Baumer BMxx, GBxxx-GXxxx - EtherCAT / PoE from version ,5.0 - Manual (Page 22)

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30.09.14
Init
Initial state of EtherCAT slave after switch on. There is neither mailbox nor process data communication. The
SyncManager channels 0 and 1 for mailbox communication are being initialized by the EtherCAT master.
Pre-Operational (Pre-Op)
The EtherCAT slave will verify proper mailbox initialising when changing from Init to Pre-Op. Pre-Op enables
mailbox communication but not process data communication. The EtherCAT master will initialize the
SyncManager channels (up from 2) for the process data, the FMMU channels and PDO mapping or
SyncManager PDO assignment, provided the slave supports configurable mapping.
Furthermore, the process data transmission settings as well as clamp-specific parameterization- other than
default and where appropriate - are transmitted in Pre-Op state
Safe-Operational (Safe-Op)
Upon changing from Pre-Op to Safe-Op, the EtherCAT slave will verify whether the SyncManager channels
for process data communication and the Distributed Clock settings are valid. Prior to confirming Safe-Op, the
slave will copy the current input data into the related DP-RAM areas of the EtherCAT Slave Controller (ESC).
In Safe-Op both mailbox and process data communication are enabled, however the slave will keep its
outputs safe (not relevant to encoder). Cyclic update of input data.
Operational (Op)
Process data and mailbox communication is in Op state.
Cyclic update of input data.
Boot (for firmware update): not supported.