59 am
To: etherlab-users@etherlab.org
Subject: [Etherlab-users] Distributed Clocks and Oversampling - slave
configuration of the ELM3604-002
Hi everyone!
I am trying to get an ELM3604-002 by Beckhoff to work in the etherlab
environment using Simulink and the generic slave block of the etherlab_lib. S
Have a look at el1262.m for a good example of using oversampling; even
the output vector and PDO's are calculated dynamically based on the
oversampling factor. For example, to turn on oversampling rate 4,
choose:
rv.SlaveConfig.dc = [hex2dec('730'),0,-4,-1,1,1,0,-1,0,0];
and you should be fin
his communication in
error, please notify the sender and delete the communication.
From: Merkel, Amos
Sent: Thursday, 27 May 2021 12:59 am
To: etherlab-users@etherlab.org
Subject: [Etherlab-users] Distributed Clocks and Oversampling - slave
configuration of the ELM3604-002
Hi everyone!
I am tryi
sc, 0x1A00, 2,0x60640020 );// Position
>> >>>>> actual value, per encoder
>> >>>>>
>> >>>>> ecrt_slave_config_sdo32( sc, 0x1A00, 3,0x60770010 );// Torque,
>> >>>>> actual value
>> >>>>>
>>
al value, per encoder
> >>>>>
> >>>>> ecrt_slave_config_sdo8( sc, 0x1A02, 0, 2 ); /* pdo entries */
> >>>>>
> >>>>> ecrt_slave_config_sdo8( sc, 0x1A03, 0, 0 ); /* clear TxPDO2 */
> >>>>>
> >&g
doesn’t
harm anything having it in.
The second value that is being passed to the
ecrt_slave_config_dcmethod is a value that is written to the ESC
register 0x980. The Yaskawa SGDV doco says this value should be
0x for free run mode and 0x0300 for dc mode. Other ESC’s may
>>Although we have not experienced these issues and are successfully using this
>>driver,
Is that to say you are using the E1000e driver? Do you modify its configuration
at all?
Tom
(Sent from my mobile device.)
On Apr 14, 2016, at 5:16 PM, Richard Hacker mailto:h...@igh.de>>
wrote:
Althou
lue that is being passed to the
ecrt_slave_config_dcmethod is a value that is written to the ESC
register 0x980. The Yaskawa SGDV doco says this value should be
0x for free run mode and 0x0300 for dc mode. Other ESC’s may
required different values.
I’ve never been able t
, 0x1603, 1, 0x60400010 ); /* control
>> >> word */
>> >>
>> >> ecrt_slave_config_sdo32( sc, 0x1603, 2, 0x60710020 ); /* target
>> >> position */
>> >>
>> >> ecrt_slave_config_sdo8( sc, 0x1603, 0, 2 ); /* pdo entrie
Another area maybe worth exploring if you haven't yet:
look for 'throttle' in the mailing list archive
Matthieu
On 3/8/16, 8:09 PM, "etherlab-users on behalf of Matthieu Bec"
wrote:
Hello Thomas,
These 13/50 are max latency numbers? both systems would qualify as reasonably
good wrt. rt-pr
Hello Thomas,
These 13/50 are max latency numbers? both systems would qualify as reasonably
good wrt. rt-preempt.
What I find surprising somehow: even your 'good' system shows so much variance:
min: 6789, max: 50345
Shouldn't that be much always the same? Maybe something else is happening and
Matthieu,
[snip]
in other words, you are positive the difference starts with ethercat master?
[/snip]
Yes. I have measured the time around that code block. That is where the
variance occurs that causes me to have unmatched packets.
That being said, one machine (i3) has a 13 microsecond latenc
Hello Thomas,
Both systems give similar cyclictest results? in other words, you are positive
the difference starts with ethercat master?
I'm not clear for example if celeron and i3 fall under the same processor
family when you compile your kernel. Still such difference, explanation would
seem f
I have to get a machine out the door, but that’s totally worth a try and I’ll
give it a test tomorrow.
Thanks!
On 3/8/16, 4:29 PM, "etherlab-users on behalf of Gavin Lambert"
wrote:
>[Repost to list due to incorrect email address.]
