Ethercat State Machine - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.2.3 EtherCAT state machine

In EtherCAT communication, the servo drive's state machine can be in the following states. The
13
controller (master) controls the servo (slave) based on the actual state. The controller needs to
configure the servo drive according to the designated flow in the following figure. After the
controller completes the initialization of the communication, the servo (slave) is in the
Operational state and waits for the user's command to perform motion control. Use the
monitoring variable P0.002 = 119 to monitor the current state of the EtherCAT state machine.
Value
displayed on
the panel
when
P0.002 = 119
1
2
4
8
13-16
State
The servo drive successfully completes initialization after being
powered on without errors occurring. The packets cannot yet
Init
be transmitted in this state.
Data can be exchanged with SDOs. If an alarm occurs in the
Pre-Operational
servo drive, an emergency message is sent to notify the
(Pre-OP)
controller.
Safe-Operational The servo drive can use SDO and TxPDO data packets to
(Safe-OP) exchange data with the controller.
All data exchanges including SDOs and PDOs (TxPDO and
Operational (OP)
RxPDO) are allowed.
Description
ASDA-A3