Error notifications

10.5. Error notifications

For each error an error ID (error code) will be defined. This error ID will be used as the notification code when emonNotify() is called. In addition to this notification code the second parameter given to emonNotify() contains a pointer to an error notification descriptor of type EC_T_ERROR_NOTIFICATION_DESC. This error notification descriptor contains detailed information about the error.

struct EC_T_ERROR_NOTIFICATION_DESC

Public Members

EC_T_DWORD dwNotifyErrorCode

Error ID (same value as the notification code)

EC_T_CHAR achErrorInfo[MAX_ERRINFO_STRLEN]

Additional error string (may be empty)

union _EC_T_ERROR_NOTIFICATION_PARM

Public Members

EC_T_WKCERR_DESC WkcErrDesc

WKC error descriptor

EC_T_FRAME_RSPERR_DESC FrameRspErrDesc

Frame response error descriptor

EC_T_INITCMD_ERR_DESC InitCmdErrDesc

Master/Slave init command error descriptor

EC_T_SLAVE_ERROR_INFO_DESC SlaveErrInfoDesc

Slave Error Info Descriptor

EC_T_SLAVES_ERROR_DESC SlavesErrDesc

Slaves Error Descriptor

EC_T_MBOX_SDO_ABORT_DESC SdoAbortDesc

SDO Abort

EC_T_RED_CHANGE_DESC RedChangeDesc

Redundancy Descriptor

EC_T_MBOX_FOE_ABORT_DESC FoeErrorDesc

FoE error code and string

EC_T_MBXRCV_INVALID_DATA_DESC MbxRcvInvalidDataDesc

Invalid mailbox data received descriptor

EC_T_PDIWATCHDOG_DESC PdiWatchdogDesc

PDI watchdog expired

EC_T_SLAVE_NOTSUPPORTED_DESC SlaveNotSupportedDesc

Slave not supported

EC_T_SLAVE_UNEXPECTED_STATE_DESC SlaveUnexpectedStateDesc

Slave in unexpected state

EC_T_SLAVES_UNEXPECTED_STATE_DESC SlavesUnexpectedStateDesc

Slaves in unexpected state

EC_T_EEPROM_CHECKSUM_ERROR_DESC EEPROMChecksumErrorDesc

EEPROM checksum error

EC_T_JUNCTION_RED_CHANGE_DESC JunctionRedChangeDesc

Junction redundancy change descriptor

EC_T_FRAMELOSS_AFTER_SLAVE_NTFY_DESC FramelossAfterSlaveDesc

Frameloss after Slave descriptor

EC_T_S2SMBX_ERROR_DESC S2SMbxErrorDesc

S2S Mailbox Error descriptor

EC_T_BAD_CONNECTION_NTFY_DESC BadConnectionDesc

Bad connection descriptor

EC_T_COMMUNICATION_TIMEOUT_NTFY_DESC CommunicationTimeoutDesc

Communication timeout descriptor

EC_T_TAP_LINK_STATUS_NTFY_DESC TapLinkStatusDesc

Tap link status

If the pointer to this descriptor exists the detailed error information (e.g. information about the SubDevice) is stored in the appropriate structure of a union. These error information structures are described in the following sections.

10.5.1. emonNotify - EC_NOTIFY_NOT_ALL_DEVICES_OPERATIONAL

When processing cyclic frames the EtherCAT® MainDevice checks whether all SubDevices are still in OPERATIONAL state. If at least one SubDevice is not OPERATIONAL this error will be indicated.

10.5.2. emonNotify - EC_NOTIFY_ALL_DEVICES_OPERATIONAL

When processing cyclic frames the EtherCAT® MainDevice checks whether all SubDevices are still in OPERATIONAL state. This will be notified after emonNotify - EC_NOTIFY_NOT_ALL_DEVICES_OPERATIONAL and all the SubDevices are back in OPERATIONAL state.

10.5.3. emonNotify - EC_NOTIFY_CLIENTREGISTRATION_DROPPED

This notification will be indicated if the client registration was dropped because emonConfigureNetwork() was called by another thread.

EC_T_DWORD dwDeinitForConfiguration; /* 0 = terminating MainDevice, 1 = restarting MainDevice */

10.5.4. emonNotify - EC_NOTIFY_CYCCMD_WKC_ERROR

To update the process data some EtherCAT® commands will be sent cyclically by the external MainDevice. These commands will address one or multiple SubDevices. These EtherCAT® commands contain a working counter which has to be incremented by each SubDevice that is addressed. The working counter will be checked after the EtherCAT® command is received by the monitor. If the expected working counter will not match the working counter of the received command the error EC_NOTIFY_CYCCMD_WKC_ERROR will be indicated. The working counter value expected by the monitor is determined by the EtherCAT® configuration (XML) file for each cyclic EtherCAT® command (section Config/Cyclic/Frame/Cmd/Cnt). Detailed error information are stored in structure EC_T_WKCERR_DESC of EC_T_ERROR_NOTIFICATION_DESC.

struct EC_T_WKCERR_DESC

Public Members

EC_T_SLAVE_PROP SlaveProp

Slave properties, content is undefined in case of cyclic WKC_ERROR

EC_T_BYTE byCmd

EtherCAT command type

EC_T_DWORD dwAddr

Logical address or physical address (ADP/ADO)

