Mar 22 2025

Table of contents
AL status codes

AL status codes
AL status codes
The “AL status code“ (AL: Application Layer) describes the error code of a slave device if a requested change in state
cannot be executed or if a slave detects an internal error.

In case of error, the Rexroth EtherCAT master automatically retrieves the AL status code (ESC register 0x0134:0x0135)
and acknowledges the error indication in the slave. Upon the next change in slave state, the read AL status code is reset
in the master.

If there is an unspecified error or a configuration is detected as invalid, refer to the

product documentation of the slave device or contact the vendor of the slave device.

The following abbreviations are used in the following table:

I = State “Init”
B = State “Bootstrap”
P = State “Pre-Operational”
S = State “Safe-Operational”
O = State “Operational”

AL Description Current Resulting

status state state
code
or
change
in state

0x0000 No error All Current

state

0x0001 Unspecified error All All

0x0002 No memory All All

0x0003 Invalid device configuration P→S P

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AL Description Current Resulting

status state state
code
or
change
in state

0x0004 Invalid revision P→S P

0x0005 Reserved due to compatibility reasons - -

0x0006 SII/EEPROM data does not match the firmware I→P I

0x0007 Firmware update not successful All All

0x000E License errors All I

0x0011 Invalid change in state requested I → S, I Current

→ O, state
P → O, P
→ B,
S → B,
O→B

0x0012 Unknown state requested All Current

state

0x0013 “Bootstrap” state not supported I→B I

0x0014 No valid firmware I→P I

0x0015 Invalid mailbox configuration (Bootstrap) I→B I

0x0016 Invalid mailbox configuration (PreOP) I→P I

0x0017 Invalid Sync manager configuration P → S, S Current

→O state

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AL Description Current Resulting

status state state
code
or
change
in state

0x0018 No valid inputs available O, S → S

O

0x0019 No valid outputs possible O, S → S

O

0x001A Synchronization error (different causes) O, S → S

O

0x001B Sync manager watchdog O, S S

0x001C Invalid Sync manager types O, S, P S

→S

0x001D Invalid Sync manager configuration (outputs) O, S, P S

→S

0x001E Invalid Sync manager configuration (inputs) O, S, P P

→S

0x001F Invalid watchdog configuration O, S, P P

→S

0x0020 Slave requires cold start All Current

state

0x0021 Slave requires the state “Init” B, P, S. Current

O state

0x0022 Slave requires the state “Pre-operational” S, O S, O

0x0023 Slave requires the state “Safe-operational” O O

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AL Description Current Resulting

status state state
code
or
change
in state

0x0024 Invalid mapping input data P→S P

0x0025 Invalid mapping output data P→S P

0x0026 Inconsistent settings (general) P→S P

0x0027 “Free Run” not supported P→S P

0x0028 Sync mode not supported P→S P

0x0029 “Free Run” requires “Sync Manager” in 3 buffer mode P→S P

0x002A Background watchdog S, O P

0x002B No valid input and output data O, S → S

O

0x002C Fatal sync error O S

Sync0 or Sync1 signal not received anymore.

0x002D No sync signal S→O S

Slave waits for Sync0/Sync1 signal (S → O timeout) in “Safe-
Operational”.

0x002E Cycle time too small S→O S

The set EtherCAT cycle time is not supported by the slave.

0x0030 Invalid DC sync configuration O, S → S, P

O, P → S

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AL Description Current Resulting

status state state
code
or
change
in state

0x0031 Invalid DC latch configuration O, S → S, P

O, P → S

0x0032 PLL errors, O, S → S

O
Master is not synchronized, but at least one DC event is
received.

0x0033 DC sync I/O error O, S → S

O
Multiple synchronization errors; master and slave are not
synchronized anymore.

0x0034 DC sync timeout error O, S → S

O
Multiple synchronization error, too many SM events omitted

0x0035 Invalid DC cycle time P→S P

0x0036 DC Sync0 cycle time does not run with application P→S P

0x0037 DC Sync1 cycle time does not run with application P→S P

0x0041 Mailbox AoE B, P, S, Current

O state

0x0042 Mailbox EoE B, P, S, Current

O state

0x0043 Mailbox CoE B, P, S, Current

O state

0x0044 Mailbox FoE B, P, S, Current

O state

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AL Description Current Resulting

status state state
code
or
change
in state

0x0045 Mailbox SoE B, P, S, Current

O state

0x004F Mailbox VoE B, P, S, Current

O state

0x0050 EEPROM no access All All

0x0051 EEPROM errors All All

0x0052 External hardware not ready for operation All All

0x0060 Slave executed restart All I

0x0061 Device identification value updated P P

0x0070 Invalid module configuration P→S P

For a slave with modular device profile, the configured
modules (0xF030) do not match the physical modules
(0xF050).

0x00F0 Application control available I I

< Reserved - -
0x8000

0x8000 Vendor-specific - -
-
0xFFFF

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