Error Code

For most functions, a returned value less than zero indicates an error, and the value represents an error code. If there is an error code, you can find the error cause and corrective actions below.

A.1 Error List

A.2 Error Description and Corrective Actions

0: ECAT_SUCCESS

Description
Function call successful.
Corrective Actions
Nothing to do.

-100: ECAT_ERR_MODULE_INIT_FAIL

Description
EtherCAT firmware initialization error.
Corrective Actions
Please contact the manufacturer.

-101: ECAT_ERR_MODULE_GET_VERSION_FAIL

Description
The command to obtain the EtherCAT firmware version encountered an error.
Corrective Actions
Please contact the manufacturer.

-102: ECAT_ERR_MODULE_VERSION_MISMATCH

Description
The EtherCAT firmware version does not match the EtherCAT library version.
Corrective Actions
Please update the EtherCAT firmware. If this issue persists, please contact the manufacturer.

-103: ECAT_ERR_MODULE_GENERIC_TRANSFER_INIT_FAIL

Description
General transfer interface initialization between dual systems failed.
Corrective Actions
Please contact the manufacturer.

-200: ECAT_ERR_MASTER_DOWNLOAD_SETTINGS_FAIL

Description
The command to set the configuration of the EtherCAT master encountered an error.
Corrective Actions
Please contact the manufacturer.

-201: ECAT_ERR_MASTER_SET_DEVICE_SETTINGS_FAIL

Description
The command to set the configuration of the EtherCAT slaves encountered an error.
Corrective Actions
Please contact the manufacturer.

-202: ECAT_ERR_MASTER_GET_GROUP_INFO_FAIL

Description
The command to get the configuration of the EtherCAT group encountered an error.
Corrective Actions
Please contact the manufacturer.

-203: ECAT_ERR_MASTER_GET_MASTER_INFO_FAIL

Description
The command to get the configuration of the EtherCAT master encountered an error.
Corrective Actions
Please contact the manufacturer.

-204: ECAT_ERR_MASTER_GET_DEVICE_INFO_FAIL

Description
The command to get the configuration of the EtherCAT slaves encountered an error.
Corrective Actions
Please contact the manufacturer.

-205: ECAT_ERR_MASTER_SET_GROUP_SETTINGS_FAIL

Description
The command to set the configuration of the EtherCAT group encountered an error.
Corrective Actions
Please contact the manufacturer.

-206: ECAT_ERR_MASTER_MAPPING_INIT_FAIL

Description
Failed to allocate memory for PDO mapping.
Corrective Actions
Please contact the manufacturer.

-207: ECAT_ERR_MASTER_INTERRUPT_INIT_FAIL

Description
Initialization of the interrupt function failed.
Corrective Actions
Please contact the manufacturer.

-208: ECAT_ERR_MASTER_ACTIVE_FAIL

Description
The command to activate the EtherCAT master failed.
Corrective Actions
Please contact the manufacturer.

-209: ECAT_ERR_MASTER_ENI_INITCMDS_FAIL

Description
The execution of the SDO Download command in the ENI file failed.
Corrective Actions
Please verify the correctness of the ENI file content and ensure that all slaves are functioning properly.

-210: ECAT_ERR_MASTER_NO_DEVICE

Description
EtherCAT network has no slaves.
Corrective Actions
Please connect at least one EtherCAT slave.

-300: ECAT_ERR_MASTER_ACYCLIC_INIT_FAIL

Description
Ayclic transfer interface initialization between dual systems failed.
Corrective Actions
Please contact the manufacturer.

-301: ECAT_ERR_MASTER_ACYCLIC_REQUEST_FAIL

Description
Failed to request acyclic transfer.
Corrective Actions
Please try again later.

-302: ECAT_ERR_MASTER_ACYCLIC_BUSY

Description
Acyclic transfer is busy.
Corrective Actions
Please try again later.

-303: ECAT_ERR_MASTER_ACYCLIC_TIMEOUT

Description
Acyclic transfer timed out.
Corrective Actions
Please try again later or confirm that the slave is functioning properly.

-304: ECAT_ERR_MASTER_ACYCLIC_ERROR

Description
Acyclic transfer encountered an error.
Corrective Actions
Please check the error code. Such as the CoE communication, you can check Abort Code.

