAT_MASTER_AP_COMMAND_I
NVALID
0xC0640001
Invalid command received.
TLR_E_ETHERCAT_MASTER_AP_DPM_WATCH
DOG_TIMEOUT_EXPIRED
0xC0640002
The watchdog expired.
TLR_E_ETHERCAT_MASTER_AP_WATCHDOG_
TIME_TOO_SMALL
0xC0640003
The requested Watchdog time is too small.
TLR_E_ETHERCAT_MASTER_AP_WATCHDOG_
TIME_TOO_LARGE
0xC0640004
The requested Watchdog time is too large.
TLR_E_ETHERCAT_MASTER_AP_WATCHDOG_
RESET_ERROR
0xC0640005
Error during Reset (resetting watchdog).
TLR_E_ETHERCAT_MASTER_AP_CLEANUP_ER
ROR
0xC0640006
Error during Reset (cleanup the dynamic
resources).
TLR_E_ETHERCAT_MASTER_AP_CRITIAL_ERR
OR_STATE
0xC0640007
Master is in critical error state, reset
required.
TLR_E_ETHERCAT_MASTER_AP_WATCHDOG_
ACTIVATE_ERROR
0xC0640008
Error activating the watchdog.
TLR_E_ETHERCAT_MASTER_AP_INPUT_DATA_
TOO_LARGE
0xC0640009
Size of configured input data is larger as
cyclic DPM input data size.
TLR_E_ETHERCAT_MASTER_AP_OUTPUT_DAT
A_TOO_LARGE
0xC064000A
Size of configured output data is larger as
cyclic DPM output data size.
TLR_E_ETHERCAT_MASTER_AP_ENABLE_BUS
_SYNC_FAILED
0xC064000B
Bus Synchronous could not be activated.
TLR_E_ETHERCAT_MASTER_AP_TASK_CREAT
ION_FAILED
0xC064000C
Task could not be created during runtime.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_DEVICE_ECS
0xC064000D
NXD: 1:1 relation broken DEVICE -> ECS.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_CONTROLLER_ECM
0xC064000E
NXD: 1:1 relation broken DEVICE -> ECM.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_ECS_MBX
0xC064000F
NXD: relation broken ECS -> MBX.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_ECS_PROCESSDATA
0xC0640010
NXD: relation broken ECS ->
PROCESSDATA.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_ECS_PREVIOUSPORT
0xC0640011
NXD: relation broken ECS ->
PREVIOUSPORT.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_MBX_COE
0xC0640012
NXD: relation broken MBX -> COE.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_COE_INITCMDSCOE
0xC0640013
NXD: relation broken COE ->
COEINITCMDS.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_CYCLIC_FRAME
0xC0640014
NXD: relation broken CYCLIC -> FRAME.
TLR_E_ETHERCAT_MASTER_AP_BROKEN_REL
ATION_FRAME_CYCLICCMD
0xC0640015
NXD: relation broken FRAME ->
CYCLICCMD.
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_INITCMDS
0xC0640016
NXD: internal error on INITCMD handling.
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_CYCLIC
0xC0640017
NXD: intenral error on CYCLIC handling.
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_FRAME
0xC0640018
NXD: internal error on FRAME handling.
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_CYCLICCMD
0xC0640019
NXD: internal error on CYCLICCMD
handling.
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_DEVICES
0xC0640020
NXD: internal error on DEVICES handling.
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
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Error Codes
140/168
Error Code (Definition)
Value
Description
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_STATE
0xC0640021
NXD: internal error, wrong state.
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_COE_INITCMD
0xC0640022
NXD: internal error on COE_INITCMD
handling.
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_ECM
0xC0640023
NXD: internal error on ECM handling.
TLR_E_ETHERCAT_MASTER_AP_NXD_INTERR
OR_SYNC
0xC0640024
NXD: internal error on SYNC handling.
TLR_E_ETHERCAT_MASTER_AP_CHDIR_FAILE
D
0xC0640025
NXD: Change Directory failed.
TLR_E_ETHERCAT_MASTER_AP_INVALID_INIT
CMD_LEN
0xC0640026
Invalid InitCmd length configuration.
TLR_E_ETHERCAT_MASTER_AP_INVALID_CYC
LICCMD_LEN
0xC0640027
Invalid CyclicCmd length configuration.
TLR_E_ETHERCAT_MASTER_AP_CONFIG_BY_
FILE
0xC0640028
Configuration is done by "ethercat.xml" or
"config.nxd", packet interface inactive.
TLR_E_ETHERCAT_MASTER_AP_INVALID_COE
_INITCMD_LEN
0xC0640029
Invalid CoE-InitCmd length configuration.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_CONTROLLERORADAPTER
0xC064002A
NXD: table CONTROLLERORADAPTER
missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_DEVICES
0xC064002B
NXD: table DEVICES missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_ECM
0xC064002C
NXD: table ECM missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_ECS
0xC064002D
NXD: table ECS missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_INITCMDS
0xC064002E
NXD: table INITCMDS missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_CYCLIC
0xC064002F
NXD: table CYCLIC missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_FRAME
0xC0640030
NXD: table FRAME missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_CYCLICCMD
0xC0640031
NXD: table CYCLICCMD missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_PROCESSDATA
0xC0640032
NXD: table PROCESSDATA missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_PREVIOUSPORT
0xC0640033
NXD: table PREVIOUSPORT missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_MBX
0xC0640034
NXD: table MBX missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_COE
0xC0640035
NXD: table COE missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_IDENTIF
Y_FAILED_INITCMDS_COE
0xC0640036
NXD: table INITCMDS_COE missing.
TLR_E_ETHERCAT_MASTER_AP_NXD_NO_SLA
VES_CONFIGURED
0xC0640037
At least one slave must be configured.
Table 58: EtherCAT Master AP Task Status/Error Codes
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
© Hilscher, 2008-2013
Error Codes
141/168
10.5 ODM Error Codes
10.5.1
General ODM Error Codes
Error Code (Definition)
Value
Description
CODM3_E_INTERNALERROR
0x8004C700
Internal ODM Error
ODM3_E_DESCRIPTION_NOTFOUND
0x8004C701
Description not found in ODM database
CODM3_E_WRITEREGISTRY
0x8004C710
Error writing to the registry
CODM3_E_BAD_REGULAR_EXPRESSION
0x8004C711
Invalid regular expression
CODM3_E_COMCATEGORIE_MANAGER_
FAILED
0x8004C712
Component Category Manager could not
be instantiated
CODM3_E_COMCATEGORIE_ENUMERATION_
FAILED
0x8004C713
Driver could not be enumerated by the
Category Manager
CODM3_E_CREATE_LOCAL_BUFFER
0x8004C714
Error creating local buffers
CODM3_E_UNKNOWNHANDLE
0x8004C715
Unknown handle
CODM3_E_QUEUE_LIMIT_REACHED
0x8004C717
Queue size limit for connection reached
CODM3_E_DATASIZE_ZERO
0x8004C718
Zero data length passed
CODM3_E_INVALID_DATA
0x8004C719
Invalid data content
CODM3_E_INVALID_MODE
0x8004C71A
Invalid mode
CODM3_E_DATABASE_READ
0x8004C71B
Error reading database
CODM3_E_CREATE_DEVICE_THREAD
0x8004C750
Error creating device thread
CODM3_E_CREATE_DEVICE_THREAD_STOP_
EVENT
0x8004C751
Error creating device thread stop event
CODM3_E_CLIENT_NOT_REGISTERED
0x8004C752
Client is not registered at the ODM
CODM3_E_NO_MORE_CLIENTS
0x8004C753
Maximum number of clients reached
CODM3_E_MAX_CLIENT_CONNECTIONS_
REACHED
0x8004C754
Maximum number of client connections
