Beckhoff CX210009x4 Manual do Utilizador descarregar pdf (Página 23)

Productoverview

Init

AfterswitchontheEtherCATslaveintheInitstate.Nomailboxorprocessdatacommunicationispossible.

TheEtherCATmasterinitializessyncmanagerchannels0and1formailboxcommunication.

PreOperational(PreOp)

DuringthetransitionfromInittoPreOp,theEtherCATslavecheckswhetherthemailboxhasbeencorrectly

initialized.MailboxcommunicationispossibleinthePreOpstate,butnoprocessdatacommunication.The

EtherCATmasterinitializesthesyncmanagerchannelsforprocessdata(fromsyncmanagerchannel2),the

FMMUchannelsand,iftheslavesupportsconfigurablemapping,PDOmappingorthesyncmanagerPDO

assignment.Inthisstatethesettingsfortheprocessdatatransferandperhapsterminalspecificparameters

thatmaydifferfromthedefaultsettingsarealsotransferred.

SafeOperational(SafeOp)

DuringtransitionbetweenPreOpandSafeOptheEtherCATslavecheckswhetherthesyncmanager

channelsforprocessdatacommunicationand,ifrequired,thedistributedclockssettingsarecorrect.Before

itacknowledgesthechangeofstate,theEtherCATslavecopiescurrentinputdataintotheassociatedDP

RAMareasoftheEtherCATslavecontroller(ECSC).

MailboxandprocessdatacommunicationarepossibleintheSafeOPstate;however,theslavemaintainsits

outputsinthesafestateanddoesnotoutputthem.Theinputdata,however,arealreadycyclicallyupdated.

Operational(Op)

BeforetheEtherCATmasterswitchestheEtherCATSlavefromSafeOptoOp,itmusttransmitalreadyvalid

outputdata.IntheOpstatetheslavecopiestheoutputdataofthemastertoitsoutputs.Processdataand

mailboxcommunicationispossible.

Boot

IntheBootstatetheslavefirmwarecanbeupdated.TheBootstatecanonlybereachedviatheInitstate.In

theBootstatemailboxcommunicationispossibleviatheFileAccessoverEtherCAT(FoE)protocol,butno

othermailboxcommunicationandnoprocessdatacommunicationispossible.

CX210009x4 23Version1.1

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Beckhoff CX2100­09x4 Manual do Utilizador Página 23