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AXL E EC DI8 DO8 M12 6P

8540_en_03

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EtherCAT

State Machine: AL Objects

The device has a state machine, called the EtherCAT

State Machine (ESM).

The EtherCAT

master sends state change requests to the AL control register of the slave. The slave displays the current

state in the AL status register and make additional error codes available in the AL status code register in the event of errors.

13.1

AL control and AL status register

If the master writes to the AL control register, then the corresponding state transition is triggered in the device state machine

by the slave. The AL status register reflects the current state of the slave.

Index

(hex)

Object

name

Data type

Rights

Meaning/value

0120

AL Control UINT16

R/W

Bit 0 ... bit 3

State (AL status requested by master)

hex = Init (I)

hex = Pre-Operational (P)

hex = Bootstrap (B)

hex = Safe-Operational (S)

hex = Operational (O)

Bit 4

Acknowledge (Master acknowledge bit)

hex = Parameter Change of the AL Status Register will be un-

changed.

hex = Parameter Change of the AL Status Register will be re-

set.

Bit 5 ... bit 7

Reserved

hex = Shall be zero

0130

AL Status

UINT16

Bit 0 ... bit 3

AL Status (AL status requested by master)

hex = Init (I)

hex = Pre-Operational (P)

hex = Bootstrap (B)

hex = Safe-Operational (S)

hex = Operational (O)

Bit 4

Change (Error Flag, Master acknowledge bit)

hex = Confirmation of state in AL Control Register

hex = A change has happened or an error occurred.

Bit 5 ... bit 7

Reserved

Bit 8 ... bit 15

Application Specific

Reserved

0134

AL Status

Code

UINT16

Bit 0 ... bit 15

All Status Code (send by slave)

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