reached
CODM3_E_ENTRY_NOT_FOUND
0x8004C755
Driver/device not found
CODM3_E_DRIVER_NOT_FOUND
0x8004C757
The requested driver is unknown to the
ODM
CODM3_E_DEVICE_ALREADY_LOCKED
0x8004C758
Device is locked by another process
CODM3_E_DEVICE_UNLOCKED_FAILED
0x8004C759
Device could not be unlocked, lock was
set by another process
CODM3_E_DEVICE_LOCK_NECCESSARY
0x8004C75A
Operation requires a device lock to be set
CODM3_E_DEVICE_SUBSCRIPTIONLIMIT
0x8004C75B
Maximum number of servers registered for
this device reached
CODM3_E_DEVICE_NOTSUBSCRIBED
0x8004C75C
Process is not registered as a server on
this device
CODM3_E_DEVICE_NO_MESSAGE
0x8004C75D
No message available
CODM3_E_TRANSFERTIMEOUT
0x8004C760
Message transfer timeout
CODM3_E_MESSAGE_INSERVICE
0x8004C761
Message in service
Table 59: ODM Error Codes - General ODM Error Codes
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
© Hilscher, 2008-2013
Error Codes
10.5.2
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General ODM Driver Error Codes
Error Code (Definition)
Value
Description
CODM3_E_DRV_OPEN_DEVICE
0x8004C7A0
Packet type unsupported by driver
CODM3_E_DRV_INVALID_IDENTIFIER
0x8004C7A1
Invalid device identifier
CODM3_E_DRV_DEVICE_PARAMETERS_
MISMATCH
0x8004C7A3
Parameters differ from requested device
CODM3_E_DRV_BROWSE_NO_DEVICES
0x8004C7A4
No devices found
CODM3_E_DRV_CREATE_DEVICE_INST
0x8004C7A5
Device instance could not be created
CODM3_E_DRV_DEVICE_NOMORE_TX
0x8004C7A6
Device connection limit reached
CODM3_E_DRV_DEVICE_DUPLICATE_TX
0x8004C7A7
Duplicate transmitter ID
CODM3_E_DRV_DEVICE_NOT_CONFIGURED
0x8004C7A8
Device is not configured
CODM3_E_DRV_DEVICE_COMMUNICATION
0x8004C7A9
Device communication error
CODM3_E_DRV_DEVICE_NO_MESSAGE
0x8004C7AA
No message available
CODM3_E_DRV_DEVICE_NOT_READY
0x8004C7AB
Device not ready
CODM3_E_DRV_INVALIDCONFIGURATION
0x8004C7AC
Invalid driver configuration
CODM3_E_DRV_DLINVALIDMODE
0x8004C7C0
Invalid download mode
CODM3_E_DRV_DLINPROGRESS
0x8004C7C1
Download is active
CODM3_E_DRV_ULINPROGRESS
0x8004C7C2
Upload is active
Table 60: ODM Error Codes - General ODM Driver Error Codess
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
© Hilscher, 2008-2013
Error Codes
10.5.3
143/168
cifX Driver Specific ODM Error Codes
cifX Driver Specific ODM Error Codes
Error Code (Definition)
Value
Description
DRV_E_BOARD_NOT_INITIALIZED
0x8004C001
DRIVER Board not initialized
DRV_E_INIT_STATE_ERROR
0x8004C002
DRIVER Error in internal init state
DRV_E_READ_STATE_ERROR
0x8004C003
DRIVER Error in internal read state
DRV_E_CMD_ACTIVE
0x8004C004
DRIVER Command on this channel is
active
DRV_E_PARAMETER_UNKNOWN
0x8004C005
DRIVER Unknown parameter in function
DRV_E_WRONG_DRIVER_VERSION
0x8004C006
DRIVER Version is incompatible with DLL
DRV_E_PCI_SET_CONFIG_MODE
0x8004C007
DRIVER Error during PCI set configuration
mode
DRV_E_PCI_READ_DPM_LENGTH
0x8004C008
DRIVER Could not read PCI dual port
memory length
DRV_E_PCI_SET_RUN_MODE
0x8004C009
DRIVER Error during PCI set run mode
DRV_E_DEV_DPM_ACCESS_ERROR
0x8004C00A
DEVICE Dual port ram not
accessable(board not found)
DRV_E_DEV_NOT_READY
0x8004C00B
DEVICE Not ready (ready flag failed)
DRV_E_DEV_NOT_RUNNING
0x8004C00C
DEVICE Not running (running flag failed)
DRV_E_DEV_WATCHDOG_FAILED
0x8004C00D
DEVICE Watchdog test failed
DRV_E_DEV_OS_VERSION_ERROR
0x8004C00E
DEVICE Signals wrong OS version
DRV_E_DEV_SYSERR
0x8004C00F
DEVICE Error in dual port flags
DRV_E_DEV_MAILBOX_FULL
0x8004C010
DEVICE Send mailbox is full
DRV_E_DEV_PUT_TIMEOUT
0x8004C011
DEVICE PutMessage timeout
DRV_E_DEV_GET_TIMEOUT
0x8004C012
DEVICE GetMessage timeout
DRV_E_DEV_GET_NO_MESSAGE
0x8004C013
DEVICE No message available
DRV_E_DEV_RESET_TIMEOUT
0x8004C014
DEVICE RESET command timeout
DRV_E_DEV_NO_COM_FLAG
0x8004C015
DEVICE COM-flag not set. Check if Bus is
running
DRV_E_DEV_EXCHANGE_FAILED
0x8004C016
DEVICE I/O data exchange failed
DRV_E_DEV_EXCHANGE_TIMEOUT
0x8004C017
DEVICE I/O data exchange timeout
DRV_E_DEV_COM_MODE_UNKNOWN
0x8004C018
DEVICE I/O data mode unknown
DRV_E_DEV_FUNCTION_FAILED
0x8004C019
DEVICE Function call failed
DRV_E_DEV_DPMSIZE_MISMATCH
0x8004C01A
DEVICE DPM size differs from
configuration
DRV_E_DEV_STATE_MODE_UNKNOWN
0x8004C01B
DEVICE State mode unknown
DRV_E_DEV_HW_PORT_IS_USED
0x8004C01C
DEVICE Output port already in use
DRV_E_USR_OPEN_ERROR
0x8004C01E
USER Driver not opened (device driver not
loaded)
DRV_E_USR_INIT_DRV_ERROR
0x8004C01F
USER Can't connect to device
DRV_E_USR_NOT_INITIALIZED
0x8004C020
USER Board not initialized (DevInitBoard
not called)
DRV_E_USR_COMM_ERR
0x8004C021
USER IOCTRL function failed
DRV_E_USR_DEV_NUMBER_INVALID
0x8004C022
USER Parameter DeviceNumber invalid
DRV_E_USR_INFO_AREA_INVALID
0x8004C023
USER Parameter InfoArea unknown
DRV_E_USR_NUMBER_INVALID
0x8004C024
USER Parameter Number invalid
DRV_E_USR_MODE_INVALID
0x8004C025
USER Parameter Mode invalid
DRV_E_USR_MSG_BUF_NULL_PTR
0x8004C026
USER NULL pointer assignment
DRV_E_USR_MSG_BUF_TOO_SHORT
0x8004C027
USER Message buffer too small
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Error Codes
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cifX Driver Specific ODM Error Codes
Error Code (Definition)
Value
Description
DRV_E_USR_SIZE_INVALID
0x8004C028
USER Parameter Size invalid
DRV_E_USR_SIZE_ZERO
0x8004C02A
USER Parameter Size with zero length
DRV_E_USR_SIZE_TOO_LONG
0x8004C02B
USER Parameter Size too long
DRV_E_USR_DEV_PTR_NULL
0x8004C02C
USER Device address null pointer
DRV_E_USR_BUF_PTR_NULL
0x8004C02D
USER Pointer to buffer is a null pointer
DRV_E_USR_SENDSIZE_TOO_LONG
0x8004C02E
USER Parameter SendSize too large
DRV_E_USR_RECVSIZE_TOO_LONG
0x8004C02F
USER Parameter ReceiveSize too large
DRV_E_USR_SENDBUF_PTR_NULL
0x8004C030
USER Pointer to send buffer is a null
pointer
DRV_E_USR_RECVBUF_PTR_NULL
0x8004C031
USER Pointer to receive buffer is a null
pointer
DRV_E_DMA_INSUFF_MEM
0x8004C032
DMA Memory allocation error
DRV_E_DMA_TIMEOUT_CH4
0x8004C033
DMA Read I/O timeout
DRV_E_DMA_TIMEOUT_CH5
0x8004C034
DMA Write I/O timeout
DRV_E_DMA_TIMEOUT_CH6
0x8004C035
DMA PCI transfer timeout
DRV_E_DMA_TIMEOUT_CH7
0x8004C036
DMA Download timeout
DRV_E_DMA_DB_DOWN_FAIL
0x8004C037
DMA Database download failed
DRV_E_DMA_FW_DOWN_FAIL
0x8004C038
DMA Firmware download failed
DRV_E_CLEAR_DB_FAIL
0x8004C039
DMA Clear database on the device failed
DRV_E_DEV_NO_VIRTUAL_MEM
0x8004C03C
DMA USER Virtual memory not available
DRV_E_DEV_UNMAP_VIRTUAL_MEM
0x8004C03D
DMA USER Unmap virtual memory failed
DRV_E_GENERAL_ERROR
0x8004C046
DRIVER General error
DRV_E_DMA_ERROR
0x8004C047
DRIVER General DMA error
DRV_E_WDG_IO_ERROR
0x8004C048
DRIVER I/O WatchDog failed
DRV_E_WDG_DEV_ERROR
0x8004C049
DRIVER Device Watchdog failed
DRV_E_USR_DRIVER_UNKNOWN
0x8004C050
USER Driver unknown
DRV_E_USR_DEVICE_NAME_INVALID
