[etherlab-users] Emergency messages

[Broz, George]

> -----Original Message-----
> From: etherlab-users [mailto:etherlab-users-bounces at etherlab.org] On
> Behalf Of Bilko AS, Oguz Dilmac
> Sent: Friday, February 27, 2015 9:07 AM
> To: etherlab-users at etherlab.org
> Subject: [etherlab-users] Emergency messages
>
> Hi,
>
> I noticed in version 1.5.2, there are some new functions to access the
> emergency messages.
> I'm trying to use them but I didnt succeed yet. I think I miss some important
> point.
> Can anyone send some example usage?
>
> Here is what I did:
> 1. Before realtime operation, first I configure the slave with
> ecrt_master_slave_config(), then I use ecrt_slave_config_emerg_size() to
> initialise a buffer. I pass 8 for the length of the buffer.
> 2. During realtime, I keep calling ecrt_slave_config_emerg_pop() in every 5
> ms to see if there is an emergency message.
> ecrt_slave_config_emerg_pop() never returns 0.
>
> To generate an emergency message I remove the 24V from the STO input of
> an AKD drive. I can see F602 (safe torque off) on the display of the drive.
> Even if remove and re apply the power to the drive, there is no emergency
> message.
> I can't see anything in debug messages either.
>
> Other than not having an emergency message, I can control the drive in DC
> mode without a problem.
>
> What could be wrong?

Emergency messages piggyback on SDO transactions. You need to send an SDO message to the slave - it will return all of its queued emergency messages in the return frame.


Regards,

--George Broz
Moog Industrial Group

>
> Best regards,
> Oguz
>
> --
> Oguz Dilmac
> ARGE Bolumu
>
> Bilko AS, R&D Department


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