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FnIO EtherCAT Network Adaptor NA-9286
FnIO S-Series
Copyright(C) CREVIS Co.,Ltd Support +82-31-899-4599 URL : www.crevis.co.kr
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.
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.
