Baumer ATD - Manual (Page 22)

EtherCAT 22/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
In case that the Sync Manager is enabled the values for the Watchdog register are as follows:
ESC Register Name ESC Register Address Init Values
Watchdog divider 0x0400 2498
Watchdog Time Process Data 0x0420 1000
Table 23 Sync Manager Watchdog Init
The Watchdog divider gives the number of 25 MHz tics (minus 2) that represents the basic watchdog incre-
ment (2498 = 100 µs). A Sync Manager Watchdog failure results in an ALSTATUSCODE_SMWATCHDOG
(please refer to Table 25 Supported AL Status codes) this follows a state change to SAFEOP.
The Sync Manager Watchdog function is only warranted for Sync operating modes but not for DC mode. In
Distributed Clock Mode the Sync Watchdog will be triggered by the ESC internally and does not reflect real
master operation.
3.2.2.2 EtherCAT State Machine Synchronization Errors
EtherCAT synchronization errors are defined under LIT[01]:
Error Code
Field Data Type Description
Error Code Word 0xA000 (ESM Transition Error PREOP to SAFEOP not successful)
0xA001 (ESM Transition Error SAFEOP to OP not successful)
EtherCAT State Byte 1 : INIT
2 : PREOP
4 : SAFEOP
8 : OP
Error Descrip-
tion Byte[5] [0] to [4]
Please refer to LIT[01] for Diagnostic Data
Table 24 Codification of SM Synchronization errors
3.2.2.3 AL Status Errors
State changes requested by the master are communicated to the slave via the AL control register, the slave
(device) responds to the change in the AL control register through a local AL Status write after successful or
a failed state change.
Supported AL Status Code definition:
AL Status Codes Values
ALSTATUSCODE_NOERROR 0x0000
ALSTATUSCODE_INVALIDALCONTROL 0x0011
ALSTATUSCODE_UNKNOWNALCONTROL 0x0012
ALSTATUSCODE_BOOTNOTSUPP 0x0013
ALSTATUSCODE_INVALIDMBXCFGINPREOP 0x0016
ALSTATUSCODE_INVALIDSMOUTCFG 0x001D
ALSTATUSCODE_INVALIDSMINCFG 0x001E
ALSTATUSCODE_INVALIDWDCFG 0x001F
ALSTATUSCODE_SMWATCHDOG 0x001B
ALSTATUSCODE_WAITFORCOLDRESET 0x0020
ALSTATUSCODE_BACKGROUNDWATCHDOG 0x002A
ALSTATUSCODE_DCINVALIDSYNCCFG 0x0030
ALSTATUSCODE_DCINVALIDSYNCCYCLETIME 0x0035
Table 25 Supported AL Status codes