Difference between revisions of "EtherCAT:EC USER SAFEOP CONFIG"

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{{Languages|EtherCAT:EC_USER_SAFEOP_CONFIG}}
 
{{Template:EtherCAT-Function
 
{{Template:EtherCAT-Function
  
 
|DESCRIPTION=
 
|DESCRIPTION=
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EtherCAT slaves configuration is done carefully because some configurations must be carried out while the slaves are still in PREOP mode and some configurations are done when the slaves are in SAFEOP mode.<br/>
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Configuration of EtherCAT slaves must be performed carefully. Some configurations must be done while the slaves are still in PREOP mode, and some are done while the slaves are in SAFEOP mode.
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This function and its counterpart [[EtherCAT:EC USER PREOP CONFIG|EC_USER_PREOP_CONFIG]] and [[EtherCAT:EC USER OP CONFIG|EC_USER_OP_CONFIG]] are implemented in the library EC_USER.LIB. The purpose of these functions is to allow the user '''add his own code''' in order to conduct specific configuration to EtherCAT slaves.
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EC USER SAFEOP CONFIG(slave address) is invoked after [[EtherCAT:EC_STARTMASTER|EC_STARTMASTER]] has already finished its work and all the slaves are already in OP mode, therefore it starts with changing the slave's mode to SAFEOP, carries out what configuration is necessary, and raises the slave back to OP mode.
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This function and its counterpart [[EtherCAT:EC USER PREOP CONFIG|EC_USER_PREOP_CONFIG]] and [[EtherCAT:EC USER OP CONFIG|EC_USER_OP_CONFIG]] are implemented in the library EC_USER.LIB. The purpose of these functions is to allow the user to '''add his own code''' in order to perform specific configurations of EtherCAT slaves.
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EC USER SAFEOP CONFIG(slave address) is invoked after [[EtherCAT:EC_STARTMASTER|EC_STARTMASTER]] has finished its work and all the slaves are in OP mode. It therefore starts by changing the slave's mode to SAFEOP, then performs the necessary configuration, and then raises the slave back to OP mode.
  
 
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|SYNTAX=
 
|SYNTAX=
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retVal = EC_USER_PREOP_CONFIG(<Slave address>)
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retVal = EC_USER_SAFEOP_CONFIG(<Slave address>)
  
 
|EXAMPLE=
 
|EXAMPLE=
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<syntaxhighlight lang="vb">
 
for i = 1 to NUM_OF_SLAVES
 
for i = 1 to NUM_OF_SLAVES
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    retVal = EC_USER_SAFEOP_CONFIG(i)
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retVal = EC_USER_SAFEOP_CONFIG(i)
 
next
 
next
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</syntaxhighlight>
  
 
|SEE ALSO=
 
|SEE ALSO=

Latest revision as of 08:53, 7 May 2017

Language: English  • 中文（简体）‎

Configuration of EtherCAT slaves must be performed carefully. Some configurations must be done while the slaves are still in PREOP mode, and some are done while the slaves are in SAFEOP mode.

This function and its counterpart EC_USER_PREOP_CONFIG and EC_USER_OP_CONFIG are implemented in the library EC_USER.LIB. The purpose of these functions is to allow the user to add his own code in order to perform specific configurations of EtherCAT slaves.

EC USER SAFEOP CONFIG(slave address) is invoked after EC_STARTMASTER has finished its work and all the slaves are in OP mode. It therefore starts by changing the slave's mode to SAFEOP, then performs the necessary configuration, and then raises the slave back to OP mode.


Input

Slave address

Output

None

Return Value

0 on success, -1 if failed. The user can change that.

Declaration

public function EC_USER_SAFEOP_CONFIG(byval slave_addr as long) as long

Syntax

retVal = EC_USER_SAFEOP_CONFIG(<Slave address>)

Examples

for i = 1 to NUM_OF_SLAVES
	retVal = EC_USER_SAFEOP_CONFIG(i)
next

See Also

Retrieved from "http://softmc.servotronix.com/index.php?title=EtherCAT:EC_USER_SAFEOP_CONFIG&oldid=128666"