Re: [etherlab-users] Loading SII binaries from file

Hi, I work with Ravi. The problem is that the slave will not accept ethercat sii_write because the slave's sii hardware is faultly, but it is only the sii part that is faulty so we would still like to be able to use the module. So, is there a way to redirect the ethercat sii lookup to use a

[etherlab-users] Getting the slave position in the ring

Hi, Is there a function that gets the absolute slave position on the ring given a slave alias-position pair? eg: I'm reading a config file to initialize my slaves using the ecrt_master_slave_config function (using the alias-position values). I would then like to configure the slave

Re: [etherlab-users] Problem reading SII configuration from slave

] On Behalf Of Jesper Smith Sent: Tuesday, 1 November 2011 10:54 To: Graeme Foot Cc: etherlab-users@etherlab.org Subject: Re: [etherlab-users] Problem reading SII configuration from slave The patch I have is for the latest stable-1.5 tag. To use the patch, put the SII information (export using

Re: [etherlab-users] API questions (plaintext repost)

Hi, Re: RTDM patch for 2124 I did the update to RTDM to get the multiple domains going. I haven't heard the latest status either. As for SDO's via RTDM, I was about to add some of them to the RTDM api, in the next couple of weeks probably. SDO requests take a bit of time to process and you

[etherlab-users] Distributed Clock with Yaskawa SGDV drives

0x669f8483 1721730179 0x669d0223 1721565731 0x669b553f 1721455935 If I disconnect the drives then the rest of the slaves still behave the same (where the sign bit may be on or off). Does anyone have any ideas what I should be looking at next? Regards, Graeme Foot

Re: [etherlab-users] Distributed Clock with Yaskawa SGDV drives

made sense and was not too rambling. Regards, Graeme. -Original Message- From: etherlab-users-boun...@etherlab.org [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of Graeme Foot Sent: Wednesday, 1 February 2012 20:28 To: etherlab-users@etherlab.org Cc: George Broz Subject: Re

Re: [etherlab-users] Distributed Clock with Yaskawa SGDV drives

. Regards, Graeme. -Original Message- From: George Broz [mailto:gb...@moog.com] Sent: Saturday, 4 February 2012 09:33 To: Graeme Foot Cc: etherlab-users@etherlab.org Subject: Re: [etherlab-users] Distributed Clock with Yaskawa SGDV drives Graeme, thanks for the explanation

Re: [etherlab-users] Distributed Clock with Yaskawa SGDV drives

. -Original Message- From: George Broz [mailto:gb...@moog.com] Sent: Wednesday, 15 February 2012 14:48 To: Graeme Foot Cc: etherlab-users@etherlab.org Subject: Re: [etherlab-users] Distributed Clock with Yaskawa SGDV drives Hello - When I applied this patch I was able to sync and run slaves

Re: [etherlab-users] Omron Servo Drive with Distributed Clocks

Hi, I have been working through some synchronization issues I've been having with the help of Yaskawa. My setup is: - Linux 2.6.29.5 - RTAI 3.8.1 - EtherLabs EtherCAT 1.5 I have a user space application that makes the realtime EtherCAT calls via an RTDM patch. My main problem was that

Re: [etherlab-users] Jitter when trying to use EtherLab Master at hard real-time 1 kHz under RT-PREEMPT

Hi, There is an RTDM patch for EtherLabs EtherCAT master for use with RTAI / Xenomi. It allows certain ethercat calls to be made from user space from a real-time context. I don't know know about the RT_PREEMPT side of things. Regards, Graeme.

[etherlab-users] FW: Distributed Clock with Yaskawa SGDV drives

(forgot to replyall) -Original Message- From: Graeme Foot Sent: Friday, 9 March 2012 10:23 To: 'Florian Pose' Subject: RE: [etherlab-users] Distributed Clock with Yaskawa SGDV drives Hi, Its effectively due to a race condition between calling ecrt_master_activate() and the realtime

Re: [etherlab-users] Distributed Clock with Yaskawa SGDV drives

the first wakeup. I also only enable the drive once in cyclic mode (and the drive has reached OP mode). I've also replied to Florian with a bit more info. Graeme. -Original Message- From: Henry Bausley [mailto:hbaus...@deltatau.com] Sent: Friday, 9 March 2012 08:58 To: Graeme Foot Cc

