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State transitions
State transition Local management service Value
IP Start Mailbox Communication 0x02
PI Stop Mailbox Communication 0x01
PS Start Input Update 0x04
SP Stop Input Update 0x02
SO Start Output Update 0x08
OS Stop Output Update 0x04
OP Stop Output Update and Stop Input Update 0x02
SI Stop Input Update, Stop Mailbox Communication 0x01
OI Stop Input Update, Stop Mailbox Communication 0x01
IB Start Bootstrap Mode, redirection to (BI) 0x03
BI Restart Device 0x01
ESM states management
The ESM states are managed with the library: TC EtherCAT lib. See the example, step
15 page 46.
ESM states and communication interruptions
The ESM states are managed with the library: TC EtherCAT lib. See the example, step
15 page 46.
Some transitions in the ESM state chart will trigger a communication interruption.
These transitions suppress a service, which can be used to control the drive.
A detected
fault is triggered in order to avoid losing control of the drive (only if the drive is
running).
State transition Serv
ice lost Communication network
PI SDO
SI SDO, TPDO
SP TPDO
No possible t alarm or err8
OS RPDO
OP PDO
OI SDO, PDO
If drive was enabled (Statusword =
0xXXX7) then occurs the t alarm or
err8.
Depending on the communication status of the drive, the following services are available:
Init Pre-operational Safe-Operational Operational
PDO TPDO, inputs only active,
no outputs to drive active
X
SDO X X X
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