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EtherCAT Mode

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ASDA-A3

13.2.3 EtherCAT state machine

13

In EtherCAT communication, the servo drive’s state machine can be in the following states. The

controller (master) controls the servo (slave) based on the actual state. The controller needs to

configure the servo drive according to the designated flow in the following figure. After the

controller completes the initialization of the communication, the servo (slave) is in the

Operational state and waits for the user's command to perform motion control. Use the

monitoring variable P0.002 = 119 to monitor the current state of the EtherCAT state machine.

Init

(PI)

(IP)

Pre-Operational

(SI)

(OI)

(PS) (SP)

(OP)

Safe-Operational

(SO)

Operational

(OS)

Value

displayed on

the panel

when

P0.002 = 119

1

2

4

8

State

Description

Init

Pre-Operational

(Pre-OP)

Safe-Operational

(Safe-OP)

Operational (OP)

The servo drive successfully completes initialization after being

powered on without errors occurring. The packets cannot yet

be transmitted in this state.

Data can be exchanged with SDOs. If an alarm occurs in the

servo drive, an emergency message is sent to notify the

controller.

The servo drive can use SDO and TxPDO data packets to

exchange data with the controller.

All data exchanges including SDOs and PDOs (TxPDO and

RxPDO) are allowed.

13-16

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