EtherCAT AL status codes indicate the communication status of EtherCAT devices. They define various operational states and help diagnose issues to ensure proper network communication.
- Any indicates any of the EtherCAT state. You can refer to the value in RTECAT_ETHERCAT_STATE to verify the exact state.
- E indicates that the Error Indication flag is set.
- I indicates Init.
- P indicates PreOP.
- B indicates Boot.
- S indicates SafeOP.
- O indicates OP.
|
Code |
Description |
Current state (or state change) |
Resulting state |
|---|---|---|---|
|
0x0000 |
No error |
Any |
Current state |
|
0x0001 |
Unspecified error |
Any |
Any + E |
|
0x0002 |
No Memory |
Any |
Any + E |
|
0x0003 |
Invalid Device Setup |
P → S |
P + E |
|
0x0005 |
Reserved due to compatibility reasons |
||
|
0x0011 |
Invalid requested state change |
I → S I → O P → O O → B S → B P → B |
Current state + E |
|
0x0012 |
Unknown requested state |
Any |
Current state + E |
|
0x0013 |
Bootstrap not supported |
I → B |
I + E |
|
0x0014 |
No valid firmware |
I → P |
I + E |
|
0x0015 |
Invalid mailbox configuration |
I → B |
I + E |
|
0x0016 |
Invalid mailbox configuration |
I → P |
I + E |
|
0x0017 |
Invalid sync manager configuration |
P → S S → O |
Current state + E |
|
0x0018 |
No valid inputs available |
O S → O |
S + E |
|
0x0019 |
No valid outputs |
O S → O |
S + E |
|
0x001A |
Synchronization error |
O S → O |
S + E |
|
0x001B |
Sync manager watchdog |
O S |
S + E |
|
0x001C |
Invalid Sync Manager Types |
O S P → S |
S + E |
|
0x001D |
Invalid Output Configuration |
O S P → S |
S + E |
|
0x001E |
Invalid Input Configuration |
O S P → S |
P + E |
|
0x001F |
Invalid Watchdog Configuration |
O S P → S |
P + E |
|
0x0020 |
SubDevice needs cold start |
Any |
Current state + E |
| 0x0021 | SubDevice needs Init |
B P S O |
Current state + E |
| 0x0022 | SubDevice needs PreOP |
S O |
S + E O + E |
| 0x0023 | SubDevice needs SafeOP | O |
O + E |
| 0x0024 | Invalid Input Mapping | P → S | P + E |
| 0x0025 | Invalid Output Mapping | P → S | P + E |
| 0x0026 | Inconsistent Settings | P → S | P + E |
| 0x0027 | FreeRun not supported | P → S | P + E |
| 0x0028 | SyncMode not supported | P → S | P + E |
| 0x0029 | FreeRun needs 3Buffer Mode | P → S | P + E |
| 0x002A | Background Watchdog |
S O |
P + E |
| 0x002B | No Valid Inputs and Outputs |
O S → O |
S + E |
| 0x002C | Fatal Sync Error | O | S + E |
| 0x002D | No Sync Error | S → O | S + E |
| 0x0030 | Invalid DC SYNCH Configuration |
O S → O P → S |
P + E S + E |
| 0x0031 | Invalid DC Latch Configuration |
O S → O P → S |
P + E S + E |
| 0x0032 | PLL Error |
O S → O |
S + E |
| 0x0033 | DC Sync IO Error |
O S → O |
S + E |
| 0x0034 | DC Sync Timeout Error |
O S → O |
S + E |
| 0x0035 | DC Invalid Sync Cycle Time | P → S | P + E |
| 0x0036 | DC Sync0 Cycle Time | P → S | P + E |
| 0x0037 | DC Sync1 Cycle Time | P → S | P + E |
| 0x0041 | MBX_AOE |
B P S O |
Current state + E |
| 0x0042 | MBX_EOE |
B P S O |
Current state + E |
| 0x0043 | MBX_COE |
B P S O |
Current state + E |
| 0x0044 | MBX_FOE |
B P S O |
Current state + E |
| 0x0045 | MBX_SOE |
B P S O |
Current state + E |
| 0x004F | MBX_VOE |
B P S O |
Current state + E |
| 0x0050 | EEPROM no access | Any | Any + E |
| 0x0051 | EEPROM Error | Any | Any + E |
| 0x0060 | SubDevice restarted locally | Any | I |
| 0x0061 | Device Identification value updated | P | P + E |
| 0x0062 ... 0x00EF | Reserved | ||
| 0x00F0 | Application controller available | I | I + E |
| Other codes < 0x8000 | Reserved | ||
| 0x8000 - 0xFFFF | Vendor specific |
