Lenze EtherCAT control technology - Manual (Page 89)

DMS 3.1 EN 01/2011 TD17
L
89
Control technology | EtherCAT communication manual
Commissioning of the system
Typical commissioning scenarios
7.4.4 Stopping and starting the PLC while the configuration remains unchanged
Initial situation:
 PLC and EtherCAT are running.
– PLC state: Running
– EtherCAT state: Operational

How to stop and start the PLC:
1. Stop the PLC.
2. Start the PLC.
3. The PLC application must call the "SMC_ResetAxisGroup" program organisation
unit.
4. The system is running again.
Legend
PLC:
EtherCAT:
Transient state of PLC and EtherCAT
Automatic change to next state
Load PLC Load PLC application
PLC:
EtherCAT:
Steady state of PLC and EtherCAT
Change to next by means of an external
action
Start PLC Start PLC application
Reset
(origin)
Reset the PLC.
The PLC application is deleted.
Start Beginning of the scenario
Start
Stop PLC
PLC: Running
EtherCAT: Operational
Call
<SMC_ResetAxisGroup>
POU
from PLC application
PLC: Stop
EtherCAT: Pre-Operational
PLC: Running
EtherCAT: Safe-Operational
Start PLC
System is running