Lika H 58 Series, Руководство пользователя

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Hx58x EtherCAT®
5.1.7 EtherCAT State Machine (ESM)
EtherCAT slave is a state machine; communication and operating characteristics
depend on the current state of the device:
•
INIT: it is the default state after power on; in this state there is not direct
communication between master and slave on the Application Layer; some
configuration registers are initialized and the Sync Managers are
configured;
•
PRE-OPERATIONAL: in this state mailbox is active; both master and slave can
use the mailbox and its protocols for exchanging specific initialization
parameters of the application. Exchange of Process Data (PDO) is forbidden;
•
SAFE-OPERATIONAL: in this state master and slave can issue only input
process data, while output process data are still in safe-state;
•
OPERATIONAL: in this state master and slave are enabled to send both input
process data and output process data.
5.1.8 Slave configuration
The configuration of the slave communication characteristics (Sync Manager
configuration, addresses, synchronization modes, PDO mapping,…) can be made
both using the XML file (EtherCat Slave Information - ESI ) or loading data
directly from EEPROM (Slave Information Interface SII).
EEPROM content (SII):
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