Servo on EtherCAT: parameter invalid when going from pre-op to SafeOp


I'm trying to control a 3rd party via EtherCAT servo drive:

  • Material:

    • Master: NOR-cRIO 9024

    • Slave: Beckhoff AX5203

  • Software:

    • LabVIEW 2013 SP1 (32-bit)

    • OR-Industrial Communications for EtherCAT 2.7

Use of the test panel LabVIEW (see image below), I am able to switch the slave between Bootstrap, Init, and States pre operational. The LCD screen on the slave displays the correct States I selected, so I know the basic EtherCAT link works.

However, when I try to transition from pre operational to the safe working condition, I get an error.

  • LabVIEW, said 'the slave can not move to the specified state' (see image below)

  • Display LCD slave displays error 0xF4A5, which, according to the website of Beckhoff , is "a parameter error has been detected in the SoE communication layer"

I'm at a loss at how to begin troubleshooting.

The explanation of the error says "go to the status page of the device your device online and check errors and emergency unit data. However, I find no error or given emergency in the Online slave device status page. There is that the "EtherCAT: online: State" and "EtherCAT: settings ' (picture above).

I wonder if this problem is related to any of the following:

Advice would be greatly appreciated!


Obviously, NEITHER was able to get the ability to work with Beckhoff and supports so that officially AKD. So regarding NI Industrial Communications for EtherCAT supports the SoE, see the reply to your other post on the forum.

Tags: NI Hardware

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