Function that imposes the NMT operating mode of the indicated EtherCAT line.
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i32 ecat_set_state (i32 nEth, i32 desState [, bool doBopex=FALSE])
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EtherCAT line number.
If 0 means all EtherCAT lines present.
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State of the network you wish to impose:
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1
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INIT
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2
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PREOPERATIONAL
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4
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SAFEOPERATIONAL
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8
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OPERATIONAL
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Se uguale a TRUE, attende di essere in SAFEOPERATIONAL prima di eseguire il file comandi bopex.stp. Altrimenti non verrà eseguito il file. (opzionale, default FALSE)
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Returns:
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2
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OK:
SAFEOPERATIONAL reached, bopex.stp executed
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1
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OK:
SAFEOPERATIONAL achieved, bopex.stp not present
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0
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OK:
desired state imposed
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-1
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EtherCAT line index illegal
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-2
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Ethernet port not configured EtherCAT
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-3
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Illegal status code
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-4
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Network not started due to configuration error. (use mreport -a)
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-5
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Function used not in a timesharing task with doBopex TRUE flag.
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-6
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Timeout for waiting for SAFEOPERATIONAL status to then execute bopex.stp: operation not executed
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Rule, Task
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Example of use:
....
result = ecat_set_state(2, 1)
if (result < 0)
alarm_set(UNABLE_TO_SET_ECAT, 0, 1)
return
endif
result = ecat_set_state(2, 8)
if (result < 0)
alarm_set(UNABLE_TO_SET_ECAT, 0, 2)
return
endif
mt_wait(ecat_get_state(2) = 8 )
...
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NOTE: This example can only be used in the task, as the mt_wait() instruction is used.
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