-405: ECAT_ERR_MASTER_ACYCLIC_WRONG_STATUS

Description
Acyclic transfer obtained an invalid status.
Corrective Actions
Please contact the manufacturer.

-400: ECAT_ERR_MASTER_GENERIC_SEND_FAIL

Description
Failed to send data during generic transmission.
Corrective Actions
Please contact the manufacturer.

-401: ECAT_ERR_MASTER_GENERIC_RECV_FAIL

Description
Failed to receive data during generic transmission.
Corrective Actions
Please contact the manufacturer.

-1000: ECAT_ERR_MASTER_NOT_BEGIN

Description
The EtherCAT master has not been initialized.
Corrective Actions
Please call EthercatMaster::begin().

-1001: ECAT_ERR_MASTER_WRONG_BUFFER_SIZE

Description
The size of the input buffer is incorrect.
Corrective Actions
Please input a buffer with the correct size.

-1002: ECAT_ERR_MASTER_REDUNDANCY_NO_DC

Description
Cable Redundancy mode does not support DC (Distributed Clocks).
Corrective Actions
Do not call this function or avoid Cable Redundancy mode.

-1003: ECAT_ERR_MASTER_MEMORY_ALLOCATION_FAIL

Description
Failed to allocate memory.
Corrective Actions
Please contact the manufacturer.

-1004: ECAT_ERR_MASTER_OSLAYER_INIT_FAIL

Description
Operating system layer initialization failed.
Corrective Actions
Please contact the manufacturer.

-1005: ECAT_ERR_MASTER_NIC_INIT_FAIL

Description
Network controller initialization failed.
Corrective Actions
Please ensure the network controller is present or contact the manufacturer.

-1006: ECAT_ERR_MASTER_BASE_INIT_FAIL

Description
Initialization of EtherCAT master command interface failed.
Corrective Actions
Please contact the manufacturer.

-1007: ECAT_ERR_MASTER_CIA402_INIT_FAIL

Description
Initialization of EtherCAT master CiA 402 framework failed.
Corrective Actions
Please contact the manufacturer.

-1008: ECAT_ERR_MASTER_SETUP_PDO_FAIL

Description
Configuration of PDO mapping for the slave using SDO Download failed.
Corrective Actions
Please ensure that all slaves are functioning properly. If the issue is persist, please contact the manufacturer.

-1009: ECAT_ERR_MASTER_SCAN_NETWORK_FAIL

Description
Failed to scan EtherCAT network.
Corrective Actions
Please connect the network cable properly and ensure that EtherCAT slaves are powered on, or verify the presence of the network controller.

-1010: ECAT_ERR_MASTER_START_MASTER_FAIL

Description
Failed to start EtherCAT master.
Corrective Actions
Please ensure that the configuration of PDO mapping for all slaves is correct. If the issue is persist, please contact the manufacturer.

-1011: ECAT_ERR_MASTER_CYCLETIME_TOO_SMALL

Description
The input cycle time is too small.
Corrective Actions
Please try increasing the cycle time.

-1012: ECAT_ERR_MASTER_DUMP_OUTPUT_PDO_FAIL

Description
Failed to update output process data using SDO Upload.
Corrective Actions
Please ensure that all slaves are functioning correctly, and verify that the configuration of PDO mapping is correct.

-1013: ECAT_ERR_MASTER_CONFIG_DEVICE_FAIL

Description
EtherCAT slaves initialization failed.
Corrective Actions
Please contact the manufacturer.

-1014: ECAT_ERR_MASTER_CONFIG_MAPPING_FAIL

Description
Failed to create PDO mapping.
Corrective Actions
Please contact the manufacturer.

-1015: ECAT_ERR_MASTER_WAIT_BUS_SYNC_TIMEOUT

Description
Synchronization timeout for all slaves.
Corrective Actions
Please contact the manufacturer.

-1016: ECAT_ERR_MASTER_WAIT_MASTER_SYNC_TIMEOUT

Description
Synchronization timeout between master and slaves.
Corrective Actions
Please contact the manufacturer.

