Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 EtherCAT Mode
12-17
12
12.2.3 EtherCAT state machine
In EtherCAT communication, the servo includes the following states. The controller (master)
controls the servo (slave) based on the actual state. The controller needs to configure the servo
drive according to the designated flow in the following figure. After the controller completes the
initialization of the communication, the servo (slave) is in the Operational state and waits for the
user's command to perform motion control. Use the monitoring variable P0.002 = 119 to monitor
the current state of the EtherCAT state machine.
Init
Pre-Operational
Safe-Operational
Operational
(OI)
(IP) (PI)
(OP)
(PS)
(SP)
(SO)
(OS)
(SI)
Value displayed on the
panel when P0.002 = 119
State Description
1 Init
The servo drive successfully completes initialization after
being powered on without errors occurring. The packet
cannot be transmitted in this state.
2
Pre-
Operational
(Pre-OP)
Data can be exchanged with the SDO. If an alarm occurs
in the servo drive, an emergency message is sent to
notify the controller.
4
Safe-
Operational
(Safe-OP)
The servo drive can use SDO and TxPDO data packets
to exchange data with the controller.
8
Operational
(OP)
This state allows all data exchanges including the SDO
and PDO (TxPDO and RxPDO).