AL State

EtherCAT slaves can be in Init, PreOp, SafeOp, Op, or Bootstrap states. State changes are typically initiated by requests from the master. The following settings relate to the transitions between these states.

The following figure summarizes the possible transitions between these states.

For more information, see “ESC Datasheet Section I - Technology”, Chapter 10.

The following table contains AL state operation related settings.

Remark: The timeout period for state transitions is defined by parameters in the ENI file, not in the def file.

Name	Description	Valid Values	Default
InaccessCount	The number of consecutive AL status check failures before determining that a slave is inaccessible.	1-100	10
NotWaitAllSlaveOp	If this function is on, communication will be started successfully even if not all slaves go to the Op state after the wait timeout. Otherwise, communication will fail if any slave is not in Op state after the wait timeout.	0: Off 1: On	0

InaccessCount:

EcPlatform will check the slave state every cycle. A slave will be considered to be inaccessible after several consecutive AL state checks fail. InaccessCount specifies the number of consecutive AL state check failures. An inaccessible slave is also considered to be an offline slave.

Example:
    InaccessCount = 5

NotWaitAllSlaveOp:

Specify whether to start communication anyways if a slave cannot transition its state successfully during start communication. If this setting is on, communication will be started successfully even if not all slaves go to Op state after the wait timeout. Otherwise, communication will fail if any slave is not in Op state after the wait timeout.

Example:
    NotWaitAllSlaveOp = 1