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<p class="MsoNormal">Typically, yes.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">What you should try is this:<o:p></o:p></p>
<ol style="margin-top:0cm" start="1" type="1">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1">Ensure that your master app is not running.<o:p></o:p></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1">Physically reboot the slave (eg. power cycle).<o:p></o:p></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1">Run “ethercat cstruct -p0” (substitute the position of your actual slave if different)<o:p></o:p></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1">Compare the output to the code in your master app.<o:p></o:p></li></ol>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">This will tell you the default PDO layout of the slave, which is typically what you want to use in your master app – unless you can prove otherwise, assume anything different in your code is a bug.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">In some cases you may want to use some non-default PDOs, and there are ways to get the cstruct output for that as well, but typically slaves will only support a limited set of alternative configurations.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><b>From:</b> William Zumwalt<br>
<b>Sent:</b> Thursday, 4 June 2020 12:15<br>
<b>To:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> [etherlab-users] Invalid output configuration<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">I getting "Invalid output configuration" when starting up a slave. Can anyone help narrow this down, to what this might refer to?<br>
<br>
[ 4101.757740] EtherCAT DEBUG 0-main-0: PREOP -> PREOP + ERROR.<br>
[ 4101.757751] EtherCAT ERROR 0-main-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).<br>
[ 4101.765760] EtherCAT 0: Slave states on main device: PREOP + ERROR.<br>
[ 4101.765769] EtherCAT ERROR 0-main-0: AL status message 0x001D: "Invalid output configuration".<br>
<br>
Could this be configuration issue with the sync EC_DIR_OUTPUT?<br>
<br>
<o:p></o:p></p>
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