[etherlab-dev] Slave state change from SAFEOP to OP without PDO update
Kim H. Madsen
khm at deif.com
Wed Jan 16 14:44:31 CET 2013
Later we found that also older TwinCAT versions have this problem. So we have solved the problem in the slave code by deferring the acknowledge of the state change and only throw the error if the slave haven't received output date within one second.
From: etherlab-dev-bounces at etherlab.org [mailto:etherlab-dev-bounces at etherlab.org] On Behalf Of Florian Pose
Sent: 4. januar 2013 11:03
To: etherlab-dev at etherlab.org
Subject: Re: [etherlab-dev] Slave state change from SAFEOP to OP without PDO update
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Am 06.06.2012 14:16, schrieb Kim H. Madsen:
> I have noticed an issue with the etherlab EtherCAT master. If the
> slaves a split into two domains (with different update cycles) then
> the state change SAFEOP->OP can be requested by the master without a
> slave have received output data. This makes the slave stay in SAFEOP
> with an error: EtherCAT ERROR 0-19: AL status message 0x001B: "Sync
> manager watchdog".
> Is this a bug or a missing feature?
In general, it is recommended to start sending cyclic process data immediately after ecrt_master_activate(). What are the sample times?
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