Panasonic AFP7MC16EC

Names and Functions of Parts
2-4
2.1.3 ESM (State Transition Diagram)
Init
Pre-Operational
Safe-Operational
Operational
(IP)
(PI)
(SI)
(SP)
(SO) (OS)
(PS)
(OP)
(OI)
Reference: Created by us based on "Operating principle of EtherCAT" issued by ETG
ESM state
(Abbr.)
SDO
communication
Send/Receive
PDO
communication
(S
→
M)
PDO
communication
(M
→
S)
Description
Init
Not available Not available Not available
The state that the
communication part is
being initialized and data
cannot be sent/received
using SDO (Mailbox) and
PDO.
Pre-Operational
（PreOP）
Available Not available Not available
The state that data can be
sent/received using SDO
(Mailbox).
Safe-Operational
（SafeOP）
Available Available Not available
The state that data can be
sent/received using SDO
(Mailbox) and data can be
sent (from slaves to
master) using PDO.
Operational
（OP）
Available Available Available
The state that data cannot
be sent/received using
SDO (Mailbox) and PDO.
(Note): S: Slave, M: Master
 What is ESM (EtherCAT State Machine)?
• ESM shows the state of the communication determined as the specifications of EtherCAT.
• The state transition is performed between FP7 MC Unit and Servo Amplifier A6B/A5B, any
settings or programming by users are not required.
 Confirmation method
• The state of ESM can be confirmed by the operation monitor LED "EC RUN" on the front
side of FP7 MC Unit.
• When communication is performed, "Operational (OP)" (EC RUN LED) is on, and the input
relay “X0 (Link establishment)" of FP7 MC Unit is on.