Esm (State Transition Diagram) - Panasonic AFP7MC16EC User Manual

Names and Functions of Parts

2.1.3 ESM (State Transition Diagram)

(IP)
(PI)
Pre-Operational
(OI)
(OP)
Reference: Created by us based on "Operating principle of EtherCAT" issued by ETG
ESM state
communication
(Abbr.)
Send/Receive
Init Not available
Pre-
Operational
Available
（PreOP）
Safe-
Operational
Available
（SafeOP）
Operational
Available
（OP）
(Note): S: Slave, M: Master
 What is ESM (EtherCAT State Machine)?
• ESM shows the state of the communication determined as the specifications of EtherCAT.
• The state transition is performed between FP7 MC Unit and Servo Amplifier A5B, an any
settings or programming by users are not required.
 Confirmation method
• The state of ESM can be confirmed by the operation monitor LED "EC RUN" on the front
side of FP7 MC Unit.
• When communication is performed, "Operational (OP)" (EC RUN LED) is ON, and the input
relay (X0 (Link established)" of FP7 MC Unit is ON.
2-4
Init
(SI)
(PS) (SP)
Safe-Operational
(SO) (OS)
Operational
PDO
SDO
communication
（S→M）
Not available
Not available
Available
Available
PDO
communication
（M→S）
The state that the
communication part is being
Not available initialized, and data cannot
be sent/received using SDO
(Mailbox) and PDO.
The state that data can be
Not available sent/received using SDO
(Mailbox).
The state that data can be
sent/recevied using SDO
Not available (Mailbox) and data can be
sent (from slaves to master)
using PDO.
The state that data cannot be
Available sent/received using SDO
(Mailbox) and PDO.
Description