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<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Hi Vincent,<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">If the master operational state is different to each slaves operational state. If the master phase is in Operation (via the "ethercat master" command) it means that ecrt_master_activate() has been
called and the master can activate the slaves that have been configured and realtime operation has begun.<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">If a slave is not configured the master does not know about it so it will stay in PREOP.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">If a slave has a different alias to the one configured the master can not correctly connect to it so it will stay in PREOP.<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">For all slaves the master does know about, and can connect to, the master will attempt to bring them into OP mode. However, each slave needs to be brought to OP mode via a state machine that takes
a little time. If you are not using Gavin Lamberts patchset the master will do so one slave at a time. If you are using his patchset then it will do ~ 16 slaves in parallel at a time, so somewhat faster.<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">Conversely, when you call ecrt_master_deactivate() all known and connected slaves are returned to PREOP and then the master goes to the Idle phase.<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">Also, just to add a little extra, if the master is idle you can use the "ethercat states" command to manually request a state on a particular slave. So a slave could actually be in OP state while
the master is idle.<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"><o:p> </o:p></span></p>
<p><span style="mso-fareast-language:EN-US">So to directly answer your question "</span><span style="font-size:12.0pt;color:black">Can master be considered as OP state if at least one slave is in OP state?": No.<o:p></o:p></span></p>
<p><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
<p><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
<p><span style="font-size:12.0pt;color:black">If you have called</span><span style="mso-fareast-language:EN-US"> ecrt_master_activate(), and it returned success, your master is operational, until you call ecrt_master_deactivate(). However, whether you consider
your system ready to use will probably depend in whether all your required slaves are up and running at the OP state.<o:p></o:p></span></p>
<p><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p><span style="mso-fareast-language:EN-US">And for extra credit, slaves can be hot connected and comms can be interrupted. If the master is active it will handle slaves disappearing and appearing and, for configured slaves, run through their state machines
to get them back to OP mode automatically. So if you have a group of slaves that can be disconnected (on purpose), put them in a separate domain and use ecrt_domain_state() to check the wc_state parameter to ensure that group of slaves is fully operational
for the functions they need to perform.</span><span style="font-size:12.0pt;color:black"><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"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Graeme.<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"><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"> BUSSIERES Vincent <vincent.bussieres@hemeria-group.com>
<br>
<b>Sent:</b> Friday, 3 July 2020 8:15 AM<br>
<b>To:</b> Graeme Foot <Graeme.Foot@touchcut.com>; etherlab-users@etherlab.org<br>
<b>Subject:</b> RE: AL States<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<div id="divtagdefaultwrapper">
<p><span style="font-size:12.0pt;color:black">Hi,<o:p></o:p></span></p>
<p><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
<p><span style="font-size:12.0pt;color:black">Indeed, some slaves are not in OP state. There are 6 slaves on my network, two of them are in PREOP state.<o:p></o:p></span></p>
<p><span style="font-size:12.0pt;color:black">I can get their states using ethercat slaves -v command but when I run ethercat master command, master is in OP state.<o:p></o:p></span></p>
<p><span style="font-size:12.0pt;color:black">Can master be considered as OP state if at least one slave is in OP state?
<o:p></o:p></span></p>
<p><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
<p><span style="font-size:12.0pt;color:black">Best reagards<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-bottom:12.0pt"><span style="font-size:12.0pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span style="color:black">De :</span></b><span style="color:black"> Graeme Foot <<a href="mailto:Graeme.Foot@touchcut.com">Graeme.Foot@touchcut.com</a>><br>
<b>Envoyé :</b> lundi 29 juin 2020 00:12<br>
<b>À :</b> BUSSIERES Vincent; <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Objet :</b> RE: AL States</span><span style="font-size:12.0pt;color:black"> <o:p>
</o:p></span></p>
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<p class="MsoNormal"><span style="font-size:12.0pt;color:black"> <o:p></o:p></span></p>
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<p><span style="color:black">Hi,<o:p></o:p></span></p>
<p><span style="color:black"> <o:p></o:p></span></p>
<p><span style="color:black">If you are using ecrt_master_state() the al_states parameter is filled in by all slaves with an OR operation. So for each bit that is set you can interpret that as at least one slave was in that state. If there is a state bit
set you are not happy with (or expecting) then you will need to interrogate each slave individually to find out which slave(s) are in that state, using ecrt_slave_config_state().<o:p></o:p></span></p>
<p><span style="color:black"> <o:p></o:p></span></p>
<p><span style="color:black">On startup (or comms interruption and recovery) you can expect to see slaves at different stages on the way to OP mode. If you are fully operational and you have a PREOP bit set, then you likely have a device that is not known
so is not configured, or has the wrong address so it is not being attached to correctly. If a slave stays in SAFEOP then you probably have a configuration error, check the logs to figure out the problem.<o:p></o:p></span></p>
<p><span style="color:black"> <o:p></o:p></span></p>
<p><span style="color:black">Regards,<o:p></o:p></span></p>
<p><span style="color:black">Graeme.<o:p></o:p></span></p>
<p><span style="color:black"> <o:p></o:p></span></p>
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<p><b><span lang="EN-US" style="color:black">From:</span></b><span lang="EN-US" style="color:black"> etherlab-users <<a href="mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a>>
<b>On Behalf Of </b>BUSSIERES Vincent<br>
<b>Sent:</b> Friday, 26 June 2020 9:25 PM<br>
<b>To:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] AL States</span><span style="color:black"><o:p></o:p></span></p>
</div>
</div>
<p><span style="color:black"> <o:p></o:p></span></p>
<p><span lang="FR" style="color:black">Hello,</span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black"> </span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black">I’d like to display AL state in my HMI.</span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black"> </span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black">AL states are :</span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l1 level1 lfo1">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">Bit0 : INIT</span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l1 level1 lfo1">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">Bit1 : PREOP</span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l1 level1 lfo1">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">Bit2 : SAFEOP</span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l1 level1 lfo1">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">Bit3 : OP</span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black"> </span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black">But when I read AL states, states are respetively :</span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black"> </span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">0x02 (0010)</span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">0x03 (0011)</span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">0x0a (1010)</span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">0x0e (1110)</span><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:72.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span style="font-size:10.0pt;font-family:Symbol;color:black"><span style="mso-list:Ignore">·<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="FR" style="color:black">0x0a (1010)</span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black"> </span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black">So, in some cases I don’t know in which state I am ?</span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black">How can I determine AL State ?</span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black"> </span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:black">Regards</span><span style="color:black"><o:p></o:p></span></p>
<p><span lang="FR" style="color:#1F497D"> </span><span style="color:black"><o:p></o:p></span></p>
<p><b><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D">Vincent BUSSIERES</span></b><span style="color:black"><o:p></o:p></span></p>
<p><b><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">Responsable Technique Logiciel</span></b><span style="color:black"><o:p></o:p></span></p>
<p><b><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"> </span></b><span style="color:black"><o:p></o:p></span></p>
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<p><i><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C">ZE Ma Campagne</span></i><span style="color:black"><o:p></o:p></span></p>
<p><i><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C">36, Impasse Félix Nadar</span></i><span style="color:black"><o:p></o:p></span></p>
<p><i><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#00295C">16000 ANGOULEME</span></i><span style="color:black"><o:p></o:p></span></p>
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