ISlave.RequestState method

Requests an EtherCAT slave to go into the specified EtherCAT state. For example, if the state is Op, and your requested state is PreOp, the slave will change the state to Op -> SafeOp -> PreOp. If the state is Init and your requested state is Op, the slave will change the state to Init -> PreOp -> SafeOp -> Op.

Namespace: IntervalZero.KINGSTAR.Base.Class

Assembly: IntervalZero.KINGSTAR.Base.Class (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

IKsCommand RequestState(
       EthercatState state
)

Function RequestState(
       state As EthercatState
) As IKsCommand

Parameters

state

Type: EthercatState

The requested EtherCAT state.

Return value

Type: IKsCommand

Returns the states of a method.

Remarks

Both EtherCAT master and slave need to be in one of the supported states.
It is not possible to request the EtherCAT state that is higher than the master state. For further details about which states the master supports, see ISubsystem.RequestState.

Usable EtherCAT states

ecatInit, ecatBoot, ecatPreOP, ecatSafeOP, ecatOP