Lenze EtherCAT Controller-based Automation - Manual (Page 30)

4 The Lenze automation system with EtherCAT
4.4 Interaction of the components
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Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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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 bus are coupled. The PLC
controls the fieldbus.
After switch-on, the system automatically powers up if the following conditions are fulfilled:
• There is an executable PLC boot project on the controller (»PLC Designer« project).
• The slaves that are on the fieldbus and have been configured in »PLC Designer« are accessible.
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 configuration):
[4-5] States in the Lenze control technology
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 bus