Toshiba TOSVERT VF-MB1 Function Manual page 36

State transitions
State transition
IP
PI
PS
SP
SO
OS
OP
SI
OI
IB
BI
ESM states management
The ESM states are managed with the library: TC EtherCAT lib. See the example, step
15 page 46.
ESM states and communication interruptions
The ESM states are managed with the library: TC EtherCAT lib. See the example, step
15 page 46.
Some transitions in the ESM state chart will trigger a communication interruption.
These transitions suppress a service, which can be used to control the drive.
A detected fault is triggered in order to avoid losing control of the drive (only if the drive is
running).
State transition
PI
SI
SP
OS
OP
OI
Depending on the communication status of the drive, the following services are available:
PDO
SDO
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Local management service
Start Mailbox Communication
Stop Mailbox Communication
Start Input Update
Stop Input Update
Start Output Update
Stop Output Update
Stop Output Update and Stop Input Update
Stop Input Update, Stop Mailbox Communication
Stop Input Update, Stop Mailbox Communication
Start Bootstrap Mode, redirection to (BI)
Restart Device
Service lost
SDO
SDO, TPDO
TPDO
RPDO
PDO
SDO, PDO
Init Pre-operational
X
- 35 -
Communication network
No possible t alarm or err8
If drive was enabled
0xXXX7) then occurs the t alarm or
err8.
Safe-Operational
TPDO, inputs only active,
no outputs to drive active
X
E6581818
Value
0x02
0x01
0x04
0x02
0x08
0x04
0x02
0x01
0x01
0x03
0x01
(Statusword =
Operational
X
X