Lenze EMF2192IB - Manual (Page 40)

Data transfer
EtherCAT state machine
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40 EDSMF2192IB EN 3.1
7.3 EtherCAT state machine
Before communication via EtherCAT is possible, the fieldbus passes through the EtherCAT
status machine during power−up. The following illustration shows the possible state
changes from an EtherCAT slave view:
Operational
Pre-Operational
Init
Safe-Operational
E94AYCET009
Fig. 7−1 EtherCAT state machine
Status Description
Init l Initialisation phase
l No SDO/PDO communication with the slaves
l The device detection is provided by a fieldbus scan.
Pre−operational l The fieldbus is active.
l The SDO communication (mailbox communication) is possible.
l No PDO communication
Safe−operational l The SDO communication (mailbox communication) is possible.
l PDO communication:
– The input data is transmitted to the master and evaluated.
– The output data is the "Safe" status. They will not be transmitted to the standard
device.
Operational l Normal operation:
– SDO communication
– PDO communication
– Fieldbus synchronisation successful (if used)