Re: [etherlab-users] Linker problems with stable-1.5 patched with the latest rtdm-patch

patch go to Moehwald GmbH, B.Benner. I'm just massaging it for my requirements.) -Original Message- From: WIEGAND Ralf [mailto:ralf.wieg...@hexagonmetrology.com] Sent: Tuesday, 13 March 2012 09:39 To: Graeme Foot Cc: etherlab-users@etherlab.org Subject: Linker problems with stable-1.5

Re: [etherlab-users] Linker problems with stable-1.5 patched withthe latest rtdm-patch

...@etherlab.org] On Behalf Of Graeme Foot Sent: Tuesday, 13 March 2012 10:39 To: WIEGAND Ralf Cc: etherlab-users@etherlab.org Subject: Re: [etherlab-users] Linker problems with stable-1.5 patched withthe latest rtdm-patch Hi, In that patch I integrated the functions into the ethercat lxrt library. My library

Re: [etherlab-users] FW: Distributed Clock with Yaskawa SGDV drives

] Sent: Monday, 12 March 2012 22:08 To: Graeme Foot Cc: etherlab-users@etherlab.org Subject: Re: [etherlab-users] FW: Distributed Clock with Yaskawa SGDV drives -BEGIN PGP SIGNED MESSAGE- Hash: SHA1 Am 12.03.2012 00:03, schrieb Graeme Foot: Hi, The slaves are not in OP before

Re: [etherlab-users] FW: Distributed Clock with Yaskawa SGDV drives

: Graeme Foot Sent: Tuesday, 13 March 2012 10:52 To: 'Florian Pose' Cc: etherlab-users@etherlab.org Subject: RE: [etherlab-users] FW: Distributed Clock with Yaskawa SGDV drives Hi, Right, I see what you mean. I hadn't sorted out my timing issues back then so it is more like due to that. I've almost

Re: [etherlab-users] Failed to calculate bus topology

Hi, Get rid of the EL9010 terminator and use an EL9011 instead. The EL9011 is cheaper and as far as I can tell the EL9010 is no longer listed. In the meantime, just leave it off. The EtherCAT terminals do not require a terminator. The EL9011 is just a cover to provide protection for the

Re: [etherlab-users] Copley Drive w/ Distributed Clocks Drifting

Hi, Just a couple of thoughts. Does GetNsecHWClock read the time from your servo card? Does the time increment by 25ns every period (ignoring jitter)? Ie is your clock time drifting with respect to the ISR? I would try moving the get time and ecrt_master_application_time call to just

Re: [etherlab-users] Copley Drive w/ Distributed Clocks Drifting

: Saturday, 28 April 2012 10:01 a.m. To: Graeme Foot Cc: etherlab-users@etherlab.org Subject: RE: [etherlab-users] Copley Drive w/ Distributed Clocks Drifting Thanks Graeme. I am actually reading my CPUs clock which runs at 1GHz with some assembler instruction. However the H/W card

Re: [etherlab-users] Detecting whether an amp has repowered

. From: Oguz Dilmac [mailto:oguzdil...@bilko-automation.com] Sent: Monday, 28 May 2012 21:47 To: etherlab-users@etherlab.org Cc: Graeme Foot Subject: Re: [etherlab-users] Detecting whether an amp has repowered Hi Graeme, About homing status: At init sequence

Re: [etherlab-users] Getting Emergency messages from EtherCAT Master

[mailto:odil...@bilko-automation.com] Sent: Tuesday, 29 May 2012 02:14 To: Graeme Foot Subject: Getting Emergency messages from EtherCAT Master Hello Graeme, Thank you for your mails to the Ether-lab user list. They are very helpful to me. Do you know how to get emergency messages from EtherCAT master

Re: [etherlab-users] Yaskawa Ethercat via Etherlab

From: Alwin Damman - LR [mailto:a.dam...@tudelft.nl] Sent: Thursday, 21 June 2012 00:55 To: Graeme Foot Subject: Yaskawa Ethercat via Etherlab Dear mister Graeme Foot, First I will introduce myself, I am an engineer working at the university of Delft Technologies and working on a control

[etherlab-users] Linux device driver for Beckhoff CX2100-0004 power module

Hi, We've just got ourselves a Beckhoff CX2020 computer with a CX2100-0004 power module to play with. The power module requires a PCI device driver to access the network port (and LCD screen and nav buttons). Has anyone had a go at a device driver for one of these modules yet?

