Hi: Recently we use ethercat master on a rtai os to control a CNC machine. There are 4 (devices) motors in it. We face a problem that the execution time of some ecrt functions are too long to complete the cycle. The max time recorded of those functions, ecrt_domain_process ecrt_domain_receive ecrt_domain_queue ecrt_domain_send, is around 0.4 ms individually. So, what is the usual time of doing those functions? We are concerned that something is not normal. We check the /var/log/messages in which the log is this, Dec 7 20:57:11 wcut kernel: [ 8.592727] EtherCAT: Master driver 1.5.2 2eff7c993a63 Dec 7 20:57:11 wcut kernel: [ 8.592924] EtherCAT: 1 master waiting for devices. Dec 7 20:57:11 wcut kernel: [ 8.641659] e1000e 0000:03:00.0: PCI INT A disabled Dec 7 20:57:11 wcut kernel: [ 8.689607] e1000e 0000:00:19.0: PCI INT A disabled Dec 7 20:57:11 wcut kernel: [ 8.700943] ec_e1000e: Ethercat-capable Intel(R) PRO/1000 Network Driver - 1.0.2-k2(ethercat) Dec 7 20:57:11 wcut kernel: [ 8.700953] ec_e1000e: Copyright (c) 1999-2008 Intel Corporation. Dec 7 20:57:11 wcut kernel: [ 8.701033] ec_e1000e 0000:00:19.0: PCI INT A -> GSI 23 (level, low) -> IRQ 23 Dec 7 20:57:12 wcut kernel: [ 8.809526] ec_0000:00:19.0: eth0: (PCI Express:2.5GB/s:Width x1) 00:0b:ab:80:a0:d1 Dec 7 20:57:12 wcut kernel: [ 8.809536] ec_0000:00:19.0: eth0: Intel(R) PRO/1000 Network Connection Dec 7 20:57:12 wcut kernel: [ 8.809579] ec_0000:00:19.0: eth0: MAC: 6, PHY: 8, PBA No: ffffff-0ff Dec 7 20:57:12 wcut kernel: [ 8.809673] ec_e1000e 0000:03:00.0: PCI INT A -> GSI 16 (level, low) -> IRQ 16 Dec 7 20:57:12 wcut kernel: [ 8.840766] udev[387]: renamed network interface eth0 to eth2 Dec 7 20:57:12 wcut kernel: [ 8.928468] EtherCAT: Accepting 00:0B:AB:80:A0:D2 as main device for master 0. Dec 7 20:57:12 wcut kernel: [ 8.949472] ADDRCONF(NETDEV_UP): eth2: link is not ready Dec 7 20:57:12 wcut kernel: [ 9.001048] ec_0000:03:00.0: ecm0: MSI interrupt test failed! Dec 7 20:57:12 wcut kernel: [ 9.001091] ec_0000:03:00.0: ecm0: MSI interrupt test failed, using legacy interrupt. Dec 7 20:57:12 wcut kernel: [ 9.001103] EtherCAT 0: Starting EtherCAT-IDLE thread. Dec 7 20:57:12 wcut kernel: [ 9.001191] ec_0000:03:00.0: ecm0: (PCI Express:2.5GB/s:Width x1) 00:0b:ab:80:a0:d2 Dec 7 20:57:12 wcut kernel: [ 9.001199] ec_0000:03:00.0: ecm0: Intel(R) PRO/1000 Network Connection Dec 7 20:57:12 wcut kernel: [ 9.001294] ec_0000:03:00.0: ecm0: MAC: 4, PHY: 8, PBA No: ffffff-0ff Dec 7 20:57:14 wcut kernel: [ 11.394277] e1000e: eth2 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX/TX Dec 7 20:57:14 wcut kernel: [ 11.394595] ADDRCONF(NETDEV_CHANGE): eth2: link becomes ready Dec 7 20:57:16 wcut kernel: [ 13.001037] e1000e: ecm0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX/TX Dec 7 20:57:16 wcut kernel: [ 13.001049] EtherCAT 0: Link state of ecm0 changed to UP. Dec 7 20:57:16 wcut kernel: [ 13.009075] EtherCAT 0: 4 slave(s) responding on main device. Dec 7 20:57:16 wcut kernel: [ 13.009086] EtherCAT 0: Slave states on main device: INIT. Dec 7 20:57:16 wcut kernel: [ 13.009164] EtherCAT 0: Scanning bus. Dec 7 20:57:16 wcut kernel: [ 13.180771] EtherCAT 0: Bus scanning completed in 172 ms. Dec 7 20:57:16 wcut kernel: [ 13.180780] EtherCAT 0: Using slave 0 as DC reference clock. Dec 7 20:57:16 wcut kernel: [ 13.185049] EtherCAT 0: Slave states on main device: PREOP.
best Regards
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