Wieland samos PRO COMPACT - Ethercat State Machine

EtherCAT Gateway
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
172
EtherCAT state machine
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States
A state machine is implemented in every EtherCAT coupler. For each state it is defined which
communication services are active via EtherCAT. The state machine is controlled by the Ether-
CAT master.
Init
Pre-Operational
Bootstrap
(optional)
Safe-Operational
Operational
(OI)
(OP)
(SO) (OS)
(PS) (SP)
(IP) (PI)
(SI)
(IB) (BI)
IP
Start mailbox communication
PI
Stop mailbox communication
PS Start input update SP Stop input update
SO
Start output update
OS
Stop output update
OP Stop input update, stop output update SI Stop input update, stop mailbox com-
munication
OI Stop output update, stop input update
Stop mailbox communication
IB Start mailbox for firmware update in
bootstrap mode (not implemented)
BI
Restart/stop mailbox
INIT
After being switched on, the EtherCAT coupler is in the "Init" state. In this state neither mail-
box nor process data communication are possible. The EtherCAT master initializes the Sync-
Manager channels 0 and 1 for mailbox communication.
Pre-Operational (Pre-OP)
In the transition from
Init
to
Pre-Op
, the EtherCAT checks whether the mailbox was initialized
correctly.
In the
Pre-Op
state mailbox communication is possible but not process data communication.
Furthermore, in this state the settings for the transmission of process data and module-specific
parameters are transmitted where they deviate from the standard settings.
Safe-Operational (Safe-OP)
In the transition from Pre-Op to Safe-Op the EtherCAT coupler checks whether the channels
for process data communication are correct. Before it acknowledges the state change, the
EtherCAT gateway copies current output data into the corresponding DP RAM areas of the
EtherCAT gateway controller. In the Safe-Op state mailbox and process data communication
are possible. Here the output data are updated cyclically while the input data are set to zero.
11.3