I am working with Copley attempting to use Cyclic Synchronous Torque Mode at 250usec. We have setup up the distributed clocks w/ Sync0_Cycle as 250000 and assign activate at 0x330.
What is being seen on the scope is the time at which an EtherCAT frame arrives eventually drifts into when the Sync0 signal occurs on the slave. When this occurs the motor glitches since the drive cannot accept our torque command and provide feedback at this time. The engineers at Copley were gracious enough to create a pair of outputs so we could monitor something on the scope. Take a look at the video clip it displays this better than I can explain it. The lower signal rising edge occurs at SYNC0 time. The upper signal is high while receiving an EtherCAT frame. ftp://support.deltatau.com/DT-USA/Henry/CopleyEtherLAB.mp4 When we monitor the register 0x92C with watch -n0 "ethercat reg read -p0 -tsm32 0x92c" we see +/- 2000 Our code is virtually identical to the provided examples except it operates in an ISR triggered by a custom servo card. void PhaseISR() { static time ecrt_master_receive EC_READs ServoLoopCalcs() HWClock = GetNanosecHWClock() if(init_time) { clockgettime(&time) init_time = 0 } else { time += HWClock - HWClockOld } HWClockOld = GetNsecHWClock() Ecrt_master_application_time(time) Ecrt_master_sync_reference_clock Ecrt_master_sync_slave_clocks(pshm->ECAT[idxMaster].Master) EC_WRITEs Ecrt_domain_queue Ecrt_master_send } My ISR has ~10usec of jitter. I am using RTL8168B PCIe cards with a PowerPC AMCC460EX 1Ghz CPU. I don't have the setup in my hands but will be receiving it in a few days. Any ideas would be greatly appreciated!!!!! Outbound scan for Spam or Virus by Barracuda at Delta Tau _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