-1017: ECAT_ERR_MASTER_CYCLIC_START_FAIL

Description
Failed to start cyclic transmission.
Corrective Actions
Please contact the manufacturer.

-1018: ECAT_ERR_MASTER_WRONG_BUFFER_POINTER

Description
Incorrect data buffer pointer.
Corrective Actions
Please input the correct data buffer pointer.

-1050: ECAT_ERR_MASTER_ENI_INIT_FAIL

Description
ENI initialization failed.
Corrective Actions
Please confirm that the specified ENI file exists. If this issue persists, please contact the manufacturer.

-1051: ECAT_ERR_MASTER_ENI_MISMATCH

Description
The slave information in the ENI file does not match the scanned EtherCAT network slaves.
Corrective Actions
Please adjust the order of the slaves on the EtherCAT network or configure the slave identifications.

-1100: ECAT_ERR_MASTER_STOPPED

Description
EtherCAT master has not been started.
Corrective Actions
Please call EthercatMaster::start() or avoid calling this function.

-1101: ECAT_ERR_MASTER_STARTED

Description
EtherCAT master has already been started.
Corrective Actions
Please call EthercatMaster::stop() or avoid calling this function.

-1102: ECAT_ERR_MASTER_NOT_IN_PREOP

Description
EtherCAT master is not in PRE-OP state.
Corrective Actions
Please ensure that all slaves are in PRE-OP state before calling this function.

-1103: ECAT_ERR_MASTER_NOT_IN_SAFEOP

Description
EtherCAT master is not in SAFE-OP state.
Corrective Actions
Please ensure that all slaves are in SAFE-OP state before calling this function.

-1104: ECAT_ERR_MASTER_NOT_IN_OP

Description
EtherCAT master is not in OP state.
Corrective Actions
Please ensure that all slaves are in OP state before calling this function.

-1200: ECAT_ERR_MASTER_II_TRANSITION_FAIL

Description
Switching all slaves to INIT state during EtherCAT master initialization failed
Corrective Actions
Please power cycle all slaves and then run the EtherCAT master program again.

-1201: ECAT_ERR_MASTER_IP_TRANSITION_FAIL

Description
Failed to transition EtherCAT state from INIT to PRE-OP.
Corrective Actions
Please ensure that all slaves are functioning properly, or check the quality of the network connections.

-1202: ECAT_ERR_MASTER_PS_TRANSITION_FAIL

Description
Failed to transition EtherCAT state from PRE-OP to SAFE-OP.
Corrective Actions
Please check the correctness of the PDO mapping configuration for all slaves. If DC synchronization is enabled, try adjusting the related parameters for DC synchronization.

-1203: ECAT_ERR_MASTER_SO_TRANSITION_FAIL

Description
Failed to transition EtherCAT state from SAFE-OP to OP.
Corrective Actions
Please try adjusting the related parameters for DC synchronization and test again.

-2000: ECAT_ERR_DEVICE_NOT_EXIST

Description
The specified slave does not exist.
Corrective Actions
Please do not access the specified slave.

-2001: ECAT_ERR_DEVICE_NOT_ATTACH

Description
The object of such slave has not been initialized.
Corrective Actions
Please call attach() to initialize the slave object.

-2002: ECAT_ERR_DEVICE_NO_MAILBOX

Description
The slave does not support Mailbox.
Corrective Actions
Please do not call Mailbox-related functions for the slave.

-2003: ECAT_ERR_DEVICE_NO_DC

Description
The slave does not support DC synchronization.
Corrective Actions
Please do not call DC-related functions for the slave.

-2004: ECAT_ERR_DEVICE_WRONG_INPUT

Description
Incorrect input parameter.
Corrective Actions
Please input the correct parameter.

-2005: ECAT_ERR_DEVICE_MEMORY_ALLOCATION_FAIL

Description
Failed to allocate memory for the slave object.
Corrective Actions
Please contact the manufacturer.

-2006: ECAT_ERR_DEVICE_VENDOR_ID_MISMATCH

Description
The Vendor ID of the slave does not match that of the slave object.
Corrective Actions
Please use the correct slave object.

-2007: ECAT_ERR_DEVICE_PRODUCT_CODE_MISMATCH

Description
The Product Code of the slave does not match that of the slave object.
Corrective Actions
Please use the correct slave object.

