SV660N Keypad Panel Status Codes
Published:
Quick reference for the 5‑digit LED keypad on Inovance SV660N (MS1 / EtherCAT), as used on this stacker.
All digit layout and blink timings below are from the SV660N Advanced User Guide (status indication / Figure 8‑2), not from guesswork.
- How to read
_28ry(official digit map) - Terminology
- Official AL digit blink rules
- Servo status (4th–5th LEDs)
- Control mode (3rd LED)
- Ports CN3 / CN4
- Fault blink (different from AL blink)
- Everyday combinations on this machine
- References
How to read _28ry (official digit map)
The five LEDs show several fields at once (fixed positions). They do not time‑share / alternate full screens between 2 and ry.
LED: [ 1st ] [ 2nd ] [ 3rd ] [ 4th ] [ 5th ]
field: link AL mode ---- servo ----
ex.: _ 2 8 r y
| LED position | Meaning (manual) |
|---|---|
| 1st | Physical link: segment - upper = PORT1 (CN4 OUT), lower = PORT0 (CN3 IN). Solid OFF = no PHY link; solid ON = link detected. |
| 2nd | EtherCAT AL state: 1 / 2 / 4 / 8 |
| 3rd | Control mode from 0x6060 (e.g. 8 = CSP) |
| 4th–5th | Servo status: ry / rn / nr / … |
So what looks like _28ry is one composite readout:
| Glyph | Field | Meaning |
|---|---|---|
_ / - | link segments | often blank-looking on 7‑seg |
2 | AL | Pre-operational (blinks — see AL blink rules) |
8 | mode | Cyclic synchronous position (CSP) |
ry | servo | Ready (waiting for S‑ON) |
Official spelling is ry (ready). On 7‑seg it is easy to misread as rdy.
Cross-check on the PC:
ethercat slaves -v # State: INIT / PREOP / SAFEOP / OP
Terminology
| Term | Full name | Plain meaning |
|---|---|---|
| Master | EtherCAT master | PC side that owns the bus (here: IgH + ROS EthercatDriver). |
| Slave | EtherCAT slave | Device on the bus (here: SV660N). Listed by ethercat slaves. |
| AL | Application Layer state | EtherCAT device state machine. Panel 2nd digit and CLI words (PREOP, …) are the same AL. |
| INIT | AL Init | Early / no useful mailbox+PDO. Panel 1, solid. Typical with cable unplugged. |
| PREOP | Pre-operational | SDO / network config available; no cyclic PDO yet. Panel 2, blinks 400 ms. Normal with Idle IgH master. |
| SAFEOP | Safe-operational | SDO + TPDO; DC available. Panel 4, special blink pattern. |
| OP | Operational | Full cyclic PDO. Panel 8, solid. Target for motion. |
| PDO | Process Data Object | Cyclic realtime process data. |
| SDO | Service Data Object | Non-cyclic mailbox parameter access (PREOP setup). |
| CoE | CANopen over EtherCAT | Object-dictionary protocol used by SV660 (CiA402). |
| EoE | Ethernet over EtherCAT | Optional Ethernet tunnel; can contend with CoE on the mailbox if enabled in IgH. |
| CiA402 | Drive profile | Standard servo objects / state machine (0x6040 / 0x6041, modes, …). |
| S‑ON | Servo ON | Enable; panel ry → rn. Over EtherCAT via CiA402 controlword. |
| CSP | Cyclic Synchronous Position | Mode 8: master sends target position every cycle. |
| DC | Distributed Clocks | EtherCAT time sync; bad DC timing → sync / AL errors. |
| IgH | EtherLab EtherCAT Master | Kernel master (/dev/EtherCAT0, ethercat tool). |
| Domain | Process-data domain | Master PDO memory map for one cycle. |
| WC | Working counter | How many slaves answered the cyclic frame successfully. |
AL ladder
cable / power-up
→ INIT (1) solid on panel
→ PREOP (2) blinks 400 ms ← Idle master + cable in
→ SAFEOP (4) slow blink pattern
→ OP (8) solid ← motion app target
| Panel (2nd LED) | CLI (ethercat slaves) | AL name |
|---|---|---|
1 | INIT | Initialization |
2 | PREOP | Pre-operational |
4 | SAFEOP | Safe-operational |
8 | OP | Operational |
Servo status (ry / rn) is independent of AL: the drive can show ry already in PREOP; it becomes rn after S‑ON / CiA402 enable (usually with AL in OP for bus control).
