[etherlab-users] Error flag after requesting SAFEOP

[Mohsen Alizadeh Noghani]

Activating the master resolved this issue. ecrt_master_activate takes care
of state transitions from PREOP to OP.
Best,
Mohsen


On Fri, Sep 28, 2018 at 3:56 PM Mohsen Alizadeh Noghani <
m.alizad3h at gmail.com> wrote:

> Having read EtherCAT and EtherLab documentation a bit more,
>
> 1- I should set the first bit of the sync manager's status register to 1.
> According to EtherCAT's Register Documentation, for sync manager 2 for
> instance, I have to set the first bit of byte at 0x081B to 1.
>
> 2-  I don't think using ecrt_slave_config_sync_manager will help me, since
> it only sets the direction of sync manager (as pointed out by comments in
> ecrt.h).
>
> Now, my question is, how can I modify a specific bit in a slave's address
> space?
>
> Best,
> Mohsen
>
>
> On Thu, Sep 27, 2018 at 3:19 AM Gavin Lambert <gavin.lambert at tomra.com>
> wrote:
>
>> EC_WD_ENABLE enables the SM watchdog; it’s a separate thing from enabling
>> the SM itself.  In general you should only activate it on one SM per slave
>> – usually the output SM if the slave has outputs or the input SM
>> otherwise.  If you don’t need the slave to drop from OP to SAFEOP when it
>> loses communication with the master then you can leave the watchdog
>> entirely disabled – though using the watchdog is usually recommended for
>> output slaves for safety reasons.
>>
>>
>>
>> Using erct_slave_config_sync_manager by itself is fairly pointless.  You
>> need to specify the PDOs contained in the SM and then also actually use at
>> least one PDO from each SM in your domain mapping.  Typically you use
>> ecrt_slave_config_pdos to do the former and ecrt_domain_reg_pdo_entry_list
>> for the latter.  See the example code.
>>
>>
>>
>> *From:* Mohsen Alizadeh Noghani
>> *Sent:* Wednesday, 26 September 2018 22:32
>> *To:* etherlab-users at etherlab.org
>> *Subject:* [etherlab-users] Error flag after requesting SAFEOP
>>
>>
>>
>> Hello everyone.
>>
>>
>>
>> When I request SAFEOP state for my slave (Mecapion L7N) using shell
>> command
>>
>>
>>
>> $ ethercat state --position 0 SAFEOP
>>
>>
>>
>> the slave's flag changes from + to E, and the state stays at PREOP.
>>
>>
>>
>> *Additional Info:*
>>
>> In a previous project, I used SOEM library and had to deal with the same
>> issue, which was fixed by manually enabling sync managers 2 & 3.
>>
>>
>>
>> ec_slave[1].SM[2].SMflags |= 0x00010000;
>>
>> ec_slave[2].SM[3].SMflags |= 0x00010000;
>>
>>
>>
>> I tried to do the same by the adding following lines in my a simple code
>>
>>
>>
>> ret1 = erct_slave_config_sync_manager(sc, 2, EC_DIR_INPUT, EC_WD_ENABLE)
>>
>> ret2 =  erct_slave_config_sync_manager(sc, 3, EC_DIR_OUTPUT,
>> EC_WD_ENABLE)
>>
>>
>>
>> Both function calls are successful (ret1=ret2=0) but the slave won't
>> reach SAFEOP.
>>
>>
>>
>>
>>
>
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