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<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">I
am new to ethercat and am experimenting with IgH EtherCAT master
1.5.1 on
Ubuntu 10.04. We’re using it for Copley Xenus Plus motor
controllers. I have
some questions regarding application layer state control. To
begin with, here
is a quote from the controller’s programmer’s manual, pg 41:<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">“The
following
[AL] states are defined for the Copley Controls CANopen
amplifiers:
Pre-operational, Operational, Stopped.”<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Note
there
is no Safeop state. When ethercat master tries to set that
state, I get
the (PREOP + ERROR) error message I’ve seen in the archives
here. I looked at
the SII record and the enable_safeop flag was set, which is
obviously a bug on
Copley’s part. Still, I thought if I could clear that bit,
master stack would
not attempt to go into the safeop state.<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">First
problem:
though the command line sii_read produced a file I could hex
edit to
clear the bit, sii_write failed to change the entry in the
controller. dmesg shows
the write was successful, but the controller’s record did not
alter. Whatever
mechanism sii_write uses, it doesn’t facilitate a change in
flash memory on the
Copley controller.<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Second
problem:
since I couldn’t correct the source, I sabotaged the SII read in
slave.c (ec_slave_fetch_sii_general) by simply commenting out
the assignment,
leaving the previously memset 0 data intact. This did result in
enable_safeop=no, but unfortunately ethercat master *still*
tries to go into
safeop the first time ecrt_master_send is invoked. Why does the
master stack
try to go into a state it has been informed does not exist?<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Third
problem:
I must have a fundamental misunderstanding of ethercat, because
I
thought there would be a really obvious method exposed in the
user library
named something like “ecrt_slave_config_request_al_state_change”
that I could
use to request the slaves go directly to OP state. Or for that
matter, allow me
to control AL state within the application realtime as may be
needed. I can’t
find any such method. Are applications not “supposed” to control
AL state
outside of the master thread? Or am I just blind…?<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">I’m
at
a loss of how to proceed. Suggestions welcome.<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Keith
Rogers<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
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line-height:115%;
mso-pagination:widow-orphan;
font-size:11.0pt;
font-family:"Calibri","sans-serif";
mso-ascii-font-family:Calibri;
mso-ascii-theme-font:minor-latin;
mso-fareast-font-family:Calibri;
mso-fareast-theme-font:minor-latin;
mso-hansi-font-family:Calibri;
mso-hansi-theme-font:minor-latin;
mso-bidi-font-family:"Times New Roman";
mso-bidi-theme-font:minor-bidi;}
p.MsoNoSpacing, li.MsoNoSpacing, div.MsoNoSpacing
{mso-style-priority:1;
mso-style-unhide:no;
mso-style-qformat:yes;
mso-style-parent:"";
margin:0in;
margin-bottom:.0001pt;
mso-pagination:widow-orphan;
font-size:11.0pt;
font-family:"Calibri","sans-serif";
mso-ascii-font-family:Calibri;
mso-ascii-theme-font:minor-latin;
mso-fareast-font-family:Calibri;
mso-fareast-theme-font:minor-latin;
mso-hansi-font-family:Calibri;
mso-hansi-theme-font:minor-latin;
mso-bidi-font-family:"Times New Roman";
mso-bidi-theme-font:minor-bidi;}
.MsoChpDefault
{mso-style-type:export-only;
mso-default-props:yes;
mso-ascii-font-family:Calibri;
mso-ascii-theme-font:minor-latin;
mso-fareast-font-family:Calibri;
mso-fareast-theme-font:minor-latin;
mso-hansi-font-family:Calibri;
mso-hansi-theme-font:minor-latin;
mso-bidi-font-family:"Times New Roman";
mso-bidi-theme-font:minor-bidi;}
.MsoPapDefault
{mso-style-type:export-only;
margin-bottom:10.0pt;
line-height:115%;}
@page Section1
{size:8.5in 11.0in;
margin:1.0in 1.0in 1.0in 1.0in;
mso-header-margin:.5in;
mso-footer-margin:.5in;
mso-paper-source:0;}
div.Section1
{page:Section1;}
-->
</style>
</body>
</html>