Ethercat State Machine (Esm) - Toshiba TOSVERT VF-MB1 Function Manual

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7. EtherCAT State Machine (ESM)

ESM Diagram
The EtherCAT State machine coordinates the master and slave applications at start up
and during operation. State changes are typically initiated requests of the master. They
are acknowledged by the local application after the associated operations have been
executed.
Description of the states management
ESM states
The state Init defines the foundation of the communication relationship between the
master and the slaves at the application layer. Direct communication between the master
and the slave is impossible at the application layer. The master uses the Init state to
initialize a set of configuration registers of the EtherCAT slave controllers. If the slaves
support mailbox services is configured in this state.
In the Pre-Operational sate, the mailbox is active. Both master and slave use the
mailbox and the corresponding protocol to interchange application-specific initialization
data and parameters. In this state, process data communication is not possible.
If the drive does not receive a valid mapping for the process data from the EtherCAT
master, it remains in this state.
In the Safe-Operational state, the slave application provides current input data such as
limit switch data.
Output data of the master are ignored in this state. This is not a safety function.
In the state Operational, the slave applications deliver current input data and the drive
processes the current output data from the drive, such as target velocity.
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