Hi,
1) If your cycle time is 4ms, I think it should instead be:
0x60C2, 0x01 = 4
0x60C2, 0x02 = -3
Eg:
ecrt_slave_config_sdo8(dev-slaveConfig, 0x60C2, 0x01, (uint8_t)4);
ecrt_slave_config_sdo8(dev-slaveConfig, 0x60C2, 0x02, (int8_t)(-3));
Where the first parameter is the significand and the
FWIW, while I could be wrong about this, as far as I know it’s generally a bad
idea to explicitly set the reference clock slave. It defaults to being the
first DC-capable slave on the network, and you shouldn’t set it to any other
slave because of the way the DC sync datagrams work.
The “No app_time received up to now but master already active” warning is due
to a race between the internal master starting to configure the slaves once
ecrt_master_activate() is called and the realtime loop calling
ecrt_master_send() for the first time. As long as your master thread starts
Hi,
Good comments to make.
Yes, the DC reference slave should be the first capable slave and definitely
before (or at least the first) DC enabled slave. However, I had some EK1100
modules (which at one stage were my first slaves) that just did not seem to
provide a settled enough time for
