wRTOS E-CAT Diagnostic Tool

wRTOS E-CAT Diagnostic Tool allows you to monitor the connectivity between the EtherCAT MainDevice and SubDevices on the EtherCAT network. It displays device topology, EtherCAT states, and communication errors, helping you quickly identify connection issues and device faults.

This component requires a license. wRTOS E-CAT Diagnostic Tool requires a wRTOS Fieldbus license (WFBS64). Contact IntervalZero Sales to purchase licenses.

Topics:

Opening wRTOS E-CAT Diagnostic Tool
Exploring wRTOS E-CAT Diagnostic Tool User Interface

Opening wRTOS E-CAT Diagnostic Tool

To open wRTOS E-CAT Diagnostic Tool:

Add a MainDevice instance before opening the E-CAT Diagnostic tool.

Note: If multiple MainDevice instances are configured, the Select E-CAT MainDevice dialog appears. Select an instance from the E-CAT MainDevice instance drop-down list.

Start your E-CAT application (e.g., the E-CAT Configuration tool) and create an EtherCAT connection to the hardware devices.
In the Start menu, navigate to wRTOS 1.0 Runtime and select E-CAT Diagnostic Tool. Alternatively, you can open the E-CAT Diagnostic Tool from wRTOS Control Panel.

Exploring wRTOS E-CAT Diagnostic Tool User Interface

wRTOS E-CAT Diagnostic Tool consists of three sections: the Device Topology in the center, the Device Information on the right, and the Error Information at the bottom.

The Reset button is enabled when the MainDevice is in the OP state. Clicking Reset resets all displayed errors, allowing you to identify persistent issues. You can click to display the tool's help.

Device Topology

Device Topology shows the network connectivity between the EtherCAT MainDevice and SubDevices. If errors occur or EtherCAT states change, error messages and status icons provide immediate notification.

Name	Description
SubDevice Index	The SubDevice's index.
Fixed Address	The SubDevice's fixed address, set by the MainDevice during startup. Values start at 1001 and follow the EtherCAT connection order.
Device Tooltip	Hover over a MainDevice or SubDevice to view its tooltip.
Connection Line	Displays the connectivity and online state of devices on the EtherCAT network. Connection types may vary depending on the application. For example, some applications may require a coupler or junction to extend the network and connect additional devices. For more details, see Connection Line and Connection State below.
Status Icon	Colors indicate different EtherCAT states. A yellow warning sign and a red error description are displayed when errors occur. You can determine the error type from the red error description. To view errors in detail, you can: Select a device and then click the Errors tab in the right-side Device Information section, or Check all errors in the Error Information section at the bottom For more details on the error descriptions, see Error Descriptions below.

Connection Line

The following examples illustrate connection lines for different connection types:

General Connection

Devices without Coupler/Junction	Devices with Coupler/Junction
	: Represents the device's port. In this example, Device 1001 has two ports. Port 1 connects to Device 1002 and Port 2 connects to Devices 1003 and 1004.

Devices without Coupler/Junction

Devices with Coupler/Junction

: Represents the device's port. In this example, Device 1001 has two ports. Port 1 connects to Device 1002 and Port 2 connects to Devices 1003 and 1004.

Redundant Connection

This component requires a license. This requires the wRTOS E-CAT Cable Redundancy license (WECR64).

Devices without Coupler/Junction	Devices with Coupler/Junction
	: Represents the device's port. In this example, Device 1001 has two ports. Port 1 connects to Device 1002 and Port 2 connects to Devices 1003 and 1004.

Devices without Coupler/Junction

Devices with Coupler/Junction

: Represents the device's port. In this example, Device 1001 has two ports. Port 1 connects to Device 1002 and Port 2 connects to Devices 1003 and 1004.

Connection State

Line colors indicate the connection or online state.

Devices to Device Linking	Port to Device Linking	Device to Port Linking
Yellow line: connected Gray line: disconnected	Yellow line: connected Gray line: disconnected	Yellow line: device is online (Device 1001)	Gray line: device is offline (Device 1001)

Devices to Device Linking

Port to Device Linking

Device to Port Linking

Yellow line: connected

Gray line: disconnected

Yellow line: connected

Gray line: disconnected

Yellow line: device is online (Device 1001)

Gray line: device is offline (Device 1001)

Error Descriptions

The red error descriptions appended to devices in the Device Topology are displayed when errors occur. The following are the definitions of these error descriptions.

Device	Error Description	Definition
MainDevice	Frame lost	One of the following errors occurred: Acyclic frame lost Cyclic frame lost
SubDevice	Communication error	One of the following errors occurred: Working counter error Not present Port frame error Port physical layer error
SubDevice	Lost link	One of the following errors occurred: Not present Port lost link
SubDevice	AL (status) error	The EtherCAT AL status code is not zero

Device Information

You can view the device information or errors for a specific device in the Device Information section on the right. To do this, click on a device in the Device Topology, and then select the General or Errors tab in the Device Information section.

The information or errors displayed in the Device Information section are available only when the selected device is in specific state(s). Please refer to the Available MainDevice EtherCAT State or Available SubDevice EtherCAT State column in the tables below for availability.

