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Appendix| EtherCAT Documentation
capaNCDT 6200
A 6.1.5 EtherCAT State Machine
The EtherCAT® state machine is implemented in each EtherCAT®. Directly after switching on the capaNCDT
6500, the state machine is in the “Initialization“ state. In this state, the master has access to the DLL informa-
tion register of the slave hardware. The mailbox is not yet initialized, i.e. communication with the application
(sensor software) is not yet possible. During the transition to the pre-operational state, the Sync Manager
channels are configured for the mailbox communication. In the „Pre-Operational“ state, communication via
the mailbox is possible, and it can access the object directory and its objects. In this state, no process data
communication occurs. During the transition to the „Safe-Operational“ state, the process-data mapping, the
Sync Manager channel of the process inputs and the corresponding FMMU are configured by the master.
Mailbox communication continues to be possible in the „Safe-Operational“ state. The process data com-
munication runs for the inputs. The outputs are in the „safe“ state. In the „Operational“ state, process data
communication runs for the inputs as well as the outputs.
Initialization
Pre-Operational
Operational
Safe-Operational
Fig. 40 EtherCAT State Machine
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