0x8004C051
USER Device name invalid
DRV_E_USR_DEVICE_NAME_UKNOWN
0x8004C052
USER Device name unknown
DRV_E_USR_DEVICE_FUNC_NOTIMPL
0x8004C053
USER Device function not implemented
DRV_E_USR_FILE_OPEN_FAILED
0x8004C064
USER File could not be opened
DRV_E_USR_FILE_SIZE_ZERO
0x8004C065
USER File size zero
DRV_E_USR_FILE_NO_MEMORY
0x8004C066
USER Not enough memory to load file
DRV_E_USR_FILE_READ_FAILED
0x8004C067
USER File read failed
DRV_E_USR_INVALID_FILETYPE
0x8004C068
USER File type invalid
DRV_E_USR_FILENAME_INVALID
0x8004C069
USER Invalid filename
DRV_E_FW_FILE_OPEN_FAILED
0x8004C06E
USER Firmware file could not be opened
DRV_E_FW_FILE_SIZE_ZERO
0x8004C06F
USER Not enough memory to load
firmware file
DRV_E_FW_FILE_NO_MEMORY
0x8004C070
USER Not enough memory to load
firmware file
DRV_E_FW_FILE_READ_FAILED
0x8004C071
USER Firmware file read failed
DRV_E_FW_INVALID_FILETYPE
0x8004C072
USER Firmware file type invalid
DRV_E_FW_FILENAME_INVALID
0x8004C073
USER Firmware file name not valid
DRV_E_FW_DOWNLOAD_ERROR
0x8004C074
USER Firmware file download error
DRV_E_FW_FILENAME_NOT_FOUND
0x8004C075
USER Firmware file not found in the
internal table
DRV_E_FW_BOOTLOADER_ACTIVE
0x8004C076
USER Firmware file BOOTLOADER active
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Error Codes
145/168
cifX Driver Specific ODM Error Codes
Error Code (Definition)
Value
Description
DRV_E_FW_NO_FILE_PATH
0x8004C077
USER Firmware file no file path
DRV_E_CF_FILE_OPEN_FAILED
0x8004C078
USER Configuration file could not be
opend
DRV_E_CF_FILE_SIZE_ZERO
0x8004C079
USER Configuration file size zero
DRV_E_CF_FILE_NO_MEMORY
0x8004C07A
USER Not enough memory to load
configuration file
DRV_E_CF_FILE_READ_FAILED
0x8004C07B
USER Configuration file read failed
DRV_E_CF_INVALID_FILETYPE
0x8004C07C
USER Configuration file type invalid
DRV_E_CF_FILENAME_INVALID
0x8004C07D
USER Configuration file name not valid
DRV_E_CF_DOWNLOAD_ERROR
0x8004C07E
USER Configuration file download error
DRV_E_CF_FILE_NO_SEGMENT
0x8004C07F
USER No flash segment in the
configuration file
DRV_E_CF_DIFFERS_FROM_DBM
0x8004C080
USER Configuration file differs from
database
DRV_E_DBM_SIZE_ZERO
0x8004C083
USER Database size zero
DRV_E_DBM_NO_MEMORY
0x8004C084
USER Not enough memory to upload
database
DRV_E_DBM_READ_FAILED
0x8004C085
USER Database read failed
DRV_E_DBM_NO_FLASH_SEGMENT
0x8004C086
USER Database segment unknown
DEV_E_CF_INVALID_DESCRIPT_VERSION
0x8004C096
CONFIG Version of the descript table
invalid
DEV_E_CF_INVALID_INPUT_OFFSET
0x8004C097
CONFIG Input offset is invalid
DEV_E_CF_NO_INPUT_SIZE
0x8004C098
CONFIG Input size is 0
DEV_E_CF_MISMATCH_INPUT_SIZE
0x8004C099
CONFIG Input size does not match
configuration
DEV_E_CF_INVALID_OUTPUT_OFFSET
0x8004C09A
CONFIG Invalid output offset
DEV_E_CF_NO_OUTPUT_SIZE
0x8004C09B
CONFIG Output size is 0
DEV_E_CF_MISMATCH_OUTPUT_SIZE
0x8004C09C
CONFIG Output size does not match
configuration
DEV_E_CF_STN_NOT_CONFIGURED
0x8004C09D
CONFIG Station not configured
DEV_E_CF_CANNOT_GET_STN_CONFIG
0x8004C09E
CONFIG Cannot get the Station
configuration
DEV_E_CF_MODULE_DEF_MISSING
0x8004C09F
CONFIG Module definition is missing
DEV_E_CF_MISMATCH_EMPTY_SLOT
0x8004C0A0
CONFIG Empty slot mismatch
DEV_E_CF_MISMATCH_INPUT_OFFSET
0x8004C0A1
CONFIG Input offset mismatch
DEV_E_CF_MISMATCH_OUTPUT_OFFSET
0x8004C0A2
CONFIG Output offset mismatch
DEV_E_CF_MISMATCH_DATA_TYPE
0x8004C0A3
CONFIG Data type mismatch
DEV_E_CF_MODULE_DEF_MISSING_NO_SI
0x8004C0A4
CONFIG Module definition is missing,(no
Slot/Idx)
Table 61: cifX Driver Specific ODM Error Codes
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
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Error Codes
146/168
10.6 Error Codes cifX Device Driver and netX Driver
10.6.1
Generic Error Codes
Error Code (Definition)
Value
Description
CIFX_INVALID_POINTER
0x800A0001L
Invalid pointer (NULL) passed to driver
CIFX_INVALID_BOARD
0x800A0002L
No board with the given nameindex
available
CIFX_INVALID_CHANNEL
0x800A0003L
No channel with the given index
available
CIFX_INVALID_HANDLE
0x800A0004L
Invalid handle passed to driver
CIFX_INVALID_PARAMETER
0x800A0005L
Invalid parameter
CIFX_INVALID_COMMAND
0x800A0006L
Invalid command
CIFX_INVALID_BUFFERSIZE
0x800A0007L
Invalid buffer size
CIFX_INVALID_ACCESS_SIZE
0x800A0008L
Invalid access size
CIFX_FUNCTION_FAILED
0x800A0009L
Function failed
CIFX_FILE_OPEN_FAILED
0x800A000AL
File could not be opened
CIFX_FILE_SIZE_ZERO
0x800A000BL
File size is zero
CIFX_FILE_LOAD_INSUFF_MEM
0x800A000CL
Insufficient memory to load file
CIFX_FILE_CHECKSUM_ERROR
0x800A000DL
File checksum compare failed
CIFX_FILE_READ_ERROR
0x800A000EL
Error reading from file
CIFX_FILE_TYPE_INVALID
0x800A000FL
Invalid file type
CIFX_FILE_NAME_INVALID
0x800A0010L
Invalid file name
CIFX_FUNCTION_NOT_AVAILABLE
0x800A0011L
Driver function not available
CIFX_BUFFER_TOO_SHORT
0x800A0012L
Given buffer is too short
CIFX_MEMORY_MAPPING_FAILED
0x800A0013L
Failed to map the memory
CIFX_NO_MORE_ENTRIES
0x800A0014L
No more entries available
CIFX_CALLBACK_MODE_UNKNOWN
0x800A0015L
Unkown callback handling mode
CIFX_CALLBACK_CREATE_EVENT_FAILED
0x800A0016L
Failed to create callback events
CIFX_CALLBACK_CREATE_RECV_BUFFER
0x800A0017L
Failed to create callback receive buffer
Table 62: Generic Error Codes
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
© Hilscher, 2008-2013
Error Codes
10.6.2
147/168
Generic Driver Error Codes
Error Code (Definition)
Value
Description
CIFX_DRV_NOT_INITIALIZED
0x800B0001L
Driver not initialized
CIFX_DRV_INIT_STATE_ERROR
0x800B0002L
Driver init state error
CIFX_DRV_READ_STATE_ERROR
0x800B0003L
Driver read state error
CIFX_DRV_CMD_ACTIVE
0x800B0004L
Command is active on device
CIFX_DRV_DOWNLOAD_FAILED
0x800B0005L
General error during download
CIFX_DRV_WRONG_DRIVER_VERSION
0x800B0006L
Wrong driver version
CIFX_DRV_DRIVER_NOT_LOADED
0x800B0030L
CIFx driver is not running
CIFX_DRV_INIT_ERROR
0x800B0031L
Failed to initialize the device
CIFX_DRV_CHANNEL_NOT_INITIALIZED
0x800B0032L
Channel not initialized (xOpenChannel
not called)
CIFX_DRV_IO_CONTROL_FAILED
0x800B0033L
IOControl call failed
CIFX_DRV_NOT_OPENED(
0x800B0034L
Driver was not opened
CIFX_DRV_DOWNLOAD_STORAGE_UNKN
OWN
0x800B0040L
Unknown download storage type
(RAMFLASH based) found
CIFX_DRV_DOWNLOAD_FW_WRONG_CHA
NNEL
0x800B0041L
Channel number for a firmware
download not supported
CIFX_DRV_DOWNLOAD_MODULE_NO_BAS
EOS
0x800B0042L
Modules are not allowed without a Base
OS firmware
Table 63: Generic Driver Error Codes
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
© Hilscher, 2008-2013
Error Codes
10.6.3
148/168
Generic Device Error Codes
Error Code (Definition)
Value
Description
CIFX_DEV_DPM_ACCESS_ERROR
0x800C0010L
Dual port memory not accessable
(board not found)
CIFX_DEV_NOT_READY
