Table 113: Ethercat  State Machine (Esm) - WAGO I/O-SYSTEM 750 Manual

146 Fieldbus Communication
Table 113: EtherCAT
Status
Init
Pre-
Operational
Safe-
Operational
Operational Before the EtherCAT
Boot
(optional)*
*)
The BOOT status is not implemented in the EtherCAT
Manual
Version 1.2.1
750-354/000-001 EtherCAT® Fieldbus Coupler, ID Switch

State Machine (ESM)
Transition
As soon as the

EtherCAT slave is
switched on, it is in INIT
status.
During the transition
from INIT to PREOP

status, the EtherCAT
slave checks whether
the mailbox has been
correctly initialized.
Conditions for the
transition are that the

EtherCAT slave has
initiated at least once
successfully and has
constructed the process
image.
During the transition
from PREOP to
SAFEOP status, the

EtherCAT slave checks
whether the Sync
Manager channels for
process data
communication are
correct, as well as, if
necessary, whether the
settings for the
distributed clocks are
correct.

master switches the

EtherCAT slave from
SAFEOP to OP status, it
must already transmit
valid output data.
This status can only be
)
reached via INIT status
Communication Procedure
Neither mailbox
The EtherCAT
nor process data
relevant register of the EtherCAT
communication is
slave ASIC and the content of the
possible in this
EEPROM (SII -- slave information
status.
interface) connected to it and
initializes the Sync Manager channels
0 and 1 for mailbox communication.
Mailbox
The EtherCAT
communication is
the Sync Manager channels
now possible;
(beginning with Sync Manager
however, process
channel 2) for process data, as well
data
as the FMMU channels (fieldbus
communication is
memory management unit) and, in
not yet available.
case the slave supports configurable
mapping, the PDO mapping or the
Sync Manager PDO assignment.
In addition, the settings for the
process data transmission are
transmitted in this state, as well as,
when necessary, the settings for the
module-specific parameters that
deviate from the default settings.
Mailbox and During communication, the slave
process data keeps its outputs in a secure state.
communication are The input data are, however,
both possible. cyclically updated.
Mailbox and In this status, the slave copies the
process data output data of the master in its
communication are outputs.
both possible
Neither process In this status, an update of the slave
data nor mailbox firmware can be carried out.
communication is
possible, with the
exception of
mailbox
communication via
the File-Access
protocol over

EtherCAT (FoE).

fieldbus coupler.
WAGO-I/O-SYSTEM 750

master reads the

master now initializes
