Ethercat Slave Station Information; Ethercat State Machine - INVT Goodrive350 Series Operation Manual

Communication extension card

6.4.2 EtherCAT slave station information

EtherCAT slave station information file (.xml) is read by the master station to construct the
master and slave station configuration. This file contains mandatory information about
EtherCAT communication settings. INVT provides this file EC-TX508_100.xml.

6.4.3 EtherCAT state machine

EtherCAT state machine is used to describe the states and state change of slave station
applications. Generally, the master station sends a state change request, while the slave
station responds. The state change flow is shown in the following figure.
State
Init
Init to Pre-Op
Pre-Op
Pre-Op to Safe-Op
IP
OI
OP
Figure 6-4 EtherCAT state machine flowchart
Table 6-5 EtherCAT state machine description
Both SDO and PDO communication are unavailable.
The master station configures the data link layer address and SM
channel for SDO communication.
The master station initializes DC synchronization information.
The master station requests the jump to the Pre-Op state.
The master station configures the application layer control register.
The slave station checks whether the mailbox is initialized properly.
SDO communication is available but PDO is unavailable.
The master station configures the SM and FMMU channels for
PDO communication.
The main station configures PDO mapping through SDO
communication.
The master station requests the jump to the Safe-Op state.
The slave station checks whether the PDO and DC are configured
correctly.
EtherCAT communication card
Init
PI
Pre-Op
PS SP
Safe-Op
SO OS
Op
Description
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