Hi,
In my setup I have 2 ecat slaves with a large PDO data worth of 917 bytes.
A LRW datagram is allocated with a payload size of 1830 bytes:
[ 56.206673] EtherCAT DEBUG 0: Adding datagram pair with expected WC 6.
[ 56.206690] EtherCAT 0: Domain0: Logical address 0x00000000, 1830 byte,
expected working counter 6.
[ 56.215738] EtherCAT 0: Datagram domain0-0-main: Logical offset
0x00000000, 1830 byte, type LRW at f1c6600c.
My suspicion is that in master.c, ec_master_send_datagrams(), the following
piece of code
// does the current datagram fit in the frame?
datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
+ EC_DATAGRAM_FOOTER_SIZE;
if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
more_datagrams_waiting = 1;
break;
}
Gets stuck in an infinite loop because it can't handle a datagram larger than
1500 bytes.
Is my assumption correct?
Do you happen to have a code fix for this situation?
Thanks,
Nir.
From: Etherlab-users <etherlab-users-boun...@etherlab.org> On Behalf Of Geller,
Nir
Sent: Wednesday, April 21, 2021 11:10 AM
To: Gavin Lambert <gavin.lamb...@tomra.com>; Richard Hacker <h...@igh.de>;
etherlab-users@etherlab.org
Subject: Re: [Etherlab-users] Running a large number of slaves
Hello again,
I tried running the ethercat master with a large PDO domain, but with no
success.
Following
https://sourceforge.net/u/uecasm/etherlab-patches/ci/default/tree/#readme
I built the ethercat master with Gavin's patch set.
I'm running on a x86 Intel Atom dual core with linux kernel 3.18.48. Ethernet
adapter is igb.
To achieve a very large PDO volume I created 2 ecat slaves, each with PDO data
worth of 917 bytes.
When connecting only 1 slave, and running examples/user/ec_user_example I can
raise the slave to OP and exchange data between the master and slave over PDO.
When connecting 2 slaves the start up process of the ethercat master gets stuck
after
EtherCAT DEBUG 0-main-0: Checking system time offset.
And according to a wireshark capture the communication completely stops even
though the application is still running cyclically.
Can you please help me setup a functional system?
Thanks,
Nir.
________________________________
From: Etherlab-users
<etherlab-users-boun...@etherlab.org<mailto:etherlab-users-boun...@etherlab.org>>
on behalf of Geller, Nir
<nir.gel...@servotronix.com<mailto:nir.gel...@servotronix.com>>
Sent: Wednesday, March 31, 2021 1:48 PM
To: Gavin Lambert <gavin.lamb...@tomra.com<mailto:gavin.lamb...@tomra.com>>;
Richard Hacker <h...@igh.de<mailto:h...@igh.de>>;
etherlab-users@etherlab.org<mailto:etherlab-users@etherlab.org>
<etherlab-users@etherlab.org<mailto:etherlab-users@etherlab.org>>
Subject: Re: [Etherlab-users] Running a large number of slaves
Hi Gavin,
This sounds promising.
With regard to cyclic real time performance, does fragmentation work properly
and efficiently with slaves that support DC?
Thanks,
Nir.
-----Original Message-----
From: Gavin Lambert <gavin.lamb...@tomra.com<mailto:gavin.lamb...@tomra.com>>
Sent: Tuesday, March 30, 2021 9:40 AM
To: Geller, Nir
<nir.gel...@servotronix.com<mailto:nir.gel...@servotronix.com>>; Richard Hacker
<h...@igh.de<mailto:h...@igh.de>>;
etherlab-users@etherlab.org<mailto:etherlab-users@etherlab.org>
Subject: RE: [Etherlab-users] Running a large number of slaves
Yes, it splits to multiple packets automatically. Just be careful to not use
more data than your cycle rate will allow.
Note that initialization and configuration of a large number of slaves is very
slow by default, as it occurs in series.
The unofficial patchset changes this to occur in parallel (for groups at a time
rather than the whole network, to avoid creating too many packets at once).
Gavin Lambert
Senior Software Developer
COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New
Zealand
Switchboard: +49 2630 96520 | https://www.tomra.com
The information contained in this communication and any attachment is
confidential and may be legally privileged. It should only be read by the
person(s) to whom it is addressed. If you have received this communication in
error, please notify the sender and delete the communication.
-----Original Message-----
From: Geller, Nir
Sent: Tuesday, 30 March 2021 1:23 am
To: Richard Hacker <h...@igh.de<mailto:h...@igh.de>>;
etherlab-users@etherlab.org<mailto:etherlab-users@etherlab.org>
Subject: Re: [Etherlab-users] Running a large number of slaves
Hi,
Thanks for your reply.
You mean that in the case of a large amount of PDO data ( > 1500), a single
invoke of ecrt_master_send(master) will result several frames sent out 1 after
another?
Nir.
-----Original Message-----
From: Etherlab-users
<etherlab-users-boun...@etherlab.org<mailto:etherlab-users-boun...@etherlab.org>>
On Behalf Of Richard Hacker
Sent: Monday, March 29, 2021 3:09 PM
To: etherlab-users@etherlab.org<mailto:etherlab-users@etherlab.org>
Subject: Re: [Etherlab-users] Running a large number of slaves
EtherCAT and the master are not limited to the ethernet packet size.
EtherCAT frames are automatically divided into smaller ethernet packets as
required. As long as you're not exceeding physical limits, (like sending ~1,5kb
at a rate of 1kHz), you should be fine.
Physically EtherCAT can address ~64k slaves on a network.
On 2021-03-29 13:22, Geller, Nir wrote:
> Hi There,
>
> I'm trying to setup one ethercat master with a very large number of
> ethercat slaves.
>
> The first obstacle I'm thinking about is a very large amount of data
> sent over PDO each cycle, that will definitely exceed 1500 bytes.
>
> In order to address this issue I want to understand if it is possible
> to send more than one frame each cycle?
>
> Another method could be using jumbo frames. Does the ethercat master
> support that?
>
> Does anybody have practical experience with such a setup?
>
> Thanks,
>
> Nir.
>
>
Mit freundlichem Gruß
Richard Hacker
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