Hi, Do you have the latest EtherLab 1.5.1 release (with the RTDM updates)? Do you have RTDM enabled in the ethercat master build? (with the --enable-rtdm option.)
Check if you have any traps / syscalls in RTAI using the command "cat /proc/rtai/scheduler". If you do, then the RTDM calls probably aren't configured correctly and you are losing realtime. Regards, Graeme. -----Original Message----- From: [email protected] [mailto:[email protected]] On Behalf Of Carlos Jiménez Leal Sent: Thursday, 8 November 2012 05:00 To: EtherLAB Users Subject: [etherlab-users] Time issues with EtherCAT functions Hello, I have some problems with the execution time of the EtherCAT functions in user space. I'm using the version of the EtherLAB dated 06/11/2012, linux 2.6.29.5 and RTAI 3.8.1 (with RTDM) for one cycle at 10kHz, in a system with the following Beckohff modules: EK1100, EL2004, EL1004, EL4132, EL3102, 2xEL3356-0010, EL9510 on a 1.80GHz Intel Atom D525, with a Realtek 8139too The cycle would be something like this: cycle () { ecrt_master_receive () ecrt_domain_process () phases () ecrt_domain_queue () ecrt_master_send () wait_next_cycle () } I picked up the time it takes each and is far superior to that specified in the etherlab manual (http://www.etherlab.org/download/ethercat/ethercat-1.5-6129a5f715fb.pdf) Retrieved Manual Receive Master 21micro-s 2.2micro-s Domain Process 11.5micro-s 1micro-s Domain Queue 13.6micro-s 1micro-s Master Send 14.3micro-s 2.5micro-s Besides occasionally one of them takes much longer, reaching 3_mili-s_ Master Receive (attached compressed csv file data) Anyone have any idea what could be happening? Thank you in advance -- Carlos Jiménez ENCOPIM S.L. C/. del Parc 5 (nau 13), P.I. Els Pinetons E-08291 RIPOLLET (Barcelona) Tel: (+34) 935 94 23 47 Fax: (+34) 935 94 64 15 ========================================================== La información contenida en la presente transmisión es confidencial y su uso únicamente está permitido a su(s) destinatario(s). Si Ud. no es la persona destinataria de la presente transmisión, rogamos nos lo comunique de manera inmediata por teléfono (+34 935 942 347) y destruya cualquier copia de la misma (tanto digitales como en papel). The information contained in this transmission is confidential and is intended only for the use of the addressee(s). If you are not the designated recipient of this transmission, please advise us immediately by telephone (+34 935 942 347) and destroy any copies (digital and paper). ========================================================== _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
