DTM for Hilscher EtherCAT Slave Device

DTM for Hilscher EtherCAT Slave Device
F
Operating Instruction Manual
DTM for Hilscher EtherCAT Slave Device
Configuration of Hilscher Slave Devices
Hilscher Gesellschaft für Systemautomation mbH
www.hilscher.com
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
Table of Contents
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Table of Contents
1
INTRODUCTION.........................................................................................................5
1.1
About this Manual .......................................................................................................5
1.1.1
1.1.2
1.1.3
1.1.4
1.2
Legal Notes.................................................................................................................8
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
Configuration Steps ..................................................................................................18
2.1.1
2.1.2
3
Requirements .....................................................................................................12
Dialog Structure of the EtherCAT Slave DTM ..........................................................13
1.4.1
1.4.2
1.4.3
1.4.4
1.4.5
1.4.6
2
Copyright ..............................................................................................................8
Important Notes ....................................................................................................8
Exclusion of Liability .............................................................................................9
Warranty ...............................................................................................................9
Export Regulations .............................................................................................10
Registered Trademarks......................................................................................10
About EtherCAT Slave DTM.....................................................................................11
1.3.1
1.4
Descriptions of the Dialog Panes .........................................................................6
Online Help...........................................................................................................6
List of Revisions ...................................................................................................6
Conventions in this Manual ..................................................................................7
Slave DTM at the Root-Line (Stand-Alone Slave)..............................................18
Slave DTM at the Master Busline.......................................................................21
SETTINGS ................................................................................................................24
3.1
Overview Settings.....................................................................................................24
3.2
Settings for Driver and Device Assignment ..............................................................25
3.3
Driver ........................................................................................................................27
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 ...........................................................................27
cifX Device Driver ...............................................................................................29
netX Driver..........................................................................................................29
Configuring netX Driver ......................................................................................30
netX Driver - USB/RS232 Connection................................................................31
netX Driver - TCP/IP Connection .......................................................................34
Device Assignment ...................................................................................................37
3.4.1
3.4.2
3.4.3
Scanning for Devices .........................................................................................37
Selecting the Device (with or without firmware) .................................................40
Selecting the Device once more (with Firmware)...............................................41
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
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Table of Contents
3.5
4
Firmware Download..................................................................................................43
CONFIGURATION ....................................................................................................48
4.1
Overview Configuration ............................................................................................48
4.1.1
4.1.2
4.1.3
4.2
General .....................................................................................................................52
4.4
General Settings .......................................................................................................53
4.5
4.6
State Machine Timeout ......................................................................................60
Device Check-up ................................................................................................61
Process Data ......................................................................................................61
Watchdog ...........................................................................................................62
Messages ...........................................................................................................63
Mailbox .....................................................................................................................66
4.6.1
8
Interface Parameters ..........................................................................................54
Ident Parameters ................................................................................................55
Data Parameters ................................................................................................55
Messages ...........................................................................................................56
Behavior....................................................................................................................59
4.5.1
4.5.2
4.5.3
4.5.4
4.5.5
7
Slave DTM at the Root-Line (Stand-Alone Slave)..............................................50
Slave DTM at the Master Busline.......................................................................51
4.3
4.4.1
4.4.2
4.4.3
4.4.4
6
General Remarks ...............................................................................................48
Slave DTM at the Root-Line (Stand-Alone Slave)..............................................48
Slave DTM at the Master Busline.......................................................................49
Configuring Slave Parameters..................................................................................50
4.2.1
4.2.2
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CoE.....................................................................................................................66
DESCRIPTION..........................................................................................................67
5.1
Overview Description................................................................................................67
5.2
XML DDF Viewer ......................................................................................................68
ONLINE FUNCTIONS ...............................................................................................70
6.1
Connecting/Disconnecting Device ............................................................................70
6.2
Download Configuration ...........................................................................................71
DIAGNOSIS ..............................................................................................................72
7.1
Overview Diagnosis ..................................................................................................72
7.2
General Diagnosis ....................................................................................................73
7.3
Firmware Diagnosis ..................................................................................................75
EXTENDED DIAGNOSIS ..........................................................................................76
8.1
Overview Extended Diagnosis..................................................................................76
8.2
Task Information .......................................................................................................77
8.3
IniBatch Status..........................................................................................................78
8.4
ECAT_SDO_RSC_DIAG_T ......................................................................................79
8.5
ECAT_SDO_RSC_TIMER_T ...................................................................................80
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Table of Contents
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8.6
ECAT_ESM_RSC_DIAG_T ......................................................................................81
8.7
ECAT_MBX_RSC_DIAG_T ......................................................................................82
8.8
ECAT_MBX_RSC_TIMER_T ...................................................................................83
TOOLS ......................................................................................................................84
9.1
Overview Tools .........................................................................................................84
9.2
Packet Monitor..........................................................................................................85
9.2.1
9.2.2
9.3
10
Sending Packet ..................................................................................................86
Receiving Packet................................................................................................87
IO Monitor .................................................................................................................88
ERROR CODES........................................................................................................89
10.1
Error Code Definition ................................................................................................89
10.2
Overview Error Codes ..............................................................................................90
10.3
General Hardware Error Codes ................................................................................91
10.3.1
10.3.2
10.3.3
10.4
10.5
Generic Error Codes...........................................................................................99
Generic Driver Error Codes..............................................................................100
Generic Device Error Codes ............................................................................101
Error Codes netX Driver .........................................................................................102
10.6.1
10.6.2
10.7
General ODM Error Codes.................................................................................94
General ODM Driver Error Codes ......................................................................95
cifX Driver Specific ODM Error Codes ...............................................................96
Error Codes cifX Device Driver and netX Driver .......................................................99
10.5.1
10.5.2
10.5.3
10.6
RCX General Task Errors ..................................................................................91
RCX Common Status & Errors Codes ...............................................................92
RCX Status & Error Codes.................................................................................93
ODM Error Codes .....................................................................................................94
10.4.1
10.4.2
10.4.3
11
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CIFX API Transport Error Codes......................................................................102
CIFX API Transport Header State Error Codes ...............................................102
ODM Error Codes DBM V4.....................................................................................103
APPENDIX ..............................................................................................................107
11.1
User Rights .............................................................................................................107
11.1.1
11.1.2
Settings.............................................................................................................107
Configuration ....................................................................................................107
11.2
References .............................................................................................................108
11.3
List of Figures .........................................................................................................108
11.4
List of Tables ..........................................................................................................109
11.5
Glossary..................................................................................................................111
11.6
Contacts..................................................................................................................113
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
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Introduction
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Introduction
About this Manual
This manual provides information on how to set and configure the device
parameters of a netX based EtherCAT Slave device within a FDT
Framework using the EtherCAT Slave DTM, and what can be read from the
diagnosis panes.
In a network project the EtherCAT Slave DTM can be dropped:
 to the root line (Stand-Alone Slave),
 or to the Master busline of a EtherCAT Master DTM.
Note: This manual edition first provides information for the case if the
EtherCAT Slave DTM is dropped to the root line (Stand-Alone Slave) and
in addition important information for the case if the EtherCAT Slave DTM
is dropped to the Master busline of a EtherCAT Master DTM.
