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<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Ordinarily you just call ecrt_master_activate to activate the master. This will return slaves to PREOP (if they’re somehow in a different state – PREOP is the normal state when the master is not
active however), configure them, then bring them to SAFEOP and then OP.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">It will also do this again automatically if a slave reboots or otherwise falls out of OP while the master is active (which is why it’s important to use the slave_config_sdo methods instead of manually
writing config SDOs).<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">See the example code.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">(There is a way to manually request a different state, which is what the “ethercat state” command uses, but it is not intended for application use.)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> messiah esfahani<br>
<b>Sent:</b> Monday, 1 October 2018 22:05<br>
<b>To:</b> ronaldo.mercado@diamond.ac.uk; etherlab-users@etherlab.org<br>
<b>Subject:</b> Re: [etherlab-users] Requesting application layer state change in code<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">Thanks Ronaldo.<o:p></o:p></p>
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<p class="MsoNormal">Now my question is, which function changes the state from PREOP to SAFEOP? Does "ecrt_master_activate" request this state transition too?<o:p></o:p></p>
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<p class="MsoNormal">Sincerely,<o:p></o:p></p>
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<p class="MsoNormal">Messiah<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">On Mon, Oct 1, 2018 at 12:24 PM <a href="mailto:ronaldo.mercado@diamond.ac.uk">
ronaldo.mercado@diamond.ac.uk</a> <<a href="mailto:ronaldo.mercado@diamond.ac.uk">ronaldo.mercado@diamond.ac.uk</a>> wrote:<o:p></o:p></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="color:#1F497D">Hi,</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="color:#1F497D"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="color:#1F497D">It is the “ecrt_master_activate” call that causes the change from SAFEOP -> OP</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="color:#1F497D"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="color:#1F497D">Ronaldo</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="color:#1F497D"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="color:#1F497D"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> etherlab-users <<a href="mailto:etherlab-users-bounces@etherlab.org" target="_blank">etherlab-users-bounces@etherlab.org</a>>
<b>On Behalf Of </b>messiah esfahani<br>
<b>Sent:</b> 01 October 2018 09:40<br>
<b>To:</b> <a href="mailto:etherlab-users@etherlab.org" target="_blank">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] Requesting application layer state change in code</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB"> <o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">Dear EtherLab users,
<br>
How can I request a change in application layer of a slave (e.g. SAFEOP -> OP) in code?
<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">I have examined the examples and although they all eventually begin exchanging data with PDOs, I have not encountered an explicit function call that causes the
transition from safe-operational to operational state.<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">Sincerely,
<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">Messiah<o:p></o:p></span></p>
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<p><span lang="EN-GB"> <o:p></o:p></span></p>
<p><span lang="EN-GB">-- <o:p></o:p></span></p>
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