Hi
I try to understand the synchronization mechanism in the IGH master for DC.
I try to understand what happens in the example/dc_user directory
Here is part of the code I try to understand including the questions
app_time.tv_usec += 1000000 / FREQUENCY;
if (app_time.tv_usec >= 1000000) {
app_time.tv_usec -= 1000000;
app_time.tv_sec++;
}
ecrt_master_application_time(master, EC_TIMEVAL2NANO(app_time));
What is the result of this call for the slaves (after the ecrt_master_send
call)??
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 9;
ecrt_master_sync_reference_clock(master);
What is the result for the slaves of this call for the slaves (after the
ecrt_master_send call) ??
}
ecrt_master_sync_slave_clocks(master);
Here I assume that after the ecrt_master_send all the slave clocks are
synchronized with the DC master clock and the DC master clock will not be
changed. Correct ??
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
Kind regards
Peter
Peter van Knippenbergh
Test and Software designer
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