Coe - Interface: Notes; Ekxxxx - Optional Distributed Clocks Support - Beckhoff EtherCAT EK112 Series Manual

Pre-Operational (Pre-Op)
During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized
correctly.
In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT
master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU
channels and, if the slave supports configurable mapping, PDO mapping or the sync manager PDO
assignment. In this state the settings for the process data transfer and perhaps terminal-specific parameters
that may differ from the default settings are also transferred.
Safe-Operational (Safe-Op)
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager
channels for process data communication and, if required, the distributed clocks settings are correct. Before
it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP-
RAM areas of the EtherCAT slave controller (ECSC).
In Safe-Op state mailbox and process data communication is possible, although the slave keeps its outputs
in a safe state, while the input data are updated cyclically.
Outputs in SAFEOP state
The default set watchdog monitoring sets the outputs of the module in a safe state - depending on
the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by deactivation of the
watchdog monitoring in the module, the outputs can be switched or set also in the SAFEOP state.
Operational (Op)
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output
data.
In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox
communication is possible.
Boot
In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.
In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no
other mailbox communication and no process data communication.
6.4

CoE - Interface: notes

This device has no CoE.
Detailed information on the CoE interface can be found in the EtherCAT system documentation on the
Beckhoff website.
6.5

EKxxxx - Optional Distributed Clocks support

Basic principles Distributed Clocks (DC)
The EtherCAT Distributed Clocks system comprises local clocks that are integrated in the EtherCAT slaves
and are synchronized by the EtherCAT master via special datagrams. Not all EtherCAT slaves support the
Distributed Clocks procedure. It is only supported by slaves whose function requires it. In the TwinCAT
System Manager a slave indicates its DC capability by showing "DC" in the settings dialog.
EK112x, EK15xx Version: 3.6
Basics
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