Lenze 931K - Manual (Page 30)

CANopen over EtherCAT (CoE)
EtherCAT state machine
Differences in the state machine under CANopen and EtherCAT
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30 KHB 13.0005−EN 1.0
8.3.1 Differences in the state machine under CANopen and EtherCAT
When the 931K is operated via the EtherCAT CoE protocol, instead of the CANopen state
machine the EtherCAT state machine is used. In some points it differs from the CANopen
state machine. The differences between the response of the CANopen and EtherCAT state
machines are specified in the following:
ƒ No direct transition from Pre−operational to Power−on
ƒ No "Stopped" state, but a direct transition to the "Init" state
ƒ Additional state: Safe−operational
CANopen State EtherCAT State
Power−on Power−on (initialisation)
Init Stopped
Safe−operational −
Operational Operational