EtherCAT State Machine

The EtherCAT State Machine (ESM) is required on all EtherCAT devices. The ESM in general

defines 5 communication states of the slave device
- Init, Pre-Operational, Safe-Operational, Operational
- Bootstrap is an optional state for firmware upload
specifies initialization and error handling of the slave device
identifies the current communication relationship between the master and slave device
- requested and current state are accessed through the AL Control and AL Status registers

The ESM states can be transitioned as shown

Init State

No communication to the application layer is allowed
master only has communication to the data link registers (slave device eeprom, addressing, etc)

Pre-Operational State

Mailbox (SDO) communication to the application layer is available
No Process Data (PDO) communication.
PDO register mapping should be completed. Transition to Safe-Operation will configure mapping.

Safe-Operational State

Mailbox (SDO) communication to the application layer is available
Slave output (tx) Process Data (PDO) communication is evaluated

Operational State

All communication is commenced and valid

Bootstrap State

The bootstrap state is used when updating EtherCAT firmware.

PDO Mappings

The Cool Muscle EtherCAT slave has a few static PDO mapping options. It does not use dynamic mapping.

The RxPDO is the PDO received by the motor/slave device
The TxPDO is the PDO transmitted by the motor/slave device

Position units are in encoder counts (pulses). There are 50,000 encoder counts per revolution.

The following mappings are available.

Dynamic Switching of mode

This mapping is useful as a generic mapping. The master can run in any of the available modes as well as switch dynamically between them. The PDO also offers a lot of feedback information for diagnostics.

RxPDO - 0x1600

Object	Name	Units	Data Type	Applicable Modes of Operation	Description
0x6040	Controlword	-	UINT16	All	The Controlword is used to control the state of the mode of operation.
0x60FE	Digital outputs	-	UINT16	All	Set the state of the digital outputs
0x607A	Target position	units	INT32	CSP, PP	Set the target position of the motor
0x60FF	Target speed	units/ms units/s	INT32	CSV PV	Set the target speed of the motor. Note PV mode and CSV mode have different units.
0x6060	Modes of operation	-	INT8	All	Set the required mode of operation

TxPDO - 0x1A00

Object	Name	Units	Data Type	Applicable Modes of Operation	Description
0x6041	Statusword	-	UINT16	All	The Statusword describes the current state of the mode of operation.
0x603F	Error Code	-	UINT16	All	The actual error code currently active.
0x6064	Position Actual Value	units	INT32	All	The value of the motor's actual position
0x606C	Speed Actual Value	units/ms	INT32	All	The value of the motor's actual speed
0x6077	Torque Actual Value	0.1% rated torque	INT16	All	The value of the motor's actual peak torque
0x60FD	Digital Inputs	-	UINT16	All	Digital inputs status
0x2301	Temperature	°c	INT16	All	The actual motor temperature in °c.
0x6079	DC Voltage	0.1VDC	INT16	All	The actual DC 24V DC bus voltage
0x6061	Modes of operation display	-	INT8	All	The mode of operation currently running.

CSP Mode

This mapping is useful when a minimum amount of data wants to be transferred using CSP mode.

RxPDO - 0x1601

Object	Name	Units	Data Type	Applicable Modes of Operation	Description
0x6040	Controlword	-	UINT16	All	The Controlword is used to control the state of the mode of operation.
0x60FE	Digital outputs	-	UINT16	All	Set the state of the digital outputs
0x607A	Target position	units	INT32	CSP, PP	Set the target position of the motor

TxPDO - 0x1A01

Object	Name	Units	Data Type	Applicable Modes of Operation	Description
0x6041	Statusword	-	UINT16	All	The Statusword describes the current state of the mode of operation.
0x603F	Error Code	-	UINT16	All	The actual error code currently active.
0x6064	Position Actual Value	units	INT32	All	The value of the motor's actual position
0x6077	Torque Actual Value	0.1% rated torque	INT16	All	The value of the motor's actual peak torque
0x606C	Speed Actual Value	units/ms	INT32	All	The value of the motor's actual speed
0x60FD	Digital Inputs	-	UINT16	All	Digital inputs status

CSV Mode

This mapping is useful when a minimum amount of data wants to be transferred using CSP mode.

RxPDO - 0x1602

Object

Name

Units

Data Type

Applicable Modes of Operation

Description

0x6040

Controlword

-

UINT16

All

The Controlword is used to control the state of the mode of operation.

0x60FE

Digital outputs

-

UINT16

All

Set the state of the digital outputs

0x60FF

Target speed

units/ms

INT32

CSV

Set the target speed of the motor. Note PV mode and CSV mode have different units.

TxPDO - 0x1A02

Object	Name	Units	Data Type	Applicable Modes of Operation	Description
0x6041	Statusword	-	UINT16	All	The Statusword describes the current state of the mode of operation.
0x603F	Error Code	-	UINT16	All	The actual error code currently active.
0x6064	Position Actual Value	units	INT32	All	The value of the motor's actual position
0x6077	Torque Actual Value	0.1% rated torque	INT16	All	The value of the motor's actual peak torque
0x606C	Speed Actual Value	units/ms	INT32	All	The value of the motor's actual speed
0x60FD	Digital Inputs	-	UINT16	All	Digital inputs status

Profile Mode

This mapping is useful when profile position or profile velocity mode is used.

RxPDO - 0x1603

Object	Name	Units	Data Type	Applicable Modes of Operation	Description
0x6040	Controlword	-	UINT16	All	The Controlword is used to control the state of the mode of operation.
0x60FE	Digital outputs	-	UINT16	All	Set the state of the digital outputs
0x607A	Target position	units	INT32	CSP, PP	Set the target position of the motor
0x60FF	Target speed	units/ms units/s	INT32	CSV PV	Set the target speed of the motor. Note PV mode and CSV mode have different units.
0x6081	Profile velocity	-	UINT32	PP	Set the required mode of operation
0x6083	Profile acceleration		UINT32	PP, PV

TxPDO - 0x1A03

Object	Name	Units	Data Type	Applicable Modes of Operation	Description
0x6041	Statusword	-	UINT16	All	The Statusword describes the current state of the mode of operation.
0x603F	Error Code	-	UINT16	All	The actual error code currently active.
0x6064	Position Actual Value	units	INT32	All	The value of the motor's actual position
0x606C	Speed Actual Value	units/ms	INT32	All	The value of the motor's actual speed
0x6077	Torque Actual Value	0.1% rated torque	INT16	All	The value of the motor's actual peak torque
0x60FD	Digital Inputs	-	UINT16	All	Digital inputs status
0x2301	Temperature	°c	INT16	All	The actual motor temperature in °c.
0x6079	DC Voltage	0.1VDC	INT16	All	The actual DC 24V DC bus voltage