0x800C0011L
Device not ready (ready flag failed)
CIFX_DEV_NOT_RUNNING
0x800C0012L
Device not running (running flag failed)
CIFX_DEV_WATCHDOG_FAILED
0x800C0013L
Watchdog test failed
CIFX_DEV_SYSERR
0x800C0015L
Error in handshake flags
CIFX_DEV_MAILBOX_FULL
0x800C0016L
Send mailbox is full
CIFX_DEV_PUT_TIMEOUT
0x800C0017L
Send packet timeout
CIFX_DEV_GET_TIMEOUT
0x800C0018L
Receive packet timeout
CIFX_DEV_GET_NO_PACKET
0x800C0019L
No packet available
CIFX_DEV_MAILBOX_TOO_SHORT
0x800C001AL
Mailbox too short
CIFX_DEV_RESET_TIMEOUT
0x800C0020L
Reset command timeout
CIFX_DEV_NO_COM_FLAG
0x800C0021L
COM-flag not set
CIFX_DEV_EXCHANGE_FAILED
0x800C0022L
IO data exchange failed
CIFX_DEV_EXCHANGE_TIMEOUT
0x800C0023L
IO data exchange timeout
CIFX_DEV_COM_MODE_UNKNOWN
0x800C0024L
Unknown IO exchange mode
CIFX_DEV_FUNCTION_FAILED
0x800C0025L
Device function failed
CIFX_DEV_DPMSIZE_MISMATCH
0x800C0026L
DPM size differs from configuration
CIFX_DEV_STATE_MODE_UNKNOWN
0x800C0027L
Unknown state mode
CIFX_DEV_HW_PORT_IS_USED
0x800C0028L
Device is still accessed
CIFX_DEV_CONFIG_LOCK_TIMEOUT
0x800C0029L
Configuration locking timeout
CIFX_DEV_CONFIG_UNLOCK_TIMEOUT
0x800C002AL
Configuration unlocking timeout
CIFX_DEV_HOST_STATE_SET_TIMEOUT
0x800C002BL
Set HOST state timeout
CIFX_DEV_HOST_STATE_CLEAR_TIMEOUT
0x800C002CL
Clear HOST state timeout
CIFX_DEV_INITIALIZATION_TIMEOUT
0x800C002DL
Timeout during channel initialization
CIFX_DEV_BUS_STATE_ON_TIMEOUT
0x800C002EL
Set Bus ON Timeout
CIFX_DEV_BUS_STATE_OFF_TIMEOUT
0x800C002FL
Set Bus OFF Timeout
CIFX_DEV_MODULE_ALREADY_RUNNING
0x800C0040L
Module already running
CIFX_DEV_MODULE_ALREADY_EXISTS
0x800C0041L
Module already exists
Table 64: Generic Device Error Codes
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
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Error Codes
149/168
10.7 Error Codes netX Driver
10.7.1
CIFX API Transport Error Codes
Error Code (Definition)
Value
Description
CIFX_TRANSPORT_SEND_TIMEOUT
0x800D0001L
Time out while sending data
CIFX_TRANSPORT_RECV_TIMEOUT
0x800D0002L
Time out waiting for incoming data
CIFX_TRANSPORT_CONNECT
0x800D0003L
Unable to communicate to the deviceno
answer
CIFX_TRANSPORT_ABORTED
0x800D0004L
Transfer has been aborted due to keep
alive timeout or interface detachment
CIFX_CONNECTOR_FUNCTIONS_READ_ERR
OR
0x800D0010L
Error reading the connector functions
from the DLL
CIFX_CONNECTOR_IDENTIFIER_TOO_LONG
0x800D0011L
Connector delivers an identifier longer
than 6 characters
CIFX_CONNECTOR_IDENTIFIER_EMPTY
0x800D0012L
Connector delivers an empty dentifier
CIFX_CONNECTOR_DUPLICATE_IDENTIFIER
0x800D0013L
Connector identifier already used
Table 65: CIFX API Transport Error Codes
10.7.2
CIFX API Transport Header State Error Codes
Error Code (Definition)
Value
Description
CIFX_TRANSPORT_ERROR_UNKNOWN
0x800E0001L
Unknown error code in transport header
CIFX_TRANSPORT_CHECKSUM_ERROR
0x800E0002L
CRC16 checksum failed
CIFX_TRANSPORT_LENGTH_INCOMPLETE
0x800E0003L
Transaction with inclomplete length
detected
CIFX_TRANSPORT_DATA_TYPE_UNKOWN
0x800E0004L
Device does not support requested data
type
CIFX_TRANSPORT_DEVICE_UNKNOWN
0x800E0005L
Device not availableunknown
CIFX_TRANSPORT_CHANNEL_UNKNOWN
0x800E0006L
Channel not availableunknown
CIFX_TRANSPORT_SEQUENCE
0x800E0007L
Sequence error detected
CIFX_TRANSPORT_BUFFEROVERFLOW
0x800E0008L
Buffer overflow detected
CIFX_TRANSPORT_RESOURCE
0x800E0009L
Device signals out of resources
CIFX_TRANSPORT_KEEPALIVE
0x800E000AL
Device connection monitoring error
(Keep alive)
CIFX_TRANSPORT_DATA_TOO_SHORT(
0x800E000BL
Received transaction data too short
Table 66: CIFX API Transport Header State Error Codes
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
DOC080404OI07EN | Revision 7 | English | 2013-09 | Released | Public
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Error Codes
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10.8 ODM Error Codes DBM V4
ODM Error Codes DBM V4
Error Code (Definition)
Value
Description
CDBM_E_MD5_INVALID
0XC004C810
Checksum invalid
CDBM_E_INTERNALERROR
0XC004C811
Internal Error
CDBM_W_WRITEREGISTRY
0X8004C812
Error writing to the registry
CDBM_E_UNEXPECTED_VALUE_
IN_OLD_HEADER_FORMAT
0XC004C813
Error in a file containing the old DBM
Header format.
CDBM_E_CHECKSUM_INVALID
0XC004C814
The Checksum of the old Header is invalid
CDBM_E_DB_ALREADY_LOADED_ FORMAT
0XC004C815
A database is already loaded
CDBM_E_NO_VALID_TRANSACTION
0XC004C816
No valid transaction handle given
CDBM_E_STD_STRUCT_ERROR
0XC004C817
An error occurred during validation of data
CDBM_E_UNSUPPORTED_
DATA_TYPE_FORMAT
0XC004C818
Unsupported DataType
CDBM_W_CLASS_DELETED_ FORMAT
0X8004C819
Using an Object which is marked as
deleted
(Warning)
CDBM_W_CLIENT_DISCONNECTED
0X8004C81A
(Warning)
A Client has already an outstanding
connection to a Table. The connection is
now destroyed.
CDBM_E_STRUCTURE_DEFINITION_ INVALID
0XC004C81B
A structure definition of an Element in a
Table is invalid
CDBM_E_NO_DATA_AVAILABLE
0XC004C81C
No data available for this operation
CDBM_E_NO_VALID_STRUCTURE
0XC004C81D
No valid structure available for this
operation
CDBM_E_NO_TOGGLE_STRING_ FOUND
0XC004C81E
No Toggle string found for this number
CDBM_E_ELEMENT_OUT_OF_RANGE
0XC004C81F
An element wasn’t found in the Record of
a Table
CDBM_E_ELEMENT_NOT_IN_ TABLE
0XC004C820
The element is not part of the Table
CDBM_E_CANNOT_CONVERT_
INTO_CLIENT_TYPE
0XC004C821
The data can't be converted into the Client
type
CDBM_E_TRANSACTION_ ALREADY_OPEN
0XC004C822
A transaction is already open. Please
close this one first before opening a new
one.
CDBM_I_OLD_WITHOUT_HEADER
0X4004C823
Use of an old DBM file Format without
Header
CDBM_E_HR_FROM
0XC004C824
(Informational)
An HRESULT was received from a
Subroutine
CDBM_E_PARAMETER
0XC004C825
A Parameter is invalid
CDBM_E_NOTIMPL
0XC004C826
Method is currently not implemented
CDBM_E_OUTOFMEMORY
0XC004C827
Out of memory
CDBM_E_NO_OPEN_TRANSACTION
0XC004C828
No transaction open
CDBM_E_NO_CONTENTS
0XC004C829
No contents available
CDBM_REC_NO_NOT_FOUND
0XC004C82A
Record not found
CDBM_STRUCTURE_ELEMENT_ NOT_FOUND
0XC004C82B
Element of the Structure not found
CDBM_E_NO_MORE_RECORDS_ IN_TABTYPE
0XC004C82C
Table type 3 can contain only one record
CDBM_E_WRITE
0XC004C82D
The data in the VARIANT must be given in
a SafeArray
CDBM_E_WRITE_NO_PARRAY
0XC004C82E
The VARIANT contains no valid [parray]
element
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ODM Error Codes DBM V4
Error Code (Definition)
Value
Description
CDBM_E_WRITE_CANT_ ACCESS_DATA
0XC004C82F
Unable to access SafeArray Data in the
VARIANT
CDBM_E_WRITE_DATA
0XC004C830
To write the data of this Element it must be
given as a BSTR, or as an Array of
VT_UI1/VT_I1
CDBM_E_WRITE_BSTR_E1
0XC004C831
The BSTR string must have an even
length.
