Ethercat State Machine - Omron R88D-KN01L-ECT-L User Manual

5-3

EtherCAT State Machine

The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT Master.
Pre-Operational
Status
Init
Pre-Operational
(Pre-Op)
Safe-Operational
(Safe-Op)
Operational (Op)
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Init
Safe-Operational
Operational
SDO PDO
communications reception
Not possible Not
possible
Possible Not
possible
Possible Not
possible
Possible Possible
5 EtherCAT Communications
PDO
transmission
Not possible Communications are being initialized.
Communications are not possible.
Not possible Only mailbox communications are
possible in this state.
This state is entered after initialization has
been completed. It is used to initialize
network settings.
Possible In this state, PDO transmissions are
possible in addition to mailbox
communications.
DC mode cyclic communications can be
used to send information such as status
from the Servo Drive.
Possible This is a normal operating state.
DC mode cyclic communications can be
used to control the motor.
Description
5 - 5
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