[etherlab-users] RTDM with RTAI

Hi, I've just been updating my project to use the latest EtherCAT 1.5.2 master (2526), using RTDM with RTAI. The ethercat_rtdm library calls fprintf to log various errors that may occur. This knocks the hard realtime thread back to soft realtime due to making a standard syscall. I have

[etherlab-users] Fix for ecrt_master_select_reference_clock

ec_master_calc_dc after ec_master_attach_slave_configs Regards, Graeme Foot. etherlabmaster-1.5.2-2526-c_dc_helpers.patch Description: etherlabmaster-1.5.2-2526-c_dc_helpers.patch ___ etherlab-users mailing list etherlab-users@etherlab.org http

Re: [etherlab-users] How to install and use Etherlab for a Xenomaitarget

. In the future we are intending to integrate our gui onto the same PC but we are waiting on RTAI and a few other things to come together first. Regards, Graeme Foot From: Steffen Dalgard [mailto:steffen.s...@gmail.com] Sent: Thursday, 20 June 2013 00

[etherlab-users] FW: CX2100 Power Supply Unit, LCD control

is an Intel QM67 which has a Series 6/C200 SMBus Controller. I'm using Linux 2.6.32.11 which doesn't support this chipset, so I've also attached a patch to enable it for this kernel. Regards, Graeme Foot, Kinetic Engineering Design Ltd. cx2100psu.tar.bz2 Description: cx2100psu.tar.bz2 linux

[etherlab-users] Looking for Slave firmware update example

the slave and check new firmware is active Thanks, Graeme Foot ___ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users

Re: [etherlab-users] Looking for Slave firmware update example

. From: Gavin Lambert [mailto:gav...@compacsort.com] Sent: Wednesday, 6 November 2013 11:30 To: Graeme Foot; etherlab-users@etherlab.org Subject: RE: [etherlab-users] Looking for Slave firmware update example The change to OP seems wrong, but otherwise the procedure below looks about right. One thing

Re: [etherlab-users] example code

Another thing you can look at is the ethercat slaves -v command. If you have a linear topology then the last slaves DC system time transmission delay value tells you how long it takes for a frame to get sent to it, so if you double the value you get the approximate round trip time. If you have

Re: [etherlab-users] etherlab dc sync check

Hi, It's a while ago now that I looked into it, but I originally had all sorts of problems with the dc clock system. I could never get my yaskawa amps stable using the PC clock as the time master. There is just way too much jitter. Instead I wrote the original patch that selects a slave to

Re: [etherlab-users] ecrt_master_deactivate_slaves

: Monday, 13 January 2014 23:38 To: Graeme Foot Subject: ecrt_master_deactivate_slaves Hi Graeme, in your fix http://lists.etherlab.org/pipermail/etherlab-users/2013/002162.html, there's a new function ecrt_master_deactivate_slaves() that would deactivate the DC slaves in time to avoid Sync watchdog

Re: [etherlab-users] DC sync and arrival times of datagrams

Which time you use doesn't matter so much as long as it's stable and you get minimal jitter. With RTAI on startup Linux calculates a cpu frequency and calibrates the timer against it. Between cold starts Linux will generally get the same value, but if you do a soft restart it will often

Re: [etherlab-users] How to change the input and output Map(Yaskawa servopack)?

Dear all, I got a set yaskawa servopack, it works well with Twincat.Now I am struggling with etherlab master version 1.52. First step, I tried ethercat command line, when i change the state from PREOP-SAFEOP-OP, control word 0x6040 always shows 0, can not be changed. I do some research

Re: [etherlab-users] Yaskawa servo Sychronization Error

Hi, Ignore the “Corrupt mailbox response received”. Also have a quick read of: http://lists.etherlab.org/pipermail/etherlab-users/2010/001071.html The main problem looks to me like the network is not stable. First of all make sure that all the network cables are plugged in correctly and of a

Re: [etherlab-users] Enhanced mode for EL5101

From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of Roland Pastorino Sent: Sunday, 11 January 2015 12:31 p.m. To: etherlab-users@etherlab.org Subject: [etherlab-users] Enhanced mode for EL5101 Hello everyone, I have prepared an application using an EK1101 and an

Re: [etherlab-users] etherlab-users Digest, Vol 92, Issue 8

... Today's Topics: 1. Yaskawa servo Sychronization Error (Ruika You) 2. Re: Yaskawa servo Sychronization Error (Graeme Foot) -- Message: 1 Date: Tue, 27 Jan 2015 23:21:25 +0800 From: Ruika You crazylinux

