Hi Andreas,
My application was a complete Beckhoff solution i.e. Windows CE and TwinCAT. So no "additional"
support from Beckoff was required.
Regards, Ben
On 30/08/2012 5:54 PM, Andreas Stewering-Bone wrote:
Hello Ben,
I see you use Beckhoff hardware,
Did you get support or addidional information from Beckhoff to get it running.
We ask for information for the CX9xxx plattform but Beckhoff does not like
linux I think.
Best regards
Andreas
-------- Original-Nachricht --------
Datum: Thu, 30 Aug 2012 09:35:28 +1000
Von: Ben Lewis <[email protected]>
An: [email protected]
Betreff: Re: [etherlab-users] ethercat + xenomai on arm926 cpu system
Hi Luca,
First I must say that I have just joined this list and I have not used
Etherlab.
I've recently completed an EtherCAT application on an ARM based processor
(IXP420, 533MHz).
Hardware specifications here:
http://www.beckhoff.com/english.asp?industrial_pc/cp66xx.htm
My I/O requirements were small:
* DI: 4
* DO: 4
* AI:5
* AO:2
* PWM: 2
I used TwinCAT for EtherCAT master.
I was not able to achieve a 1 ms cycle time.
A 2 ms cycle time was possible but with high real time usage and regular
cycle time exceeds in low
priority tasks.
In the end I had to settle on a 3 ms cycle time. This gave me enough
overhead to run lower priority
tasks (such as updating the visualisation) reliably.
On the face of it, it looks like your processor runs at about half the
frequency as the one I was
using, therefore it would not surprise me if you are not able to achieve a
cycle time below 4 ms.
I'm not sure if this is of any relevance to you, I'm just providing it as
another point of reference.
Regards, Ben
On 30/08/2012 3:20 AM, [email protected] wrote:
Hello everyone,
I'm trying to develop a real time server on the arm
(arm926) cpu and on a real time linux with xenomai.
Unfortunatly even
the basic examples seem not to work on such a system: the real time
task is set to work with a 2ms period like the 2 servos connected to
the ethercat net (even though 1ms would definetly be the best).
With a
bare example I immediatly receive warning from ethercat master of
skipped frames and if the real task has to do something more the server
crashes...
I tried various compile time optimizations and I tried to
give up with real time task using hrtimer without results.
My system is
using the generic ethernet driver too, but could anyone give me some
advice about whether the cpu power is enough to manage the ethercat
driver in a real time environment?
Thanks in advance, Best Regards Luca
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