EPOS4 / IDX EtherCAT: Which object holds the error codes?

Topic:

I have an EPOS4 or IDX EtherCAT product type in use which reports an error state by its LED.

• How can I check the concrete error state resp. the device error code(s)?

Solution:

Object "Error register", 0x1001

• The object "Error register" 0x1001 is a standardized object of the base CANopen "CiA301 - CANopen application layer and communication profile" specification.
  • The object "Error register" is present by any CANopen or EtherCAT device independent if it is a I/O terminal, a drive (e.g. EPOS4), or any other kind of CANopen or EtherCAT device. 
  • The specific functionality of a device (e.g. motion control slave like the EPOS4) is defined by a top level so-called device-profile. In case of an EPOS4 (or generally any motion control devices) it is the so-called "CiA402 - CANopen device profile for drives and motion control". 
  • The term "device profile-specific" in use by Bit 5 of the "Error register" (0x1001) refers to specific error states of the top-level device profile (e.g. CiA402) specific error states. If the device has an error state which does not fit to one of the other more general "Error register" bits, the "device profile-specific" of the "Error register" is set.
• In practice the "Error register" (0x1001) is not(!) sufficient to clearly retrieve and identify an error state and its root cause. If a master detects an error bit by the "Error register" (0x1001) or an error state by the Statusword (0x6041), the master's application code has to check the concrete error code by the object "Error History" (-> 0x1003/0x01...0x05) in case of CANopen resp. "Diagnosis History" (0x10F3/0x06...0x0A) in case of EtherCAT.
  
  

Object "Error history", 0x1003 -> CANopen only!

• The object "Error history", 0x1003 is just available in case of CANopen but not present by EPOS4  or IDX with an EtherCAT interface.
• Please find the detailed information about the object "Error history" by the "EPOS Firmware Specification" resp. "IDX Firmware Specification".
  
  

Object "Diagnosis history", 0x10F3 -> EtherCAT only!

• If there is an EPOS4 or IDX with EtherCAT interface is use, the concrete error codes have to be checked by the subindex 0x06 ... 0x0A of the quite comprehensive object "Diagnosis history", 0x10F3. 
• Please find the detailed information about the object "Diagnosis history" by the "EPOS Firmware Specification" resp. "IDX Firmware Specification".
  
  
• Example 1: No error state present
  
  
  • Content of the objects 0x10F3/0x06...0x0A are all zero, i.e. no error state is present.
    
• Example 2: Error state present
  
  
  • "Error Register", 0x1001 = 0xA0
    => "Motion error" bit 7 and "Device profile-specific" bit 5 is set
  • "Diagnosis history / Diagnosis message 1, 0x10F3/0x06
    -> Error code 0x8611 => "Following error"
  • "Diagnosis history / Diagnosis message 2, 0x10F3/0x07
    -> Error code 0x7380 => "Position sensor breach error"
    
    

Cross Reference

Error handling and error codes

Please find the information about EPOS4's and IDX's error handling and error codes by
chapter "7 Error Handling" of "EPOS4 Firmware Specification" resp. "IDX Firmware Specification".