[etherlab-users] R: SDO stress

paluan.luca at tiscali.it paluan.luca at tiscali.it
Thu May 23 12:10:02 CEST 2013



Hello,
I've been struggling with Sdo write since 3 mounths without a 
solution up to now.
I wrote a stress test which writes and reads what 
written on three Sdo for three Servos in a preemptive real time loop:

after some hours of work the application hangs and the ethercat master 
shows a download/upload Sdo Timeout error problem.
I've checked that 
only one read or one write takes place at a time, for example:
start 
write SDO1 for first servo
end write SDO1 for first servo
start read 
SDO1 for first servo
end read SDO1 for first servo
start write SDO2 for 
first servo
end write SDO2 for first servo
start read SDO2 for first 
servo
end read SDO2 for first servo
...
start write SDO1 for second 
servo
end write SDO1 for second servo
start read SDO1 for second servo

end read SDO1 for second servo
start write SDO2 for second servo
end 
write SDO2 for second servo
start read SDO2 for second servo
end read 
SDO2 for second servo
....
So each write doesn't overlap each read for 
each servo.
As far as I know managing Sdo inside real time loop is not 
reliable: I mean it usually works, but for a software which manages 
Servos is not enough.
If someone has advices or suggestions is welcome.

Best Regards, Luca Paluan

----Messaggio originale----
Da: 
RBenYehuda at manz.com
Data: 22/05/2013 13.36
A: "etherlab-users at etherlab.
org"<etherlab-users at etherlab.org>
Ogg: [etherlab-users] SDO stress

Hey


I have been tracking the following problem:
I generate bulk of sdo 
reads and sdo writes ( upload / downloads).  after some time the sdo 
read 
hangs.  I made a capture with tcpdump and noticed that the 
failure lies in etherlab. it appears that 
after some time etherlab 
does not try to send a mail box response read from the mailbox, even 
though
the slave "said" he has the data available ( by replying to read 
request).
Why this bug fixed ?

thank you
raz


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