Lenze EtherCAT control technology - Manual (Page 156)

Control technology | EtherCAT communication manual
Diagnostics
Error scenarios
156
L
DMS 3.1 EN 01/2011 TD17
11.6.12 Logbook message: "Cyclic command WKC error ..."
The "Cyclic command WKC error" message is entered cyclically every 5 seconds into the
logbook of the industrial PC until the error is not active anymore.
Error notifications in the »PLC Designer«
In the "ETHERCATMaster Status" visualisation template of the »PLC Designer«, the
following error notifications are highlighted in red (fault):
...
xxxxx DD-MM-YYYY hh:mm:ss
EtherCAT Master Stack SLV: Cyclic command WKC error on LWR - Address: 0x10000 -
WKC act/set=2/7
Communication on bus systems
Error
...
Causes Remedies
The EtherCAT slave sync managers do not receive any
messages and a time-out expires.
Example: An unplugged bus cable between two
EtherCAT nodes has been replugged. Afterwards,
however, neither the SMC_ResetAxisGroup function
block nor a Bus restart ( 139) have been executed.
1.Stopping the PLC program: Execute the menu
command OnlineStop.
2.Plug in the bus cable.
3.Execute the SMC_ResetAxisGroup function block or a
Bus restart ( 139) .