Hi,
Thank you Ralf and Florian, for the answers.
I'll try to use something else.
Now I have another problems:
1. If I don't use DC, I can control the drive and IO devices at the same
time.
2. If I use DC (without configuring IO devices), I can't go to
operational at first initialisation. But If I re-run the config sequence
I can control the drive.
3. If I connect and configure the IO devices next to the drive, at first
I can set the outputs of the device. But due to the problem above I can
not control the device.
4. If I re-run init sequence, this time my process domain information
some how corrupts. IO device outputs are no longer in the process data.
5. Regarding to a post by Graeme, I introduced two domains. One for
writing, one for reading. The behaviour remained same.
http://lists.etherlab.org/pipermail/etherlab-users/2012/001737.html
6. Then I seperated the domains one for IO device, one for motor driver.
Now my controller task suspends with Trap Handler: vector 14 message.
What is it I'm missing? How should I use DC?
Best regards,
(and Iyi aksamlar :) )
Oguz.
03.07.2012 20:52 tarihinde, Ralf Roesch yazdı:
Oguz,
if you have a look at the Beckhoff site you will find the EL2008
technical data table:
--
Technical data EL2808
Connection technology 2-wire
Number of outputs 8
Rated load voltage 24 V DC (-15 %/+20 %)
Load type ohmic, inductive, lamp load
Distributed clocks –
Max. output current 0.5 A (short-circuit-proof) per channel
Short circuit current typ. < 2 A
...
--
The distributed clocks is not available regarding the table.
My estimation is:
the module itself might have a DC capable EtherCAT slave controller
(ESC) which is detected by the EtherLab Master
but the module does not support the logic (hard, soft) for DC operation.
Regarding AssignActivate:
you should use it for modules where DC is required and hardware I/O is
synchronized to the EtherCAT real time bus cycle.
The EK1100 bus coupler has no I/O and thus no need for an
AssignActivate setup.
It only has the function (besides module extension) as a reference
clock slave in your setup because it is the first detected DC capable
slave device.
I think you have to look for an other output module.
regards and iye aksamlar
Ralf
On Tue Jul 03 2012 18:14:09 GMT+0200, Oguz Dilmac
<[email protected]> wrote:
Hi Ralf,
I checked again with etherlab master. It looks my devices support it.
Then I checked from Beckoff site: I downloaded "EL20xx_EL2124en.chm"
from, http://www.beckhoff.com/english.asp?download/elconfg.htm.
In the "Basic Communication" -> "Distributed Clock" section it
suggests these devices support DC. But it is not so clear.
I also downloaded the EL2xxx.xml with Beckhoff_EtherCAT_XML.zip.
There is no <AssignActivate> section for EL2008. But it does have
this section for some other devices.
I also checked EK1100 from the xml files. There is no
<assignActivate> section for it either. But I remember that some
users of the list using this device as the reference clock.
What am I missing?
Best regards,
(and selamlar :) )
Oguz.
By the way, here is the information I get from ethercat master:
When I type:
ethercat slaves -v
I get:
=== Master 0, Slave 0 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x044c2c52
Revision number: 0x00110000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 MII up open yes - 1281615183 0 0
1 EBUS up open yes 1 1281615783 600 145
2 MII down closed no - - - -
3 N/A down closed no - - - -
General:
Group: SystemBk
Image name:
Order number: EK1100
Device name: EK1100 EtherCAT-Koppler (2A E-Bus)
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: -2000 mA
=== Master 0, Slave 1 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x07d83052
Revision number: 0x00100000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 145 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 EBUS up open yes 0 1299932986 0 145
1 EBUS up open yes 2 1299933296 310 155
2 N/A down closed no - - - -
3 N/C down closed no - - - -
General:
Group: DigOut
Image name:
Order number: EL2008
Device name: EL2008 8K. Dig. Ausgang 24V, 0.5A
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 110 mA
=== Master 0, Slave 2 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000002
Product code: 0x03f03052
Revision number: 0x00100000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 300 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]
0 EBUS up open yes 1 1311888425 0 155
1 EBUS down closed no - - - -
2 N/A down closed no - - - -
3 N/C down closed no - - - -
General:
Group: DigIn
Image name: TERM_DI
Order number: EL1008
Device name: EL1008 8K. Dig. Eingang 24V, 3ms
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 90 mA
03.07.2012 17:05 tarihinde, Ralf Roesch yazdı:
Oguz,
I don't think that the EL2008 supports DC.
You can check it with the
ethercat slaves -pXXX -v
I have a EL2004 which shows:
ethercat slaves -p3 -v
...
DL information:
FMMU bit operation: no
Distributed clocks: no
...
If you have a DC-capable Module you can find the <AssignActivate>
mode in the ESI-File (XML).
You would find it in the EL2xxx.xml - File from Beckhoff if it would
support DC.
selamlar
Ralf
On Tue Jul 03 2012 15:27:41 GMT+0200, Oguz Dilmac
<[email protected]> wrote:
Hi,
I want to use Distrubuted Clocks.
And to test it, I want to create a square wave on one of the
digital outputs and watch it on an ossiloscope to see the jitter.
I'm using RTAI with kernel modules.
I looked to the dc_rtai_sample.c.
I don't have an IDS counter. But I have an EK1100 and EL2008
How can I modify the sample code to activate DC on EK1100 and EL2008
I know they support DC. But I don't know what to write to
"assignActivate" code.
Best regards,
Oguz.
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