Drive User Guide
17
5. State Machine of EtherCAT
EtherCAT state machine (ESM) is used to coordinate the state of application layer from starting to
normal operation between the master and slave stations. The switch of state normally is initiated by the
master station. After receiving the command of switching state, the slave station starts to switch the
state. As shown in the figure below, the transition of EtherCAT state machine. When the slave station
starts to transit from the initialization state to the operational state, it must to follow the process of
Initialization (Init)
Pre-Operational
Safe-Operational
Operational. Leapfrog transition is not
allowed.
State
Description
Initialization (Init)
No mailbox communication.
No process data communication.
Transit from Init to
Pre-Operational, IP.
Master station set up the contents of relevant
registers:
-
Address register of DL.
-
SyncManager of relevant mailbox
communication.
Distribute clock of master station initialization.
Master station requests to enter Pre-Operational
state.
-
Set up AL Control register.
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