Transitions Of Communications States - Omron NX-ECC201 User Manual

8 EtherCAT Communications
8-3 Transitions of Communications
States
The state transition model for communications control of the EtherCAT Slave Terminals is controlled by
the EtherCAT master.
The following figure shows the communications state transitions from when the power supply is turned
ON.
Status
Init
Pre-Operational
Safe-Operational
Operational
8 - 4
Power supply ON
Init
Pre-Operational
Safe-Operational
Operational
SDO com-
Sending
munica-
PDOs
tions
Not possi- Not possi- Not possible. Communications are being initialized. Communi-
ble. ble.
Possible. Not possi- Not possible. Only SDO communications (message communi-
ble.
Possible. Possible. Not possible. In this state, both SDO communications (mes-
Possible. Possible. Possible.
Receiving
PDOs
cations are not possible.
cations) are possible in this state.
This state is entered after initialization is com-
pleted. It is used to initialize network settings.
sage communications) and sending PDOs are
possible.
Information, such as status, is sent from the
Slave Terminal.
This is the normal state for communications.
PDO communications are used to control the I/O
data.
NX-series EtherCAT Coupler Unit User's Manual (W519)
Description