5 EtherCAT Communications
5 - 6
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-3
EtherCAT State Machine
The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT master.
Note The Bootstrap mode is not supported.
State
SDO
communications
PDO
reception
PDO
transmission
Description
Initialization (Init)
Not possible
Not possible
Not possible
Communication initialization is in
progress. Communications are not
possible.
Pre-Operational
(Pre-Op)
Possible
Not possible
Not possible
Only SDO communications are pos-
sible in this state. This state is
entered after initialization is com-
pleted. In this state, the network set-
tings are initialized.
Safe-Operational
(Safe-Op)
Possible
Not possible
Possible
In this state, PDO transmissions are
possible in addition to SDO commu-
nications. PDO transmissions can be
used to send information such as sta-
tus from the Servo Drive.
Operational (Op)
Possible
Possible
Possible
This is a normal operating state.
PDO communications can be used to
control the Servomotor.
Safe-Operational
Pre-Operational
Initialization
Operational
Summary of Contents for R88D-1SN01H-ECT
Page 827: ......
