Hello,
I am using Etherlab 1.5.2, Linux kernel 3.2.21, Xenomai-2.6.2.1
and I would like to set an EtherCAT slave to operational state with the command
line tool:
./ethercat states -p0 OP
I am able to set the slave to OP state with TwinCAT 3.1 from Beckhoff and with
EC-Engineer from acontis.
But when I try to set the slave to OP state with Etherlab's command line tool
the slave goes to state PREOP+E and 'dmesg' command shows me
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Changing state
from PREOP to OP.
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Configuring...
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Now in INIT.
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing FMMU
configurations...
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing sync
manager configurations...
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing DC
assignment...
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Configuring
mailbox sync managers...
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM0: Addr 0x1800,
Size 192, Ctrl 0x26, En 1
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM1: Addr 0x1C00,
Size 192, Ctrl 0x22, En 1
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Now in PREOP.
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM2: Addr 0x1000,
Size 8, Ctrl 0x64, En 1
kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM3: Addr 0x1100,
Size 30, Ctrl 0x00, En 1
kern :err : [Wed Sep 18 13:19:58 2013] EtherCAT ERROR 0-7: Failed to set
SAFEOP state, slave refused state change (PREOP + ERROR).
kern :err : [Wed Sep 18 13:19:58 2013] EtherCAT ERROR 0-7: AL status message
0x001E: "Invalid input configuration".
I have also implemented a small Etherlab program that allows me to set the
slave state to OP.
Do you have an explanation why this is not possible with Etherlab's command
line tool, please?
Kind regards
Michael
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