Lenze C520 User Manual

8.1.1 EtherCAT state machine
Before communicaon via EtherCAT is possible, the eldbus scans the EtherCAT state machine
when boong. The following illustraon shows the possible state change from the point of
view of an EtherCAT slave:
Safe-Operational
Bootstrap
Operational
Pre-Operational
Init
Fig. 1: EtherCAT state machine
State Descripon
Init
•
Inializaon phase
•
No SDO/PDO communicaon with the slaves
•
Device can be detected by eldbus scan
Pre-operaonal
•
The eldbus is acve.
•
SDO communicaon (mailbox communicaon) is possible.
•
No PDO communicaon
Safe-operaonal
•
SDO communicaon (mailbox communicaon) is possible.
•
PDO communicaon:
•
The input data in the process image is updated.
•
The output data from the process image is not transferred to the slaves.
Operaonal Normal operaon
•
SDO communicaon
•
PDO communicaon
•
Fieldbus synchronizaon has been successful (if used)
A eldbus scan is possible in any EtherCAT state.
The SDO communicaon via the EtherCAT bus is only possible if at least the
"Pre-Operaonal" state has been reached.
Conguring the network
EtherCAT
EtherCAT state machine
38

Lenze C520 Specifications

General

Brand	Lenze
Model	C520
Category	Controller
Language	English