Re: [etherlab-users] Twincat communicate with yaskawa SGDV alarm A12 (Sync Error)

: error checking removed to hopefully make clearer) I hope this helps, Graeme. From: 陈成细 [mailto:crazyintermi...@gmail.com] Sent: Friday, 29 May 2015 2:19 p.m. To: Graeme Foot Subject: Re: Twincat communicate with yaskawa SGDV alarm A12 (Sync Error) Dear Graeme Foot, Thanks for your kindly

Re: [etherlab-users] Twincat communicate with yaskawa SGDV alarm A12 (Sync Error)

. To: Graeme Foot Cc: etherlab-users@etherlab.org Subject: RE: [etherlab-users] Twincat communicate with yaskawa SGDV alarm A12 (Sync Error) 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

Re: [etherlab-users] Fwd: Problems using ethercat-1.5.2 with Yaskawa Servopack

Hi, The default Mode of operation (0x6060) is 0 (No mode change/ no mode assigned). Unless you have changed it and saved it to the EEPROM. If not you need to set it to 8 for Cyclic Sync Position Mode. You can confirm your current Mode of Operation using 0x6061. Regards, Graeme. From:

Re: [etherlab-users] [etherlab-dev] DC synchronous question

Hi, This question is more for the etherlab-users forum (etherlab-users@etherlab.org). The question is a couple of weeks old but I haven't noticed any responses so I'll give you a few things to start looking at. You need to do a few things with EtherCAT

Re: [etherlab-users] DC questions

Hi, 1) Distributed clocks can work in a couple of ways, but all ways require a slave DC master which should be the first DC slave in the network. Note: some slaves can act as a DC time master even though they are not fully DC capable: a) EtherCAT master is the master clock: - The computer

Re: [etherlab-users] rtai_rtdm_dc example, "error: system_time_base less than system time" message

, Graeme. From: Bilko AS, Oguz Dilmac [mailto:odil...@bilko-automation.com] Sent: Saturday, 6 February 2016 1:42 a.m. To: Graeme Foot; etherlab-users@etherlab.org Subject: Re: [etherlab-users] rtai_rtdm_dc example, "error: system_time_base less than system time" message Hi, We solved t

Re: [etherlab-users] Controlling motor drivers

le via SDO access, so what I do is have a state machine that looks them up if the warning or error status bits are set. Hope this helps. Regards, Graeme Foot Kinetic Engineering Design Ltd. -Original Message- From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On

Re: [etherlab-users] Controlling motors in position controller mode

Hi, This module supports “64-fold” micro stepping. So the number of counts per revolution for the Target Position is 200*64 = 12800 steps per revolution. Regards, Graeme. From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of Paul Mulligan Sent: Tuesday, 26 January

Re: [etherlab-users] rtai_rtdm_dc example, "error: system_time_base less than system time" message

Hi, The “system_time_base less than system time” is from the rtai_rtdm_dc example code. In the example it looks like system_time_base is initialised to zero and adjusted by a maximum of +-1001 each cycle. A value of -58905492552780 indicates that system_time_base is not being correctly

Re: [etherlab-users] configuration

From: Paul Mulligan [mailto:mulligan...@yahoo.ie] Sent: Tuesday, 23 February 2016 11:17 p.m. To: Graeme Foot Subject: configuration Hi Graeme, What in your opinion is the best way to configure an Ethercat system. Do you use the ET 9000 configuration tool? The requirement here is to be able

Re: [etherlab-users] distributed clocks query

Hi, I have never been able to get the EL7031 and EL7041 stepper modules to work in DC sync mode. I’ve also never really had enough time to really get in and figure out why. If you do and succeed then it would be appreciated if you could post your results. You could perhaps try to get it

Re: [etherlab-users] Distribute Clock new flow

. As for the Working counter changed messages I’m not really sure. Check the cable between the last two modules is good / try a new cable maybe. Regards, Graeme. From: 陈成细 [mailto:crazyintermi...@gmail.com] Sent: Friday, 25 March 2016 1:16 a.m. To: Graeme Foot Subject: Distribute Clock new flow

