Omron R88D-KN series User Manual

5-5
5 EtherCAT Communications
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
5-3 EtherCAT State Machine
5
5-3 EtherCAT State Machine
The EtherCAT State Machine (ESM) of the EtherCAT slave is controlled by the EtherCAT Master.
State
SDO
communications
PDO
reception
PDO
transmission
Description
Init Not possible. Not possible. Not possible. Communications are being initialized.
Communications are not possible.
Pre-Operational
(Pre-Op)
Possible. Not possible. Not possible. Only mailbox communications are possible
in this state. This state is entered after
initialization has been completed. It is used
to initialize network settings.
Safe-Operational
(Safe-Op)
Possible. Not possible. Possible. In this state, PDO transmissions are
possible in addition to mailbox
communications. DC mode cyclic
communications can be used to send
information such as status from the Servo
Drive.
Operational (Op) Possible. Possible. Possible. This is a normal operating state. DC mode
cyclic communications can be used to
control the motor.
Safe-Operational
Pre-Operational
Init
Operational

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English