Lenze E84DGFCT - Manual (Page 35)

EDS84DMOTECAT EN 2.1 - 11/2012
L
35
Communication manual 8400 motec EtherCAT®
Data transfer
EtherCAT state machine
7.3 EtherCAT state machine
Before communication is possible via EtherCAT, the fieldbus passes through the EtherCAT
state machine during start-up. The following illustration depicts the possible state
changes from the point of view of an EtherCAT slave:
[7-1] EtherCAT state machine
The current state of the EtherCAT state machine is displayed under C13861 and indicated
via the "RUN" LED.
Possible errors during state transitions are displayed in
C13879 . In addition, an error
message is entered into the "AL Status Code" EtherCAT register
( 36)
.
Diagnostics with the »Engineer«
( 60)
LED status displays
( 58)
E94AYCET009
Operational
Pre-Operational
Init
Safe-Operational
Status Description
Init • Initialisation phase
• No SDO/PDO communication with the slave
• Device detection possible by means of a fieldbus scan
Pre-operational • The fieldbus is active.
• SDO communication (mailbox communication) is possible.
• No PDO communication
Safe-operational • SDO communication (mailbox communication) is possible.
• PDO communication:
–The input data are transferred to the master and evaluated.
–The output data are in the "Safe" state. They are not transferred to the standard
device.
Operational • Normal operation
–SDO communication
–PDO communication
–Fieldbus synchronisation successful (if used)