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
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Descriptions of the Dialog Panes
The table below gives an overview for the individual dialog panes
descriptions:
Section
Subsection
Manual
Page
Settings
Overview Settings
24
Driver
27
Device Assignment
37
Firmware Download
43
Overview Configuration
48
General
52
General Settings
53
Behavior
59
Messages
66
Overview Description
67
XML DDF Viewer
68
Overview Diagnosis
72
General Diagnosis
73
Firmware Diagnosis
75
Extended Diagnosis
Overview Extended Diagnosis
76
Tools
Overview Tools
84
Packet Monitor
85
IO Monitor
88
Configuration
Description
Diagnosis
Table 1: Descriptions Dialog Panes
1.1.2
Online Help
The EtherCAT Slave DTM contains an integrated online help facility.
 To open the online help, click on Help or press F1.
 .
1.1.3
List of Revisions
Index
Date
Version
Component
Chapter
Revision
1
12-02-27
1.0.2.496
1.0.2.496
ECATSlaveDTM.dll
ECATSlaveGUI.ocx
all
created
2
13-04-05
1.1.2.4308
1.1.2.4308
ECATSlaveDTM.dll
ECATSlaveGUI.ocx
all,
1.3.1;
2.1, 3.2,
3.3,
Revised.
Section Requirements, Windows 8 added.
Sections Configuration Steps, Settings for
Driver and Device Assignment and Driver
updated.
Section Firmware Download updated.
3.5
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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, 2012-2013, 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.
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
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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 Slave DTM
You can use the EtherCAT Slave DTM to configure EtherCAT Slave
devices within a FDT Framework and to view the device diagnosis.
In a network project the EtherCAT Slave DTM can be dropped:
 to the root line (Stand-Alone Slave),
 or to the Master busline of a EtherCAT Master DTM.
Slave DTM at the Root-Line (Stand-Alone Slave)
Insert the EtherCAT Slave DTM to the root busline if you intend to configure
only one single EtherCAT Slave device.
Slave DTM at the Master Busline
Insert the EtherCAT Slave DTM to the Master busline of the EtherCAT
Master DTM if within the network project the Slave device and the Master
device are used, i. e. if you intend to configure the Slave device and the
Master device.
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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 Slave DTM
To configure the EtherCAT Slave device with the EtherCAT Slave DTM the
following requirements have to be accomplished:
 Completed hardware installation of a netX based DTM-compatible
EtherCAT Slave device, inclusive loaded firmware and loaded
configuration file
 Installed FDT/DTM V 1.2 compliant frame application
 Installed EtherCAT Master DTM (If Slave DTM is dropped to the Master
busline.)
 Loaded DTM in the Device Catalog of the FTD Framework
Note: If the EtherCAT Slave DTM and the EtherCAT Slave 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.
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Dialog Structure of the EtherCAT Slave 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 Slave 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 2: 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 Slave DTM to the EtherCAT Slave
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 27.
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 37.
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 43.
Configuration
Configuration
At the Configuration pane Configuration you can perform the basic configuration tasks
for the EtherCAT Slave device.
General
At the General pane EtherCAT Slave information is displayed. For further information,
refer to section General on page 52.
General Settings
The General Settings pane displays the most important general settings.
Behavior
At the Behavior pane the parameters of the Device checkup, the Process Data and the
Watchdog are described. For further information, refer to section Behavior on page 59.
Mailbox
At the Mailbox pane you can get information on mailbox-based data transfer and the
CoE (CANopen over Ethernet) functionality. For further information, refer to section
Mailbox on page 66.
Diagnosis
Diagnosis/
Extended Diagnosis
At the Diagnosis panes information can be read for troubleshooting. For further
information, refer to section Overview Diagnosis on page 72 and section Overview
Extended Diagnosis on page 76.
Tools
Packet Monitor/
IO 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 85 or section
IO Monitor on page 88.
Table 3: Overview Dialog Panes
Note: Accessing the Diagnosis panes of the EtherCAT Slave DTM
requires an online connection from the EtherCAT Slave DTM to the
EtherCAT Slave DTM.
For further information, refer to section Connecting/Disconnecting Device
on page 70.
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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 4: 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 5: 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 6: 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
2.1
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.
The following two cases are considered:
 Slave DTM at the Root-Line (Stand-Alone Slave)
 and Slave DTM at the Master busline.
2.1.1
Slave DTM at the Root-Line (Stand-Alone Slave)
For detailed
information see section
#
Step
Short Description
1
Load device
catalog
Depending of the FDT Container:
For netDevice:
- select Network > Device Catalog,
- select Reload Catalog.
2
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)
3
Insert Slave into
configuration
Depending of the FDT Container:
For netDevice:
- in the Device Catalog under Gateway / StandAlone Slave click to the Slave,
- and insert the Slave via drag and drop
to the root line in the network view.
(See Operating
Instruction Manual
netDevice and
netProject)
Open the Slave
DTM configuration dialog
Open the Slave DTM configuration dialog.
- Double click to the device icon of the Slave.
- The Slave DTM configuration dialog is displayed.
4
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
Page
-
(See Operating
Instruction Manual
netDevice and
netProject)
-
-
-
-
© Hilscher, 2012-2013
Getting started
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#
Step
Short Description
For detailed
information see section
Page
5
Verify or adapt
Driver Settings
In the Slave DTM configuration dialog:
- select Settings > Driver.
Settings for Driver and
Device Assignment
and
Driver
25
Configuring netX Driver
30
 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 Slave DTM is installed on the
same PC as the EtherCAT Slave
device.
27
 Use the netX Driver to establish a
USB, Serial (RS232) or TCP/IP
connection from the EtherCAT Slave
DTM to the EtherCAT Slave 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.
6
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.
7
Assign Slave
device (with or
without
firmware)
Assign the device to this driver.
In the Slave DTM configuration dialog:
- select Settings > Device Assignment,
- select a Slave device (with or without firmware),
- therefore check the appropriate checkbox,
- select Apply.
Selecting the Device
(with or without firmware)
40
8
Select and
download
firmware
If not yet a firmware was loaded to the device.
In the Slave DTM configuration dialog:
- select Settings > Firmware Download,
- select Browse..,
- select a firmware file,
- select Open,
- select Download and Yes.
Firmware Download
43
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#
Step
Short Description
For detailed
information see section
Page
9
Assign Slave
device once
more (with
firmware and
system chanal)
In the Slave DTM configuration dialog:
- select Settings > Device Assignment,
- select Scan,
- select the Slave device (with loaded firmware and
defined system channel),
- therefore check the appropriate checkbox,
- select Apply,
- close the Slave DTM configuration dialog via OK.
Selecting the Device
once more (with
Firmware)
41
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 >General Settings,
- set the Device Settings.
- close the Slave DTM configuration dialog via OK.
Configuring Slave
Parameter
50
General Settings
53
For repeated
download this
step is omitted.
10
11
Configure Slave
device
Save project
Depending of the frame application.
For the configuration software:
- select File > Save.
(See Operating
Instruction Manual of the
Frame Application)
12
Connect Slave
device
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Slave,
- select Connect.
Connecting/Disconnectin
g Device
70
13
Download
Configuration
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Slave,
- select Download.
Download Configuration
71
14
Diagnosis
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Slave,
- select Diagnosis.