Re: [etherlab-users] CX CPU as Master Linux Slave

: David Jiménez Mejías [mailto:david.jime...@gtc.iac.es] Sent: Thursday, 19 May 2016 1:20 a.m. To: Graeme Foot; etherlab-users@etherlab.org Subject: RE: [etherlab-users] CX CPU as Master Linux Slave Hi, I'm not using a CX PC as Master, it is a x64 Real Time PC with Priest Distro. It has a ESD

Re: [etherlab-users] DC questions

time base value * * if the app clock is slower (ie the period takes longer) then the time base * value should be increased each period */ void app_addTimeBase( int64_t in_timeBase ) { u_appTimeBase += in_timeBase; } Regards, Graeme. From: Tommaso [mailto:furiosi.tomm...@

Re: [etherlab-users] el7031 stepper drivers - input registers always zero in PDO, ok in SDO

Have a look for any errors in your dmesg log. Also, what do your pdoEntries, pdos, syncs structures look like? Whats your firmware revision? There are a couple of firmware revisions with different parameter requirements. Being a stepper without an encoder, why do you need an actual

Re: [etherlab-users] Patch for Distributed Clock?

iarui Lian <je...@bertec.com> Sent: Thursday, 12 January 2017 06:39 To: Graeme Foot Subject: Patch for Distributed Clock? Hi, Dear Mr. Graeme Foot: I am studying IgH-EtherCAT-Master to control AX5206, and I saw your post in 2012: http://lists.etherlab.org/pipermail/etherlab-users/

Re: [etherlab-users] Patch for Distributed Clock?

rt_master_sync_slave_clocks(ecMod->master); // set master time in nano-seconds ecrt_master_application_time(ecMod->master, ecMod->m_dcTime); return 0; } Graeme. From: Jiarui Lian <je...@bertec.com> Sent: Friday, 13 January 2017 04:57 To

Re: [etherlab-users] Beckhoff EL7031

20Simulink%20Tutorial.pdf Regards, Grame. -Original Message- From: Ewan Houston [mailto:e.housto...@research.gla.ac.uk] Sent: Tuesday, 18 April 2017 2:08 a.m. To: Graeme Foot <graeme.f...@touchcut.com> Cc: etherlab-users@etherlab.org Subject: Re: Beckhoff EL7031 Hi Graeme, I am cu

Re: [etherlab-users] experience with CU1128 | EtherCAT junction

Never used them, but just had a quick look at the doco (just cos I was curious). - It mentions the ability to Hot Connect any of the ports, but there's no configuration behind this, just the usual hardware support. - It is detected as three ESC's (as that's what it has internally), each one

Re: [etherlab-users] Yaskawa sigma 5 application

> -Original Message- > From: Rahul Deshpande [mailto:rahulg...@gmail.com] > Sent: Friday, 4 August 2017 4:17 a.m. > To: Graeme Foot <graeme.f...@touchcut.com> > Subject: Yaskawa sigma 5 application > > Hi Graeme, > > Building up on the previous

Re: [etherlab-users] No CoE communication

. Graeme. -Original Message- From: Rahul Deshpande [mailto:rahulg...@gmail.com] Sent: Tuesday, 15 August 2017 3:57 a.m. To: Graeme Foot <graeme.f...@touchcut.com> Subject: No CoE communication Hi Graeme, I understand I have been mailing a lot, my questions may seem repe

Re: [etherlab-users] Yaskawa sigma 5 application

ethercat struct (after repowering the system, before running your app) ethercat debug 1 dmesg Regards, Graeme. -Original Message- From: Rahul Deshpande [mailto:rahulg...@gmail.com] Sent: Friday, 11 August 2017 3:20 a.m. To: Graeme Foot <graeme.f...@touchcut.com> Subj

Re: [etherlab-users] problem with ethercat xml

Regards, Graeme. -Original Message- From: Rahul Deshpande [mailto:rahulg...@gmail.com] Sent: Saturday, 26 August 2017 9:04 a.m. To: Graeme Foot <graeme.f...@touchcut.com> Cc: etherlab-users <etherlab-users@etherlab.org> Subject: Re: problem with ethercat xml Hi Gra

Re: [etherlab-users] No CoE communication

). For comparison I have attached my startup log. You could also try monitoring your EtherCAT network with wireshark to see what packets are going through. Graeme. -Original Message- From: Rahul Deshpande [mailto:rahulg...@gmail.com] Sent: Thursday, 24 August 2017 5:26 a.m. To: Graeme Foot

Re: [etherlab-users] Slave DC start time calculation

y 2018 16:34 To: Gavin Lambert <gavin.lamb...@tomra.com<mailto:gavin.lamb...@tomra.com>> Cc: Graeme Foot <graeme.f...@touchcut.com<mailto:graeme.f...@touchcut.com>>; etherlab-users@etherlab.org<mailto:etherlab-users@etherlab.org> Subject: Re: [etherlab-users] Slave D

Re: [etherlab-users] How to perform DC time synchronisation the right way?

