BECKHOFF EP1xxx User Manual
Page 61
Commissioning/Configuration
Table 4: State Machine
Init
This button attempts to set the EtherCAT device to the Init state.
PreOp
This button attempts to set the EtherCAT device to the preoperational state.
Op
This button attempts to set the EtherCAT device to the operational state.
Bootstrap
This button attempts to set the EtherCAT device to the Bootstrap state.
SafeOp
This button attempts to set the EtherCAT device to the safeoperational state.
Clear Error
This button attempts to delete the fault display. If an EtherCAT slave fails during change
of state it sets an error flag.
Example: An EtherCAT slave is in PREOP state (preoperational). The master now
requests the SAFEOP state (safeoperational). If the slave fails during change of state it
sets the error flag. The current state is now displayed as ERR PREOP. When the Clear
Error button is pressed the error flag is cleared, and the current state is displayed as
PREOP again.
Current State
Indicates the current state of the EtherCAT device.
Requested State
Indicates the state requested for the EtherCAT device.
DLL Status
Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status
can have four different states:
Status
Description
No Carrier / Open
No carrier signal is available at the port, but the port is open.
No Carrier / Closed No carrier signal is available at the port, and the port is closed.
Carrier / Open
A carrier signal is available at the port, and the port is open.
Carrier / Closed
A carrier signal is available at the port, but the port is closed.
Table 5: File Access over EtherCAT
Download
With this button a file can be written to the EtherCAT device.
Upload
With this button a file can be read from the EtherCAT device.
4.3
EP18160008 Object description and parameterization
Note
Parameterization
Terminals' parameterization will be conducted by the CoE tab (doubleclick on the referring
object) or the Process data tab (PDO assignment)
Note
EtherCAT XML Device Description
The description correspond to the display of the CoE objects from the EtherCAT XML De
vice Description. It is strongly recommended to download the latest revision of the corre
sponding XML file from the Beckhoff website (http://www.beckhoff.com/english/default.htm?
download/elconfg.htm) and follow the installation instructions.
Introduction
The CoE overview contains objects for different intended applications:
• Objects required for parameterization [
62] during commissioning
• Objects intended for regular operation [
• Objects for indicating internal settings [
62] (may be fixed)
EP1xxx
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Version 2.1.0