Beckhoff CX210009x4 Manuale Utente Scaricare il pdf (Pagina 22)

Productoverview

ChangedsettingsarestoredfailsafeinBeckhoffdevices.

Ifthedeviceislaterexchanged,however,thesettingsthathavebeenchangedfromtheseriesstandardare

lost.TheEtherCATmastercanthenloadthechangedCoEparametersintothenewdeviceatstartup,ifitis

setupappropriately.

SothataCoEdirectoryisavailableofflineduringthepreparationforconfiguration,itcanbecontainedinthe

devicedescriptionasacopy.

TheextenttowhichtheCoEdirectoryissupporteddependsonthecapabilitiesoftheEtherCATmaster.

Tab:Online

thestatemachineoftheEtherCATcommunicationisdisplayedhere.Itcanalsobeswitchedtoadifferent

statehere.Thisisdonebyselectingthedesiredstatebyamouseclickontheappropriatebutton.The

individualstatesarebrieflydescribedbelow.Forfurtherinformation,pleaserefertotheEtherCATsystem

descriptiononourwebpage.

EtherCATStateMachine

ThestateoftheEtherCATslaveiscontrolledviatheEtherCATStateMachine(ESM).Dependinguponthe

state,differentfunctionsareaccessibleorexecutableintheEtherCATslave.Specificcommandsmustbe

sentbytheEtherCATmastertothedeviceineachstate,particularlyduringthebootupoftheslave.

Adistinctionismadebetweenthefollowingstates:

• Init

• PreOperational

• SafeOperationaland

• Operational

• Boot

TheregularstateofeachEtherCATslaveafterbootupistheOPstate.

CX210009x422 Version1.1

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Beckhoff CX2100­09x4 Manuale Utente Pagina 22