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.