Ethercat State Machine - Wieland samos PRO Manual

ESI file: Wieland SP EN ETC V1.1.xml
You will receive an ESI file from Wieland for the EtherCAT gateway. This file is located either on the
enclosed disk or in the download area of http://www.wielandinc.com/. Install the ESI files in your
PLC software configuration tool. Further details on installation of the ESI files can be found in the
PLC manual.
11.3

EtherCAT state machine

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States
A state machine is implemented in every EtherCAT coupler. For each state it is defined which com-
munication services are active via EtherCAT. The state machine is controlled by the EtherCAT mas-
ter.
(OI)
(OP)
IP Start mailbox communication
PS Start input update
SO Start output update
OP Stop input update, stop output update
OI Stop output update, stop input update
Stop mailbox communication
BI Restart/stop mailbox
INIT
After being switched on, the EtherCAT coupler is in the "Init" state. In this state neither mailbox nor
process data communication are possible. The EtherCAT master initializes the SyncManager chan-
nels 0 and 1 for mailbox communication.
Pre-Operational (Pre-OP)
In the transition from Init to Pre-Op, the EtherCAT checks whether the mailbox was initialized cor-
rectly.
In the Pre-Op state mailbox communication is possible but not process data communication.
Furthermore, in this state the settings for the transmission of process data and module-specific pa-
rameters are transmitted where they deviate from the standard settings.
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
Init
(IP) (PI)
Pre-Operational
(PS) (SP)
Safe-Operational
(SO) (OS)
Operational
(IB) (BI)
Bootstrap
(SI)
(optional)
PI Stop mailbox communication
SP Stop input update
OS Stop output update
Stop input update, stop mailbox com-
SI
munication
Start mailbox for firmware update in
IB
bootstrap mode (not implemented)
EtherCAT Gateway
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