-2008: ECAT_ERR_DEVICE_NO_SUCH_FUNCTION

Description
The slave does not support this feature.
Corrective Actions
Please do not call this function.

-2009: ECAT_ERR_DEVICE_FUNCTION_NOT_INIT

Description
The specific function of the slave has not been initialized.
Corrective Actions
Please initialize that function.

-2010: ECAT_ERR_DEVICE_BUSY

Description
The slave is busy.
Corrective Actions
Please try again later.

-2011: ECAT_ERR_DEVICE_TIMEOUT

Description
The slave has encountered a timeout.
Corrective Actions
Please try again later or confirm that the slave is functioning properly.

-2012: ECAT_ERR_DEVICE_NO_DATA

Description
The slave has no available data.
Corrective Actions
Please try again later.

-2100: ECAT_ERR_DEVICE_SII_READ_FAIL

Description
Failed to read the SII EEPROM of the slave.
Corrective Actions
Please ensure that this function is called when the EtherCAT state of the slave is INIT or PRE-OP.

-2101: ECAT_ERR_DEVICE_SII_WRITE_FAIL

Description
Failed to write the SII EEPROM of the slave.
Corrective Actions
Please ensure that this function is called when the EtherCAT state of the slave is INIT or PRE-OP.

-2200: ECAT_ERR_DEVICE_PDO_NOT_EXIST

Description
The slave has no output process data.
Corrective Actions
Please do not call this function.

-2201: ECAT_ERR_DEVICE_PDO_OUT_OF_RANGE

Description
Accessing beyond the process data range of the slave.
Corrective Actions
Please access the correct range of process data for the slave.

-2300: ECAT_ERR_DEVICE_FOE_NOT_SUPPORT

Description
The slave does not support FoE.
Corrective Actions
Please do not call FoE-related functions for the slave.

-2310: ECAT_ERR_DEVICE_FOE_REQUEST_FAIL

Description
Failed to request FoE communication.
Corrective Actions
Please try again later.

-2311: ECAT_ERR_DEVICE_FOE_TIMEOUT

Description
FoE communication timeout.
Corrective Actions
Please verify that the slave supports FoE and is functioning properly.

-2312: ECAT_ERR_DEVICE_FOE_ERROR

Description
FoE communication encountered an error.
Corrective Actions
Please verify that the slave supports FoE and is functioning properly.

-2313: ECAT_ERR_DEVICE_FOE_BUFFER_TOO_SMALL

Description
The size of the input buffer for FoE communication is too small.
Corrective Actions
Please input a buffer with suitable size.

-2314: ECAT_ERR_DEVICE_FOE_READ_FAIL

Description
Failed to read the file via FoE communication.
Corrective Actions
Please verify that the slave supports reading files via FoE communication.

-2315: ECAT_ERR_DEVICE_FOE_WRITE_FAIL

Description
Failed to write the file via FoE communication.
Corrective Actions
Please verify that the slave supports writing files via FoE communication.

-2400: ECAT_ERR_DEVICE_COE_SDO_NOT_SUPPORT

Description
The slave does not support SDO commands of CoE communication.
Corrective Actions
Please do not call functions related to SDO commands of CoE communication.

-2401: ECAT_ERR_DEVICE_COE_SDO_INFO_NOT_SUPPORT

Description
The slave does not support SDO Information commands of CoE communication.
Corrective Actions
Please do not call functions related to SDO Information commands of CoE communication.

-2410: ECAT_ERR_DEVICE_COE_BUSY

Description
CoE communication is busy.
Corrective Actions
Please try again later.

-2411: ECAT_ERR_DEVICE_COE_REQUEST_FAIL

Description
Failed to request CoE communication.
Corrective Actions
Please try again later.

-2412: ECAT_ERR_DEVICE_COE_TIMEOUT

Description
CoE communication timeout.
Corrective Actions
Please try again later or confirm that the slave is functioning properly.

-2413: ECAT_ERR_DEVICE_COE_ERROR

Description
CoE communication encountered an error.
Corrective Actions
Please check the abort code for CoE communication.

