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Appendix | EtherCAT Documentation
IF1032/ETH
A 2.1.5
EtherCAT State Machine
The EtherCAT® state machine is implemented in each EtherCAT®. Directly after switching on the IF1032/
ETH, the state machine is in the “Initialization“ state. In this state, the master has access to the DLL informa-
tion register of the slave hardware. The mailbox is not yet initialized, i.e. communication with the application
(sensor software) is not possible yet. During the transition to the pre-operational state, the Sync Manager
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 mapping, 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. 18 EtherCAT State Machine
Summary of Contents for IF1032/ETH
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