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LED signals reference

LED signals definitions

LED stateDescription
OnThe LED is constantly on.
OffThe LED is constantly off.
Flickering

The LED flickering will have an On and Off sequence with a frequency of approximately 10 Hz: on for approximately 50 ms and off for approximately 50 ms.

Blinking

The LED blinking will have an On and Off sequence with a frequency of approximately 2,5 Hz: On for approximately 200 ms followed by Off for approximately 200 ms.

Single flash

The LED will have a short flash (approximately 200 ms) followed by a long off phase (approximately 1000 ms).

Double flash

The LED will have a sequence of two short flashes (approximately 200 ms), separated by an off phase (approximately 200 ms). The sequence is finished
by a long off phase (approximately 1000 ms).

Triple flash

The LED will have a sequence of three short flashes (approximately 200 ms), separated by an off phase (approximately 200 ms). The sequence is finished
by a long off phase (approximately 1000 ms).

LED signals


LED signalMeaning
FAULT LED (Red)

Signals if the drive is in fault state.

See State Machine in Operation section and Error management section for further information.

  • If the LED state is OFF, the drive will operate normally (it is not in Fault state).
  • If the LED state is ON, the drive is in Fault state.

EtherCAT

In EtherCAT firmware, LED signals are described by the following table:


LED signalMeaning

RUN LED (Green)

Provides information about the EtherCAT network state machine, according to EtherCAT specification.


LED StateEtherCAT slave status
OffINIT
FlickeringBOOTSTRAP
BlinkingPRE-OPERATIONAL
Single FlashSAFE-OPERATIONAL
OnOPERATIONAL

ERROR LED (Red)

Provides information about the EtherCAT communication status, according to EtherCAT specification.


LED state

EtherCAT slave status
OffNo error
BlinkingInvalid configuration
Single flashLocal error
Double flashWatchdog timeout

LINK0 & LINK1

Provide information about the Ethernet Link Status in each port.


LED state

EtherCAT slave status
OnPort closed
On-Off alternatingPort opened (activity on port)
OffPort opened (no activity on port) 

CANopen

In CANopen firmware, LED signals are described by the following table:

LED signalMeaning
RUN LED (Green)


Provides information about the CANopen network state machine, according to CiA 303-3 specification.


LED stateCANopen slave status
OffDevice is switched off
BlinkingPRE-OPERATIONAL
Single FlashSTOPPED
OnOPERATIONAL 

ERROR LED (Red)

Indicates the status of the CAN physical layer and errors due to missed CAN messages.


LED stateEventDescription

Off

No errorDevice is in working condition.

Single flash

Warning limit reachedAt least one of the error counters of the CAN controller has reached or exceeded the warning level (too many error frames).

Double flash



Error control eventA guard event (NMT-slave or NMT-master) or a heartbeat event (heartbeat consumer) has occurred.

Triple flash


Sync error


The sync message has not been received within the configured communication cycle period time out.

On


Bus off


The CAN controller is in bus off state.

LINK0 & LINK1

Provide information about the Ethernet Link Status in each port.


LED statePort state
OffPort closed
On-off alternatingPort opened (activity on port)
OnPort opened (no activity on port)

In Everest (EVE) and related products, both Ethernet ports are available and they act as an Ethernet switch.

In CAP, DEN, EVS and related products, only Ethernet 1 is available, so only LINK1 signal is present.



LEDs at start-up & Troubleshooting

After powering on, some of the LED signals can help troubleshoot.

EtherCAT

LED signal

Expected start-up behavior

LINK0 and LINK1 (Green)

ON-OFF alternating → The port is open and ready for activity.

If EtherCAT cables are connected on ECAT Port 0/1, Link LEDs will light according to the definition.

EtherCAT firmware starts with no other LED because the slave will stay in INIT State after power-up until an EtherCAT master forces it to transition to another state.

RUN LED (Green)

OFF → The slave will stay in INIT State after power-up until an EtherCAT master forces it to transition to another state.

ERROR LED (Red)

OFF → The slave will stay in INIT State after power-up until an EtherCAT master forces it to transition to another state. Then, some errors may appear causing the LED to turn ON.

If RUN LED is OFF (INIT state) and ERROR LED is Blinking after an EtherCAT master state change, it may indicate that the drive is running the FoE Bootloader.

FAULT LED (Red)

OFF → If the initialization process is correct. Otherwise, ON.

The rest of the LED signals follow the standard behavior.

CANopen

LED signal

Start-up behavior

RUN LED (Green)

  • Off during initialization.

  • Blinking (PRE-OPERATIONAL signaling) when initialization is done.

ERROR LED (Red)

  • Off.
    Indicates that CAN network is connected and working properly.

    Start-up LEDs

  • Single flash.
    If a problem occurs during the transmission of the CAN boot-up message (a NMT message used to notify to the master the presence of the slave), the driver will signal it as shown below. This happens if CAN network is disconnected.

  • Start-up LEDs with CAN error

  • On.
    This indicates a CAN Bus Off error, most probably generated by a short between CAN high and CAN low lines.

RUN & ERROR LED

  • Both alternating On-Off (Orange) at 5 Hz.
    Drive is in the CAN bootloader, in an idle state.

FAULT LED (Red)

  • Off.
    Off if initialization is correct, On otherwise.

The rest of the LED signals follow the standard behavior.

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