Official AL digit blink rules
From Advanced User Guide — Communication status (2nd LED):
| AL status | SDO | RPDO | TPDO | Keypad (2nd LED) |
|---|---|---|---|---|
| Init | No | No | No | 1 solid ON |
| Pre-Operational | Yes | No | No | 2 blinking every 400 ms |
| Safe-Operational | Yes | No | Yes | 4 blinking every 1200 ms (ON 200 ms / OFF 1000 ms) |
| Operational | Yes | Yes | Yes | 8 solid ON |
Matches observed on this machine
| Cable | Display | Why (manual) |
|---|---|---|
| Unplugged | _18ry, no blink | AL=1 Init → solid; mode=8; servo=ry |
| Plugged (IgH Idle) | _28ry, only 2 blinks | AL=2 PREOP → 400 ms blink; 8 and ry stay solid |
So the blink is how PREOP (and SAFEOP) are drawn, not a separate “bus activity” metaphor and not a full-screen carousel.
Servo status (4th–5th LEDs)
| Display | Meaning | Notes (manual) |
|---|---|---|
Reset | Initializing | After power-on / reset |
nr | Not ready | e.g. control on, main circuit off / not ready |
ry | Ready | Waiting for S‑ON |
rn | Running | S‑ON active |
When motor speed ≠ 0 RPM, the manual says the trailing letter can blink:
- In PREOP/SAFEOP:
y/nblink at the same rate as AL digit2/4 - In Init/OP:
y/nblink at 2 Hz
(At standstill ready/ry, you typically only notice the AL digit blink in PREOP.)
Also listed in §4.2.3: reset / nr / ry / rn for general status display.
Control mode (3rd LED)
| Digit | Mode (0x6060) |
|---|---|
1 | Profile position |
3 | Profile velocity |
4 | Profile torque |
6 | Homing |
8 | Cyclic synchronous position (CSP) |
9 | Cyclic synchronous velocity (CSV) |
A | Cyclic synchronous torque (CST) |
This stacker bring-up uses CSP (8) (mode_of_operation: 8).
Ports CN3 / CN4
| Port | Role |
|---|---|
| CN3 | EtherCAT IN (from master / previous slave) — PC cable here |
| CN4 | EtherCAT OUT (to next slave) |
Link may also be shown via 1st-LED - segments (PORT0 / PORT1) as in the digit map.
Fault blink (different from AL blink)
| Symptom | Meaning | Action |
|---|---|---|
All five digits blinking + E… / warning | Fault or warning | Press SET to stop blink; fix cause; reset (H0d.01=1 or FunIN.2 ALM‑RST) |
Do not confuse with PREOP’s single 2 blinking at 400 ms (normal).
Everyday combinations on this machine
| You see | Decode | Expected? |
|---|---|---|
_18ry solid | AL Init + CSP + ready | Yes with RJ45 unplugged |
_28ry (2 blinks ~400 ms) | AL PREOP + CSP + ready | Yes with cable in, Idle master |
_48ry (4 slow blink) | AL SAFEOP + CSP + ready | During app activate |
_88ry / …rn (AL solid) | AL OP + CSP + ready/run | Target when CSP app is live |
nr | Not ready | Check main power, STO1/STO2 = 24 V |
All 5 flash + E… | Fault | Bad — see Troubleshooting Guide |
References
- SV660N Series Servo Drive Advanced User Guide
- Mirror: eec.by download
- Digit map + blink timings: status indication / Figure 8‑2 (communication connection status, communication status, servo mode, servo status)
- Also §4.2.3 Status Display (
reset/nr/ry/rn, modes1–A, AL1/2/4/8)
- SV660N Commissioning Guide (keypad overview; fault = all five LEDs blink)
- Mirror: servotechnica.ru
- SV660N Troubleshooting Guide (fault/warning codes, reset)
- Example: mrosupply.com
- Inovance portal: inovance.com
Hardware on this project: SV660NS2R8I + MS1H4-40B30CBA334R, EtherCAT.