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9 Function library L_IODrvEtherCAT.lib

9.4 Diagnostic Interface

142

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17

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eErrorCode

L_ETC_ERRORCODE

Error code of the incorrectly executed action (xError =TRUE).

If no emergency telegram was received, the error message "0x9811000C:

ETC_E_NOTFOUND" is output.

General error codes (L_ETC_ERRORCODE)

( 183)

SDO abort codes

( 195)

oEmcy

L_ETC_COE_EMERGENCY

If xExecute is TRUE, a CoE emergency frame read from the buffer is pending at the

oEmcy output.

Information in the CoE emergency frame:

• uiDevice : UNIT (slave address)

• dwTimestamp : DATE_AND_TIME (timestamp UTC, see FUNC SysTimeRtcGet)

• wErrorCode : WORD (error code, device-specific)

• byErrorRegister : BYTE (error register, device-specific)

• abyData : ARRAY[0..4] OF BYTE (error data, device-specific)

uiCount

UINT

If xExecute is TRUE, the number of CoE emergency frames remaining in the buffer is

specified at the uiCount output.

Identifier/data type Meaning/possible settings

1 2 ... 137 138 139 140 141 142 143 144 145 146 147 ... 204 205

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Lenze EtherCAT Controller-based Automation Manual de usuario Pagina 142