Hello Ezio,
Are you really sure, you use the master under lxrt with realtime
capabilities.
There is no lxrt or rtdm interface for the master until now.
Greatings
Andreas
Am 28.01.2011 09:19, schrieb Ezio DelBono:
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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