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2 EtherCAT Communication details
GRT1-series EtherCAT Communication Unit - Operation Manual
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2-5 Communication State Transitions
The EtherCAT State Machine (ESM) indicates the state transition model of EtherCAT Slave Unit
communication control. It is controlled by the EtherCAT Master Unit.
The following figure shows the communication state transitions from power ON.
State
SDO com-
munication
PDO trans-
mission
PDO recep-
tion
Contents
Initialization
(Init)
Not possible
Not possible
Not possible
Communication is being initialized.
Communication is not possible.
Pre-Operational
(Pre-Op)
Possible
Not possible
Not possible
Initialization of network settings.
SDO communication is possible.
Safe-Operational
(Safe-Op)
Possible
Possible
Not possible
PDO communication is possible.
e.g. status from a Slave Unit.
SDO communication is possible.
Operational
(Op)
Possible
Possible
Possible
Normal communication state
PDO communication to control I/O data.
Initialization
Pre-Operational
Safe-Operational
Operational
Power ON
Содержание GRT1-ECT SmartSlice
Страница 3: ...GRT1 series EtherCAT Communication Unit Operation Manual Revised March 2012 ...
Страница 18: ...15 GRT1 series EtherCAT Communication Unit Operation Manual ...
Страница 30: ...1 EtherCAT Network 1 8 GRT1 series EtherCAT Communication Unit Operation Manual ...
Страница 38: ...2 EtherCAT Communication details 2 8 GRT1 series EtherCAT Communication Unit Operation Manual ...
Страница 52: ...4 GRT1 ECT Details 4 10 GRT1 series EtherCAT Communication Unit Operation Manual ...
Страница 76: ...6 GRT1 ECT Troubleshooting 6 12 GRT1 series EtherCAT Communication Unit Operation Manual ...
Страница 136: ...A4 Appendix Object Dictionary A4 16 GRT1 series EtherCAT Communication Unit Operation Manual ...
Страница 140: ...Revision 2 GRT1 ECT series EtherCAT Slave Unit User s Manual ...