Adaptation of the EtherCAT State Machine

The adaptation of the states of the EtherCAT Slaves is described in the following section. The general descriptions of the states in the chapter “EtherCAT State Machine” are still valid and have merely been added to.

Init

No addition.

Pre-Operational (Pre-Op)

A soft reset of non-fatal errors is executed by the drive device.

Safe-Operational (Safe-Op)

Switch-over from Safe-Op to Operational takes place on request; synchronization takes place beforehand. In the event of a synchronization error (e.g., double MDT error) operation reverts to Safe-Op.

Operational (Op)

No addition.

Boot

No addition.