>
>On 9 March 2016 05:09, quoth Thomas Bitsky Jr:
>> I
[Repost to list due to incorrect email address.]
On 9 March 2016 05:09, quoth Thomas Bitsky Jr:
> I have tried this on two pieces of hardware. They run the same
> operating system and configuration, same EtherLAB master version, same
> Ethernet driver.
>
> System 1 (Intel i3 NUC, 1 Intel e1000e
Richard,
I put a lot of time into your suggestions the past few days, and here is where
I’m at.
[snip]
we use CLOCK_MONOTONIC for ecrt_master_application_time(), in fact we
use it thoughout. Probably not the solution, but worth a try.
[/snip]
As I generally do; thanks for catching that error
Hi,
we use CLOCK_MONOTONIC for ecrt_master_application_time(), in fact we
use it thoughout. Probably not the solution, but worth a try.
- Richard
On 03.03.2016 17:08, Thomas Bitsky Jr wrote:
[snip]
Are you using the dc_clock_adjust to modify your sleep time? ie.
something like
[/snip]
I’
[snip]
Are you using the dc_clock_adjust to modify your sleep time? ie.
something like
[/snip]
I’ve been trying, but the results are all over the place and I’m obviously not
understanding what needs to be done with the clock.
My latest attempt is has the scan time ticking from anywhere
_slave_config_sdo32( sc, 0x1603, 1, 0x60400010 ); /* control
>> >> word */
>> >>
>> >> ecrt_slave_config_sdo32( sc, 0x1603, 2, 0x60710020 ); /* target
>> >> position */
>> >>
>> >> ecrt_slave_confi
ent += 1;
> >>
> >> }
> >>
> >> interpolationTime = us;
> >>
> >> ecrt_slave_config_sdo8( akd->sc_akd, 0x60C2, 1, interpolationTime );
> >> /* Interpolation time */
> >>
> >> ecrt_slave_config_sdo8( akd
>> for ( i=0;i<6, us > 0xFF;++i )
>>>
>>> {
>>>
>>> us /= 10;
>>>
>>> cycleExponent += 1;
>>>
>>> }
>>>
>>> interpolationTime = us;
>>>
>>> ecrt_slave_config_sdo8(
{
>>
>> printf(
>>
>> "kl3356_ecConfigure -- Failed to get slave configuration.\n");
>>
>> return FALSE;
>>
>> }
>>
>> //
>>
>> // Register startup configuration for the hardware
>
for free run mode and 0x0300 for dc mode. Other ESC’s may
required different values.
I’ve never been able to get the EL7041 stepper modules to work in dc
mode.
Graeme.
*From:*etherlab-users [mailto:etherlab-users-boun...@etherlab.org]
*On Behalf Of *Thomas Bitsky Jr
called on slaves
that support DC to this level.
Regards,
Graeme.
From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of
Paul Mulligan
Sent: Wednesday, 2 March 2016 5:27 a.m.
To: Richard Hacker; etherlab-users@etherlab.org
Subject: Re: [etherlab-users] distributed clocks
Thanks.
It seems the however that the EL7031 stepper motor module does not work in DC
mode even tho the AssignActivate word is listed in the device description xml
file as 0x300.
On Tuesday, 1 March 2016, 17:04:39, Richard Hacker wrote:
DC is quite an intricate aspect of EtherCAT.
In
DC is quite an intricate aspect of EtherCAT.
In DC enabled slaves, there are two clocks that generate events. You
specify the time at which these clocks run as well as the time when the
clocks start off for the first time. What the slave controller does at
these events is implementation detail
Hi,
I'm still unsure as to what values are given for the last four parameters of
this function. I believe the sync1_cycle and sync1_shift can be ignored but how
is the sync0_shift value determined? I believe the frame should reach all the
slaves before this time but also the new frame should not
I only configure DC on the slaves that are actually required to be
synchronized.
Otherwise it seems correct what you are doing...
Am 2016-02-29 um 14:45 schrieb Paul Mulligan:
Hi,
Just a question or two about distributed clocks.
I have a system with an EL1008 digital input module, EL3001 ana
Hi,
Just a question or two about distributed clocks.
