Omron NJ101-10 Series, User Manual

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3-3 State Transitions for EtherCAT Com-
munications
3-3-1 Self Diagnosis at Startup
The EtherCAT master executes the following self-diagnosis when the power is turned ON.
The results of self-diagnosis are provided in the following events and system-defined variables as
EtherCAT master errors if errors are detected.
Diagnosis
Notification in case of an error detected
Events System-defined variables
Diagnosis of network configuration
information Network Configuration Information
Error
(34400000 hex) _EC_NetCfgErr
Diagnosis of communications port MAC Address Error
(14400000 hex) _EC_MacAdrErr
Communications Controller Failure
(04400000 hex) _EC_LanHwErr
Refer to Errors in the EtherCAT Master Function Module in the NJ/NX-series Troubleshooting Manual
(Cat. No. W503) for details on events.
3-3-2
Control States for EtherCAT Communications
Control State Machine
EtherCAT communications provides four control states. Communications is controlled by moving be-
tween these states.
Power ON
Self-diagnosis
4. Operational state (I/O for process data communications and SDO communications are possible.)
3. Safe-Operational state (Inputs for process data communications and
SDO communications are possible.)
2. Pre-Operational state (Only SDO communications is possible.)
1. Init state (Process data communications and SDO communications are not possible.)
After the power is turned ON, the communications master and slaves go from the Init state to the Pre-
Operational state, Safe-Operational state, and then Operational state before starting EtherCAT com-
munications.
3 EtherCAT Communications
3-9
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
3-3 State T
ransitions for EtherCA
T Communications
3
3-3-1
Self Diagnosis at Startup