Delta ASDA-A3 Series User Manual page 1062

ASDA-A3
The controller (master) issues corresponding commands to the servo (slave) according to the
state transition.
State
transition
IP
PS
SO
PI, SI, OI
SP, OP
OS
 The master confirms the VendorID, ProductCode and RevisionNumber of the slave.
 The master calibrates the distributed clocks of the slave (DC-Synchronous mode).
 The master defines the slave address as well as the SyncManager 0 and 1 (SM0
and SM1) register and establishes the mailbox communication.
 The master issues the command and confirms that the slave switches to the
Pre-Operational state.
 The master uses the SDOs to set the PDO mapping and DC related parameters.

The master defines the FMMU as well as the SyncManager 2 and 3 (SM2 and
SM3) registers, and the slave continues to transmit PDO (TxPDO) packets to the
master.
 The master issues the command and confirms that the slave switches to the
Safe-Operational state.
 The master starts transmitting PDOs (RxPDOs).
 The DC synchronization process between the master and slave is started.
 The slave disables all communication functions, including the SDOs and PDOs.
 The slave switches to the Init state.
 The slave disables the PDO function.
 The slave switches to the Pre-Operational state.
 The master stops transmitting PDOs (RxPDOs).
 The slave switches to the Safe-Operational state.
Description
EtherCAT Mode
13
13-17