EC_T_WORD wWkcSet

Working counter set value

EC_T_WORD wWkcAct

Working counter actual value

EC_T_DWORD dwTaskId

Cyclic Task ID (ENI: Cyclic/TaskId)

EC_T_WORD wMsuId

Master Sync Unit ID (ENI: Slave/ProcessData/RxPdo[1..4]@Su, Slave/ProcessData/TxPdo[1..4]@Su, comment at Cyclic/Frame/Cmd)

struct EC_T_SLAVE_PROP
EC_T_WORD wStationAddress
EC_T_WORD wAutoIncAddr
EC_T_CHAR achName[MAX_STD_STRLEN]

10.5.5. emonNotify - EC_NOTIFY_FRAME_RESPONSE_ERROR

This notification will be indicated if the actually received Ethernet frame does not match the expected frame or if an expected frame was not received.

struct EC_T_FRAME_RSPERR_DESC

Public Members

EC_T_BOOL bIsCyclicFrame

Indicates whether the lost frame was a cyclic frame

EC_T_FRAME_RSPERR_TYPE EErrorType

Frame response error type

EC_T_BYTE byEcCmdHeaderIdxSet

Expected IDX value, this value is valid only for acyclic frames in case EErrorType is not equal to eRspErr_UNEXPECTED

EC_T_BYTE byEcCmdHeaderIdxAct

Actually received IDX value, this value is only valid for acyclic frames in case of EErrorType is equal to: eRspErr_WRONG_IDX and eRspErr_UNEXPECTED

EC_T_WORD wCycFrameNum

Number of the lost cyclic frame from the ENI

EC_T_DWORD dwTaskId

Cyclic Task ID (ENI: Cyclic/TaskId). Only valid if bIsCyclicFrame is set

enum EC_T_FRAME_RSPERR_TYPE

Values:

enumerator eRspErr_UNDEFINED

Undefined

enumerator eRspErr_NO_RESPONSE

No Ethernet frame received (timeout, frame loss)

enumerator eRspErr_WRONG_IDX

Wrong IDX value in acyclic frame

enumerator eRspErr_UNEXPECTED

Unexpected frame was received

enumerator eRspErr_FRAME_RETRY

Ethernet frame will be re-sent (timeout, frame loss)

enumerator eRspErr_RETRY_FAIL

All retry mechanism fails to re-sent acyclic frames

enumerator eRspErr_FOREIGN_SRC_MAC

Frame with MAC from other Master received

enumerator eRspErr_NON_ECAT_FRAME

Non EtherCAT frame received

enumerator eRspErr_CRC

Ethernet frame with CRC error received

enumerator eRspErr_ETHERNET_PAUSE_FRAME

Ethernet pause frame (flow control) received

10.5.6. emonNotify - EC_NOTIFY_STATUS_SLAVE_ERROR

When processing cyclic frames, the EC-Monitor checks whether the ERROR bit in the AL-STATUS register is set for at least one SubDevice. In this case, this notification is triggered. If the EtherCAT® MainDevice determines the error information of the SubDevice(s) signal an error, another notification emonNotify - EC_NOTIFY_SLAVE_ERROR_STATUS_INFO with more precise error information is triggered.

10.5.7. emonNotify - EC_NOTIFY_SLAVE_ERROR_STATUS_INFO

This notification will be indicated if the EtherCAT® MainDevice reads the AL-STATUS and AL-STATUS-CODE registers and the SubDevice signals an error in them. Detailed error information is stored in structure EC_T_SLAVE_ERROR_INFO_DESC of EC_T_ERROR_NOTIFICATION_DESC.

struct EC_T_SLAVE_ERROR_INFO_DESC

Public Members

EC_T_SLAVE_PROP SlaveProp

Slave properties

EC_T_WORD wStatus

Slave Status (AL Status)

EC_T_WORD wStatusCode

Error status code (AL STATUS CODE)

10.5.8. emonNotify - EC_NOTIFY_PDIWATCHDOG

This notification will be indicated every time a PDI watchdog error is detected. Detailed error information is stored in structure EC_T_PDIWATCHDOG_DESC of EC_T_ERROR_NOTIFICATION_DESC.

struct EC_T_PDIWATCHDOG_DESC

Public Members

EC_T_SLAVE_PROP SlaveProp

Slave properties

10.5.9. emonNotify - EC_NOTIFY_COMMUNICATION_TIMEOUT

This notification will be indicated if the EC-Monitor does not detect any EtherCAT® communication on the Ethernet tap for a parameterizable timeout. The descriptor of the notification contains information on which port of the Ethernet tap the timeout occurred.

struct EC_T_COMMUNICATION_TIMEOUT_NTFY_DESC

Public Members

EC_T_BOOL bMainTapPortIn

EC_TRUE: Timeout occurred at the input port of the Ethernet TAP for the EtherCAT main line

EC_T_BOOL bMainTapPortOut

EC_TRUE: Timeout occurred at the output port of the Ethernet TAP for the EtherCAT main line

See also

EC_T_MONITOR_INIT_PARMS::dwCommunicationTimeoutMsec