Ethercat State Machine - Omron 1 S Series User Manual

5 EtherCAT Communications
5-3

EtherCAT State Machine

The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT master.
State
Init
Pre-Operational
Safe-Operational
Operational
Note The Bootstrap mode is not supported.
5 - 6
Initialization
Pre-Operational
Safe-Operational
Operational
SDO PDO
communications reception
Not possible Not possible
Possible Not possible
Possible Not possible
Possible Possible
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
PDO
transmission
Not possible Communication initialization is in
progress. Communications are not
possible.
Not possible Only SDO communications are pos-
sible in this state. This state is
entered after initialization is com-
pleted. In this state, the network set-
tings are initialized.
Possible In this state, PDO transmissions are
possible in addition to SDO commu-
nications. PDO transmissions can be
used to send information such as sta-
tus from the Servo Drive.
Possible This is a normal operating state.
PDO communications can be used to
control the Servomotor.
Description