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The EtherCAT device must support 4 states to manage the status relations between the master station and the slave
station upon initialization and operation.
Init: initialization, abbreviated as I;
Pre-Operational: abbreviated as P；
Safe-Operational: abbreviated as S;
Operational: abbreviated as O.
From the initialization state to the operational state, the transition must be in the sequence of “Initialization＞
Pre-Operational＞Safe-Operational＞Operational”. No state shall be skipped.
However, going back from the operational state, the transition allows state skipping. The state initialization and
transition is shown in the following table:
No communication in the application layer, no mailbox data
and process data;
The master station can only read and write the ESC register.
The master station configures the address of slave station;
Configure the mailbox channel;
Configure the DC distributed clock;
Check whether the mailbox is initialized successfully;
Request “Pre-Operational”.
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