EtherCAT State Machine

Figure 6-63: EtherCAT State Machine

Where the transitions are:

• from Init to Pre-Operational (Pre-Op): Master configures the Sync Manager channels for Mailbox communication
• from Pre-Op to Safe-Operational (Safe-Op): Master configures parameter using the Mailbox
• from Safe-Op to Operational (Op): Master sends valid Outputs

The different states are:

• Init
  No communication on the Application Layer
  Master has access to the DL-Information registers
• Pre-Operational (Pre-Op)
  Mailbox communication on the Application Layer
  No Process Data communication
• Safe-Operational (Safe-Op)
  Mailbox communication on the Application Layer
  Process Data communication. Only Inputs are evaluated (Outputs in Safe state)
• Operational (Op)
  Inputs and Outputs are valid
• Bootstrap
  Recommended if firmware updates are necessary
  No Process Data communication
  Communication via Mailbox on Application Layer
  Only FoE protocol available

See Also