- The Slave 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 Slave DTM diagnosis dialog via OK.
Overview Diagnosis
72
15
IO Monitor
Depending of the FDT Container:
For netDevice:
- right click to the device icon of the Slave,
- select Diagnosis,
- select Tools > IO Monitor.
- Check the input or output data,
- close the IO Monitor dialog via OK.
IO Monitor
88
16
Disconnect
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Slave,
- select Disconnect.
Connecting/Disconnectin
g Device
70
Table 7: Getting Started - Configuration Steps (Slave DTM at the Root-Line (Stand-Alone
Slave))
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Slave DTM at the Master Busline
For detailed information
see section
#
Step
Short Description
1
Load device
catalog
Depending of the FDT Container:
For netDevice:
- select Network > Device Catalog,
- select Reload Catalog.
(See Operating Instruction
Manual netDevice and
netProject)
2
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)
3
Insert Master or
Slave into
configuration
For netDevice:
- in the Device Catalog click to the Master,
- and insert the device via drag and drop
to the root 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.
4
Open the Slave
DTM configuration dialog
Open the Slave DTM configuration dialog.
- Double click to the device icon of the Slave.
- The Slave DTM configuration dialog is displayed.
-
-
5
Verify or adapt
Driver Settings
In the Slave DTM configuration dialog:
- select Settings > Driver.
Settings for Driver and
Device Assignment
and
Driver
25
Configuring netX Driver
30
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.
Page
-
-
(See Operating Instruction
Manual netDevice and
netProject)
27
 Use the cifX Device Driver if the
EtherCAT Slave DTM is installed on
the same PC as the EtherCAT Slave
device.
 Use the netX Driver to establish a
USB, Serial (RS232) or TCP/IP
connection from the EtherCAT Slave
DTM to the EtherCAT Slave 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.
6.
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.
- Via
add an IP range.
- Under IP Address enter the IP Address of the
device or an IP range.
- Click Save.
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#
Step
Short Description
6
Configure Driver
(continued)
Adjust the driver parameters netX Driver
USB/RS232 only if they differ from the default
settings.
For detailed information
see section
Page
Configuring netX Driver
30
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.
7
Assign Slave
device (with or
without
firmware)
Assign the device to this driver.
In the Slave DTM configuration dialog:
- select Settings > Device Assignment,
- select a Slave device (with or without firmware),
- therefore check the appropriate checkbox,
- select Apply.
Selecting the Device (with
or without firmware)
40
8
Select and
download
firmware
If not yet a firmware was loaded to the device.
In the Slave DTM configuration dialog:
- select Settings > Firmware Download,
- select Browse..,
- select a firmware file,
- select Open,
- select Download and Yes.
Firmware Download
43
9
Assign Slave
device once
more (with
firmware and
system chanal)
In the Slave DTM configuration dialog:
- select Settings > Device Assignment,
- select Scan,
- select the Slave device (with loaded firmware and
defined system channel),
- therefore check the appropriate checkbox,
- select Apply,
- close the Slave DTM configuration dialog via OK.
Selecting the Device once
more (with Firmware)
41
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 >General Settings,
- set the Device Settings.
- select Configuration >Behavior,
- set the Behavior.
- select Configuration >Mailbox->CoE,
- set the CoE Settings.
- close the Slave DTM configuration dialog via OK.
Configuring Slave
Parameter
50
General Settings
53
Behavior
59
CoE
66
(See Operating Instruction
Manual DTM for
EtherCAT Master
devices)
-
For repeated
download this
step is omitted.
10
Configure Slave
device
11
Configure
Master device
Configure the Master device via the EtherCAT
Master DTM netX.
12
Save project
Depending of the frame application.
For the configuration software:
- select File > Save.
(See Operating Instruction
Manual of the Frame
Application)
13
Connect Slave
device
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Slave,
- select Connect.
Connecting/Disconnecting
Device
70
14
Download
Configuration
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Slave,
- select Download.
Download Configuration
71
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#
Step
Short Description
For detailed information
see section
Page
15
Diagnosis
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Slave,
- select Diagnosis.
- The Slave 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 Slave DTM diagnosis dialog via OK.
Overview Diagnosis
72
16
IO Monitor
Depending of the FDT Container:
For netDevice:
- right click to the device icon of the Slave,
- select Diagnosis,
- select Tools > IO Monitor.
- Check the input or output data,
- close the IO Monitor dialog via OK.
IO Monitor
88
17
Disconnect
Depending of the FDT Container.
For netDevice:
- right click to the device icon of the Slave,
- select Disconnect.
Connecting/Disconnecting
Device
70
Table 8: Getting Started - Configuration Steps (Slave DTM at the Master busline)
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
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Settings
Overview Settings
Settings Dialog Panes
The table below gives an overview for the individual Settings dialog panes
descriptions:
EtherCAT Slave DTM
Folder Name /
Section
Manual
Page
Subsection
27
Driver
Verify or adapt Driver Settings
27
cifX Device Driver
29
netX Driver
29
30
Configuring netX Driver
Navigation Area –
Settings (Example)
37
Device Assignment
37
Scanning for Devices
Additional drivers can be
displayed.
Scanning for all Devices or for suitable only
39
Selecting the Device (with or without firmware)
40
Selecting the Device once more (with Firmware)
41
43
Firmware Download
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 25.
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 Slave DTM to the EtherCAT Slave 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 Slave
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 Slave DTM is installed on
the same PC as the EtherCAT Slave device.
 Use the netX Driver to establish a USB, Serial (RS232) or TCP/IP
connection from the EtherCAT Slave DTM to the EtherCAT Slave
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.
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Assigning the Slave device to the DTM
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 Slave device icon.
9. Select the Connect command from the context menu.
 In the network view the device description at the device icon of the
Slave is displayed with a green colored background. The EtherCAT
Slave device now is connected to the EtherCAT Slave 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
Slave 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 Slave DTM to the EtherCAT
Slave 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 Slave DTM
to the EtherCAT Slave device must be supported by the device and must
be available for the device.
 Use the cifX Device Driver if the EtherCAT Slave DTM is installed on
the same PC as the EtherCAT Slave device.
 Use the netX Driver to establish a USB, Serial (RS232) or TCP/IP
connection from the EtherCAT Slave DTM to the EtherCAT Slave
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)
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
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cifX Device Driver
In the EtherCAT Slave-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 Slave DTM is installed
in the same PC as the EtherCAT Slave device.
Note: To establish a connection from a DTM to a Slave device via the
cifX Device Driver, the cifX Device Driver must be installed and the
driver must have access to the Slave 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.
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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
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
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 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.
Baud rate
Transfer rate: number of bits per second.
The device must support the baud rate.
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
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9.6, 19.2, 38.4, 57.6 or
115.2 [kBit/s];
Default (RS232): 115.2
[kBit/s]
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Parameter
Meaning
Range of Value /
Default Value
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.
Table 11: Parameters netX Driver > USB/RS232 Connection
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
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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).
Use IP Range
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.
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 Slave device to the EtherCAT Slave DTM by checking the
check box. This is essential to establish an online connection from the
EtherCAT Slave DTM to the EtherCAT Slave device later, as described in
section Connecting/Disconnecting Device on page 70.
