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The status of the Ethercat/motion Engine can be monitored with the MLMotionStatus function block. http://kdn.kollmorgen.com/webhelp/kas/#11.TechRefs/MLMotionStatus.htm?Highlight=MLMotion

In a Project with the PLCopen Motion Engine, if the Ethercat Network goes down due to an Ethercat Network fault, the system can be restarted and any drive and controller errors cleared with the following code that:

- First resets the Motion Engine fault

The following are the steps to recover from  EtherCAT error E30 and enable the drives for motion.

The following fault, error, and alarm are each indicative of possible cable or connection problems.

  • F125 on the AKD, "Fieldbus Sync frames lost."
  • E30 in KAS, "EtherCAT communication failure during operational mode."
  • A38 in KAS, "EtherCAT missed a receive frame during operational mode."

The command ECAT.DIAG can be executed in the workbench terminal to help identify the location of the problem after it occurs.

The following is an example of the output from this command.