Communication State Transition

The EtherCAT slave board goes into initialized state after the power is turned ON. Subsequent state transition is controlled by the EtherCAT master.

State	Description
Initialization	Status after turning ON the power. Initialization state is continued by the EtherCAT until preoperational state.
Preoperational	Set by the EtherCAT master. SDO (Service Data Object) communication is only available in this state.
Safe operational	Set by the EtherCAT master. PDO (Process Data Object) transmission, along with SDO (Service Data Object) communication is available in this state.
Operational	Set by the EtherCAT master. All communications are available in this state. Control of I/O data with the EtherCAT master is possible.