Ethercat State Machine; Coe - Econ EtherCAT EHS-580 User Manual

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the same time ,it wait the Synchronous signal to trigger the processing data and effect to drive
The processing data must reach drive earlier than SYNC0 T1,and the drive must compete all Analysis of data and
related control algorithm. after receiving SYNC0,drive send the control command immediately. This mode is very
good for data Synchronization

5.2.3 EtherCAT state machine

EtherCAT state machine, commonly called as "communication state machine.it mainly manage the communication
between master and slave .this communication function includes the communication for mail and processing data.
The transmission of the EtherCAT state machine features:
A:From initialization to operation, it must follow the sequence（low--high）strictly: you must switch from low to
high ,such as initialization→pre-operation→Safe-operation→operation
B:From high to low transmission, it can be skipped .
C:The master is the sender for all state transmission, the slave must response all request from master
D:If the request from master is failed ,the slave will feedback error to master
In it Communication between master and slave stations
Mail communication is effective, and no processing data communication, means SDO
Pre-Operation
function is effective
Mail communication and processing data objects sending are effective, means SDO and
Safe-Operation
TX PDO are effective
Mail communication, processing data receiving and are is effective, means SDO, RX PDO
Operation
and TXPDO are effective

5.3 COE

COE is similar as CANopen DS301,but basic on CANopen DS301 , the COE has some changes and extension, the
main difference as below chart
User Manual For EHS-580 EtherCAT Hybrid Servo Drive
EtherCAT state machine transmission blow chart
Communicationfunction