VIPA 053-1EC00, Manual

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Manual VIPA System SLIO
Chapter 3 Deployment
HB300E - IM - RE_053-1EC00 - Rev. 11/03 3-5
EtherCAT State Machine
Each EtherCAT couple has a State Machine implemented. For each state
there is defined which communication service is active via EtherCAT.
The State Machine is controlled by the EtherCAT master.
IP: Start mailbox communication
PI: Stop mailbox communication
PS: Start input update
SP: Stop input update
SO: Start output update
OS: Stop output update
OP: Stop input update, stop output update
SI: Stop input update, stop mailbox communication
OI: Stop output update, stop input update,
stop mailbox communication
IB: Start mailbox for firmware update in bootstrap
mode
Init
Pre-Operational
Bootstrap
(optional)
Safe-Operational
Operational
(OI)
(OP)
(SO) (OS)
(PS) (SP)
(IP) (PI)
(SI)
(IB) (BI)
BI: Restart/stop mailbox
After power-on the EtherCAT coupler is in state
Init
. There is neither
mailbox nor process data communication possible. The EtherCAT master
initializes the SyncManager channels 0 and 1 for the mailbox
communication.
During the transition from
Init
to
Pre-Op
the EtherCAT coupler checks
whether the mailbox was correctly initialized.
In the state
Pre-Op
mailbox communication is possible but the process
data communication is blocked. The EtherCAT master initializes the
SyncManager channels for process data (starting with SyncManager
channel 2), the FMMU channels and the PDO mapping respectively the
SyncManager PDO assignment. Further in this state the settings for
process data transfer and the module-specific parameters, which deviate
from the default values are transferred.
With the transition from
Pre-Op
to
Safe-Op
the EtherCAT coupler checks if
the SyncManager channels for process data communication are correct.
Before it acknowledges the state change, the EtherCAT coupler copies
current input data to the corresponding DP RAM areas of the EtherCAT
coupler controller. In the state
Safe-Op
mailbox and process data
communication is possible. Here the input data are cyclically updated but
the outputs are de-activated.
In the state
Op
the EtherCAT coupler copies the output data of the master
to its outputs. Here process data and mailbox communication is possible.
In the state
Boot
the firmware of the EtherCAT coupler may be updated.
This state may only be reached via
Init
. In the state
Boot
is mailbox
communication via the protocol
File-Access over EtherCAT
(FoE) possible.
Other mailbox and process data communications are de-activated.
States
Init
Pre-Operational
(Pre-Op)
Safe-Operational
(Safe-Op)
Operational (Op)
Bootstrap -
optional (Boot)