CDBM_E_WRITE_BSTR_E2
0XC004C832
The BSTR string must contain only hex
digits (0..9 and a/A..f/F).
CDBM_E_WRITE_CANT_ INTERPRET_ARRAY
0XC004C833
Unable to interpret data in the SafeArray.
CDBM_E_WRITE_VT_ERROR
0XC004C834
Data type in the SafeArray is not VT_UI1
or VT_I1.
CDBM_E_WRITE_LENGTH
0XC004C835
Data length is invalid for write operation of
this type.
CDBM_WRITE_ELEMENT
0XC004C836
Element not found in the Record of the
Table
CDBM_MIN_MAX_ERROR
0XC004C837
Can't write data because of min underflow
or max overflow
CDBM_TABLE_EXIST
0XC004C838
Table already exist in the database
CDBM_MIN_MAX_INVALID
0XC004C839
The Min value is greater than the Max
Value
CDBM_DEF_MIN_MAX_INVALID
0XC004C83A
The Default Value is not in the range
between the Min value and the Max Value
CDBM_CANT_CHANGE_STRUCTURE_
WHILE_RECORDS_EXIST
0XC004C83B
It's not allowed to change the structure
while Records exist in the Table
CDBM_NEW_STRUCT_NEEDS_TYPE
0XC004C83C
In a newly added structure the data type
must be set also
CDBM_VALUE_ERROR
0XC004C83D
Range error while validating a value
CDBM_DATATYPE_ UNSUPPORTED_IN_RCS
0XC004C83E
The data type is unsupported in the RCS
file format
CDBM_I_COUNT_OF_TABLES_
EXCEEDS_RCS_RANGE
0X4004C83F
The count of Tables exceeds the RCS
range of Tables. This can cause problems
if the file is downloaded to RCS Systems
CDBM_I_COUNT_OF_TABLES_
EXCEEDS_OLDDBM_RANGE
0X4004C840
CDBM_UNSUPPORTED_DATATYPE_
IN_RCS_MODE
0XC004C841
The Data type is not compatible with the
old database format
CDBM_WRITE_UNSTRUCTURED_1
0XC004C842
The data of an unstructured record can
only be written with the 'Write' Method not
with 'WriteElement'.
CDBM_READ_UNSTRUCTURED_1
0XC004C843
The data of an unstructured record can
only be read with the 'Read' Method not
with 'ReadElement'
CDBM_WRITE_DATA_LENGTH_ INVALID
0XC004C844
The given data length doesn’t correspond
with the expected data length.
(Informational)
(Informational)
The count of Tables exceeds the
DBM32.DLL range of Tables. This can
cause problems if the file is used with older
Tools using the DBM32.DLL
CDBM_UNKNOWN_VIEW_MODE
0XC004C845
The View Mode is unknown.
CDBM_E_DIAG_TABLE
0XC004C846
It doesn’t make much sense to add or
delete records from a diagnostic table
because those changes are never saved.
CDBM_E_ADR_STRING_ERROR
0XC004C847
The given Address string doesn’t fit the
required format of this type where all
address bytes must be in the range
between 0 and FF
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Error Codes
152/168
ODM Error Codes DBM V4
Error Code (Definition)
Value
Description
CDBM_ERROR_FROM_VAR_ CHANGE_TYPE
0XC004C848
Function VariantChangeType return an
error when trying to convert the Parameter
CDBM_E_MINERROR
0XC004C849
Error while comparing the Value with the
lower range
CDBM_E_MAXERROR
0XC004C84A
Error while comparing the Value with the
upper range
CDBM_E_RANGE_ERROR
0XC004C84B
Value out of Range
CDBM_E_TABLE_TYPE1
0XC004C84C
Table type 1 doesn’t have a unique record
length over all records
CDBM_E_TABLE_TYPE3_ ADDREC
0XC004C84D
Table type 3 doesn’t allow to insert more
than one Record
CDBM_E_TABTYPE1
0XC004C84E
It's not allowed to insert more Records
than structure definitions in Table Type 1
CDBM_E_TOGGLE_NOT_FOUND
0XC004C84F
Could not find the string for this value in
the list of valid toggle strings
CDBM_E_TOGGLE_VALUE_IS_ EMPTY_STRING
0XC004C850
The toggle string for this value is empty.
CDBM_VARIANT2BYTEARRAY_ ERROR
0XC004C851
Error during conversion of Variant to byte
array
CDBM_E_SET_ELEM_PROP_ DEPENDENCY
0XC004C852
The Toggle Type needs also the additional
string and the additional number entries in
the Method
CDBM_E_TABTYPE1_REC_
DOESNT_CORRESPOND_ WITH_ELEMENT
0XC004C853
When reading the records of Table type 1
elementwise the record number must
correspond with the element number
CDBM_TABTYPE1_NO_DATA_
FOUND_FOR_RECORD
0XC004C854
When reading the records of Table type 1
and structure definitions are present it's
assumed that for each structure element a
corresponding record must exist
CDBM_E_TABTYPE1_WRITE_
ELEMENT_NE_RECORD
0XC004C855
When writing the records of Table type 1
elementwise and structure definitions are
present it's only allowed to write the
corresponding element number in each
record
CDBM_E_TABTYPE1_WRITE_
ELEMENT_NOT_FOUND
0XC004C856
When writing the records of Table type 1
with an array and structure definitions are
present it's assumed that a corresponding
element number of this record exist
CDBM_I_TABLE_NAME_EXCEEDS_
RCS_RANGE
0X4004C857
The Table name exceeds the maximum
length of RCS compatible Table names
CDBM_W_CUT_STRING
0X8004C858
CDBM_I_STRING_TOO_SHORT
0X4004C859
(Informational)
(Warning)
(Informational)
The string exceeds the maximum length
and will be limited to the maximum length
The string is below the minimum length.
The minimum length will be reduced.
(Informational)
The string is exceeding the maximum. The
maximum length will be extended.
CDBM_E_STRING_TOO_SHORT
0XC004C85B
The string is below the minimum length.
CDBM_E_STRING_TOO_LONG
0XC004C85C
CDBM_I_STRING_TOO_LONG
0X4004C85A
(Error)
(Error)
The string is exceeding the maximum
length
CDBM_E_WRONG_TYPE_ FOR_WRITE
0XC004C85D
Writing on the Element type with the given
Data type is not implemented
CDBM_E_NO_APPEND_IN_
STRUCTURED_RECORDS
0XC004C85E
Method IDbmRecord::AppendData is not
allowed for structured records
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ODM Error Codes DBM V4
Error Code (Definition)
Value
Description
CDBM_E_DATA_UNAVAILABLE
0XC004C85F
No data available
CDBM_E_CANT_CONVERT_ INTO
0XC004C860
Unable to convert the value into the
Element type
CDBM_E_DBM_FILE_OVERFLOW
0XC004C861
You try to write a RCS like database which
needs too much bytes
CDBM_E_PW_ERROR
0XC004C862
Password not correct
CDBM_E_FILELENGTH_CORRUPT
0XC004C863
The file length doesn’t correspond to the
length given in the Header.
CDBM_E_STRUCT_TYPE
0XC004C864
Error in the file.
CDBM_E_MD5SUM_INVALID
0XC004C865
MD5 sum invalid
CDBM_E_STRUCT_LENGTH
0XC004C866
Error in the expected and given structure
length at a specific offset in the file.
CDBM_E_APPEND
0XC004C867
Append of data is only allowed if the
Record contains only one data field and
the field type will support this
CDBM_APPEND_NOT_ SUPPORTED
0XC004C868
Append of Data not supported by this filed
type
CDBM_DATA_TYPE_APPEND_ ERROR
0XC004C869
Can't append Data of this type.
CDBM_E_UNSTRUCTURED_TABLE_
DOESNT_SUPPORT_LENGTH
0XC004C86A
A Table without structure information
doesn’t support a record length
CDBM_E_DISABLED_WHILE_
TRANSACTION_IS_OPEN
0XC004C86B
The Method is disabled while a transaction
is open. Please close this one first and call
the Method again.
CDBM_E_UNABLE_TO_CALL_
READ_ON_LINKED_LIST
0XC004C86C
The Method is disabled on a LinkedList
type. Please use the IRecordCollection on
this type.