Any indicates any of the EtherCAT state. You can refer to the value in RTECAT_ETHERCAT_STATE to verify the exact state.

>= Init includes the states of Init, PreOP, SafeOP, OP and Boot, based on the EtherCAT device state transition sequence:
- Offline → Init → PreOP → SafeOP → OP
- Offline → Init → Boot

When a MainDevice is selected in the Device Topology, its information is displayed in the Device Information section.

Information	Description	Available MainDevice EtherCAT State
Vendor ID	The EtherCAT vendor ID of the company.	>= Init
Product code	A vendor-specific product code used for identification in conjunction with the vendor ID.	>= Init
Revision number	A vendor-specific revision number.	>= Init
Serial number	A vendor-specific serial number.	>= Init
EtherCAT state	The MainDevice's EtherCAT state.	>= Init
Cyclic frame lost	The number of cyclic frames lost.	OP
Acyclic frame lost	The number of acyclic frames lost.	OP

When a SubDevice is selected in the Device Topology, its information and errors are displayed in the General and Errors tabs respectively in the Device Information section.

General tab:

Information	Description	Available SubDevice EtherCAT State
Name	The device name.	Any
Fixed address	The SubDevice's fixed address.	Any
Alias address	Can be written by the MainDevce and is stored in the SubDevice EEPROM. This value is retained after powering-off and can be used to differentiate identical SubDevices.	Any (but could be updated when the device is reconnected)
SubDevice index	The index of the SubDevice array.	Any
Vendor ID	The EtherCAT vendor ID of the company.	Any
Product code	A vendor-specific product code used for identification in conjunction with the vendor ID.	Any
Revision number	A vendor-specific revision number.	Any (but could be updated when the device is reconnected)
Serial number	A vendor-specific serial number.	Any (but could be updated when the device is reconnected)
EtherCAT state	The SubDevice's EtherCAT state.	Any
Requested state	The requested EtherCAT state of the SubDevice. The request is made by the MainDevce.	>= Init
Device type	The SubDevice's type.	Any
Mailbox input	The size of a SubDevice's input mailbox, in bytes. A size between 128 and 512 bytes is considered moderate, while a size under 32 bytes is considered small.	Any
Mailbox output	The size of a SubDevice's output mailbox, in bytes. A size between 128 and 512 bytes is considered moderate, while a size under 32 bytes is considered small.	Any
Link (Port 0, 1, 2, 3)	The SubDevice or MainDevice that is connected or expected to be connected to the port. If it's a SubDevice, its fixed address is displayed.	Any
Port status (Port 0, 1, 2, 3)	Displays the loop control setting and port state. For example, "Loop Auto: Opened" indicates that the loop setting is auto and the port is opened. Each port can be configured as Open, Close, Auto, and Auto Close. The current state can be Opened or Closed. Open: the port is always open. If there is no link, outgoing EtherCAT frames are lost. Close: the port is always closed. If there is a link, incoming EtherCAT frames are not received. Auto: the port state is determined by the link state. The port opens when a link is present and closes when no link is present. Auto Close: the port state is determined by the link state. If there is no link, the port is closed. If no link is present, the port is closed. If a link is created, the port does not open automatically unless explicitly requested by the MainDevice.	OP

Errors tab:

Information	Description	Available SubDevice EtherCAT State
AL status code	Displays the error code indicating the most recent problem encountered by the SubDevice. For the list of error codes, see EtherCAT AL Status codes.	>= Init
AL error	Displays the error corresponding to the EtherCAT AL Status codes.	>= Init
Working counter error	The number of cycles in which the datagram responsible for data exchange of the SubDevice was returned with an invalid working counter.	OP
Not present count	The number of times the MainDevice lost the physical link with the SubDevice.	Any
Abnormal state change	The number of times the SubDevice autonomously transitions to a lower state without a request from the MainDevice.	Any
Frame error (Port 0, 1, 2, 3)	The Ethernet frame error count for ports 0, 1, 2, and 3.	OP
Physical layer error (Port 0, 1, 2, 3)	The physical layer communication error count for ports 0, 1, 2, and 3.	OP
Link lost (Port 0, 1, 2, 3)	The link lost count for ports 0, 1, 2, and 3.	OP

Error Information

You can check all errors in the Error Information section at the bottom, where errors are listed one by one and categorized into different tabs.

TIP: In a table, double-click on a row can select the device in the Device Topology. You can further check the general information or errors of the device in the Device Information section.

Name	Description
Error Counter	Lists the devices with non-zero error counters. Error counter types: Working counter error Abnormal state change Not present Port frame error Port physical layer error Port lost link
Error Code	Lists the devices with non-zero AL status code.
State Mismatch	Lists the devices with EtherCAT states different from the MainDevice's. The offline devices are excluded.
Offline	Lists the offline devices.
Port Disconnected	Lists the devices where at least one of the ports is expected to be connected but is disconnected.
All	Lists all the information for devices. You can search for a device by its name, address, vendor ID, product code, revision number, or serial number. Simply enter text into the Find input box to initiate the search. The search function is not case-sensitive.