Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1, Руководство пользователя

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10
2 EtherCAT COMMUNICATION
2.2 EtherCAT State Machine (ESM)
EtherCAT state
The servo amplifier can be operated once the state transitions from the Init state through the Pre-Operational and Safe-
Operational state to the Operational state. When the Operational state transitions to other states, initialization of the servo
amplifier is executed to clear internal statuses.
*1 This state is for manufacturer's settings.
Transition No. Description
(1) Turning power on
(2) SDO communication configuration
• The master station sets Sync Manager channels for SDO communication and DL Address registers of the slave.
• The master station requests the slave station to transition to the Pre-Operational state.
• The state transitions to the Pre-Operational state.
(4) PDO communication configuration
• The master station sets configuration parameters (such as PDO mapping) using SDO communication.
• The master station sets Sync Manager channels for PDO communication and FMMU channels of the slave station. FMMU
(Fieldbus Memory Management Unit) is a mechanism to manage the relationship between the global address space and the
local address space in EtherCAT communication. The global address space is used for PDO communication, and the local
address space in each slave station stores object data.
• The master station requests the slave to transition to the Safe-Operational state.
• The state transitions to the Safe-Operational state.
(7) Synchronization
• The master station and the slave station synchronize with each other by using Distributed Clocks.
• The master starts to output a valid command value.
• The master requests the slave to transition to the Operational state.
• The state transitions to the Operational state.
(5), (12) When the master station requests the slave station to transition to the Pre-Operational state, the state transitions to the Pre-
Operational state.
(8) When the master station requests the slave station to transition to the Safe-Operational state, the state transitions to the Safe-
Operational state.
(3), (6), (9), (11) In the following case, the state transitions to the Init state.
When the master station requests the slave station to transition to the Init state.
(10) When the master station requests the slave station to transition to the Bootstrap state, the state transitions to the Bootstrap state.
Power on
Pre-Operational
Safe-Operational
Bootstrap
Init
Operational
(1)
(3)
(2)
(4)
(5)
(7)
(8)
(6)
(9)
(12)
(11) (10)
*1