Hi there,<br><br>me again. I think I find the answer: It is related to the Macro EC_SYSTEM_TIME_TOLERANCE_NS in fsm_master.c. Using the configure option --enable-cycles before compiling the master seems to be the simplest way to resolve my problem.<br>
<br>Have a nice day,<br>Jun<br><br><div class="gmail_quote">On Mon, Dec 12, 2011 at 12:51 PM, Jun Yuan <span dir="ltr"><<a href="mailto:j.yuan@rtleaders.com">j.yuan@rtleaders.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex">
Hi,<br>
<br>
I'm having problem with DC synchron. Sometimes it works, the slave is<br>
in sync. And sometimes it doesn't, there comes the warning in the<br>
master log: Slave did not sync after 5000 ms. What should I do to<br>
improve the stability of the DC Sync?<br>
<br>
in the slave configuration, I did<br>
// configure SYNC signals for this slave<br>
ecrt_slave_config_dc(sc_lti, 0x0300, 4000000, 0, 0, 0);<br>
<br>
$ ethercat slaves -v<br>
=== Master 0, Slave 0 ===<br>
State: PREOP<br>
Flag: +<br>
Identity:<br>
Vendor Id: 0x00000016<br>
Product code: 0x00020004<br>
Revision number: 0x00010000<br>
Serial number: 0x00000000<br>
DL information:<br>
FMMU bit operation: no<br>
Distributed clocks: yes, 64 bit<br>
DC system time transmission delay: 0 ns<br>
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns]<br>
NextDc [ns]<br>
0 MII up open yes - 2936198434 0 0<br>
1 MII down closed no - - - -<br>
2 N/A down closed no - - - -<br>
3 N/A down closed no - - - -<br>
Mailboxes:<br>
Bootstrap RX: 0x0000/0, TX: 0x0000/0<br>
Standard RX: 0x1800/512, TX: 0x1a2e/512<br>
Supported protocols: CoE<br>
General:<br>
Group:<br>
Image name:<br>
Order number:<br>
Device name:<br>
CoE details:<br>
Enable SDO: yes<br>
Enable SDO Info: yes<br>
Enable PDO Assign: yes<br>
Enable PDO Configuration: yes<br>
Enable Upload at startup: no<br>
Enable SDO complete access: no<br>
Flags:<br>
Enable SafeOp: no<br>
Enable notLRW: no<br>
Current consumption: 0 mA<br>
<br>
<br>
The XML Description of its DC:<br>
<Dc Unknown64Bit="1" UnknownFRMW="1"><br>
<br>
<OpMode><br>
<br>
<Name>DcSync</Name><br>
<br>
<Desc>DC for synchronization</Desc><br>
<br>
<AssignActivate>#x0300</AssignActivate><br>
<br>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0><br>
<br>
<ShiftTimeSync0>0</ShiftTimeSync0><br>
<br>
</OpMode><br>
<br>
<OpMode><br>
<br>
<Name>DcOff</Name><br>
<br>
<Desc>DC unused</Desc><br>
<br>
<AssignActivate>#x0000</AssignActivate><br>
<br>
</OpMode><br>
<br>
</Dc><br>
<br>
<br>
<br>
[ 9766.872630] EtherCAT DEBUG 0: Master IDLE thread exiting...<br>
[ 9766.872646] EtherCAT 0: Master thread exited.<br>
[ 9766.872649] EtherCAT DEBUG 0: FSM datagram is f60f4bf4.<br>
[ 9766.872651] EtherCAT 0: Starting EtherCAT-OP thread.<br>
[ 9766.872729] EtherCAT DEBUG 0: Operation thread running with fsm<br>
interval = 1000 us, max data size=11250<br>
[ 9766.872731] EtherCAT WARNING 0: 1 datagram UNMATCHED!<br>
[ 9766.872733] EtherCAT DEBUG 0: mmap()<br>
[ 9766.872738] EtherCAT DEBUG 0: Vma fault, virtual_address =<br>
b78d6000, offset = 0, page = c276b9a0<br>
[ 9766.876765] EtherCAT DEBUG 0: Set application start time = 9766876764399<br>
[ 9766.877265] EtherCAT DEBUG 0: Configuration changed.<br>
[ 9766.877276] EtherCAT DEBUG 0: Writing system time offsets...<br>
[ 9766.885265] EtherCAT DEBUG 0-0: DC system time offset calculation:<br>
system_time=9766879549706 (corrected with 4000000),<br>
app_start_time=9766876764399, diff=-2785307<br>
[ 9766.885268] EtherCAT DEBUG 0-0: Not touching time offset.<br>
