This topic covers the main troubleshooting tools, common problems, and general tips for EtherCAT.
Troubleshooting Tools
The main tools for troubleshooting EtherCAT are:
EtherCAT Diagnostics window
Use the EtherCAT Diagnostics to monitor the network and see the states, data, and errors of each device on the network.
EtherCAT Network Mismatch Analyzer
Use the Network Mismatch Analyzer to determine whether there is a mismatch between the version of the actual SubDevice type as compared to the ESI file.
Lines Crossed Analyzer
Use the Lines Crossed Analyzer to find where the In and Out ports of a SubDevice may be connected incorrectly.
Event Log
The Event Log provides a lot of detail about the EtherCAT network. Additional advanced Event Log EtherCAT messages can be enabled via the Event Log filtering.
Common Problems
The EtherCAT Diagnostics does not show all the SubDevices
This may be caused by:
Misconnection
The cables may be connected incorrectly between devices. Use the Line Crossed Analyzer to find the location of the problem.
It is important that the MainDevice’s Out port is connected to the first SubDevice’s In port, and SubDevice Out ports are connected to the next SubDevice’s In port.
A problem in the SubDevice
Try cycling power to the SubDevices that do not appear, or to the last SubDevice in the line that does appear.
SubDevice transitions to Pre-Op, but does not transition to Safe-Op mode
This may be caused by:
PDO Configuration Problem
If the PDO is not configured correctly, the SubDevice will not enter Safe-Op. The PDO configuration requirements for each SubDevice are not always readily apparent. See EtherCAT Process Data Object (PDO) for more details.
Configuration Problem in the SubDevice
You may need to open the SubDevice configuration software provided by the manufacturer in order to troubleshoot and remedy the problem.
SubDevice transitions to Safe-Op, but does not transition to Op mode
This may be caused by:
Device ID Mismatch
When Identification Checking is enabled, the Network Device ID and Config Device ID of the SubDevice on the network must match the network configuration when the network starts up, or the SubDevice will not enter Op mode. See EtherCAT Device Identification for details.
General Tips
Common steps to take when encountering problems:
Restart the network
Restarting the network can often clear minor errors.
To restart the network:
In the Project View, right-click EtherCAT and select Restart Network.
Or,
With the EtherCAT Diagnostics open, on the EtherCAT menu, select Restart Network.
Or,
Send the Reset EtherCAT Network (122) command.
Download the EtherCAT Configuration
Downloading the EtherCAT Configuration will apply all your configuration settings and restart the network.
To download the EtherCAT Configuration:
In the EtherCAT Editor, in the toolbar, click Download to Controller button
Cycle power to SubDevices
Cycling power to SubDevices is often required when making certain changes, such as writing to EEPROM values. In addition, some devices tend to become unresponsive when unexpected events occur. If a device is not responding, try removing power from the device long enough for it to power down, then re-apply power. Once the device has powered up, restart the EtherCAT network.
If all else fails:
Reset EtherCAT to Defaults
If all else fails, you can try entirely starting over by setting the EtherCAT Configuration to default settings. Be aware that this will cause any settings you made to be lost. This should only be done as a last resort.
To reset EtherCAT to defaults:
In the Project View, right-click EtherCAT and choose Reset to Default, then download the EtherCAT Configuration.
See Also
EtherCAT Overview | EtherCAT Diagnostics window | Network Mismatch Analyzer | Lines Crossed Analyzer | Event Log
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