Delta EtherCAT CMM-EC03 - Ethercat State Machine

EtherCAT Communication Card: CMM-EC02/ CMM-EC03
CMM-EC02/ CMM-EC03 Operation Manual
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3.2 EtherCAT State Machine
State Description:
State
Description
Init
The drive successfully finishes initializing after power-on, and no error occurs.
There are no communications for the application layer.
Pre-Operational
Can use mailbox communication for the current status.
Safe-Operational
Can read PDO input data (TxPDO)
Cannot receive PDO output data (RxPDO)
Operational
Executes cyclic I/O communications. Can process PDO output data (RxPDO).
‘State Switch
Command
Description
IP
Starts mailbox communication.
PI
Interrupts mailbox communication.
PS
Starts updating input data (TxPDO).
SP
Stops updating input data (TxPDO).
SO
Starts updating output data (RxPDO)
OS
Stops updating output data (RxPDO)
OP
Stops updating input/output data.
SI
Stops updating input data and mailbox communication.
OI
Stops all input/output data update and mailbox communication.