Lenze EtherCAT control technology - Manual (Page 30)

Control technology | EtherCAT communication manual
The Lenze control system with EtherCAT
Interaction of the components
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DMS 3.1 EN 01/2011 TD17
4.4 Interaction of the components
4.4.1 The state machine of the Lenze control technology
In the Lenze control technology, the states of the PLC and the EtherCAT fieldbuses are
coupled. The PLC controls the fieldbus.
After switch-on the system automatically powers up if the following conditions are
fulfilled:
 The IPC is provided with the configuration file for the EtherCAT master (master-XML
file), the contents of which corresponds to the real bus topology.
 The IPC is provided with an executable PLC boot project.
 The slaves at the fieldbus can be accessed.
The following illustration shows the linkage of the states in the state machine of the Lenze
control technology when the conditions for the automatic acceleration of the system are
fulfilled (boot project with EtherCAT BusInterface and EtherCAT master configuration):
Legend
Transitional state, automatic change to next state
Stationary state, change to next state by external actions
PLC State of the PLC
EtherCAT State of the EtherCAT fieldbus
PLC: Original
EtherCAT: Unknown
PLC: Original
EtherCAT: Init
PLC: Original
EtherCAT: Pre-Operational
Switch on industrial PC and field devices
PLC: Running
EtherCAT: Safe-Operational
PLC: Running
EtherCAT: Operational