Therefore in the Device Assignment dialog pane you scan for the
EtherCAT Slave 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 Slave 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 Slave 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
occur 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 Slave 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 Slave DTM can only be
established with one EtherCAT Slave device.
To select the physical EtherCAT Slave 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 Slave DTM to the
EtherCAT Slave 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 43 or to section Selecting the Device once more (with Firmware) on
page 41.
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Selecting the Device once more (with Firmware)
Note: For repeated download this step is omitted.
To select the EtherCAT Slave 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 Slave 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 Slave DTM to the EtherCAT Slave device, refer to section
Connecting/Disconnecting Device on page 70.
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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
Slave device (with or without firmware).
For further information refer to section Overview Settings on page 24.
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 Slave 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 Slave 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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Configuration
4.1
4.1.1
Overview Configuration
General Remarks
The appearance of the EtherCAT Slave DTM depends on the mode of
invocation, i.e. whether the EtherCAT Slave DTM has been dragged to the
root line (Stand-alone Slave) or to a Master line (Slave connected to a
Master).
Take care of the descriptions in the section Configuration Steps on page
18.
Note: In order to transfer the configuration to the EtherCAT Slave device,
download the data of the configuration parameters in the EtherCAT Slave
device. See section Download Configuration on page 71.
4.1.2
Slave DTM at the Root-Line (Stand-Alone Slave)
In this case of the tree view looks like:
Figure 23: Configuration (Slave DTM at the Root-Line (Stand-Alone Slave))
If the EtherCAT Slave DTM is dragged to the root busline within the
network project, at Configuration the following panes will be available:
Configuration > General Settings
Dialog Panes “Configuration”
The table below gives an overview about the available Configuration
dialog panes descriptions:
Folder Name /
Section
Subsection
Page
Configuration
General Settings
53
Table 16: Dialog Panes Configuration
All other descriptions given in this chapter are not applicable if the
EtherCAT Slave DTM has been dragged to the root busline in the network
project.
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Slave DTM at the Master Busline
In this case of the tree view looks like:
Figure 24: Configuration > General (Slave DTM at the Master busline)
If the EtherCAT Slave DTM is dragged to the Master busline of the
EtherCAT Master DTM within the network project, at Configuration the
following panes will be available:

General pane

General Settings pane

Behavior pane

Mailbox pane
Dialog Panes “Configuration”
The table below gives an overview about the available Configuration
dialog panes descriptions:
Folder Name /
Section
Subsection
Page
Configuration
General
52
General Settings
53
Behavior
59
Mailbox
66
Table 17: Dialog Panes Configuration
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Configuring Slave Parameters
The steps provided in the following two sections are alternatively required
for the two cases listed hereafter, to configure the parameters of the
EtherCAT Slave device using the EtherCAT Slave DTM:
 Slave DTM at the Root-Line (Stand-Alone Slave)
 and Slave DTM at the Master busline.
4.2.1
Slave DTM at the Root-Line (Stand-Alone Slave)
If in the network project the EtherCAT Slave DTM is dropped to the root
busline:
General Settings
1. Set the Device Settings:
 Select Configuration > General Settings in the navigation area.
 Under Bus Startup: Select option Automatic or Application
Controlled.
 Under Watchdog time: Set Watchdog time.
Close Slave DTM Configuration Dialog
2. Click OK in order to close the Slave DTM configuration dialog and to
store your configuration.
Configuration Download to the EtherCAT Slave Device
Note: In order to transfer the configuration to the EtherCAT Slave device,
download the data of the configuration parameters in the EtherCAT Slave
device. See section Download Configuration on page 71.
Further Information
For more information refer to the section hereafter.
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Slave DTM at the Master Busline
If in the network project the EtherCAT Slave DTM is dropped to the root
busline:
General
1. Put in an optional description of the device
 Select Configuration > General. If you want, you can put in a
descriptive text about the slave device under Description.
General Settings
2. Set the Device Settings:
 Select Configuration > General Settings in the navigation area.
 Under Bus Startup: Select option Automatic or Application
Controlled.
 Under Watchdog time: Set Watchdog time.
Behavior
3. Make the settings concerning the behavior of the device:
 In the navigation area, select Configuration > Behavior and then
make your settings.
Mailbox >CoE
4. Make settings for CoE (CANopen over EtherCAT):
 In the navigation area, select Configuration > Mailbox >CoE and then
make your CoE settings.
Close Slave DTM Configuration Dialog
3. Click OK in order to close the Slave DTM configuration dialog and to
store your configuration.
Configuration Download to the EtherCAT Slave Device
Note: In order to transfer the configuration to the EtherCAT Slave device,
download the data of the configuration parameters in the EtherCAT Slave
device. See section Download Configuration on page 71.
Further Information
For more information refer to section General on page 52, to section
General Settings on page 53, to section Behavior on page 59 and to
section Mailbox on page 66 of this document.
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General
The General pane shows the Description of the EtherCAT Slave.
This pane is only available in case of a Slave DTM at the Master busline.
Note: The Station Address is set by the EtherCAT Master, therefore the
corresponding data field is not editable.
Figure 25: Configuration > General
Parameter
Meaning
Editable
Description
Symbolic Name of the EtherCAT Slave station
Yes
Device type
Device type as defined in the DDF
No
Device name
Device name as defined in the DDF
No
Product
revision
Product revision as defined in the DDF or E²PROM
No
Physics
EtherCAT Port configuration: available ports and their types, see Table 19:
Coding of Parameter "Physics" below.
No
Station
Address
Station Address denominates a logical address.
The station address of a slave is set in the Master DTM.
No
Table 18: General Page Parameters
Physics in the context of EtherCAT Port configuration is described by two
characters indicating the physical interface of the connection. The coding is
as follows:
Physics
Port type
K
E-Bus
Y
100Base-TX
F
100Base-FX
Table 19: Coding of Parameter "Physics"
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General Settings
At the General Settings pane device related settings can be made. These
settings are assigned with the download of the configuration.
Information about the download
Configuration on page 71.
you
find
in
section
Download
Figure 26: General Settings
Note: The setting options at the dialog pane General Settings for client
specific variants of the configuration software can differ from the setting
options displayed here.
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Interface Parameters
Bus Startup
This parameter offers the options Automatic an Application Controlled.
If Automatic is selected, the EtherCAT Master device starts with the data
exchange on the bus after the initializing has been ended.
When Application Controlled is selected, the application program must
activate the data exchange on the bus.
Note: The setting options under Bus Startup for client specific variants of
the configuration software can differ from the setting options displayed
here.
4.4.1.2
Watchdog Time for Application Monitoring
Figure 27: Device Settings > Application Monitoring
The Watchdog time determines the time within which the device watchdog
must be re-triggered from the application program while the application
program monitoring is activated. When the watchdog time value is equal to
0 the watchdog is deactivated and the application program monitoring is
deactivated too.
The permissible range of values of the watchdog time is 20 to 65535. By
default the watchdog time value equals to 1000 ms.
Watchdog time
Range of Value / Value
Permissible range of values
20 … 65535 ms
Default
1000 ms
The software watchdog is deactivated.
0 (ms)
Table 20: Range of Value / Value for the Watchdog time
Note: The setting options under Watchdog Time for client specific
variants of the configuration software can differ from the setting options
displayed here.
