Megmeet SPS-NE Series User Manual

52
State and Transition
Operation description
Pre-Operational (P)
Mailbox data communication (SDO) of application layer is
activated.
PS
The master station uses the process data mapping of mailbox
initialization;
The master station configures the SM channel used for process
data communication;
The master station configures FMMU;
The master station requests “Safe-Operational”.
Safe-Operational (S)
Process data communication is available. Only allowed to read
the input data. No output signals can be generated, and the
output is set to the “safe” state.
(SDO, TPDO)
SO
The master station sends valid input data;
The master requests “Operational”.
Operational (P)
Both input and output are valid;
Mailbox communication can still be used.
(SDO, TPDO, RPDO)
5. Process data PDO
EtherCAT process data can be divided into RPDO (Reception PDO) and TPDO (Transmission PDO). The slave station
receives commands from the master station by RPDO, and sends feedback of its own status by TPDO.
(1) PDO assignment of Sync Manager
During the cyclic data communication of EtherCAT, the process data includes multiple PDO mapping data objects.
The CoE protocol uses data objects 1C10h–1C2Fh to define the PDO mapping list of the corresponding SM (Sync
Manager Channel). Multiple PDOs can be mapped in different sub-indexes.
The SPS-NE series servo drive supports one RPDO assignment and one TPDO assignment, as shown in the following
table.

Megmeet SPS-NE Series Specifications

General

Brand	Megmeet
Model	SPS-NE Series
Category	Servo Drives
Language	English