BECKHOFF CX2100­09x4 - Manual (Page 22)

Product overview
Changed settings are stored fail­safe in Beckhoff devices.
If the device is later exchanged, however, the settings that have been changed from the series standard are
lost. The EtherCAT master can then load the changed CoE parameters into the new device at startup, if it is
set up appropriately.
So that a CoE directory is available offline during the preparation for configuration, it can be contained in the
device description as a copy.
The extent to which the CoE directory is supported depends on the capabilities of the EtherCAT master.
Tab: Online
the state machine of the EtherCAT communication is displayed here. It can also be switched to a different
state here. This is done by selecting the desired state by a mouse­click on the appropriate button. The
individual states are briefly described below. For further information, please refer to the EtherCAT system
description on our webpage.
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
• Pre­Operational
• Safe­Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
CX2100­09x4 22 Version 1.1