Lenze 931K - Manual (Page 34)

CANopen over EtherCAT (CoE)
Error states
Differences in the state machine under CANopen and EtherCAT
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34 KHB 13.0005−EN 1.0
8.6 Error states
The EtherCAT CoE implementation for the 931K servo position controller monitors the
following error states of the EtherCAT fieldbus:
ƒ FPGA is not ready when the system is started
ƒ A bus error has occurred
ƒ An error on the mailbox channel has occurred. The following errors are monitored
here
– An unknown service is requested
– A protocol different from CANopen over EtherCAT (CoE) is to be used
– An unknown sync manager is addressed
All these errors are included in the list of error messages for the 931K servo position
controller. If one of the above mentioned errors occurs it is transferred to the control via
a standard emergency frame.
)
Note!
The 931K servo position controller with EtherCAT supports the function:
ƒ Due to an event, Application Controller transfers a defined error message
number (Error Control frame telegram from the controller)