--- a/documentation/ethercat_doc.tex Fri Feb 22 11:04:49 2008 +0000
+++ b/documentation/ethercat_doc.tex Fri Feb 22 11:33:49 2008 +0000
@@ -2827,7 +2827,7 @@
slave configuration state machine code:
\begin{lstlisting}[language=C,numbers=left]
- void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm)
+ void ec_fsm_slaveconf_safeop(ec_fsm_t *fsm)
{
fsm->change_state(fsm); // execute state change
// sub state machine
@@ -3191,8 +3191,8 @@
sending the first SDO. $\rightarrow$~SDO\_CONF
If no SDO configurations are provided, the slave can now directly be
- brought into the SAVEOP state and the state change state machine is
- started again. $\rightarrow$~SAVEOP
+ brought into the SAFEOP state and the state change state machine is
+ started again. $\rightarrow$~SAFEOP
Otherwise, all supported FMMUs are configured according to the PDOs
requested via the master's realtime interface. The appropriate
@@ -3202,9 +3202,9 @@
has SDOs to configure, it is begun with sending the first SDO.
$\rightarrow$~SDO\_CONF
- Otherwise, the slave can now be brought into the SAVEOP state. The
+ Otherwise, the slave can now be brought into the SAFEOP state. The
state change state machine is started.
- $\rightarrow$~SAVEOP
+ $\rightarrow$~SAFEOP
\item[SDO\_CONF] The CoE state machine is executed until termination.
$\rightarrow$~SDO\_CONF
@@ -3212,17 +3212,17 @@
If another SDO has to be configured, a new SDO download sequence is
begun. $\rightarrow$~SDO\_CONF
- Otherwise, the slave can now be brought into the SAVEOP state. The
+ Otherwise, the slave can now be brought into the SAFEOP state. The
state change state machine is started.
- $\rightarrow$~SAVEOP
-
-\item[SAVEOP] The state change state machine is executed until
- termination. $\rightarrow$~SAVEOP
+ $\rightarrow$~SAFEOP
+
+\item[SAFEOP] The state change state machine is executed until
+ termination. $\rightarrow$~SAFEOP
If the state change failed, the configuration has to be aborted.
$\rightarrow$~END
- If the SAVEOP state was the target state, the configuration is
+ If the SAFEOP state was the target state, the configuration is
finished. $\rightarrow$~END
The slave can now directly be brought into the OP state and the
@@ -3631,10 +3631,10 @@
The best time to apply SDO configurations is during the slave's PREOP
state, because mailbox communication is already possible and slave's
application will start with updating input data in the succeeding
-SAVEOP state. Therefore the SDO configuration has to be part of the
+SAFEOP state. Therefore the SDO configuration has to be part of the
slave configuration state machine (see section~\ref{sec:fsm-conf}): It
is implemented via an SDO download state machine, that is executed
-just before entering the slave's SAVEOP state. In this way, it is
+just before entering the slave's SAFEOP state. In this way, it is
guaranteed that the SDO configurations are applied each time, the
slave is reconfigured.
@@ -3890,15 +3890,15 @@
\begin{lstlisting}[gobble=4]
# `\textbf{cat /sys/ethercat0/slave003/state}`
OP
- # `\textbf{echo SAVEOP > /sys/ethercat0/slave003/state}`
+ # `\textbf{echo SAFEOP > /sys/ethercat0/slave003/state}`
\end{lstlisting}
This command should also be receipted with a syslog message:
\begin{lstlisting}[gobble=4]
- EtherCAT: Accepted new state SAVEOP for slave 3.
- EtherCAT: Changing state of slave 3 from OP to SAVEOP.
- EtherCAT: Slave states: INIT, SAVEOP, OP.
+ EtherCAT: Accepted new state SAFEOP for slave 3.
+ EtherCAT: Changing state of slave 3 from OP to SAFEOP.
+ EtherCAT: Slave states: INIT, SAFEOP, OP.
\end{lstlisting}
After the new requested state was accepted from user space, the
@@ -3996,7 +3996,7 @@
0 1:0 OP EK1100 Ethernet Kopplerklemme (2A E-Bus)
1 1:1 INIT EL4132 2K. Ana. Ausgang +/-10V
2 1:2 INIT EL4132 2K. Ana. Ausgang +/-10V
- 3 1:3 SAVEOP EL4132 2K. Ana. Ausgang +/-10V
+ 3 1:3 SAFEOP EL4132 2K. Ana. Ausgang +/-10V
4 1:4 INIT EL5101 Incremental Encoder Interface
5 1:5 INIT EL1014 4K. Dig. Eingang 24V, 10s
6 1:6 OP EL6601 1 Port Switch (Ethernet, CoE)