State Machine - Delta CMC-EC01 Operation Manual

3.2

State Machine

State Description:
State
Init
Pre-Operational
Safe-Operational
Operational
State Switch Command
IP
PI
PS
SP
SO
OS
OP
SI
OI
CMC-EC01 Operation Manual
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Drive has successfully completed initialization after power-up without
any errors; there is no communication in the application layer.
Mailbox communication can be used at present.
PDO input data (TxPDO) can be read.
PDO output data (RxPDO) cannot be received.
For cylic I/O communication, PDO output data (RxPDO) can be
processed.
Start mailbox communication
Discontinue mailbox communication
Start updating input data (TxPDO)
Terminate updating input data (TxPDO)
Start updating output data (RxPDO)
Terminate updating output data (RxPDO)
Terminate updating input/output data
Terminate updating of input data and mailbox communications
Terminate all input/output data updates and mailbox communications
EtherCAT Option Card CMC-EC01
Description
Description