Hello, First of all many thanks for your help!
If you look below, master->app_time is not really used in the code. I get the dc ref slave clock with ecrt_master_reference_clock_time(master->master, &master->reference_time); and save in master->reference_time after that ecrt_master_sync_slave_clocks(master->master); // sync slaves to ref clock ecrt_master_application_time(master->master, master->reference_time+master->app_time_period); //update master time with time got from dc ref slave Could you help me with the Sync0shift values?? The topology of my network is line one. Master ----- S1 - S2 - S3 ..... and so on until S25. I suppose I must set a very small one for the first slave and increase it a little for the next ones, no?? The kernel is Linux debian 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux what is the default one of the linuxcnc 2.7 debian wheezy The network card is a realtek r8169 Thanks again Regards, Ignacio Rosales 2018-01-23 2:06 GMT+01:00 Boris Skegin <[email protected]>: > Hello. > > > With this version > > <https://github.com/narogon/linuxcnc-ethercat/commit/ > e4ab86ba6167ced532e49904059df580062b2d97#diff- > 059a684a933530837771b5a249433ff3> > > (also as attachment lcec_main.c) I get the servos sync and OP but it > seems > > that the PDO doesn't arrive for some of the slaves (no idea why). > > master->app_time += master->app_time_period; means that you just sum > up constant cycle times of the LinuxCNC thread. So any latency > information gets lost here. > > Rather make master->app_time be equal to something like > rt_get_time() transferred to EtherCAT time. > > I also think that a proper value for sync0Shift can help a lot. > > If however nothing of that helps, then proceed to Graeme Foot's option > b) . > > BTW, what exactly is your kernel and network card and do you really > use an adopted ( non-generic) network driver? > > Regards, > boris >
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