CDBM_E_ELEMENT_HAS_NO_
SUBSTRUCTURE
0XC004C86D
An Element from a Table has no
substructure
CDBM_STRUCT_ERROR_FROM_
VAR_CHANGE_TYPE
0XC004C86E
Error from calling VariantChangeType
CDBM_E_FOREIGNKEY_DEF
0XC004C86F
The definition of a FOREIGNKEY must
contain the name of the related Table in
the description and this Table must exist at
this time
CDBM_E_FOREIGNKEY_ REF_TAB
0XC004C870
The description of a FOREIGNKEY must
refer to a Table of type
'eDbmTableTypeLinkedList'
CDBM_E_KEY
0XC004C871
To create a Record Collection with a KEY
it's necessary to have the data type KEY at
the first position in all Records of the
searched Table
CDBM_E_KEY_TABLE_TYPE
0XC004C872
This Method needs a Table of type
'eDbmTableTypeLinkedList'
CDBM_DATATYPE_NOT_ IMPLEMENTED
0XC004C873
This data type is currently not implemented
CDBM_INSERT_POS_NOT_ FOUND
0XC004C874
The position of the Record where the new
one should be inserted wasn’t found
CDBM_E_INSERT_REC_QI
0XC004C875
Error during insertion of a Record
CDBM_E_TAB_PROP
0XC004C876
Invalid Property in Table
CDBM_E_KEY_NOT_FOUND
0XC004C877
The KEY wasn’t found in the Table
CDBM_E_KEY_INVALID
0XC004C878
The KEY is invalid for this operation
Table 67: ODM Error Codes DBM V4
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11 Appendix
11.1 User Rights
User-rights are set within the FDT-container. Depending on the level the
configuration is accessible by the user or read-only.
To access the Settings, Configuration and Diagnosis panes of the
EtherCAT Master DTM you do not need special user rights. Also all users
can select the decimal or hexadecimal Display mode or sort table entries.
Note: To edit, set or configure the parameters of the Settings and
Configuration panes, you need user rights for Maintenance, for Planning
Engineer or for Administrator.
The following tables give an overview of the user right groups and which
user rights you need to configure the single parameters.
11.1.1
Settings
Observer
Operator
Maintenance
Planning
Engineer
Administrator
D
D
X
X
X
Verify or adapt Driver Settings
-
-
X
X
X
Configuring netX Driver
-
-
X
X
X
D
D
X
X
X
Driver
Device Assignment
-
-
X
X
X
Selecting the Device (with or
without firmware)
-
-
X
X
X
Selecting the Device once more
(with Firmware)
-
-
X
X
X
Firmware Download
D
D
X
X
X
Scanning for Devices
Table 68: Settings (D = Displaying, X = Editing, Configuring)
11.1.2
Configuration
Observer
Operator
Maintenance
Planning
Engineer
Administrator
General
D
D
X
X
X
Process Data Handshake
D
D
X
X
X
Mailbox
D
D
X
X
X
FMMU/SyncMan
D
D
X
X
X
Address Table
D
D
X
X
X
Init Commands
D
D
X
X
X
Table 69: Configuration (D = Displaying, X = Editing, Configuring)
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11.2 Object Dictionary
The object dictionary is a special area for the storage of parameters,
application data and the PDO mapping, i.e. the mapping information
between process data and application data. The object dictionary
functionality is similar to the one defined in the CANopen standard in order
to use CANopen-based device and application profiles in EtherCAT.
Access to the object dictionary is possible via Service Data Objects (SDO)
which provide a mailbox-based access functionality.
All CANopen-related data objects are contained in the object dictionary and
can be accessed in a standardized manner. You can view the object
dictionary as a container for device parameter data structures.
The following SDO services are provided for maintaining the object
dictionary:
 SDO Upload
 SDO Download
11.2.1 General Structure
The object dictionary is structured in separate areas. Each area has its own
range of permitted index values and its special purpose as defined in the
table below:
Index Range
Area Name
Purpose
0x0000 – 0x0FFF
Data Type Area
Definition and description of data types.
0x1000 – 0x1FFF
CoE Communication Area
Definition of generally applicable variables (communication
objects for all devices as defined by CANopen standard DS
301).
0x2000 – 0x5FFF
Manufacturer-specific Area
Definition of manufacturer-specific variables
0x6000 – 0x9FFF
Profile Area
Definition of variables related to a specific profile
0xA000 – 0xFFFF
Reserved Area
This area is reserved for future use
Table 70: General Structure of Object Dictionary
11.2.2 Objects
The following kinds of objects may be defined within the object directory:
Object Code
Object Name
0002
DOMAIN
0005
DEFTYPE
0006
DEFSTRUCT
0007
VAR
0008
ARRAY
0009
RECORD
Table 71: Definition of Objects
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11.2.3 Data Types
Data types can be defined in the data type area of the object dictionary
using object DEFTYPE as follows:
Data Type Index
Name
0001
BOOLEAN
0002
INTEGER8
0003
INTEGER16
0004
INTEGER32
0005
UNSIGNED8
0006
UNSIGNED16
0007
UNSIGNED32
0008
REAL32
0009
VISIBLE_STRING
000A
OCTET_STRING
000B
UNICODE_STRING
000C
TIME_OF_DAY
000D
TIME_DIFFERENCE
000E
Reserved
000F
DOMAIN
0010
INTEGER24
0011
REAL64
0012
INTEGER40
0013
INTEGER48
0014
INTEGER56
0015
INTEGER64
0016
UNSIGNED24
0017
Reserved
0018
UNSIGNED40
0019
UNSIGNED48
001A
UNSIGNED56
001B
UNSIGNED64
001C-001F
Reserved for future use
Table 72: Available Data Type Definitions – Part 1
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Data Type Index
Name
0020
Reserved
Object
0021
PDO_MAPPING
0022
Reserved
0023
IDENTITY
0024
Reserved
0025
COMMAND_PAR
DEFSTRUCT
0026
IP_PAR
DEFTYPE
0027-003F
Reserved
0040-005F
Manufacturer Specific Complex Data Types
DEFSTRUCT
0060-007F
Device Profile 0 Specific Standard Data Types
DEFTYPE
0080-009F
Device Profile 0 Specific Complex Data Types
DEFSTRUCT
00A0-00BF
Device Profile 1 Specific Standard Data Types
DEFTYPE
00C0-00DF
Device Profile 1 Specific Complex Data Types
DEFSTRUCT
DEFSTRUCT
DEFSTRUCT
00E0-00FF
Device Profile 2 Specific Standard Data Types
DEFTYPE
0100-011F
Device Profile 2 Specific Complex Data Types
DEFSTRUCT
0120-013F
Device Profile 3 Specific Standard Data Types
DEFTYPE
0140-015F
Device Profile 3 Specific Complex Data Types
DEFSTRUCT
0160-017F
Device Profile 4 Specific Standard Data Types
DEFTYPE
0180-019F
Device Profile 4 Specific Complex Data Types
DEFSTRUCT
01A0-01BF
Device Profile 5 Specific Standard Data Types
DEFTYPE
01C0-01DF
Device Profile 5 Specific Complex Data Types
DEFSTRUCT
01E0-01FF
Device Profile 6 Specific Standard Data Types
DEFTYPE
0100-021F
Device Profile 6 Specific Complex Data Types
DEFSTRUCT
0220-023F
Device Profile 7 Specific Standard Data Types
DEFTYPE
0240-025F
Device Profile 7 Specific Complex Data Types
DEFSTRUCT
0260-0FFF
Reserved
Reserved
Table 73: Available Data Type Definitions – Part 2
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11.2.4 The CoE Communication Area
The CoE Communication Area is structured according to the definitions in
this table:
CoE Communication Area
Data Type
Index
Object
Name
Type
M/O/C
1000
VAR
Device Type
UNSIGNED32
M
1001
::::
Reserved
::::
::::
1008
VAR
Manufacturer Device Name
String
O
1009
VAR
Manufacturer Hardware Version
String
O
100A
VAR
Manufacturer Software Version
String
O
::::
::::
Identity (23h)
M
::::
::::
1007
Reserved
100B
::::
Reserved
::::
::::
1017
1018
Reserved
RECORD
101A
::::
::::
Identity Object
Reserved
::::
::::
Table 74: CoE Communication Area - General Overview
For index values larger than 0x1100 refer to the EtherCAT specification.
