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5 EtherCAT Communications
5 - 6
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-3
EtherCAT State Machine
The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT master.
Note The Bootstrap mode is not supported.
State
SDO
communications
PDO
reception
PDO
transmission
Description
Init
Not possible
Not possible
Not possible
Communication initialization is in
progress. Communications are not
possible.
Pre-Operational
Possible
Not possible
Not possible
Only SDO communications are pos-
sible in this state. This state is
entered after initialization is com-
pleted. In this state, the network set-
tings are initialized.
Safe-Operational
Possible
Not possible
Possible
In this state, PDO transmissions are
possible in addition to SDO commu-
nications. PDO transmissions can be
used to send information such as sta-
tus from the Servo Drive.
Operational
Possible
Possible
Possible
This is a normal operating state.
PDO communications can be used to
control the Servomotor.
Safe-Operational
Pre-Operational
Initialization
Operational
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
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