<html xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=us-ascii">
<meta name="Generator" content="Microsoft Word 14 (filtered medium)">
<style><!--
/* Font Definitions */
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:11.0pt;
font-family:"Calibri","sans-serif";
mso-fareast-language:EN-US;}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:blue;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:purple;
text-decoration:underline;}
span.E-MailFormatvorlage17
{mso-style-type:personal-compose;
font-family:"Calibri","sans-serif";
color:windowtext;}
.MsoChpDefault
{mso-style-type:export-only;
font-family:"Calibri","sans-serif";
mso-fareast-language:EN-US;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:70.85pt 70.85pt 2.0cm 70.85pt;}
div.WordSection1
{page:WordSection1;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
</head>
<body lang="DE" link="blue" vlink="purple">
<div class="WordSection1">
<p class="MsoNormal"><span lang="EN-US">Hello,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I am using Etherlab 1.5.2, Linux kernel 3.2.21, Xenomai-2.6.2.1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">and I would like to set an EtherCAT slave to operational state with the command line tool:<o:p></o:p></span></p>
<p class="MsoNormal">./ethercat states –p0 OP<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US">I am able to set the slave to OP state with TwinCAT 3.1 from Beckhoff and with EC-Engineer from acontis.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">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<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Changing state from PREOP to OP.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Configuring...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Now in INIT.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing FMMU configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing sync manager configurations...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing DC assignment...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Configuring mailbox sync managers...<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM0: Addr 0x1800, Size 192, Ctrl 0x26, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM1: Addr 0x1C00, Size 192, Ctrl 0x22, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Now in PREOP.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM2: Addr 0x1000, Size 8, Ctrl 0x64, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM3: Addr 0x1100, Size 30, Ctrl 0x00, En 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :err : [Wed Sep 18 13:19:58 2013] EtherCAT ERROR 0-7: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="color:#1F497D">kern :err : [Wed Sep 18 13:19:58 2013] EtherCAT ERROR 0-7: AL status message 0x001E: "Invalid input configuration".<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I have also implemented a small Etherlab program that allows me to set the slave state to OP.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Do you have an explanation why this is not possible with Etherlab’s command line tool, please?<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Kind regards<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Michael<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:DE"><o:p> </o:p></span></p>
</div>
</body>
</html>