The sections below show for the single items of the CoE Communication
Area the following information:
 Name
 Object code
 Data type
 Category (Mandatory or optional)
 Access (Read-only or Read/Write)
 PDO mapping (Yes/No)
 Allowed values
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Device Type
Index
0x1000
Name
Device Type
Object code
VAR
Data type
UNSIGNED32
Category
Mandatory
Access
Read only
PDO mapping
No
Value
Bit 0-15: contain the used device profile or the value
0x0000 if no standardized device is used
Table 75: CoE Communication Area - Device Type
11.2.4.2
Manufacturer Device Name
Index
0x1008
Name
Manufacturer Device Name
Object code
VAR
Data type
VISIBLE_STRING
Category
Optional
Access
Read only
PDO mapping
No
Value
Name of the device (specified as non zero terminated
string)
Table 76: CoE Communication Area – Manufacturer Device Name
11.2.4.3
Manufacturer Hardware Version
Index
0x1009
Name
Manufacturer Hardware Version
Object code
VAR
Data type
VISIBLE_STRING
Category
Optional
Access
Read only
PDO mapping
No
Value
Hardware version of the device (specified as non zero
terminated string)
Table 77: CoE Communication Area – Manufacturer Hardware Version
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Manufacturer Software Version
Index
0x100A
Name
Manufacturer Software Version
Object code
VAR
Data type
VISIBLE_STRING
Category
Optional
Access
Read only
PDO mapping
No
Value
Software version of the device (specified as non zero
terminated string)
Table 78: CoE Communication Area – Manufacturer Software Version
11.2.4.5
Identity Object
Index
0x1018
Name
Identity Object
Object code
RECORD
Data type
IDENTITY
Category
Mandatory
Table 79: CoE Communication Area – Identity Object
Number of entries
Sub Index
0
Description
Number of entries
Data type
UNSIGNED8
Entry Category
Mandatory
Access
Read only
PDO mapping
No
Value
4
Table 80: CoE Communication Area – Identity Object - Number of entries
Vendor ID
Sub Index
1
Description
Vendor ID
Data type
UNSIGNED32
Entry Category
Mandatory
Access
Read only
PDO mapping
No
Value
Vendor ID assigned by the CiA organization
Table 81: CoE Communication Area – Identity Object - Vendor ID
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Product Code
Sub Index
2
Description
Product Code
Data type
UNSIGNED32
Entry Category
Mandatory
Access
Read only
PDO mapping
No
Value
Product code of the device
Table 82: CoE Communication Area – Identity Object - Product Code
Revision Number
Sub Index
3
Description
Revision Number
Data type
UNSIGNED32
Entry Category
Mandatory
Access
Read only
PDO mapping
No
Value
Bit 0-15: Minor Revision Number of the device
Bit 16-31: Major Revision Number of the device
Table 83: CoE Communication Area – Identity Object - Revision Number
Serial Number
Sub Index
4
Description
Serial Number
Data type
UNSIGNED32
Entry Category
Mandatory
Access
Read only
PDO mapping
No
Value
Serial Number of the device
Table 84: CoE Communication Area – Identity Object - Serial Number
11.3 References
[1]
Device Type Manager (DTM) Style Guide, Version 1.0 ; FDT-JIG - Order No.
<0001-0008-000>
[2]
EtherCAT Communication Specification, August 2007
[3]
IEC 61158 Part 2-6 Type 12 documents
[4]
EtherCAT Master Protocol API Manual (V3), Revision 5, Hilscher GmbH 2013
11.4 List of Figures
Figure 1: Dialog Structure of the EtherCAT Master DTM
Figure 2: Navigation Area
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Figure 3: Status Bar – Status Fields 1 to 6
17
Figure 4: Status Bar Display Examples
17
Figure 5: Default Driver ‚cifX Device Driver’ for PC cards cifX
25
Figure 6: Default Driver ‚cifX Device Driver’ for PC cards cifX (example)
25
Figure 7: Default Driver ‚netX Driver’ for Hilscher devices except for PC cards cifX (example)
25
Figure 8: Manual Selection of multiple drivers (Example)
26
Figure 9: netX Driver > USB/RS232 Connection
29
Figure 10: netX Driver > TCP Connection
32
Figure 11: Device Assignment - detected Devices (* The name of the device class is displayed.) – Example
for a device without firmware
34
Figure 12: Device Assignment - detected Devices (* The name of the device class is displayed.) Example for
Devices without Firmware
36
Figure 13: Device Assignment - Selecting the Device (* The name of the device class is displayed.) –
Example for a device without firmware / one Device is selected
37
Figure 14: Device Assignment - Selecting the Device (* The name of the device class is displayed.) –
Example for Devices with and without Firmware / one Device is selected
38
Figure 15: Device Assignment - Selecting the Device (* The name of the device class is displayed.) –
Example for a device with firmware / one Device is selected
39
Figure 16: Firmware Download
40
Figure 17: Window ‘Select Firmware File’ (Example CIFX)
41
Figure 18: Request Select Firmware File - Example
43
Figure 19: Firmware Download – Download
43
Figure 20: Firmware-Download –Question
43
Figure 21: Clock Symbol and Hook Symbol green
44
Figure 22: Firmware Download - Progress Bar
44
Figure 23: Licensing
45
Figure 24: Configuration > General (*The current device name is displayed.)
48
Figure 25: EtherCAT Master DTM, “General” page, Synchronization Modes
49
Figure 26: Error "Invalid Freerun Cycle"
51
Figure 27: Error "When synchronization mode is [Freerun with DC] or [DC Synchronized], it is not allowed to
activate redundancy!"
51
Figure 28: Process Data Handshake
52
Figure 29: Data Exchange Timing in Mode 1
53
Figure 30: Data Exchange Timing in Mode 2
53
Figure 31: Topology >Tree View
54
Figure 32: Error "Wrong station address"
56
Figure 33: Error "Wrong station name "
56
Figure 34: Topology > Connection View
57
Figure 35: Mailbox > CoE
60
Figure 36: Mailbox > CoE:
61
Figure 37: Mailbox > CoE, 'General' Register Card
62
Figure 38: Mailbox > CoE, 'Start-up' Register Card
63
Figure 39: Error Message Box at incorrect Input of Init Command Data
65
Figure 40: Error Message Box at incorrect Input of Init Command Data
65
Figure 41: Mailbox > CoE, 'Userdef Start-up' Register Card
66
Figure 42: Configuration > FMMU/ SyncMan
67
Figure 43: Process Data (*The name of the Slave device is displayed.)
70
Figure 44: Configuration > Address Table
71
Figure 45: Configuration > Address Table - Display Mode
72
Figure 46: ‘Init Commands’ Page
73
Figure 47: Starting ‘Network Scan’ (Example)
79
Figure 48: Scan Response dialog of the Master DTM (Example)
80
Figure 49: Scan Response dialog of the Master DTM (Example)
81
Figure 50: Creating the DTM devics (Example)
84
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Figure 51: Created Slave Devices in the Network (Example)
Figure 52: ‚Download’ current Configuration to EtherCAT Master (Example)
Figure 53: License Pane
Figure 54: License Pane - License Type
Figure 55: License Pane – License Type / Master protocols
Figure 56: License Pane – License Type / Utilities
Figure 57: License Pane - Request Form, please fill out / Device Information
Figure 58: License Pane - Request Form, please fill out / License Type
Figure 59: License Pane - Request Form, please fill out / Mandatory data
Figure 60: License Pane – Selecting the Subsidiary / Ordering / Contacts
Figure 61: License Pane – placing the order by E-mail
Figure 62: Example: Order E-Mail License request
Figure 63: License Pane - placing the order by Fax or by Telephone
Figure 64: Example: Order Data Form PrintOrderRequest
Figure 65: License Pane – Fax Number of the selected Subsidiary
Figure 66: License Pane – Telephone Number of the selected Subsidiary
Figure 67: License Pane - Ordering by exported File and E-Mail
Figure 68: License Pane - Download License
Figure 69: General Diagnosis
Figure 70: Master Diagnosis
Figure 71: Station Diagnosis
Figure 72: Firmware-Diagnose (* Der Name der Firmware erscheint.)
