MotionPlus URCap Errors

This page describes the public error codes generated by the EtherCAT URCap and reported directly to the user via URScript popups.

It does not describe the various internal error codes which may be reported in the EtherCAT Daemon log file. These error codes are not fixed as they are generated by various software components, many of which are maintained separately from the URCap.

Error Categories

Each public error code for the EtherCAT URCap falls under one of the following categories, according to the value of the error code:

Error Range	Category	Description
0	Success	indication that no error has occurred
100-199	XML-RPC client	any error generated when client passes an invalid argument to XML-RPC method or fails to meet one of the method’s preconditions
200-299	XML-RPC service	any error generated during the execution of an XML-RPC method (with valid arguments and its preconditions met)
300-399	EtherCAT master	any error generated by the EtherCAT master (after it has been configured and started)NOTE: Each of these errors will cause the EtherCAT master to halt and will prevent it from being restarted until the error is cleared. (See “Error Display” section of URCap Installation Page Documentation for more information.)

100-199 XML-RPC client errors

Code	Name	Description	Corrective Action
101	Invalid Network Interface	Given device name references a network device that does not exist or is unsuitable for EtherCAT communication.	Try again with a supported device name.
102	Invalid Axis Index	Given axis index is negative or larger than the maximum supported axis index.	Try again with a valid axis index.
103	Duplicate Axis Config	Given axis configuration has an axis index, axis name, or station address that is already in use by another existing axis configuration.	Try again with axis index, axis name, and station address values that are not already in use.
104	No Network Interface Selected	No network device has been selected for EtherCAT communication.	Select an EtherCAT network device and try again.
105	No Axes Configured	No axes have been configured for the EtherCAT master.	Define one or more axes configurations and try again.
106	Master Halted from Error	EtherCAT master has halted due to a runtime error and cannot be restarted until error has been cleared.	Inspect Error Display on URCap Installation Page to determine which runtime error has occurred. Then look up the runtime error in the EtherCAT Master Errors section of this document and perform the recommended corrective action.
107	Master Already Running	An attempt was made to start the EtherCAT master while it was already running.	Stop the EtherCAT master and try again.

200-299 XML-RPC service errors

Code	Name	Description	Corrective Action
201	Internal Service Error	An internal error (e.g. software bug) occurred during execution of the XML-RPC method.	Reattempt operation. If problem persists, contact UR with error details from EtherCAT daemon log file.
202	Network Interface Enable Failed	Network device selected for EtherCAT communication could not be enabled.	Select a different network device and reattempt operation. If problem persists, contact UR with error details from EtherCAT daemon log file.
203	Master Start Failed	An error occurred while starting the EtherCAT master.	Verify counts_per_rev , gear_ratio , feed_constant , and zero_offset_count parameters of each axis configuration are correct. Then reattempt operation. If problem persists, contact UR with error details from EtherCAT daemon log file.

300-399 EtherCAT master errors

Code	Name	Description	Corrective Action
301	Internal Master Error	EtherCAT master has encountered an internal error (e.g. software bug).	Clear the error and restart the master. If problem persists, contact UR with error details from EtherCAT daemon log file.
302	Missing URControl Feedback	EtherCAT master has no realtime communication with UR Controller.	Verify UR Controller is running and is not in a fault state. Then clear error and restart EtherCAT master.
303	Master State Update Failed	EtherCAT master failed to reach target state (e.g. OP) within expected deadline.	Verify UR control box and all expected EtherCAT slaves are connected to the EtherCAT network. Also verify all EtherCAT slaves are powered on. Finally clear error and restart EtherCAT master.
304	EtherCAT Send Failed	EtherCAT master failed to send data over EtherCAT network.	Verify UR control box and all expected EtherCAT slaves are connected to the EtherCAT network. Also verify all EtherCAT slaves are powered on. Finally clear error and restart EtherCAT master.
305	EtherCAT Receive Failed	EtherCAT master failed to receive data over EtherCAT network.	Verify UR control box and all expected EtherCAT slaves are connected to the EtherCAT network. Also verify all EtherCAT slaves are powered on. Finally clear error and restart EtherCAT master. (refer to sub-error codes in the next table)
306	Slave Command Failed	EtherCAT slave failed to process command word within expected deadline.	Verify slave is not in fault sate. Then clear error and restart EtherCAT master.

305 Sub Error Codes - EtherCAT

Code	Name	Description	Corrective Action
305.0	Slave Number Mismatch	Number of slaves configured and connected do not match.	Check the EtherCAT cable/network, check the program, make sure the number of connected and configured slaves matches.
305.1	Unknown Master State	The EtherCAT network is in an unknown state.	Clear the error and restart the master.
305.2	Set INIT State Failure	Failed to transit the EtherCAT network to INIT state.	Clear the error and restart the master.
305.3	Set PRE_OP State Failure	Failed to transit the EtherCAT network to PRE_OP state.	Clear the error and restart the master.
305.4	Set SAFE_OP State Failure	Failed to transit the EtherCAT network to SAFE_OP state.	Clear the error and restart the master.
305.5	Set OP State Failure	Failed to transit the EtherCAT network to OP state.	Clear the error and restart the master.
305.6	Mode Update Failure	Failed to set slave to an OPERATION MODE.	Clear the error and restart the master.
305.7	Unsupported Mode	This OPERATION MODE is not supported.	Contact UR with error details from MotionPlus Service log file.
305.8	Consecutive PDO Timeout	Failed to receive PDO for more than 5 consecutive cycles.	Check the Ethernet cable. Consider using the native Ethernet port (instead of USB Ethernet adapter). Clear the error and restart the master.
305.9	SDO Write Failure	Failed to write SDO to the slave.	Check the MotionPlus Service log for more details.
305.10	SDO Read Failure	Failed to read SDO from the slave.	Check the MotionPlus Service log for more details.
305.11	Master State Read Failure	Failed to read MASTER STATE of the EtherCAT network.	Clear the error and restart the master.
305.12	Target Position Overflow	The target position is out of the range for a 32bit integer.	The motion has run out of range. Check axis configuration, and try to limit the range of motion in the program.