Cause

See codes

<axis>

Axis Number (1-32)

<id>

Station number (Robox ID)

<code>

Error codes:

•0x000000 = No Communication in operational

•0x000001 = Missing Rx PDO 1 for the nr. of sampling specified in CAN node diagnostics (see CANopen Configuration Editor)

•0x000002 = Missing Rx PDO 2 for the nr. of sampling specified in the CAN node diagnostics (see CANopen Configuration Editor)

•0x000004 = Missing Rx PDO 3 for the nr. of sampling specified in the CAN node diagnostics (see CANopen Configuration Editor)

•0x000008 = Missing Rx PDO 4 for the nr. of sampling specified in the CAN node diagnostics (see CANopen Configuration Editor)

•0x000010 = Before time Rx PDO 1

•0x000020 = Before time Rx PDO 2

•0x000040 = Before time Rx PDO 3

•0x000080 = Before time Rx PDO 4

•0x00000100 = Missing mandatory Ws

•0x00000200 = Missing Ws

•0x00000400 = Last Request RTR failed

•0x00000800 = Ws Presence imposed

•0x00001000 = Reconfiguring Ws

•0x00002000 = Error during reconfiguration

•0x00004000 =

•0x00008000 =

•0x00010000 = Emergency Message present

•0x00020000 = No communication (in operational mode)

•0x00040000 = Ws Kind : Mandatory

•0x00080000 = Ws kind : Reloadable on connection

•0x00100000 = Configuration satisfactory done

•0x00200000 = Ws not connected on first configuration

•0x00400000 = Problem occurs during configuration on SDO command

•0x00800000 = Problem occurs during configuration on NMT command

•0x010000 = Configuration done

•0x02000000 =

•0x040000 = The node is configured not present (ECAT_SLAVE_OFF)

•0x08000000 = A mode other than OPERATIONAL was requested to the node

•0x10000000 = The EtherCAT master it's not in OPERATIONAL

•0x20000000 = There is not link on EtherCAT master network port

•0x40000000 = Ws not started

•0x80000000 = Undefined Ws

Output condition

Effect

Communication does not work.

Energization is removed from the power set (if power management provides for it)

What to do

Verify:

•Programming of PDOs and communication data in the cocx.cfg file (also on the connected device)

•Wiring

Alarm mask

am[<axis>].8

Alarm par prominent

Yes

Alarm type

ExtDev

Notes

Before RTE 33.21.12 the alarm name was "18#nAx CAN ws <id> fault <code>"