Canopen over ethercat (coe) – Lenze 931K User Manual
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CANopen over EtherCAT (CoE)
EtherCAT state machine
CANopen communication objects under CoE that are not supported
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KHB 13.0005−EN 1.0
Status transition
Status
IP
Start of acyclic communication (mailbox telegram protocol)
PI
Stop of acyclic communication (mailbox telegram protocol)
PS
Start of cyclic communication (process data telegram protocol)
Slave sends actual values to the master
Slave ignores setpoints from the master and uses internal default values
SP
Stop of cyclic communication (process data telegram protocol)
Slave stops sending actual values to the master
SO
Slave evaluates current setpoint selections of the master
OS
Slave ignores setpoints from the master and uses internal default values
OP
Stop of cyclic communication (process data telegram protocol)
Slave stops sending actual values to the master
Master stops sending setpoints to the slave
SI
Stop of cyclic communication (process data telegram protocol)
Stop of acyclic communication (mailbox telegram protocol)
Slave stops sending actual values to the master
Master stops sending setpoints to the slave
OI
Stop of cyclic communication (process data telegram protocol)
Stop of acyclic communication (mailbox telegram protocol)
Slave stops sending actual values to the master
Master stops sending setpoints to the slave
)
Note!
In addition to the states listed here, in the EtherCAT state machine the
"Bootstrap" state is specified. This state is considered to load a new firmware
in the slave during the EtherCAT protocol is running.
Since a firmware download in the case of the 931K servo position controller is
carried out via the RS232 interface, this state is not implemented for the 931K
servo position controller.