EtherCAT State Machine
Figure 5-62: 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
- 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