Ethercat State Machine - Leuze electronic MSI 400 Series Manual

Components
The components of the CoE interface are listed below:

EtherCAT State Machine

The EtherCAT State Machine controls the state of the EtherCAT coupler.
Object directory
The object directory lists all parameter, diagnostic, process or other data which can be read or described
via EtherCAT. The SDO information service provides access to the object directory.
Process data
The EtherCAT data link layer is optimized for the fast transfer of process data. This determines how the
process data of the device is assigned to the EtherCAT process data and how the application on the device
is synchronized to the EtherCAT cycle.
The assignment of the process data (mapping) is done via the PDO Mapping and the SyncManager PDO
Assign objects. These describe which objects from the object directory are transferred as process data with
EtherCAT. The SyncManager Communication objects determine the cycle time with which the associated
process data are transferred via EtherCAT and in what form it is synchronized for transmission.
ESI file: LEUZE_MSI FB ETHERCAT V1.1.xml
You will receive an ESI file from Leuze for the EtherCAT gateway. This file is located either on the enclosed
disk or in the download area of http://www.leuze.com. Install the ESI files in your PLC software configura-
tion tool. Further details on installation of the ESI files can be found in the PLC manual.
11.3 EtherCAT state machine
States
A state machine is implemented in every EtherCAT coupler. For each state it is defined which communica-
tion services are active via EtherCAT. The state machine is controlled by the EtherCAT master.
(IP)
Pre-Operational
(OI) (PS)
(OP)
(SO)
Operational
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 channels 0 and 1 for
mailbox communication.
Leuze electronic
Init
(PI) (IB)
Bootstrap
(SI)
(optional)
(SP)
Safe-Operational
(OS)
(BI)
PI Stop mailbox communication
SP Stop input update
OS Stop output update
SI Stop input update, stop mailbox communica-
tion
IB Start mailbox for firmware update in boot-
strap mode (not implemented)
MSI 400
EtherCAT Gateway
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