Basics communication
EL34xx
36
Version: 1.5
Fig. 21: States of the EtherCAT State Machine
Init
After switch-on the EtherCAT slave in the
Init
state. No mailbox or process data communication is possible.
The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.
Pre-Operational (Pre-Op)
During the transition between
Init
and
Pre-Op
the EtherCAT slave checks whether the mailbox was initialized
correctly.
In
Pre-Op
state mailbox communication is possible, but not process data communication. The EtherCAT
master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU
channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO
assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters
that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between
Pre-Op
and
Safe-Op
the EtherCAT slave checks whether the sync manager
channels for process data communication and, if required, the distributed clocks settings are correct. Before
it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP-
RAM areas of the EtherCAT slave controller (ECSC).
In
Safe-Op
state mailbox and process data communication is possible, although the slave keeps its outputs
in a safe state, while the input data are updated cyclically.
Outputs in SAFEOP state
The default set
monitoring sets the outputs of the module in a safe state - depend-
ing on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by deactivation of the
watchdog monitoring in the module, the outputs can be switched or set also in the SAFEOP state.
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from
Safe-Op
to
Op
it must transfer valid output
data.
In the
Op
state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.
Summary of Contents for EL34 Series
Page 2: ......
Page 52: ...Mounting and wiring EL34xx 52 Version 1 5 Fig 35 Other installation positions ...
Page 58: ...Mounting and wiring EL34xx 58 Version 1 5 EL3453 LEDs and connection Fig 40 EL3453 LED s ...
Page 92: ...Commissioning EL34xx 92 Version 1 5 Fig 86 Incorrect driver settings for the Ethernet port ...
Page 130: ...Commissioning EL34xx 130 Version 1 5 Fig 147 Process Data tab SM3 EL3443 ...
Page 131: ...Commissioning EL34xx 131 Version 1 5 Fig 148 Process Data tab SM3 EL3453 ...
Page 132: ...Commissioning EL34xx 132 Version 1 5 Fig 149 Process Data tab SM3 EL3483 ...
Page 160: ...Commissioning EL34xx 160 Version 1 5 Index F802 PMX Guard Settings ...
Page 183: ...Commissioning EL34xx 183 Version 1 5 Index F802 PMX Guard Settings ...
Page 205: ...Commissioning EL34xx 205 Version 1 5 Index 1C13 TxPDO assign ...
Page 214: ...Commissioning EL34xx 214 Version 1 5 Index F802 PMX Guard Settings ...
Page 242: ...Commissioning EL34xx 242 Version 1 5 Index 1C13 TxPDO assign ...
Page 259: ...Application examples EL34xx 259 Version 1 5 7 Application examples ...