User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04

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2.2 NMT State Machine

The ﬁnite state machine (FSM) or simply state machine is a model of behavior composed of a ﬁnite number

of states, transitions between those states, and actions. It shows which way the logic runs when certain

conditions are met.

Starting and resetting the device is controlled via the state machine. The NMT state machine consists of

the states shown in ﬁgure 1.

Init

Pre-Operational

Bootstrap

Safe-Operational

Operational

(OI)

(PI) (IP)

(OP)

(PS) (SP)

(SO) (OS)

(IB) (BI)

Figure 1: NMT State Machine

After power-on or reset the device enters the Initialization (INIT) state.

The master can then switch the device to Pre-Operational

(PRE-OP)

state. In this state, only SDO communi-

cation is possible. PDO communication is not possible.

In Safe-Operational

(SAFE-OP)

state, also PDO communication is possible. Inputs can be read, but outputs

cannot be switched and the motor cannot be run.

In Operational

(OP)

state, all features of the module can be used. PDO communication is possible, outputs

can be switched and the motor can be used. During Operational state the device can use all supported

communication objects.

When switching from Operational to Safe-Operational state the motor will be stopped if it has been running.

When the EtherCAT connection is lost during Operational state the device will also automatically switch to

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