[etherlab-users] EtherLab with Omron Accurax PREOP-> OP fail

Fredriek Vanneste fredriek.vanneste at student.kuleuven.be
Fri May 8 11:57:00 CEST 2015

> -----Original Message-----
> From: Gavin Lambert [mailto:gavinl at compacsort.com]
> Sent: vrijdag 8 mei 2015 10:26
> To: 'Fredriek Vanneste'; 'Richard Hacker'
> Cc: etherlab-users at etherlab.org
> Subject: RE: [etherlab-users] EtherLab with Omron Accurax PREOP-> OP fail
> On 8 May 2015 02:37, quoth Fredriek Vanneste:
> > Something else I forgot to mention before is that the Omron Drive gives
> an
> > error message when I try to go to "OP" state, saying:
> > Communication Setting Error.
> [...]
> > [  185.205688] EtherCAT 0: Using slave 0 as DC reference clock.
> > [  210.095697] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave
> refused
> > state change (PREOP + ERROR).
> > [  210.095742] EtherCAT ERROR 0-0: AL status message 0x0028:
> > "Synchronization not supported".
> > [  210.095889] EtherCAT 0-0: Acknowledged state PREOP.
> It looks like you're just doing this at the command line, without an
> application running.  In this case you'll need to put a different slave
> the first slave.  Currently Etherlab will try to bring the reference
> to OP without configuring it, and this particular slave apparently
> like that.  The only solution is to put a slave that's ok with this (such
> an EK1100) as the first one instead.  (I've submitted a patch to disable
> this behaviour but I'm not sure if it's been integrated yet; certainly
> not on the stable branch.)

I was indeed doing this from the command line. 
I have just tried to fit a bus coupler in between the pc and the drive,
however I get the same behaviour.

I also have a program to run, but this fails everytime the function
ecrt_slave_config_state is called. 
This function is never executed, maybe this should be different for this
kind of application.

> If the same thing occurs when you try to run your application code, then
> need to check that you're calling ecrt_slave_config_dc and passing it the
> correct parameters (as specified by the slave vendor).

I will definitely try this function.

> Note that you won't be able to use "ethercat states" to bring the slave
> OP or to exchange PDOs via command line -- both of those tasks require a
> proper application.
 Thank you for the response.


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