Hiwin E1 Series - Page 18

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication
2-8 HIWIN MIKROSYSTEM Corp.
MD08UE01-1812
Table 2.4.1
State / State change Description
Init
No communication on Application Layer (AL)
Master accesses to Data Link (DL)-Information registers
Init to PreOp
(IP)
Master configures registers
- DL address register
- SyncManager channels for Mailbox communication
Master requests ‘Pre-Operational’ state
- Master sets AL Control register
Wait for AL Status register confirmation
Pre-Operational
(PreOp)
Mailbox communication on AL
No Process Data communication
PreOp to SafeOp
(PS)
Master configures parameters via Mailbox
- e.g., Process Data Mapping
Master configures DL Register
- SyncManager channels for Process Data communication
- FMMU channels
Master initializes DC clock synchronization
Master requests ‘Safe-Operational’ state
Wait for AL Status register confirmation
Safe-Operational
(SafeOp)
Mailbox communication on AL
Process Data communication (Only Inputs are valid)
Drive remains in Safe state (Outputs are blocked)
SafeOp to Op
(SO)
Master sends valid Outputs
Master requests ‘Operational’ state (AL Control / Status)
Wait for AL Status register confirmation
Operational
(Op)
Inputs and Outputs are valid
Table 2.4.2
ESM state
Communication operation
send / receive SDO (Mailbox) TxPDO RxPDO
Init - - -
PreOp
O
-
-
SafeOp
O
O
-
Op O O O