Switch on the power supply

Power supply

Ensure the supply will be capable of providing the power to move the motor: some low current power supplies can overload when enabling the motor (and turn-off) which causes the drive to reset.

STO

Ensure that the Safe Torque Off (STO) circuit is connected and powered as indicated in the manual. Otherwise, it will just not be possible to enable the motor.

Switch on the power supply and wait 10-15 seconds.

The drive provides information through 6 signalling LEDs:

LED	Type	Color	Description
LED6	Single	Green	EtherCAT / Ethernet 0 link (ECAT 0 Link or LINK0)
LED1	Single	Green	EtherCAT / Ethernet 1 link (ECAT 1 Link or LINK1)
LED2/3	Bi-color	Green / Red	Driver Status. Two LEDs indicate the driver status. LED2 (Green). Reserved. LED3 (Red). FAULT LED.
LED4/5	Bi-color	Green / Red	EtherCAT / CANopen Status (ECAT Status). Two LEDs indicate the EtherCAT or CANopen status. LED4 (Green). RUN LED. LED5 (Red). ERROR LED.

The meaning of the signaling depends on the product variant, see LED signals reference for details.

LEDs at start-up & Troubleshooting

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

EtherCAT

Typical behaviour

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

EtherCAT firmware will start 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.

LED signal	Start-up behaviour
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.
RUN & ERROR LED	Both alternating On-Off (Orange) at 1 Hz. Drive is in FTP bootloader mode, in standby.
FAULT LED (Red)	Off. Off if initialization is correct, On otherwise.

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 1 Hz. Drive is in FTP bootloader mode, in standby.
FAULT LED (Red)	Off. Off if initialization is correct, On otherwise.

The rest of the LED signals follow the standard behaviour