[etherlab-users] Etherlab 1.5.2: Requesting Application-Layer States with command line tool

[Michael Wenz]

Hello,

I am using Etherlab 1.5.2, Linux kernel 3.2.21, Xenomai-2.6.2.1
and I would like to set an EtherCAT slave to operational state with the command line tool:
./ethercat states -p0 OP

I am able to set the slave to OP state with TwinCAT 3.1 from Beckhoff and with EC-Engineer from acontis.
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

kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Changing state from PREOP to OP.
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Configuring...
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Now in INIT.
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing FMMU configurations...
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing sync manager configurations...
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Clearing DC assignment...
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Configuring mailbox sync managers...
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM0: Addr 0x1800, Size 192, Ctrl 0x26, En 1
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM1: Addr 0x1C00, Size 192, Ctrl 0x22, En 1
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: Now in PREOP.
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM2: Addr 0x1000, Size   8, Ctrl 0x64, En 1
kern  :debug : [Wed Sep 18 13:19:58 2013] EtherCAT DEBUG 0-7: SM3: Addr 0x1100, Size  30, Ctrl 0x00, En 1
kern  :err   : [Wed Sep 18 13:19:58 2013] EtherCAT ERROR 0-7: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
kern  :err   : [Wed Sep 18 13:19:58 2013] EtherCAT ERROR 0-7: AL status message 0x001E: "Invalid input configuration".

I have also implemented a small Etherlab program that allows me to set the slave state to OP.
Do you have an explanation why this is not possible with Etherlab's command line tool, please?

Kind regards
               Michael

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