Hi, Firstly, there is no way of checking if the frame transfer is complete. One comment, to reduce the jitter and offset of the master application time, place the clock_gettime(), ecrt_master_application_time(), ecrt_master_sync_reference_clock(), ecrt_master_sync_slave_clocks() calls

Re: [etherlab-users] Cyclic Synchronous Position mode

It's something like -- t = 0.0 : master receive datagram 0, receive actual position -2 t = 0.1 : master send datagram 1 (target position 1) t = 0.2 : drive receive datagram 1 (actual position -1 returned) t = 0.5 : drive sync 0, target position 1 becomes active, actual position 0 is

Re: [etherlab-users] Cyclic Synchronous Position mode

Note: from your previous email you are also delaying the send to the start of the next cycle, which adds another cycle of delay. Graeme. From: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] On Behalf Of Graeme Foot Sent: Wednesday, 16 May 2018 10:57 AM To: Michael Ruder <r

Re: [etherlab-users] Slave DC start time calculation

Monday, 21 May 2018 12:57 PM To: Graeme Foot <graeme.f...@touchcut.com>; Philippe Leuba <ple...@swissonline.ch> Cc: etherlab-users@etherlab.org Subject: RE: [etherlab-users] Slave DC start time calculation I would be inclined to treat that as an error, or as DC sync outputs dis

Re: [etherlab-users] Slave DC start time calculation

Hi, This piece of code is getting a start time that is in sync with the initial app time from a multiple of the sync0/sync1 cycle times, adjusted by the sync0 shift time.

Re: [etherlab-users] EtherCAT stack time requirement per domain is too long

> -Original Message- > From: Sy Meshkat [mailto:sy.mesh...@dspcg.com] > Sent: Friday, 12 January 2018 12:42 p.m. > To: Graeme Foot <graeme.f...@touchcut.com> > Subject: FW: EtherCAT stack time requirement per domain is too long > > > Sorry, it actuall

[etherlab-users] Missing Vendor ID / Product Code

correctly. Thanks, Graeme Foot. ___ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users

Re: [etherlab-users] Sync problems and DC mode

_reference_clock_time() and adjust your apps's time base to account for drift. You can then sleep and wake up your rt thread in keeping with your slaves time period. Graeme. From: Ignacio Rosales Gonzalez [mailto:naro...@gmail.com] Sent: Wednesday, 24 January 2018 12:57 a.m. To:

Re: [etherlab-users] Sync problems and DC mode

The Sync0shift values should be the same for all slaves (with the same time base), so that they all apply their PDO data at the same shift time from the start of the period. This allows you to send the PDO information any time between the start of the period and the sync time without the slave

Re: [etherlab-users] Sync problems and DC mode

As Boris says, master->app_time needs to actually match your PC's time (converted to your app's timeframe). Another change you could try is as below. From line 1115: // send process data rtapi_mutex_get(>mutex); // queue domain data ecrt_domain_queue(master->domain); // update

Re: [etherlab-users] Measuring the frequency of master sending the frames to network

hole 64bit timestamp using ecrt_master_sync_slave_clocks(). Regards, Graeme Foot. From: etherlab-users On Behalf Of Mohsen Alizadeh Noghani Sent: Tuesday, 2 October 2018 10:50 PM To: etherlab-users@etherlab.org Subject: [etherlab-users] Measuring the frequency of master sending the frames to

Re: [etherlab-users] Regular "working counter changes" error

It's toggling between 13 and 21 slave responding. Maybe check the Ethernet cable / connection between them. Also try the crc and diag commands to check for communication errors. Regards, Graeme. From: etherlab-users On Behalf Of law_...@aliyun.com Sent: Sunday, 18 November 2018 2:01 AM To:

Re: [etherlab-users] A question about ecrt_master_reference_clock_time

Hi, The long answer: A call to ecrt_master_sync_slave_clocks() queues a request to sync slaves to the ref slave. ecrt_master_send() will then send the request (along with any other queued datagrams). ecrt_master_receive() will process the returned datagrams, of which

Re: [etherlab-users] Syncing master to the reference slave: should I care?

