Ethercat State Machine - Beckhoff EtherCAT EK112 Series Manual

Basics
Reconnection
Once the connection has been restored, the EK1122 reports to the master that a link is present again at port
D (3). The EtherCAT master will then make its process data available again for this section. One the
preparations are complete, it will instruct the EK1122 to re-open port D (3) for regular data exchange. Cyclic
and acyclic data traffic with the other EtherCAT slaves continues normally.
External access to EtherCAT diagnostics
The system offers a wide range of options for accessing status and diagnostic information and
EtherCAT master functions from the PLC. Almost all information displayed by the System Manager
online can also be retrieved via ADS (see figures on this page). System Manager functions can also
be triggered via PLC or ADS. Please refer to the relevant sections in the Beckhoff Information
System and the notes on EtherCAT diagnostics.
6.3

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.
Fig. 68: States of the EtherCAT State Machine
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.
90 Version: 3.6 EK112x, EK15xx