Baumer BMxx, GBxxx-GXxxx - EtherCAT / PoE from version ,5.0 - Manual (Page 21)

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30.09.14
5.6 Network management
The encoder’s State Machine can be switched in the TwinCAT System Manager under tab Online.
EtherCAT State Machine
The EtherCAT State Machine (ESM) will control the state
of the EtherCAT slave with state-related access and
execution of several functionalities. Specific commands
by the EtherCAT master are required in each state
during slave bootup.
The states of an EtherCAT slave are:
 Init
 Pre-Operational
 Safe-Operational and
 Operational
 Boot (not supported)
After bootup each EtherCAT slave will be in state Op.