YASKAWA VIPA IM 053EC Manual

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YASKAWA VIPA IM 053EC Manual Manual pdf 46 page image

4.1.2 EtherCAT State MachineIn each EtherCAT communication device a state machine is implemented. For each statethere is defined which communication service is active via EtherCAT. The state machineof the slave station is controlled by the state machine of the EtherCAT master.After power-on the EtherCAT members are in state Init. There is neither mailbox norprocess data communication possible. The EtherCAT master initializes the SyncManagerchannels 0 and 1 for the mailbox communication.The EtherCAT master initializes the SyncManager channels for process data (startingwith SyncManager channel 2), the FMMU channels and the PDO mapping respectivelythe SyncManager PDO assignment. Further in this state the settings for process datatransfer and the module-specific parameters, which deviate from the default values aretransferred. During the transition from Init to Pre-Op the EtherCAT slave checks whetherthe mailbox was correctly initialized. In the state Pre-Op mailbox communication andEthernet over EtherCAT (EoE) are possible but the process data communication isblocked.In Safe-Op the input data are cyclically updated but the outputs are de-activated. With thetransition from Pre-Op to Safe-Op the EtherCAT slave checks if the SyncManager chan-nels for process data communication are correct. Before it acknowledges the statechange, the EtherCAT slave copies current input data to the corresponding DP RAMareas of the EtherCAT slave controller. In the state Safe-Op mailbox and process datacommunication is possible.In the state Op the input data are cyclically updated and the EtherCAT master sendsoutput data to the EtherCAT slave. The EtherCAT slave copies the output data of themaster to its outputs and return input data to the EtherCAT master. In this state processdata and mailbox communication is possible.In state Boot the firmware of an EtherCAT slave may be updated via the EtherCATmaster. This state may only be reached via Init. In the state Boot is mailbox communica-tion via the protocol File-Access over EtherCAT (FoE) possible. Other mailbox andprocess data communications are de-activated.StatesInit - 01hPre-Operational (Pre-Op) -02hSafe-Operational (Safe-Op) - 04hOperational (Op) - 08hBootstrap - option (Boot) -03hVIPA System SLIODeploymentBasics EtherCAT > EtherCAT State MachineHB300 | IM | 053-1EC01 | en | 18-4946