-24-
PDO Assign
7.2.2
By the PDO Assign, sets the PDO Mapping Object which is assigned to the SyncManager.
Object 1C13h assigns TxPDO, and it also assigns an object for the TxPDO Object, 1A00h.
Figure 7-4. PDO Assign
7.3
EtherCAT Communication Status
EtherCAT State Machine
7.3.1
Figure 7-5. EtherCAT State Machine
The operational states of EtherCAT products are controlled by EtherCAT masters
.
Table 7-1. EtherCAT Operational State
* FoE = File over EtherCAT. It is an EtherCAT slave node through which the product firmware can be updated.
State
SDO
Tx PDO
Description
INIT
Disabled Disabled EtherCAT communication is initialized. Communication is disabled.
PRE-OP
Enabled Disabled
After the communication initialization is done, this state begins. Network
settings are initialized. Only Mailbox communication is enabled.
SAFE-OP Enabled Enabled Tx PDO communication is enabled.
OP
Enabled Enabled All the communications are enabled.
BOOT
Enabled Disabled
Only Mailbox communication is enabled. FoE is enabled, and the product
firmware can be updated via FoE protocol.
