[etherlab-users] Requesting application layer state change in code

[Gavin Lambert]

Ordinarily you just call ecrt_master_activate to activate the master.  This will return slaves to PREOP (if they’re somehow in a different state – PREOP is the normal state when the master is not active however), configure them, then bring them to SAFEOP and then OP.

It will also do this again automatically if a slave reboots or otherwise falls out of OP while the master is active (which is why it’s important to use the slave_config_sdo methods instead of manually writing config SDOs).

See the example code.

(There is a way to manually request a different state, which is what the “ethercat state” command uses, but it is not intended for application use.)

From: messiah esfahani
Sent: Monday, 1 October 2018 22:05
To: ronaldo.mercado at diamond.ac.uk; etherlab-users at etherlab.org
Subject: Re: [etherlab-users] Requesting application layer state change in code

Thanks Ronaldo.
Now my question is, which function changes the state from PREOP to SAFEOP? Does "ecrt_master_activate" request this state transition too?
Sincerely,
Messiah

On Mon, Oct 1, 2018 at 12:24 PM ronaldo.mercado at diamond.ac.uk<mailto:ronaldo.mercado at diamond.ac.uk> <ronaldo.mercado at diamond.ac.uk<mailto:ronaldo.mercado at diamond.ac.uk>> wrote:
Hi,

It is the “ecrt_master_activate” call that causes the change from SAFEOP -> OP

Ronaldo


From: etherlab-users <etherlab-users-bounces at etherlab.org<mailto:etherlab-users-bounces at etherlab.org>> On Behalf Of messiah esfahani
Sent: 01 October 2018 09:40
To: etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>
Subject: [etherlab-users] Requesting application layer state change in code

Dear EtherLab users,
How can I request a change in application layer of a slave (e.g. SAFEOP -> OP) in code?
I have examined the examples and although they all eventually begin exchanging data with PDOs, I have not encountered an explicit function call that causes the transition from safe-operational to operational state.
Sincerely,
Messiah



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