STOBER 9 | Looking for more information about EtherCAT?
02/2020 | ID 443025.06
57
Operating states
§ Init
State after an EtherCAT slave is switched on. The configuration starts; saved values are loaded. Neither SDO nor PDO
communication is possible using the mailbox and process data channels, i.e. the master and slave do not communicate
directly.
§ Pre-operational
The mailbox channel is active; the master and slaves exchange application-specific parameters using SDO
communication.
§ Safe-operational
The mailbox and process data channels are active. All network nodes are shifted into a safe state. The slaves send
current actual values to the master, but they ignore the master's set values and instead refer to internal default values.
§ Operational
The mailbox and process data channels are active. This state characterizes normal operation, i.e. the master and slaves
exchange set and actual values.
State transitions
§ IP: Start Mailbox Communication
Start of SDO communication over the mailbox channel.
§ PI: Stop Mailbox Communication
Stop of SDO communication over the mailbox channel.
§ PS: Start Input UpdateStart Input Update
Start of PDO communication over the process data channel.
§ SP: Stop Input Update
Stop of PDO communication over the process data channel; the slaves do not send any actual values.
§ SO: Start Output Update
The slaves evaluate the current set value specifications of the master.
§ OS: Stop Output Update
The slaves ignore the set values of the master and refer to internal default values.
§ OP: Stop Output Update, Stop Input Update
Stop of PDO communication over the process data channel; neither the master nor the slaves send actual or set values.
§ SI: Stop Input Update, Stop Mailbox Communication
Stop of PDO and SDO communication over the corresponding channels; neither the master nor the slaves send actual
or set values.
§ OI: Stop Output Update, Stop Input Update, Stop Mailbox Communication
Stop of PDO and SDO communication over the corresponding channels; neither the master nor the slaves send actual
or set values.
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