Thank you very much!! Best wishes to you..
------------------ Original ------------------
From: "Graeme Foot"<graeme.f...@touchcut.com>;
Date: 2016??6??3??(??????) ????6:14
To: "COOKIY"<1027819...@qq.com>; "etherlab-users"<etherlab-us...@etherlab.org>;
Cc: "etherlab-dev"<etherlab-dev@etherlab.org>;
Subject: RE: [etherlab-dev] DC synchronous question
Hi,
This question is more for the etherlab-users forum
(etherlab-us...@etherlab.org). The question is a couple of weeks old but I
haven??t noticed any responses so I??ll give you a few things to start looking
at.
You need to do a few things with EtherCAT Distributed Clocks.
1) Configure each DC slave to use its Distributed Clock using
ecrt_slave_config_dc()
2) Select an appropriate slave as a slave reference clock using
ecrt_master_select_reference_clock()
3) Set an initial master clock time just before going realtime using
ecrt_master_application_time()
4) Once looping in realtime you need to ensure all clocks are synchronized
using:
ecrt_master_reference_clock_time()
ecrt_master_sync_slave_clocks()
ecrt_master_application_time()
It is best to match the EtherLab masters PC time to the reference slave as this
produces the most stable environment. Have a look at some of the Distributed
Clock demos. You may also want some of the Distributed Clock patches. Have a
search through the old forum posts, there??s been a fair few discussions about
distributed clocks.
Regards,
Graeme.
From: etherlab-dev [mailto:etherlab-dev-boun...@etherlab.org] On Behalf Of
COOKIY
Sent: Tuesday, 24 May 2016 3:19 p.m.
To: etherlab-dev
Subject: [etherlab-dev] DC synchronous question
Hello everyone:
First, thanks for browsing.Now, we use open-source EtherCAT master to
control my robot which is a 6 DOF arms.Everything is ok except the DC
synchronous question, while the DC is essential to run in cycle synchronization
position mode and I also really don't know the real reason about this and how
to handle that question.
Then,I will depict my question in detials. When run in profile position
mode, everything is ok and when it changes to cycle synchronization position
mode, I found that it can't to synchronize DC with the errors listing in below:
[ 1518.043620] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[ 1518.043735] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 1518.055581] EtherCAT ERROR 0-3: AL status message 0x0032: "PLL error".
[ 1518.055752] EtherCAT 0-3: Acknowledged state SAFEOP.
[ 1518.059595] EtherCAT ERROR 0-4: AL status message 0x0032: "PLL error" .
[ 1518.067537] EtherCAT 0-4: Acknowledged state SAFEOP.
[ 1518.071643] EtherCAT ERROR 0-5: AL status message 0x0032: "PLL error".
[ 1518.071862] EtherCAT 0-5: Acknowledged state SAFEOP.
When this errors occurs, the servo drivers change the states from OP state
to SAFEOP state. I also ask for this question to beckhoff??s staff. He said the
reason of this question is caused by the CPU jitter and the master of beckhoff
corporation could handle this question very well. I really don't understand
this meaning very well.
It is very grateful that if some experts know the ways to handle with this
question.Thanks very much!!!!!!!!!_______________________________________________
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