-2500: ECAT_ERR_DEVICE_CIA402_NOT_EXIST

Description
This slave does not have objects related to CiA 402.
Corrective Actions
Please do not call functions related to CiA 402 for the slave.

-2501: ECAT_ERR_DEVICE_CIA402_ADD_FAIL

Description
Failed to insert the CiA 402 slave object to the CiA 402 framework of EtherCAT master.
Corrective Actions
Please confirm whether the CiA 402 slave object has been successfully inserted into the CiA 402 framework of the EtherCAT master.

-2502: ECAT_ERR_DEVICE_CIA402_TYPE_MISMATCH

Description
The content of the object of Device Type (Index 1000h) for the slave is not CiA 402 type.
Corrective Actions
Please do not call functions related to CiA 402 for the slave.

-2503: ECAT_ERR_DEVICE_CIA402_NO_MODE_SUPPORT

Description
This CiA 402 slave does not support any operation modes defined by CiA 402.
Corrective Actions
Please do not call functions related to CiA 402 for the slave. Also, ensure that the CiA 402 slave supports CiA 402.

-2504: ECAT_ERR_DEVICE_CIA402_WRONG_MODE

Description
This function cannot be called in the current CiA 402 operation mode for the slave.
Corrective Actions
Please change the CiA 402 operation mode of this slave to the correct mode before calling this function.

-2505: ECAT_ERR_DEVICE_CIA402_MODE_NOT_SUPPORT

Description
The slave does not support the specified CiA 402 operation mode.
Corrective Actions
Please do not change the CiA 402 operation mode of this slave to an unsupported mode.

-2506: ECAT_ERR_DEVICE_CIA402_CHANGE_WRONG_STATE

Description
The current CiA 402 state does not allow switching to the specified CiA 402 state.
Corrective Actions
Please check the current CiA 402 state. If it is in FAULT state, switch to SWITCH_ON_DISABLED state first, and then switch to the target state.

-2507: ECAT_ERR_DEVICE_CIA402_WRITE_OBJECT_FAIL

Description
Accessing CiA 402 objects is not allowed using SDO Upload or SDO Download in Cyclic Callback.
Corrective Actions
Please avoid using SDO Upload/Download to access CiA 402 objects in Cyclic Callback. If needed, map the CiA 402 objects to process data.

-2580: ECAT_ERR_DEVICE_CIA402_NO_SUCH_TOUCH_PROBE

Description
The input number for the Touch Probe functionality is incorrect.
Corrective Actions
Please input the correct Touch Probe number, ranging from 0 to 1.

-2581: ECAT_ERR_DEVICE_CIA402_NO_SUCH_TOUCH_PROBE_SOURCE

Description
The input signal source for the Touch Probe functionality is incorrect.
Corrective Actions
Please input the correct signal source, ranging from 0 to 2.

-2600: ECAT_ERR_DEVICE_EOE_NOT_SUPPORT

Description
The slave does not support EoE.
Corrective Actions
Please do not call EoE-related functions for the slave.

-2601: ECAT_ERR_DEVICE_EOE_NO_SUCH_PORT

Description
Incorrect EoE port number.
Corrective Actions
Please input the correct EoE port number.

-2602: ECAT_ERR_DEVICE_EOE_TOO_MUCH_CONTENT

Description
The input content is too much.
Corrective Actions
Please provide the correct content.

-2610: ECAT_ERR_DEVICE_EOE_BUSY

Description
EoE communication is busy.
Corrective Actions
Please try again later.

-2611: ECAT_ERR_DEVICE_EOE_REQUEST_FAIL

Description
Failed to request EoE communication.
Corrective Actions
Please try again later.

-2612: ECAT_ERR_DEVICE_EOE_TIMEOUT

Description
EoE communication timeout.
Corrective Actions
Please verify that the slave supports EoE and is functioning properly.

-3000: ECAT_ERR_GROUP_WRONG_INPUT

Description
The input parameter is incorrect.
Corrective Actions
Please input the correct parameter.

-3001: ECAT_ERR_GROUP_NOT_ATTACH

Description
The object of such group has not been initialized.
Corrective Actions
Please initialize the group object.

Please see the EtherCAT Library User Manual for more QEC EtherCAT instructions and API usage.