Page 61
Appendix| EtherCAT Documentation
combiSENSOR 6430
A 2.1.5
EtherCAT State Machine
The EtherCAT® state machine is implemented in each EtherCAT®. Directly after switching on the combiSEN-
SOR 64x0, the state machine is in the “Initialization“ state. In this state, the master has access to the DLL
information register of the slave hardware. The mailbox is not yet initialized, i.e. communication with the appli-
cation (sensor software) is not yet possible. During the transition to the pre-operational state, the Sync Man-
ager channels are configured for the mailbox communication. In the „Pre-Operational“ state, communication
via the mailbox is possible, and it can access the object directory and its objects. In this state, no process
data communication occurs. During the transition to the „Safe-Operational“ state, the process-data map-
ping, the Sync Manager channel of the process inputs and the corresponding FMMU are configured by the
master. Mailbox communication continues to be possible in the „Safe-Operational“ state. The process data
communication runs for the inputs. The outputs are in the „safe“ state. In the „Operational“ state, process
data communication runs for the inputs as well as the outputs.
Initialization
Pre-Operational
Operational
Safe-Operational
Fig. 25 EtherCAT State Machine
