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Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 31

4 The Lenze automation system with EtherCAT

4.4 Interaction of the components

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Explanation of the transitions during system start

While a state is passed through, different tests are carried out (e.g. it is tested whether the physical

topology complies with the configuration). If the tests are successful, the system automatically

changes to the next state.

If the tests are not successful, the fieldbus changes to the next state. Corresponding remedial

measures are described in the chapter "Error scenarios

" ( 174).

State What happens? What is tested?

PLC EtherCAT

Origin Unknown The system starts. EtherCAT configuration available?

Origin Init EtherCAT is initialised (a fieldbus

scan is carried out).

Does the EtherCAT configuration

match the results of the fieldbus

scan?

Stop Pre-operational • EtherCAT is active.

• SDO communication is possible.

Running Safe-operational • The PLC program is being loaded.

• The PLC is running.

• The input data in the process

image are updated.

• The output data from the process

image are not transferred to the

slaves.

Running Operational The system is running.

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Lenze EtherCAT Controller-based Automation Manual do Utilizador Página 31