Ethercat  State Machine (Esm); Figure 48: Status Diagram Of An Ethercat  Slave - WAGO I/O-SYSTEM 750 Manual

144 Fieldbus Communication
10.1.3.4 EtherCAT
Each slave contains a so-called EtherCAT
the interplay between maser and slave during start-up and during operation.
For simple slaves, the EtherCAT
requested by the master, whereas complex slaves can autonomously implement
status changes and can also deny the status change requested by the master,
e.g. in the case of a configuration error.
The status of EtherCAT
Machine. The EtherCAT
• INIT
• PREOP (Pre-Operational)
• SAFEOP (Safe-Operational)
• OP (Operational)
• BOOT (Bootstrap), only optionally implemented
Figure 48: Status Diagram of an EtherCAT
The master always specifies a set-status (AL control) which the slave attempts to
engage. The status transitions in a complex slave are partially related to
conditions and can trigger different actions in the slave. The current status of a
slave (AL status) can be read by the master at any time. In addition to status, the
AL status also contains an error bit (ERR) that can be read together with the
status. When necessary, the master can read an error code (AL status code)
from the slave.
Manual
Version 1.2.1
750-354/000-001 EtherCAT® Fieldbus Coupler, ID Switch

State Machine (ESM)
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slaves is controlled using the EtherCAT

slave runs through the following states:

State Machine (ESM) that controls
State Machine always follows the status

Slave
WAGO-I/O-SYSTEM 750
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State