Transitions
During startup the EtherCAT system passes through the following states: Init, Pre-Operational, Safe-Operational, and Operational (see chapter EtherCAT state machine).
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The diagram shows the following transitions: | |
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IP: |
Transition from Init to Pre-Operational | |
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PS: |
Transition from Pre-Operational to Safe-Operational | |
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SO: |
Transition from Safe-Operational to Operational | |
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OS: |
Transition from Operational to Safe-Operational | |
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SP: |
Transition from Safe-Operational to Pre-Operational | |
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PI: |
Transition from Pre-Operational to Init | |
In practice the parameters (IDNs) are transferred from the higher-level control system to the AX5000 during transitions IP, PS and SO.
The TwinCAT System Manager indicates at which transition the individual AX5000 parameters can be transferred.
