18 error code 0x001f, 19 error code 0x0020, 20 error code 0x0021 – BECKHOFF EL9xxx User Manual
Page 84
Appendix
7.4.18
Error Code 0x001F
Meaning
Invalid Watchdog Configuration
Description
The Watchdog is configured in the ESC register 0x0400 and 0x0420. EtherCAT defines default watchdog
settings (100ms) or they are defined in the ESI file. If the slave does not accept a change of the expected
settings it returns this AL Status Code Example: A slave may not accept that the WD is deactivated.
Current State (or state change)
O, S, O, P→S
Resulting state
P + E
Solution
Use default WD settings
7.4.19
Error Code 0x0020
Meaning
Slave needs cold start
Description
Slave device require a power off power on reset
Current State (or state change)
Any
Resulting state
Current State + E
Solution
n/a
7.4.20
Error Code 0x0021
Meaning
Slave needs INIT
Description
Slave application requests INIT state
EL9xxx
84
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