Parameterization And Commissioning; Ethercat State Machine - Beckhoff CX B110 Series Manual

Parameterization and commissioning

5 Parameterization and commissioning
The EtherCAT slave can be configured with TwinCAT 2 or TwinCAT 3. The following sections describe the
EtherCAT state machine and how to insert an EtherCAT slave in TwinCAT, create variables and activate the
device status and the device identification.
5.1

EtherCAT State Machine

EtherCAT State Machine
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
Init
After switch-on the EtherCAT slave in the Init state. No mailbox or process data communication is possible.
The EtherCAT master initializes sync manager channels 0 and 1 for mailbox communication.
Pre-Operational (Pre-Op)
During the transition from Init to Pre-Op, the EtherCAT slave checks whether the mailbox has been correctly
initialized. Mailbox communication is possible in the Pre-Op state, but no process data communication. The
EtherCAT master initializes the sync manager channels for process data (from sync manager channel 2), the
FMMU channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO
assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters
that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager
channels for process data communication and, if required, the distributed clocks settings are correct. Before
it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP-
RAM areas of the EtherCAT slave controller (ECSC).
Mailbox and process data communication are possible in the Safe-OP state; however, the slave maintains its
outputs in the safe state and does not output them. The input data, however, are already cyclically updated.
24 Version: 1.3 CXxxxx-B110