Hello all,
I am using the ethercat master version 1.5 to control some brushless
motor drives with Dc support.
What my application does, is to read every 1ms the actual position
(0x6064) and send the target velocity (0x60ff) to the drive and read the
status word and write the control word as well.
My application is executed by RTAI-Lxrt in user space with a period of
1ms and a jitter of 200us (due to the character device). I am quite sure
that the dc is running well because I monitor the SYNC0 generated by the
first slave that is the reference clock.
Anyway I haven't understood how I have to configure the 'shift time' in
my application because the problem is:
Sometime (every 2-3 seconds) the actual position is not refreshed
meaning that I read the same actual position in the next cycle. This
occurs when my application period has the worst jitter. How can I set
the shift time to compensate it? Or this is not the right solution?
Kind regard,
Ezio DelBono
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