FYI option 2 is the default method for TwinCAT. Either method is fine, as long as you take care to reduce timing errors. You should call ecrt_master_application_time() just before the ecrt_master_send() to reduce the amount of time variation between telling the master the PC's time and that

Re: [etherlab-users] Question on use of EL3064 (Beckhoff ADC)

. You can use a LRW (read/write) domain. Regards, Graeme. From: Sy Meshkat Sent: Tuesday, 9 July 2019 6:33 AM To: Graeme Foot Subject: Question on use of EL3064 (Beckhoff ADC) Dear Graeme, This is Sy Meshkat with DSP Control Group. Rahul and I talked/wrote to you about Yaskawa EtherCAT S

Re: [etherlab-users] Question on use of EL3064 (Beckhoff ADC)

hkat Sent: Wednesday, 10 July 2019 6:01 AM To: Graeme Foot Subject: RE: Question on use of EL3064 (Beckhoff ADC) Dear Graeme, Thanks a lot for your great help - it worked! In order for us not to bother you with emails, asking a similar question about various Beckhoff slaves, could you kindl

Re: [etherlab-users] Diagnostics, crc and phy errors

Hi, It looks like it is just a dodgy link between device 5 and device 6. To resolve, try the following (depending on what you have handy and assuming your drives are linked by patch cables): - Unplug and replug the patch cable at both ends a few times (to try and get better contact) - Take out

Re: [etherlab-users] Control loop at higher frequencies

Hi, It is sounding like the data time on the wire is taking too long (> 250us). Besides doubling the "DC system time transmission delay" of the last slave, you can also check the "Diff [ns]" value of your first slave. This may give you a more accurate idea if you have a star topology, as the

Re: [etherlab-users] Debugging inconsistent slave behaviour

the differences. 5) before starting your amp run the command "ethercat debug 1" to set the masters debug output level to 1. Start the app. Once started check the dmesg log and look for any configuration errors Regards, Graeme Foot. From: etherlab-users On Behalf Of j.sikor...@utwe

Re: [etherlab-users] cx2100 vs CCAT drivers

with the CCat driver and haven't looked into its capabilities, but for a new project I would be evaluating using the CCat driver. Regards, Graeme. From: James Benway Sent: Tuesday, 26 November 2019 2:19 AM To: Graeme Foot Subject: cx2100 vs CCAT drivers Hi Mr. Foot, I am picking up a project

Re: [etherlab-users] Slave lost forever after power cycling

switches are set it will apply an alias based on the dip switches. If the dip switches are all off it will use the P160 parameter. Use the dip switches or P160 to set your alias for this unit, not the "ethercat alias" command. Regards, Graeme Foot. From: etherlab-users On Behalf Of Joa

Re: [etherlab-users] Slave lost forever after power cycling

s the slave supports. Can you tell from the esi file which method is being used? Can you send through the esi file? Regards, Graeme Foot. From: Joachim Sällvin Sent: Tuesday, 18 February 2020 10:38 PM To: Graeme Foot ; Gavin Lambert ; etherlab-users@etherlab.org Subject: Sv: Slave lost forever

Re: [Etherlab-users] dynamic PDO unmapping

Hi Vincent, Some further thoughts: - If your drive can handle splitting your input PDOs and your output PDOs into two different domains (i.e. put the drives inputs into your common domain and the drives outputs into its own domain that can be stopped) then you can still read your drives

Re: [Etherlab-users] dynamic PDO unmapping

Hi, As far as I'm aware you would need to place each slave into its own domain and then not queue the domain for the slave you want to skip. Otherwise if a domain is queued, the whole domain data is sent. I think you would need to deactivate the master and reconfigure all the slaves to

Re: [Etherlab-users] EK1960 (TwinSAFE PLC) "This object does not exist" error and related warnings

Hi, I'm testing an EK1960 TwinSAFE PLC device. It integrates a TwinSAFE PLC and a bunch of safe inputs and outputs. I am creating the safety project in TwinCAT 3.1.4024.10 (with Visual Studio 2019 16.5 Community). I have exported the safety project and successfully loaded it onto the EK1960

Re: [etherlab-users] AL States

rpose), put them in a separate domain and use ecrt_domain_state() to check the wc_state parameter to ensure that group of slaves is fully operational for the functions they need to perform. Regards, Graeme. From: BUSSIERES Vincent Sent: Friday, 3 July 2020 8:15 AM To: Graeme Foot ; etherlab-user