I have a system with an EL1008 digital input module, EL3001 analogue input
module, two EL7031 stepper motor driver modules and two EL2008 digital output
modules in that order. I am using the EK1100 bus coupler terminal as the first
module.
Do
0x for free run mode and 0x0300 for dc mode. Other ESC’s may
required different values.
I’ve never been able to get the EL7041 stepper modules to work in dc
mode.
Graeme.
*From:*etherlab-users [mailto:etherlab-users-boun...@etherlab.org]
*On Behalf Of *Thomas Bitsky Jr
equired different values.
I’ve never been able to get the EL7041 stepper modules to work in dc
mode.
Graeme.
*From:*etherlab-users [mailto:etherlab-users-boun...@etherlab.org]
*On Behalf Of *Thomas Bitsky Jr
*Sent:* Saturday, 20 February 2016 1:09 p.m.
*To:* etherlab-us
No, this was my TIMESPEC2NS:
#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NANOS_PER_SEC + (T).tv_nsec)
So, I’ll update it to:
#define TIMESPEC2NSEPOCH2000(T) ((uint64_t) (((T).tv_sec - 946684800ULL) *
10ULL) + (T).tv_nsec)
I hadn’t realized I needed to adjust for EtherCAT time EPO
Hello Thomas,
Just a wild guess, are you adjusting for EtherCAT time EPOCH? I have something
like:
static inline uint64_t TIMESPEC2NSEPOCH2000(struct timespec ts)
{
return (ts.tv_sec - 946684800ULL) * 10ULL + ts.tv_nsec;
}
Regards,
Matthieu
On 2/19/16, 4:08 PM, "etherlab-users
ed different values.
I’ve never been able to get the EL7041 stepper modules to work in dc mode.
Graeme.
From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of
Thomas Bitsky Jr
Sent: Saturday, 20 February 2016 1:09 p.m.
To: etherlab-users@etherlab.org
Subject: [et
Hello.
I’ve been using the EtherCAT master for years to great success, but I’m stuck
on a problem I can’t figure out that I think several people here are doing
successfully. I can’t implement distributed clocks in my application.
I am having the same problem on two systems I have up and running
Hi there,
I'm pretty new to Ethercat and Etherlab. I got The Example-Programs running
and now want to use DCs to set my Output-Pins on the EL9800 16Ch IO.
I got the Sync0-Interrupt (could see it on my scope) but the Board has no
measurable Sync1 interrupt. Even though 'ethercat config -v' show
Hello,
I would like to gain a better understanding of how synchronization is achieved.
The current drive system we are using (Yaskawa Sigma V) uses DC Mode 1
(Sync0 Event with Input/Output Shift). I have attached two drives to the master
and wish to coordinate their actuation in time with each ot
Hello,
yes it is possible, but you are using an old version.
There will be a new release in the next month I think.
The new release will implement a better DC Handling and documentation.
We made tests on Beckhoff AX5xxx Servocontrollers and it works fine.
Greatings
Andreas
Am Friday 28 May
Hi all,
we want use distributed clocks in an realtime application.
Our system configuration is:
etherlab-1.3-pre-r589
ethercat 1.5
matlab2007a
ubuntu 9.10
I found in the simulink block "generic slave" the item "Distributed
clock", but this entry have no connection to the S-function ec_slave2.
Hi again,
another update about the DC implementation: We are currently 5
companies/organisations that are interested. I will do the calculations
this week and publish them at this place. If anyone likes to join us:
You're welcome!
--
Best regards,
Florian Pose
http://etherlab.org
__
Hi all,
just a short note about the DC implementation: We are currently 3
supporters, including IgH. If anyone else is interested in a distributed
clocks implementation, please let me know.
--
Best regards,
Florian Pose
http://etherlab.org
___
etherla
. Oktober 2008 10:35
An: EtherLab Users List
Betreff: [etherlab-users] Distributed Clocks
Hi all,
get more and more request concerning a DC implementation. If I will do
the design/implementation, this will take about a week of work for me.
IgH will not need this feature in the near future, but
Hi all,
get more and more request concerning a DC implementation. If I will do
the design/implementation, this will take about a week of work for me.
IgH will not need this feature in the near future, but there are several
companies/institutes, that would want to finance the implementation.
An id
43 matches
Mail list logo
