Basics of EtherCAT
EP8309-1022
21
Version: 2.0.0
Mailbox and process data communication is possible in the
Safe-Op
state, but the slave keeps its outputs in
the safe state. However, the input data are cyclically updated.
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.
Boot
In the
Boot
state the slave firmware can be updated. The
Boot
state can only be reached via the
Init
state.
In the
Boot
state mailbox communication via the
file access over EtherCAT
(FoE) protocol is possible, but no
other mailbox communication and no process data communication.
