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</o:shapelayout></xml><![endif]--></head><body lang=ZH-CN link=blue vlink=purple style='text-justify-trim:punctuation'><div class=WordSection1><p class=MsoNormal><span lang=EN-US>When I configure rati-enable = yes, use /example/Rtai-rtdm-dc as a reference ,I use rt_get_time_ns() to get the system time and rt_sleep_until() to sleep the realtime task . It work well with BECKHOFF’s driver AX5101.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US>But, when I configure xenomai-enable =yes , use rt_timer_tsc2ns(rt_timer_tsc()) to get the system time and rt_task_sleep_until() to sleep the realtime task. The master laways print:<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US> EtherCAT 0 :Domain 0: 2 working counter changes –now 3/3<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>And sometimes:<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US> “Synchronization error”<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>Why? <o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>Thanks<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p></div></body></html>