4.4.1.3
I/O Data Status
This parameter allows setting of the status of the input or the output data
i.e. the I/O Status Enable bit (bit 1 of the system flags) and the I/O Status
8/32Bit bit (bits 2 of the system flags).
For each input and output date the following status information (in Byte) is
memorized in the dual-port memory.
Currently the field is grayed out as only the option ‘None’ is supported.
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Ident Parameters
The following table lists all ident parameters of the EtherCAT Stand-alone
Slave DTM along with their meaning and their default values:
Parameter
Meaning
Default value
Subindex (within
Object 0x1018)
VendorID
Vendor Identification
number of the
manufacturer of an
EtherCAT device.
0xE0000044
(denoting device
has been
manufactured by
Hilscher)
1
Product code
Product code of the
device
1
2
Revision
Revision number of the
device as specified by
the manufacturer
0x20001
3
Serial number
Serial number of the
device
0
4
Table 21: Ident Parameters
These parameters are exactly those which are also stored in EtherCATs
object dictionary within the object with index 0x1018 thus the table also
mentions the corresponding subindex numbers of each parameter.
The values for the parameters VendorID, Product code and Revision can
be taken from the XML file which is bundled with the particular firmware.
The following default value sets for the identification data have been
defined:
Firmware
Vendor Id
Product Code
Revision Number
cifX
0xE0000044
0x00000001
0x00020001
comX
0xE0000044
0x00000003
0x00020001
netIC
0xE0000044
0x0000000B
0x00000000
Table 22: Values for the Ident Parameters VendorId, ProductCode and RevisionNumber
4.4.3
Data Parameters
The following table shows the data parameters of the general Settings.
Parameter
Meaning
Default value
Maximum value
Input Data
Bytes
Process Data Input Size
200 Byte
256 Byte
Output Data
Bytes
Process Data Output Size
200 Byte
256 Byte
Sync impulse
length
Sync impulse length (in units
of 10 ns)
100
65535
(= 1000 ns)
(=655350 ns)
Number of data bytes used
for input
Number of data bytes used
for output
Table 23: Data Parameters
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4.4.4
Messages
4.4.4.1
Errors
The following table provides an overview which error situations might occur
in the “General Settings” pane.
Problem
The error message
appears.
Explanation This error message appears in case either a value below 20 but unequal 0 or a
value exceeding 65535 is put in for the watchdog time in the configuration pane.
Action
Put in a correct the value for the watchdog time (between 20 and 65535) or switch
the watchdog feature off (in order to do so, set the value of the watchdog time
equal to 0)!
Problem
The error message
appears.
Explanation No value at all has been put in for the watchdog time in the configuration pane.
Action
Put in a correct the value for the watchdog time (between 20 and 65535) or switch
the watchdog feature off (in order to do so, set the value of the watchdog time
equal to 0)!
Problem
The error message
appears.
Explanation The specified value for the length of either input or output data exceeds the upper
limit of 256 bytes.
Action
Specify a lower value either for the input data length or for the output data length!
Problem
The error message
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appears.
Explanation The specified values of input data length and output data length may not be 0 at
the same time.
Action
Specify at least one non-zero value either for input data length or output data
length.
Problem
The error message
appears.
Explanation The sum of the specified values of input data length and output data length may
exceed 512 bytes.
Action
Specify a lower value for at least one of these values so that the sum of both
values does not exceed the 512 bytes limit.
Problem
The error message
appears.
Explanation In an input field requiring a hexadecimal value, you tried to put in a character
which is neither a digit nor any of the letters (“A,B,C,D.E,F”), for instance another
letter.
Action
Correct your input accordingly!
Problem
The error message
appears.
Explanation An input field (either the input data length or the output data length) is empty.
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Action
Check for the empty field. Then specify a valid value there.
Problem
The error message
appears.
Explanation The specified value for the Sync Impulse Length exceeds the upper limit of 65535
bytes.
Action
Specify a lower value either for the Sync Impulse Length!
Table 24: Possible Error Messages issued at General Settings Pane
4.4.4.2
Warnings
The following table provides informs about which warnings might appear in
the configuration pane.
Problem
The error message
appears.
Explanation
You have changed the configuration data.
Action
If you want to store the configuration data permanently, click at Yes otherwise at
No or return to preceding screen with Cancel.
Table 25: Possible Warning Messages issued at General Settings Pane
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Behavior
At the page Behavior, the parameters of
 the state machine timeout values
 the device checkup,
 the process data
 and the watchdog timer.
are set and displayed.
This pane is only available in case of a Slave DTM at the Master busline.
Figure 28: Configuration > Behavior
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State Machine Timeout
For various transitions between states of the EtherCAT slave state machine
the associated timeout values can be configured separately in the state
machine timeout section of the ‘Behavior’ dialog:
 I2P
This value applies to the transition from Init state to Pre-Operational
state
 P2S, S2O
This value applies to the transition from Pre-Operational state to
Safe-Operational state and from Safe-Operational state to
Operational state.
 Back to P, I
This value applies to the transition from any higher state back to PreOperational state or Init state.
 O2S
This value applies to the transition from Operational state to SafeOperational state.
Note: These timeout values are specified in units of milliseconds.
Figure 29: Configuration > Behavior > State Machine Timeout - Configuration
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Device Check-up
The device check-up part of the Behavior dialog looks like:
Figure 30: Configuration > Behavior > Device Check
The following table shows which items identifying the EtherCAT device can
optionally be verified during device check-up if marked in the dialog
accordingly.
Parameter
Meaning
VendorID
Device’s vendor ID (DDF or stored device-internally)
Product code
Device’s product code (DDF or stored device-internally)
Revision
Device’s revision (DDF or stored device-internally)
Table 26: Parameters Behavior > Device checkup
A verification of the serial number is not available here.
The values within the DDF file are verified against the corresponding
information stored in the device (for example, within an E²PROM circuit), if
the according check box is marked.
4.5.3
Process Data
EtherCAT supplies different command sets for reading and writing:
 a combined read/write command (LRW)
 separate read and write commands (LRD/LWR)
This option allows to choose between these alternatives:
Figure 31: Configuration > Behavior > Process data
Parameter
Meaning
Use LRD/LWR
instead of LRW
Logical read and write operation:
If marked, separate EtherCAT read (LRD) and write
(LWR) commands will be used.
Otherwise, a combined EtherCAT read and write
(LRW) command will be used.
Table 27: Parameters Behavior > Process data
For more information on EtherCAT read and write commands see the
EtherCAT Communication Specification, version 1.0, section 6.2 “EtherCAT
Services”, page 43.
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Watchdog
Both the entire PDI (Process Data Interface) and all sync managers
(separately) are monitored by watchdog timers.
The following rules apply for resetting the watchdog timers:
 Each access from the application controller to the EtherCAT Slave
controller resets the watchdog timer of the Process Data Interface.
 Each write access to the associated memory area of a sync manager
resets the sync manager’s watchdog timer.
The watchdog timeout values can be calculated using the formula given
below from an individually configurable value and a common multiplier.
The “Watchdog” part of the “Behavior” dialog allows specifying the
multiplier and the individual values for PDI watchdog and sync manager
watchdogs.
