<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>
<meta content="text/html; charset=ISO-8859-15"
http-equiv="Content-Type">
</head>
<body text="#000000" bgcolor="#ffffff">
Hello,<br>
<br>
please check a newer version of the stable branch.<br>
<br>
Florian did some work on better syncing in DC mode.<br>
<br>
Best regards<br>
<br>
Andreas<br>
<br>
Am 31.10.2011 16:10, schrieb Gianluca Medini:
<blockquote cite="mid:4EAEBA59.5010109@eurosoft.191.it" type="cite">Good
morning, I'm using the Igh ethercat master to play motor drives with
DC.
<br>
What I see is a time to have a little difference in timing (registser
0x92c) that is very long (the first time I start the master is about 30
seconds, if I restart also much more).
<br>
Inspecting the 0x92c seems we have oscilation that need a long time
to end.
<br>
I don't know if this is normal since I've no experience with other
masters.
<br>
However I've seen an asimmetry in code for user and hard real time.
<br>
1) In user example
<br>
// write application time to master
<br>
clock_gettime(CLOCK_TO_USE, &time);
<br>
ecrt_master_application_time(master, TIMESPEC2NS(time));
<br>
<br>
2) In rtai example.
<br>
....
<br>
tv.tv_usec += 1000;
<br>
if (tv.tv_usec >= 1000000) {
<br>
tv.tv_usec -= 1000000;
<br>
tv.tv_sec++;
<br>
}
<br>
ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv));
<br>
<br>
In the RTai example the clock is taken a first time before the main
loop and after is calculated manually (incrementing 1000 mSec), in
these way (it seems to me) the time I give to master is always with the
(small enough) jitter of the RTai scheduler.
<br>
<br>
I'm wrong ?
<br>
<br>
<br>
<pre wrap="">
<fieldset class="mimeAttachmentHeader"></fieldset>
_______________________________________________
etherlab-users mailing list
<a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>
<a class="moz-txt-link-freetext" href="http://lists.etherlab.org/mailman/listinfo/etherlab-users">http://lists.etherlab.org/mailman/listinfo/etherlab-users</a>
</pre>
</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">Mit freundlichem Gruß
Andreas Stewering-Bone
--
------------------------------------------------------------------------
Dipl.-Ing.(FH) Andreas Stewering-Bone
<a class="moz-txt-link-abbreviated" href="mailto:andreas.stewering-bone@igh-essen.com">andreas.stewering-bone@igh-essen.com</a>
Tel.: +49 201 / 36014-15
Ingenieurgemeinschaft IgH
Gesellschaft für Ingenieurleistungen mbH
Heinz-Bäcker-Str. 34
D-45356 Essen
Amtsgericht Essen HRB 11500
USt-Id.-Nr.: DE 174 626 722
Geschäftsführung:
- Dr.-Ing. S. Rotthäuser,
- Dr.-Ing. T. Finke,
- Dr.-Ing. W. Hagemeister
Tel.: +49 201 / 360-14-0
<a class="moz-txt-link-freetext" href="http://www.igh-essen.com">http://www.igh-essen.com</a>
------------------------------------------------------------------------
</pre>
</body>
</html>