Toshiba TOSVERT VF-AS3 Manual page 55

State transitions
State transition Local management service
IP Start Mailbox Communication
PI Stop Mailbox Communication
PS Start Input Update
SP Stop Input Update
SO Start Output Update
OS Stop Output Update
OP Stop Output Update and Stop Input Update
SI Stop Input Update, Stop Mailbox Communication
OI Stop Input Update, Stop Mailbox Communication
IB Start Bootstrap Mode, redirection to (BI)
BI Restart Device
ESM states management
The ESM states are managed with the library: TC EtherCAT lib. See the example, step
15 page 65.
ESM states and communication interruptions
The ESM states are managed with the library: TC EtherCAT lib. See the example, step
15 page 65.
Some transitions in the ESM state chart will trigger a communication interruption.
These transitions suppress a service, which can be used to control the drive.
A detected fault is triggered in order to avoid losing control of the drive (only if the drive is
running).
State transition Service lost
PI SDO
SI SDO, TPDO
SP TPDO
OS RPDO
OP PDO
OI SDO, PDO
Depending on the communication status of the drive, the following services are available:
Init
PDO No response
SDO No response
Pre-operational Safe-Operational
No response TPDO,
active,
drive active
active active
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Value
0x02
0x01
0x04
0x02
0x08
0x04
0x02
0x01
0x01
0x03
0x01
Operational
inputs only active
no outputs to
active
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