Ethercat State Machine - Omron R88M-K Series User Manual

5-3 EtherCAT State Machine

The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT
Master.
State
Init
Pre-Operational
(Pre-Op)
Safe-Operational
(Safe-Op)
Operational (Op)
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Init
Pre-Operational
Safe-Operational
Operational
SDO com-
PDO re-
munica-
ception
tions
Not Not
possible. possible.
Not
Possible.
possible.
Not
Possible.
possible.
Possible. Possible.

5-3 EtherCAT State Machine

PDO
transmis- Description
sion
Not Communications are being initialized.
possible. Communications are not possible.
Only mailbox communications are possible
Not in this state. This state is entered after
possible. initialization has been completed. It is used
to initialize network settings.
In this state, PDO transmissions are
possible in addition to mailbox
communications. DC mode cyclic
Possible.
communications can be used to send
information such as status from the Servo
Drive.
This is a normal operating state. DC mode
Possible. cyclic communications can be used to
control the motor.
5
5-4