Signaling
EMCL-based controllers implement the signaling recommendations specified by CAN-CiA. Those specify the utilization of two LEDs (ERROR and RUN), the ERROR LED being red, and the RUN LED being green. LED states and the meaning of every signal are defined as follows.
The following table defines all the possible LED states:
Signal | Description |
---|---|
On | LED is constantly on. |
Off | LED is constantly off. |
Single flash | LED generates a short flash (approx. 200 ms) followed by a long off phase (approx. 1000 ms). |
Double flash | LED generates two short flashes (approx. 200 ms), separated by an off phase (approx. 200 ms) and finished by a long off phase (approx. 1000 ms). |
Triple flash | LED generates three short flashes (approx. 200 ms), separated by an off phase (approx. 200 ms) and finished by a long off phase (approx. 1000 ms). |
Blinking | LED generates a on-off sequence with a frequency around 2.5 Hz (on during approx. 200 ms and off during approx. 200 ms). |
The meaning of every signal depends on the communication implemented protocol:
CANopen signaling
The ERROR LED indicates the status of the CAN physical layer, and any errors due to missing CAN messages (sync, guard or heartbeat). Next table shows the CANopen ERROR LED truth table:
Signal | State | Description |
---|---|---|
Off | No error | Device is in working condition. |
Single flash | Warning limit reached | At least one of the error counter of the CAN controller has reached or exceeded the warning level (too many error frames). |
Double flash | Error control event | A guard event (NMT-slave) 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. |
The RUN LED indicates the status of the CANopen network state machine. The next table shows the CANopen RUN LED truth table:
Signal | State | Description |
---|---|---|
Blinking | Pre-operational | The device is in state PRE-OPERATIONAL. |
Single flash | Stopped | The device is in state STOPPED. |
On | Operational | The device is in state OPERATIONAL. |
For further information of signaling mechanism see: "Additional specification. Part 3: Indicator specification" – CiA Draft Recommendation 303.
EtherCAT signaling
The EtherCAT run LED shall indicate the status of the EtherCAT state machine. Next table shows the EtherCAT run LED truth table:
RUN LED | Slave State |
---|---|
Off | INIT |
Blinking | PRE-OPERATIONAL |
Single Flash | SAFE-OPERATIONAL |
On | OPERATIONAL |
The EtherCAT error LED show errors such as watchdog timeouts and unsolicited state changes due to local errors.
ERROR LED | Slave State |
---|---|
Off | No error. |
Blinking | Invalid configuration. |
Single flash | Local error. |
Double flash | Watchdog timeout. |
On | Application controller failure. |
The EtherCAT link LED show the state of the physical link activity on this link.
LINK LED | Slave State |
---|---|
Off | Port closed. |
Flickering | Port open (activity on port). |
On | Port open (no activity on port). |
For further information about EtherCAT LED signalling see the corresponding specifications here.
Internal error signaling
If a high severity error occurs inside the motion controller, an special LED signalling has been developed.
Error identification | Signalling | RUN LED (Green) | FAULT LED (Red) |
---|---|---|---|
INTERNAL ERROR | Interleaved blink | Blinking (Initial status: OFF) | Blinking (Initial status: ON) |
The frequency of the blinking is different than the used for communication, and is product dependent.
If this error occurs, contact directly with Ingenia.