> kern :err : [Wed Sep 18 13:19:58 2013] EtherCAT ERROR 0-7: AL status
> message 0x001E: "Invalid input configuration".
I think your configuration is incorrect. Check your pdo's, entries, etc...
Am 09/19/2013 10:01 AM, schrieb 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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