Figure 32: Configuration > Behavior > Watchdog
Parameter
Meaning
Set multiplier
Watchdog multiplier, content of the register 0x400
Set PDI watchdog
PDI watchdog, see note below
Set SM watchdog
SM watchdog, see note below
Include WC state
Bit(s)
If this check box is marked, an input variable is added to the slave
device, that shows the working counter state of the EtherCAT slave
device.
Table 28: Parameters Configuration > Behavior > Watchdog
Note: The PDI & SM watchdog timeout values are calculated as follows.
PDI watchdog timeout =
([value of register 0x400] + 2) * 40 * [value of register 0x 410]
SM watchdog timeout =
([value of register 0x 400] + 2) * 40 * [value of register 0x 420]
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4.5.5
Messages
4.5.5.1
Errors
The following table provides an overview which error situations might occur
in the “Behavior” pane.
Problem
The error message
appears.
Explanation
The specified value for the State Machine Timeout (I->P) exceeds the upper limit
of 65535 bytes.
Action
Specify a lower value than 65535 for the State Machine Timeout (I->P)!
Problem
The error message
appears.
Explanation
The specified value for the State Machine Timeout (P->S,S->O) exceeds the
upper limit of 65535 bytes.
Action
Specify a lower value than 65535 for the State Machine Timeout (P->S,S->O)!
Problem
The error message
appears.
Explanation
The specified value for the State Machine Timeout (Back to P,I) exceeds the
upper limit of 65535 bytes.
Action
Specify a lower value than 65535 for the State Machine Timeout (Back to P,I)!
Problem
The error message
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appears.
Explanation
The specified value for the State Machine Timeout (O->S) exceeds the upper limit
of 65535 bytes.
Action
Specify a lower value than 65535 for the State Machine Timeout (O->S)!
Problem
The error message
appears.
Explanation
The specified value for the Multiplier (Register 0x400) exceeds the upper limit of
65535 bytes.
Action
Specify a lower value than 65535 for the Multiplier (Register 0x400)!
Problem
The error message
appears.
Explanation
The specified value for the PDI Watchdog (Register 0x410) exceeds the upper
limit of 65535 bytes.
Action
Specify a lower value than 65535 for the PDI Watchdog (Register 0x410)!
Problem
The error message
appears.
Explanation
The specified value for the SM Watchdog (Register 0x420) exceeds the upper
limit of 65535 bytes.
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Specify a lower value than 65535 for the SM Watchdog (Register 0x420)!
Table 29: Possible Error Messages issued at Behavior Pane
4.5.5.2
Warnings
The following table provides informs about which warnings might appear in
the configuration pane.
Problem
The error message
appears.
Explanation
You have changed the configuration data.
Action
If you want to store the configuration data permanently, click at Yes otherwise at
No or return to preceding screen with Cancel.
Table 30: Possible Warning Messages issued at Behavior Pane
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Mailbox
This pane is only available in case of a Slave DTM at the Master busline. It
has one option: CoE.
4.6.1
CoE
For slave devices supporting the CoE MailBox, the following dialog page is
additionally displayed:
Figure 33: Configuration > Mailbox > CoE Mailbox Settings
The dialog page provides the following information:
 The channel number of the sync manager (for mailbox input and output)
 The configured mailbox size (this applies both for the input mailbox and
for the output)mailbox
The complete MailBox configuration for each slave with MailBox support is
done in the EtherCAT Master-DTM.
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Description
Overview Description
The Description pages contain the following information:
 XML Viewer page: the devices XML file content in HTML style.
Description Dialog Panes
The table below informs about the contents of the Description dialog page:
EtherCAT Slave-DTM
Folder Name / Section
Page
XML DDF Viewer
67
Navigation Area – Description
Table 31: Descriptions of the Description Pages
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XML DDF Viewer
The XML DDF Viewer displays the content of the DDF file of the device
which is stored in an XML format..
Figure 34: XML DDF Viewer
Under Filename the absolute file directory path and the file name of the
displayed DDF file is displayed. Find what offers a search feature to search
for text contents within the text of the DDF file.
In the DDF Viewer window on the left side, the line number is displayed for
simple overview, the further entries show the DDF file in text format.
Parameter
Meaning
FIlename
File directory path and the file name of the displayed DDF file.
Find what
Search feature to search for text contents within the text of the
DDF file.
Match case
Search option
Match whole word
Search option
Table 32: Device Description – XML DDF Viewerr
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The XML DDF Viewer page consists of the following elements:
 File name shows the absolute path of the DDF file.
 Find what offers searching for specific text within the DDF file.
 Using the Find Next button allows you to jump to the next occurrence of
the text to be searched for within the XML DDF file.
 Check Match case if you want to perform a case-sensitive search.
 Check Match whole word if only entire words should match and
fragments of words should be excluded from matching.
Note: You can also access the search functionality of the XML DDF
Viewer by typing Ctrl-F on the keyboard.
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Online Functions
Connecting/Disconnecting Device
Note: Several EtherCAT Slave DTM functions e. g. Diagnosis or the
configuration download in the FDT Framework require an online
connection from the EtherCAT Slave DTM to the EtherCAT Slave device.
Connecting Device
The following steps are needed to establish a connection from the
EtherCAT Slave DTM to a EtherCAT Slave 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 24.
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 Slave device icon.
10. Select the Connect command from the context menu.
 The EtherCAT Slave device now is connected to the EtherCAT Slave
DTM via an online connection. In the network view the device
description at the device icon of the Slave device is displayed with a
green colored background.
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Disconnecting Device
To disconnect an online connection from the EtherCAT Slave device to a
EtherCAT Slave 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 Slave 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 Slave device is disconnected from the DTM.
6.2
Download Configuration
Note: To download configuration parameter data to the EtherCAT Slave
device an online connection from the EtherCAT Slave DTM to the
EtherCAT Slave device is required.
Further information can be found in the section Connecting/Disconnecting
Device on page 70.
To transfer the configuration with the corresponding parameter data to the
EtherCAT Slave device you download the data to it using the frame
application of the configuration software.
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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 Slave DTM
Folder Name / Section
Manual Page
General Diagnosis
73
Firmware Diagnosis
75
Navigation Area - Diagnosis
Table 33: Descriptions of the Diagnosis Panes
Online Connection to the Device
Note: Accessing the Diagnosis panes of the EtherCAT Slave DTM
requires an online connection from the EtherCAT Slave DTM to the
EtherCAT Slave device. For further information refer to section
Connecting/Disconnecting Device on page 70.
How to proceed
1. In the Slave 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 76.
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General Diagnosis
Information regarding the Device State and other general diagnosis
parameters are displayed in the General Diagnosis dialog.
Figure 35: 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 Slave are
transmitted to the EtherCAT Master.
(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
Offline
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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 Slave is offline as long as it does not
have a valid configuration.