[ 9766.893263] EtherCAT DEBUG 0: Writing system time offsets...<br>
[ 9766.893265] EtherCAT DEBUG 0: Requesting OP...<br>
[ 9766.909264] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.<br>
[ 9766.909282] EtherCAT DEBUG 0-0: Configuring...<br>
[ 9766.920758] EtherCAT DEBUG 0-0: Now in INIT.<br>
[ 9766.920759] EtherCAT DEBUG 0-0: Clearing FMMU configurations...<br>
[ 9766.924758] EtherCAT DEBUG 0-0: Clearing sync manager configurations...<br>
[ 9766.928758] EtherCAT DEBUG 0-0: Clearing DC assignment...<br>
[ 9766.932758] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...<br>
[ 9766.932761] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 512, Ctrl 0x26, En 1<br>
[ 9766.932763] EtherCAT DEBUG 0-0: SM1: Addr 0x1A2E, Size 512, Ctrl 0x22, En 1<br>
[ 9766.944758] EtherCAT DEBUG 0-0: Now in PREOP.<br>
[ 9767.280771] EtherCAT DEBUG 0-0: SM2: Addr 0x1200, Size 14, Ctrl 0x24, En 1<br>
[ 9767.280773] EtherCAT DEBUG 0-0: SM3: Addr 0x1260, Size 14, Ctrl 0x00, En 1<br>
[ 9767.284759] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, DomAddr<br>
0x00000000, Size 14, Tx 14 PhysAddr 0x1200, SM2, Dir out<br>
[ 9767.284762] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000E, DomAddr<br>
0x0000000E, Size 14, Tx 14 PhysAddr 0x1260, SM3, Dir in<br>
[ 9767.288758] EtherCAT DEBUG 0-0: Setting DC cycle times to 4000000 / 0.<br>
[ 9767.292758] EtherCAT DEBUG 0-0: Checking for synchrony.<br>
[ 9767.296758] EtherCAT DEBUG 0-0: Sync after 4 ms: 2779416 ns<br>
[ 9767.300758] EtherCAT DEBUG 0-0: Sync after 8 ms: 2779382 ns<br>
[ 9767.304758] EtherCAT DEBUG 0-0: Sync after 12 ms: 2779345 ns<br>
[ 9767.308758] EtherCAT DEBUG 0-0: Sync after 16 ms: 2779298 ns<br>
[ 9767.312758] EtherCAT DEBUG 0-0: Sync after 20 ms: 2779242 ns<br>
[ 9767.316758] EtherCAT DEBUG 0-0: Sync after 24 ms: 2779181 ns<br>
[ 9767.320758] EtherCAT DEBUG 0-0: Sync after 28 ms: 2779113 ns<br>
[ 9767.324758] EtherCAT DEBUG 0-0: Sync after 32 ms: 2779036 ns<br>
...<br>
[ 9772.256758] EtherCAT DEBUG 0-0: Sync after 4964 ms: 362619 ns<br>
[ 9772.260758] EtherCAT DEBUG 0-0: Sync after 4968 ms: 360183 ns<br>
[ 9772.264758] EtherCAT DEBUG 0-0: Sync after 4972 ms: 357743 ns<br>
[ 9772.268758] EtherCAT DEBUG 0-0: Sync after 4976 ms: 355303 ns<br>
[ 9772.272758] EtherCAT DEBUG 0-0: Sync after 4980 ms: 352863 ns<br>
[ 9772.276758] EtherCAT DEBUG 0-0: Sync after 4984 ms: 350425 ns<br>
[ 9772.280758] EtherCAT DEBUG 0-0: Sync after 4988 ms: 347988 ns<br>
[ 9772.284758] EtherCAT DEBUG 0-0: Sync after 4992 ms: 345551 ns<br>
[ 9772.288758] EtherCAT DEBUG 0-0: Sync after 4996 ms: 343112 ns<br>
[ 9772.292758] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.<br>
[ 9772.292760] EtherCAT DEBUG 0-0: app_start_time=9766876764399<br>
[ 9772.292762] EtherCAT DEBUG 0-0: start_time=9772388764430<br>
[ 9772.292763] EtherCAT DEBUG 0-0: cycle_time=4000000<br>
[ 9772.292765] EtherCAT DEBUG 0-0: shift_time=0<br>
[ 9772.292766] EtherCAT DEBUG 0-0: remainder=31<br>
[ 9772.292768] EtherCAT DEBUG 0-0: start=9772392764399<br>
[ 9772.292769] EtherCAT DEBUG 0-0: Setting DC cyclic operation start<br>
time to 9772392764399.<br>
[ 9772.296758] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0300.<br>
[ 9772.308758] EtherCAT DEBUG 0-0: Now in SAFEOP.<br>
[ 9772.308764] EtherCAT 0: Domain 0: Working counter changed to 3/3.<br>
[ 9772.316758] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.<br>
[ 9772.321262] EtherCAT 0: Slave states: OP.<br>
</blockquote></div><br>