Re: [Etherlab-users] Etherlab-master & linuxcnc

Hi Michele, I use ecrt_master_create_domain() to create three domains. One for general modules and the other two for the modules that require LRD & LWR. I configure each slaves PDO’s by calling ecrt_slave_config_pdos() and then ecrt_slave_config_reg_pdo_entry() for each PDO entry I want to

Re: [Etherlab-users] Ethercat slave

Hi Vincent, We have developed a slave using an Infineon XMC4800 development board (V2). All our slave required was the EtherCAT interface and a 100base T ethernet port for a small run of slaves, so we didn't need to develop a custom slave. Infineon provides the DAVE development environment

Re: [Etherlab-users] Etherlab patch with SII_PATH

). Regards, Graeme. From: James Benway Sent: Friday, 25 June 2021 02:03 To: Graeme Foot Subject: Etherlab patch with SII_PATH Hi Graeme, I am working on an etherlab project which requires a slave that does not support rewriting of the sii information and the slave is missing default PDO/sync

Re: [Etherlab-users] Running a large number of slaves

Hi Nir, I don't use overlapping PDO’s and don't know the constraints on them, but looking at the code, if you remove the "if (fmmu->logical_domain_offset >= candidate_start)" condition there will be a couple of problems. 1) When creating the first datagram the "emplace_datagram()" call

Re: [Etherlab-users] Running a large number of slaves

d as a block, do not exceed the maximum datagram size. Please note that I haven’t checked to see if it compiles. Regards, Graeme. From: Graeme Foot Sent: Thursday, 6 May 2021 10:49 To: 'Geller, Nir' ; Gavin Lambert ; Richard Hacker ; etherlab-users@etherlab.org Subject: RE: [Etherlab-users]

Re: [Etherlab-users] EoE messages are disturbing CoE communication

own patches to compensate. Someone else may be able to help further. Regards, Graeme. From: Ferdinand Postema - LR Sent: Thursday, 26 August 2021 22:07 To: Graeme Foot ; etherlab-users@etherlab.org Subject: RE: EoE messages are disturbing CoE communication Hi Graeme, Thanks for your quick

Re: [Etherlab-users] EoE messages are disturbing CoE communication

Hi Ferdinand, The vanilla Etherlab master does not separate the different mailbox protocols. However, the Gavin Lambert patchset applied to the master does. The patchset can be found at: https://sourceforge.net/u/uecasm/etherlab-patches/ci/default/tree/#readme If you have Ethernet over

Re: [Etherlab-users] strange behaviour with sdo configuration

. It's probably time to talk to the Beckhoff office that supplied the module for support. Let us know if you find anything further, I may want to use the module in the future. Regards, Graeme From: BUSSIERES Vincent Sent: Monday, 18 October 2021 21:01 To: Graeme Foot ; etherlab-users

Re: [Etherlab-users] strange behaviour with sdo configuration

Hi Vincent, I don't have a module to play with so no real idea. But here's some thoughts: 1) The Beckhoff esi file "Beckhoff EL5xxx.xml" file shows setting the value in index 4339:5 to on transition from Init to PreOp: IP 4339 5

Re: [Etherlab-users] strange behaviour with sdo configuration

rom: BUSSIERES Vincent Sent: Friday, 15 October 2021 12:00 To: Graeme Foot ; etherlab-users@etherlab.org Subject: RE: strange behaviour with sdo configuration Thank you Graeme for these thoughts. I used a similar module (EL5101), I hadn't this problem but pdo assignment was different. I used cstr

Re: [Etherlab-users] strange behaviour with sdo configuration

Friday, 15 October 2021 20:02 To: Graeme Foot ; etherlab-users@etherlab.org Subject: RE: strange behaviour with sdo configuration Dear All, When I configure sdos I get the following error: SDO abort message 0x0821: "Data cannot be transferred or stored to the application because of local contr

Re: [Etherlab-users] Patchset for large FMMU

21:45 To: Graeme Foot Subject: Patchset for large FMMU Dear Mr. Foot, My name is Nabila Gina Nastiti. I found your post to Mr. Gellen titled "Running a large number of Slave" as below : https://www.mail-archive.com/etherlab-users@etherlab.org/msg03587.html In your post, you menti

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