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4 EtherCAT Communications
4 - 4
CJ-series EtherCAT Slave Units Operation Manual (W541)
4-3
Transitions of Communications
States
The state transition model for communications control of the EtherCAT Slave Unit is controlled by the
EtherCAT master.
The following figure shows the communications state transitions from when the power supply is turned
ON.
Status
SDO
communications
Sending
PDOs
Receiving
PDOs
Description
Init
Not possible
Not possible
Not possible
Communications are being initial-
ized. Communications are not possi-
ble.
Pre-Operational Possible
Not possible
Not possible
Only SDO communications (message
communications) are possible in this
state.
This state is entered after initialization
is completed. It is used to initialize
network settings.
Safe-Opera-
tional
Possible
Possible
Not possible
In this state, both SDO communica-
tions (message communications) and
sending PDOs are possible.
Information, such as status, is sent
from the EtherCAT Slave Unit.
Operational
Possible
Possible
Possible
This is the normal state for communi-
cations.
PDO communications are used to
control the I/O data.
Init
Pre-Operational
Safe-Operational
Operational
Power supply ON
Summary of Contents for CJ1W- ECT21
Page 1: ...Cat No W541 E1 02 OPERATION MANUAL SYSMAC CJ Series CJ1W ECT21 EtherCAT Slave Unit ...
Page 8: ...CONTENTS 6 CJ series EtherCAT Slave Units Operation Manual W541 ...
Page 30: ...Revision History 28 CJ series EtherCAT Slave Units Operation Manual W541 ...
Page 32: ...Sections in this Manual 30 CJ series EtherCAT Slave Units Operation Manual W541 ...
Page 148: ...Appendices A 34 CJ series EtherCAT Slave Units Operation Manual W541 ...
Page 149: ...I 1 I CJ series EtherCAT Slave Units Operation Manual W541 Index ...
Page 152: ...I 4 CJ series EtherCAT Slave Units Operation Manual W541 Index ...
Page 153: ......