Ethercat State Machine - Omron R88M-1M 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
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Initialization
Pre-Operational
Safe-Operational
Operational
SDO PDO
communications reception
Not possible Not possible
Possible Not possible
Possible Not possible
Possible Possible
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