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Introduced feature flag WaitBeforeSAFEOPms.

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This commit is contained in:
Florian Pose
2023-11-23 14:38:29 +01:00
parent f46b4ba654
commit 97ee76462b
3 changed files with 65 additions and 8 deletions
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include/ecrt.h
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@@ -1656,6 +1656,9 @@ int ecrt_slave_config_idn(
* assigned to EtherCAT (except during transition to PREOP). Non-zero
* assigns the SII to the slave controller side before going to PREOP and
* leaves it there until a write command happens.
* - WaitBeforeSAFEOPms: Number of milliseconds to wait before commanding the
* transition from PREOP to SAFEOP. This can be used as a workaround for
* slaves that need a little time to initialize.
*
* This method has to be called in non-realtime context before
* ecrt_master_activate().