Figure 73: Extended Diagnosis > [Folder Name] > Task Information Example Display
Figure 74: Extended Diagnosis > [Folder Name] > IniBatch Status Example Display
Figure 75: Extended Diagnosis > ECAT_MASTER > Low Level Error Counter
Figure 76: Extended Diagnosis > ECAT_MASTER > Packet Counter Stack
Figure 77: Extended Diagnosis > ECAT_MASTER > Internal Status Stack
Figure 78: Extended Diagnosis > ECAT_MASTER_AP > Packet Counter AP-Task
Figure 79: Extended Diagnosis > ECAT_MASTER_AP > DPM Statistics
Figure 80: Extended Diagnosis > ECAT_MASTER_AP > Internal Status of AP-Task
Figure 81: Online Comparison (before pressing button 'Compare online')
Figure 82: Online Comparison (after pressing button 'Compare online'
Figure 83: Packet Monitor
Figure 84: Send > Packet Header and Send Data
Figure 85: Packet Header and Receive Data
Figure 86: IO Monitor
Figure 87: Window ‘Process Image Monitor’
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84
85
89
90
90
90
93
94
94
95
96
96
97
97
98
98
99
100
102
104
105
106
108
109
110
111
113
114
116
117
118
119
122
123
124
125
127
11.5 List of Tables
Table 1: Descriptions Dialog Pages
Table 2: List of Revisions
Table 3: General Device Information
Table 4: Overview Dialog Panes
Table 5: OK, Cancel, Apply and Help
Table 6: Selecting, inserting, deleting Table Line
Table 7: Status Bar Icons [1]
Table 8: Getting started - Configuration Steps
Table 9: Descriptions of the Dialog Panes Settings
Table 10: Driver Selection List Parameters
Table 11: Parameters netX Driver > USB/RS232 Connection
Table 12: Parameters netX Driver > TCP Connection
Table 13: Parameters of the Device Assignment
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Table 14: Parameter Firmware Download
Table 15: Parameters Select Firmware File
Table 16: Descriptions of the Dialog Panes Configuration
Table 17: Configuration > General – Parameters
Table 18: Coding of Parameter "Physics"
Table 19: Information displayed when pointing at Symbol of a Device
Table 20: Coding of Parameter "Physics"
Table 21: Context Menu Entries for unpinned EtherCAT Slave Devices in Connection View
Table 22: Context Menu Entries for pinned EtherCAT Slave Devices in Connection View
Table 23: Mailbox > CoE, 'Start-up' Register Card, Meaning of State Transitions
Table 24: FMMU-related Information
Table 25: SyncManager-related Information
Table 26: Process Data
Table 27: Address Table Page Parameters - Inputs / Outputs
Table 28: Possible Command Codes in Init Commands
Table 29: Parameters of EtherCAT Command
Table 30: Description on the Scan Response dialog of the Master DTM
Table 31: Descriptions of the Diagnosis Panes
Table 32: Indication General Diagnosis
Table 33: Parameter General Diagnosis
Table 34: Parameter Master Diagnosis
Table 35: Columns of table ‘Station Diagnosis"
Table 36: Possible Values for the Status
Table 37: Description Table Task Information
Table 38: Descriptions of the Dialog Panes Extended Diagnosis
Table 39: Extended Diagnosis > [Folder Name] > Task Information
Table 40: Extended Diagnosis > [Folder Name] > IniBatch Status
Table 41: Extended Diagnosis > ECAT_MASTER > Low Level Error Countern
Table 42: Extended Diagnosis > ECAT_MASTER > Packet Counter Stack
Table 43: Extended Diagnosis > ECAT_MASTER > Internal Status Stack
Table 44: Extended Diagnosis > ECAT_MASTER_AP > Packet Counter AP-Task
Table 45: Extended Diagnosis > ECAT_MASTER_AP > DPM Statistics
Table 46: Extended Diagnosis > ECAT_MASTER_AP > Internal Status of AP-Task
Table 47: Meaning of signs in Online Comparison
Table 48: Descriptions of the Diagnosis Panes
Table 49: Descriptions Packet Header
Table 50: Descriptions Packet Header
Table 51: Notes to the Window ‘Process Image Monitor’
Table 52: Overview Error Codes and Ranges
Table 53: RCX General Task Errors
Table 54: RCX Common Status & Errors Codes
Table 55: RCX Status & Error Codes
Table 56: RCX Status & Error Codes Slave State
Table 57: EtherCAT Master Task Status/Error Codes
Table 58: EtherCAT Master AP Task Status/Error Codes
Table 59: ODM Error Codes - General ODM Error Codes
Table 60: ODM Error Codes - General ODM Driver Error Codess
Table 61: cifX Driver Specific ODM Error Codes
Table 62: Generic Error Codes
Table 63: Generic Driver Error Codes
Table 64: Generic Device Error Codes
Table 65: CIFX API Transport Error Codes
Table 66: CIFX API Transport Header State Error Codes
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83
101
103
103
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105
105
106
107
108
109
111
112
113
115
116
117
120
121
123
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128
130
131
132
133
133
138
140
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Appendix
Table 67: ODM Error Codes DBM V4
Table 68: Settings (D = Displaying, X = Editing, Configuring)
Table 69: Configuration (D = Displaying, X = Editing, Configuring)
Table 70: General Structure of Object Dictionary
Table 71: Definition of Objects
Table 72: Available Data Type Definitions – Part 1
Table 73: Available Data Type Definitions – Part 2
Table 74: CoE Communication Area - General Overview
Table 75: CoE Communication Area - Device Type
Table 76: CoE Communication Area – Manufacturer Device Name
Table 77: CoE Communication Area – Manufacturer Hardware Version
Table 78: CoE Communication Area – Manufacturer Software Version
Table 79: CoE Communication Area – Identity Object
Table 80: CoE Communication Area – Identity Object - Number of entries
Table 81: CoE Communication Area – Identity Object - Vendor ID
Table 82: CoE Communication Area – Identity Object - Product Code
Table 83: CoE Communication Area – Identity Object - Revision Number
Table 84: CoE Communication Area – Identity Object - Serial Number
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11.6 Glossary
CoE
CANopen over EtherCAT
CoE denominates a method for accessing an object dictionary which has
been adopted for use in EtherCAT from CANopen.
DDF
Device Description File.
DTM
Device Type Manager.
The Device Type Manager (DTM) is a software module with graphical user
interface for the configuration or for diagnosis of devices.
E²PROM
Electronically erasable Programmable Read-Only Memory
E-Bus
Bus system based on LVDS standard
EDS
Electronic Data Sheet
EtherCAT-Master
A device which is responsible for the configuration, parameterization of the
EtherCAT segment, all connected devices’ controllers, and cyclic process
data exchange, mailbox and diagnostics services.
EtherCAT-Port
Physical type of data transmission used by EtherCAT. An EtherCAT Slave
Controller can have up to 4 EtherCAT ports. Can be one of the following
three alternatives:
• E-Bus
• 100Base-TX
• 100Base-FX
EtherCAT-Slave
A device which is configured by the Master, receives telegrams with output
data, commands from it and provides input and status data.
FDT
Field Device Tool
FDT specifies an interface, in order to be able to use DTM (Device Type
Manager) in different applications of different manufacturers
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FMMU
Fieldbus Memory Management Unit
A field bus memory management unit organizes a mapping of EtherCAT
logical addresses to physical addresses.
LVDS
Low Voltage Differential Signals
A data transmission standard specified in ANSI/TIA/EIA-644-1995 and
used in Beckhoff’s E-Bus.
Object Dictionary
An object dictionary is a storage area for device parameter data structures.
It is accessed in standardized manner very similarly as this is done in
CANopen..
ODMV3
The Online-Data-Manager Version 3 (ODMV3) is an application interface.
The ODMV3 works as a server, which can be run as an out-proc server or
system service. Its task is to provide different applications (e. g.
SYCON.net), access to multiple devices and even share one device
amongst several applications.
PDO
Process Data Object
Specific data object for cyclic data communication.
SDO
Service Data Object
Specific data object for acyclic data communication, i.e. mailbox-based
communication. It is typically used for accessing the object dictionary.
Sync Manager
Synchronization Manager
A sync manager synchronizes the data communication on a specific
communication channel. It is configured for managing either input or output
and for working either cyclically or acyclically based on mailboxes.
Configuration is done within the DDF file. Up to 4 sync managers numbered
0 to 3 can be configured.
XML
Extensible Markup Language
A versatile data storage format defined by the World Wide Web Consortium
(W3C). It is based on elements and attributes. In EtherCAT, it is used in
device descriptions stored in DDF files.
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11.7 Contacts
Headquarters
Germany
Hilscher Gesellschaft für
Systemautomation mbH
Rheinstrasse 15
65795 Hattersheim
Phone: +49 (0) 6190 9907-0
Fax: +49 (0) 6190 9907-50
E-Mail: info@hilscher.com
Support
Phone: +49 (0) 6190 9907-99
E-Mail: de.support@hilscher.com
Subsidiaries
China
Japan
Hilscher Systemautomation (Shanghai) Co. Ltd.
200010 Shanghai
Phone: +86 (0) 21-6355-5161
E-Mail: info@hilscher.cn
Hilscher Japan KK
Tokyo, 160-0022
Phone: +81 (0) 3-5362-0521
E-Mail: info@hilscher.jp
Support
Support
Phone: +86 (0) 21-6355-5161
E-Mail: cn.support@hilscher.com
Phone: +81 (0) 3-5362-0521
E-Mail: jp.support@hilscher.com
France
Korea
Hilscher France S.a.r.l.
69500 Bron
Phone: +33 (0) 4 72 37 98 40
E-Mail: info@hilscher.fr
Hilscher Korea Inc.
Seongnam, Gyeonggi, 463-400
Phone: +82 (0) 31-789-3715
E-Mail: info@hilscher.kr
Support
Phone: +33 (0) 4 72 37 98 40
E-Mail: fr.support@hilscher.com
India
Hilscher India Pvt. Ltd.
New Delhi - 110 065
Phone: +91 11 26915430
E-Mail: info@hilscher.in
Switzerland
Hilscher Swiss GmbH
4500 Solothurn
Phone: +41 (0) 32 623 6633
E-Mail: info@hilscher.ch
Support
Phone: +49 (0) 6190 9907-99
E-Mail: ch.support@hilscher.com
Italy
USA
Hilscher Italia S.r.l.
20090 Vimodrone (MI)
Phone: +39 02 25007068
E-Mail: info@hilscher.it
Hilscher North America, Inc.
Lisle, IL 60532
Phone: +1 630-505-5301
E-Mail: info@hilscher.us
Support
Support
Phone: +39 02 25007068
E-Mail: it.support@hilscher.com
Phone: +1 630-505-5301
E-Mail: us.support@hilscher.com
DTM for Hilscher EtherCAT Master Device | Configuration of Hilscher Master Devices
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