XCR - Signalling LEDs

The drive provides information through 6 signalling LEDs:

EtherCAT 0 link: LED 6 green
EtherCAT 1 link: LED 1 green
Driver Status: LED2 & LED3 (one bi-color).
EtherCAT Status: LED4 & LED5 (one bi-color).

Start-up Sequence

After power on the drive LEDs sequence is the next one:

Protocol	EtherCAT 0 Link	EtherCAT 1 Link	Drive Status	EtherCAT Status
CANopen	See below	See below	Switch off if initialization is OK RED if an error has been detected during initialization	Switch off during initialization PRE-OPERATIONAL signalling when initialization is done
EtherCAT	See below	See below	Switch off if initialization is OK RED if an error has been detected during initialization	Switch off
FTP boot mode	See below	See below	Reserved	Switch off during initialization ORANGE blink (~500 ms) when initialization is done

Driver Status LEDs

Two LEDs indicate driver status. Note that both LEDs are grouped into a single red/green package.

Identified	Name	Colour	Meaning
LED2	RESERVED	Green	Reserved
LED3	FAULT	Red	LED is on when an error event has occurred and the drive is trapped in the Fault state.

EtherCAT Status LEDs

Four LEDs provide information regarding communication status according to EtherCAT specification.

The EtherCAT green and red LEDs (shared with CANopen communication) indicate the EtherCAT status. The green LED is the RUN LED, and the red LED is the ERROR LED. Next table shows their states meaning:

LED4 - RUN LED state	EtherCAT slave status	LED5 - ERROR LED state	EtherCAT slave status
Off	INIT	Off	No error
Flickering	BOOTSTRAP	Blinking	Invalid configuration
Blinking	PRE-OPERATIONAL	Single flash	Local error
Single Flash	SAFE-OPERATIONAL	Double flash	Watchdog timeout
On	OPERATIONAL

The two green LEDs at the sides are the LINK 0 and LINK 1 LEDs. The LINK LEDs indicates the state of the EtherCAT physical link activity:

LINK LED state	Slave State
Off	Port closed
Flickering	Port opened (activity on port)
On	Port opened (no activity on port)

CANopen Status LEDs

One Bi-color LED (shared with EtherCAT communication) provides information about the CANopen communication status, according to CiA 303-3 recommendations. The green LED is the RUN LED, and the red LED is the ERROR LED.

ERROR LED indicates the status of the CAN physical layer and errors due to missed CAN messages (sync, guard or heartbeat). Next table the meaning of the ERROR LED states:

LED5 - ERROR LED state	Concept	Description
Off	No error	Device is in working condition.
Single flash	Warning limit reached	At 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 event	A 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 bus off.

RUN LED indicates the status of the CANopen network state machine. Next table shows the meaning of the RUN LED states:

LED4 - RUN LED state	Concept	Description
Off	Off	The device is switched off
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

The two green LEDs at the sides are the LINK 0 and LINK 1 LEDs. The LINK LEDs indicates the state of the Ethernet physical link activity:

LINK LED state	Slave State
Off	Port closed
Flickering	Port opened (activity on port)
On	Port opened (no activity on port)