Configuration State
Configuration
locked
New Configuration pending
Reset required
Bus ON
Table 34: 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 35: Parameter General Diagnosis
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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 36: Firmware Diagnosis (Example)
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 36: Description Table Task Information
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Extended Diagnosis
Overview Extended Diagnosis
The Extended Diagnosis of the EtherCAT Slave 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 Slave DTM
Folder Name in the
Navigation Area
Subsection
Page
RX-SYSTEM
Task Information
77
IniBatch Status
78
DPM_COMO_SMBX
Task Information
77
DPM_COMO_RMBX
Task Information
77
ECAT_SDO
Task Information
77
ECAT_SDO_RSC_DIAG_T
79
ECAT_SDO_RSC_TIMER_T
80
ECAT_COE
Task Information
77
ECAT_ESM
Task Information
77
ECAT_ESM_RSC_DIAG_T
81
Task Information
77
ECAT_MBX_RSC_DIAG_T
82
ECAT_MBX_RSC_TIMER_T
83
ECAT_DPM
Task Information
77
MARSHALLER
Task Information
77
PACKET_ROUTER
Task Information
77
ECAT_MBX
Navigation Area - Extended
Diagnosis
Table 37: Descriptions of the Dialog Panes Extended Diagnosis
Online Connection to the Device
Note: Accessing the Extended Diagnosis dialog panes of the EtherCAT
Slave DTM requires an online connection from the EtherCAT Slave DTM
to the EtherCAT Slave device. For further information refer to section
Connecting/Disconnecting Device on page 70.
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Task Information
Figure 37: 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 38: Extended Diagnosis > [Folder Name] > Task Information
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IniBatch Status
Figure 38: 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 39: 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_SDO_RSC_DIAG_T
Figure 39: Extended Diagnosis > [Folder Name] > ECAT_SDO_RSC_DIAG_T Example
Display
This window lists the diagnostic counters of the ECAT_SDO_RSC_DIAG_T
layer. It shows in particular, which services are currently executed. (The
services of the packets are described within the EtherCAT-Slave Protocol
API Manual [2].)
Name
Description
ulCompletedDownloadsServer
Counter for Completed Downloads at the Server
ulCompletedUploadsServer
Counter for Completed Uploads at the Server
ulCompletedDownloadsClient
Counter for Completed Downloads at the Client
ulCompletedUploadsClient
Counter for Completed Uploads at the Client
ulAbortedDownloadsServer
Counter for Aborted Downloads at the Server
ulAbortedUploadsServer
Counter for Aborted Uploads at the Server
ulAbortedDownloadsClient
Counter for Aborted Downloads at the Client
ulAbortedUploadsClient
Counter for Aborted Uploads at the Client
ulServerTimeouts
Counter for Server Timeouts
ulClientTimeouts
Counter for Client Timeouts
Table 40: Extended Diagnosis > [Folder Name] > ECAT_SDO_RSC_DIAG_T
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ECAT_SDO_RSC_TIMER_T
Figure 40: Extended Diagnosis > [Folder Name] > ECAT_SDO_RSC_TIMER_T Example
Display
Name
Description
ulTimerCnt
Timer count
ulTimerGran
Timer granularity
ulSDOClientTimeout
SDO Client Timeout
ulSDOServerTimeout
SDO Server Timeout
Table 41: Extended Diagnosis > [Folder Name] > ECAT_SDO_RSC_TIMER_T
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ECAT_ESM_RSC_DIAG_T
Figure 41: Extended Diagnosis > [Folder Name] > ECAT_ESM_RSC_DIAG_T Example
Display
This window lists the diagnostic counters of the ECAT_ESM_RSC_DIAG_T
T layer. It shows in particular, which services are currently executed. (The
services of the packets are described within the EtherCAT-Slave Protocol
API Manual [2].)
Name
Description
ulReadyBits
Counter for Ready Bits
ulSetInitBits
Counter for SetInit Bits
ulCorrectStateChanges
Counter for correct state changes
ulInvalidStateChanges
Counter for invalid state changes
ulErrorStateChanges
Counter for error state changes
ulInvalidStateRequested
Counter for requested invalid states
ulParameterFailures
Counter for parameter failures
ulTimeoutStateChanges
Counter for timeout state changes
ulAlStatus
AL Status according to EtherCAT Specification, part 5 and 6
Table 42: Extended Diagnosis > [Folder Name] > ECAT_ESM_RSC_DIAG_T
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ECAT_MBX_RSC_DIAG_T
Figure 42: Extended Diagnosis > [Folder Name] > ECAT_ESM_RSC_DIAG_T Example
Display
This window lists the diagnostic counters of the ECAT_MBX_RSC_DIAG_T
layer. It shows in particular, which services are currently executed. (The
services of the packets are described within the EtherCAT-Slave Protocol
API Manual [2].)
Name
Description
fGotPacketWaiting
If TRUE, a packet is still waiting
fActive
If TRUE, the ECAT_MBX task is active
ulMessagesReceived
Counter for number of received messages
ulMessagesSent
Counter for number of sent messages
ulMsgTooLong
Counter for number of too long messages
Table 43: Extended Diagnosis > [Folder Name] > ECAT_MBX_RSC_DIAG_T
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ECAT_MBX_RSC_TIMER_T
Figure 43: Extended Diagnosis > [Folder Name] > ECAT_MBX_RSC_TIMER_T Example
Display
Name
Description
ulTimerGran
Timer granularity
ulTimerCnt
Timer count
ulLowtrafficTimeout
Low traffic timeout
Table 44: Extended Diagnosis > [Folder Name] > ECAT_MBX_RSC_TIMER_T
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Tools
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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 Slave DTM
Folder Name / Section
Manual Page
Packet Monitor
85
IO Monitor
88
Navigation Area - Tools
Table 45: Descriptions of the Diagnosis Panes
Online Connection to the Device
Note: Accessing the Tools dialog panes of the EtherCAT Slave DTM
requires an online connection from the EtherCAT Slave DTM to the
EtherCAT Slave device. For further information refer to section
Connecting/Disconnecting Device on page 70.
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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 44: 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 45: 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
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 46: 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 46: 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 47: 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 47: 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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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
ODM Server
General ODM Error Codes: 0x8004C700 to 0x8004C761
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 48: Overview Error Codes and Ranges
The 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 49: 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 50: 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 51: 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 52: RCX Status & Error Codes Slave State
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10.4 ODM Error Codes
10.4.1
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 53: ODM Error Codes - General ODM Error Codes
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
© Hilscher, 2012-2013
Error Codes
10.4.2
95/113
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 54: ODM Error Codes - General ODM Driver Error Codess
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
© Hilscher, 2012-2013
Error Codes
10.4.3
96/113
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
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
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Error Codes
97/113
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
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
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Error Codes
98/113
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 55: cifX Driver Specific ODM Error Codes
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
© Hilscher, 2012-2013
Error Codes
99/113
10.5 Error Codes cifX Device Driver and netX Driver
10.5.1
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 56: Generic Error Codes
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
© Hilscher, 2012-2013
Error Codes
10.5.2
100/113
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 57: Generic Driver Error Codes
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
© Hilscher, 2012-2013
Error Codes
10.5.3
101/113
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 58: Generic Device Error Codes
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
© Hilscher, 2012-2013
Error Codes
102/113
10.6 Error Codes netX Driver
10.6.1
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 59: CIFX API Transport Error Codes
10.6.2
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 60: CIFX API Transport Header State Error Codes
DTM for Hilscher EtherCAT Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
© Hilscher, 2012-2013
Error Codes
103/113
10.7 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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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 61: 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, Device Description and
Diagnosis panes of the EtherCAT Slave 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 Device Description panes do not contain any editable elements. The
indicated values in are only for information purposes.
