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.

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.