Epson RC90 Manual page 257

Communication State Transition
The EtherCAT slave module goes into initialized state after the power is turned ON.
Subsequent state transition is controlled by the EtherCAT master.
Initialization
Preoperational
Safe operational
Operational
Electronic Information File (ESI file)
An ESI (EtherCAT Slave Information) file is supplied for EtherCAT slave module
network configuration. The file is located in the following folder where EPSON RC+ 7.0
is installed.
RC700 / RC90 Option Fieldbus I/O Rev.14
Initialization
Preoperational
State
Status after turning ON the power.
Initialization state is continued by the EtherCAT until
preoperational state.
Set by the EtherCAT master.
SDO (Service Data Object) communication is only available in
this state.
Set by the EtherCAT master.
PDO (Process Data Object) transmission, along with SDO
(Service Data Object) communication is available in this state.
Set by the EtherCAT master.
All communications are available in this state.
Control of I/O data with the EtherCAT master is possible.
\EpsonRC70\Fieldbus\EtherCAT
EPSN_TSERIES_ECT_V2.3.xml
Safe operational
Operational
Description
2. Installation
245