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
Maintenanc
e
Operator
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
Scanning for Devices
-
-
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
Planning
Engineer
Administra
tor
Table 62: Settings (D = Displaying, X = Editing, Configuring)
11.1.2
Configuration
Observer
Operator
Maintenanc
e
General
D
D
X
X
X
General Settings
D
D
X
X
X
Behavior
D
D
X
X
X
Mailbox
D
D
X
X
X
Table 63: Configuration (D = Displaying, X = Editing, Configuring)
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11.2 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]
EtherCAT Slave Protocol API Manual, Revision 3 (V4), Hilscher GmbH 2013
EtherCAT Slave Protocol API Manual, Revision 21 (V2), Hilscher GmbH 2013
11.3 List of Figures
Figure 1: Dialog Structure of the EtherCAT Slave DTM
13
Figure 2: Navigation Area
14
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
27
Figure 6: Default Driver ‚cifX Device Driver’ for PC cards cifX (example)
27
Figure 7: Default Driver ‚netX Driver’ for Hilscher devices except for PC cards cifX (example)
27
Figure 8: Manual Selection of multiple drivers (Example)
28
Figure 9: netX Driver > USB/RS232 Connection
32
Figure 10: netX Driver > TCP Connection
35
Figure 11: Device Assignment - detected Devices (* The name of the device class is displayed.) – Example
for a device without firmware
37
Figure 12: Device Assignment - detected Devices (* The name of the device class is displayed.) Example for
Devices without Firmware
39
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
40
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
41
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
42
Figure 16: Firmware Download
43
Figure 17: Window ‘Select Firmware File’ (Example CIFX)
44
Figure 18: Request Select Firmware File - Example
46
Figure 19: Firmware Download – Download
46
Figure 20: Firmware-Download –Question
46
Figure 21: Clock Symbol and Hook Symbol green
47
Figure 22: Firmware Download - Progress Bar
47
Figure 23: Configuration (Slave DTM at the Root-Line (Stand-Alone Slave))
48
Figure 24: Configuration > General (Slave DTM at the Master busline)
49
Figure 25: Configuration > General
52
Figure 26: General Settings
53
Figure 27: Device Settings > Application Monitoring
54
Figure 28: Configuration > Behavior
59
Figure 29: Configuration > Behavior > State Machine Timeout - Configuration
60
Figure 30: Configuration > Behavior > Device Check
61
Figure 31: Configuration > Behavior > Process data
61
Figure 32: Configuration > Behavior > Watchdog
62
Figure 33: Configuration > Mailbox > CoE Mailbox Settings
66
Figure 34: XML DDF Viewer
68
Figure 35: General Diagnosis
73
Figure 36: Firmware Diagnosis (Example)
75
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Figure 37: Extended Diagnosis > [Folder Name] > Task Information Example Display
Figure 38: Extended Diagnosis > [Folder Name] > IniBatch Status Example Display
Figure 39: Extended Diagnosis > [Folder Name] > ECAT_SDO_RSC_DIAG_T Example Display
Figure 40: Extended Diagnosis > [Folder Name] > ECAT_SDO_RSC_TIMER_T Example Display
Figure 41: Extended Diagnosis > [Folder Name] > ECAT_ESM_RSC_DIAG_T Example Display
Figure 42: Extended Diagnosis > [Folder Name] > ECAT_ESM_RSC_DIAG_T Example Display
Figure 43: Extended Diagnosis > [Folder Name] > ECAT_MBX_RSC_TIMER_T Example Display
Figure 44: Packet Monitor
Figure 45: Send > Packet Header and Send Data
Figure 46: Packet Header and Receive Data
Figure 47: IO Monitor
77
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80
81
82
83
85
86
87
88
11.4 List of Tables
Table 1: Descriptions Dialog Panes
Table 2: General Device Information
Table 3: Overview Dialog Panes
Table 4: OK, Cancel, Apply and Help
Table 5: Selecting, inserting, deleting Table Line
Table 6: Status Bar Icons [1]
Table 7: Getting Started - Configuration Steps (Slave DTM at the Root-Line (Stand-Alone Slave))
Table 8: Getting Started - Configuration Steps (Slave DTM at the Master busline)
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
Table 14: Parameter Firmware Download
Table 15: Parameters Select Firmware File
Table 16: Dialog Panes Configuration
Table 17: Dialog Panes Configuration
Table 18: General Page Parameters
Table 19: Coding of Parameter "Physics"
Table 20: Range of Value / Value for the Watchdog time
Table 21: Ident Parameters
Table 22: Values for the Ident Parameters VendorId, ProductCode and RevisionNumber
Table 23: Data Parameters
Table 24: Possible Error Messages issued at General Settings Pane
Table 25: Possible Warning Messages issued at General Settings Pane
Table 26: Parameters Behavior > Device checkup
Table 27: Parameters Behavior > Process data
Table 28: Parameters Configuration > Behavior > Watchdog
Table 29: Possible Error Messages issued at Behavior Pane
Table 30: Possible Warning Messages issued at Behavior Pane
Table 31: Descriptions of the Description Pages
Table 32: Device Description – XML DDF Viewerr
Table 33: Descriptions of the Diagnosis Panes
Table 34: Indication General Diagnosis
Table 35: Parameter General Diagnosis
Table 36: Description Table Task Information
Table 37: Descriptions of the Dialog Panes Extended Diagnosis
Table 38: Extended Diagnosis > [Folder Name] > Task Information
Table 39: Extended Diagnosis > [Folder Name] > IniBatch Status
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Table 40: Extended Diagnosis > [Folder Name] > ECAT_SDO_RSC_DIAG_T
Table 41: Extended Diagnosis > [Folder Name] > ECAT_SDO_RSC_TIMER_T
Table 42: Extended Diagnosis > [Folder Name] > ECAT_ESM_RSC_DIAG_T
Table 43: Extended Diagnosis > [Folder Name] > ECAT_MBX_RSC_DIAG_T
Table 44: Extended Diagnosis > [Folder Name] > ECAT_MBX_RSC_TIMER_T
Table 45: Descriptions of the Diagnosis Panes
Table 46: Descriptions Packet Header
Table 47: Descriptions Packet Header
Table 48: Overview Error Codes and Ranges
Table 49: RCX General Task Errors
Table 50: RCX Common Status & Errors Codes
Table 51: RCX Status & Error Codes
Table 52: RCX Status & Error Codes Slave State
Table 53: ODM Error Codes - General ODM Error Codes
Table 54: ODM Error Codes - General ODM Driver Error Codess
Table 55: cifX Driver Specific ODM Error Codes
Table 56: Generic Error Codes
Table 57: Generic Driver Error Codes
Table 58: Generic Device Error Codes
Table 59: CIFX API Transport Error Codes
Table 60: CIFX API Transport Header State Error Codes
Table 61: ODM Error Codes DBM V4
Table 62: Settings (D = Displaying, X = Editing, Configuring)
Table 63: Configuration (D = Displaying, X = Editing, Configuring)
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11.5 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 (specified in the ANSI/TIA/EIA-6441995 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 FMMU organizes the mapping of logical EtherCAT 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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11.6 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 Slave Device | Configuration of Hilscher Slave Devices
DOC110702OI02EN | Revision 2 | English | 2013-09 | Released | Public
© Hilscher, 2012-2013
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