Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication
HIWIN MIKROSYSTEM Corp. 2-7
MD08UE01-1812
2.4 EtherCAT State Machine
EtherCAT State Machine (ESM) is responsible for the coordination of the applications for master and
slaves at start up and during operation. State changes are typically initiated by the requests of the master.
They are acknowledged by the local application after the associated operations have been executed.
Unsolicited state changes of the local application are also possible.
E1-series drive supports the following four states.
 Init
 Pre-Operational
 Safe-Operational
 Operational
The states and the allowed state changes are shown in Figure 2.4.1.
Figure 2.4.1
Note: Not all state changes are possible. For example, the transition from ‘Init’ to ‘Operational’ requires
the following sequence: Init → Pre-Operational → Save-Operational → Operational.

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English