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<P><FONT SIZE=2 FACE="Arial">Hi,</FONT>
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<P><FONT SIZE=2 FACE="Arial">I have a very strange problem.</FONT>
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<P><FONT SIZE=2 FACE="Arial">I'm running V1.5 in user mode. My app clocks the bus at 1KHz with ecrt_domain_queue/ecrt_master_send /ecrt_master_receive/ecrt_domain_process and get my data back with EC_READ's.</FONT></P>
<P><FONT SIZE=2 FACE="Arial">Devices on the bus vary, but include Kollmorgen S300, Festo pressure regulators, Beckhof ADC/DAC. I have 7 systems working fine in the field.</FONT></P>
<P><FONT SIZE=2 FACE="Arial">So now we've upgraded the Kollmorgen S300's to AKD drives. Fairly straightforward move you might think.</FONT>
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<P><FONT SIZE=2 FACE="Arial">Not so! After an internal initial homing process, the angular positional data returned from the drive would not show any change, even though the attached motor was turning. After a time (variable, and anything from .5 secs to 10 secs), a new value would be returned which is massively different from the previous "static" value, now reflecting the true position of the motor.</FONT></P>
<P><FONT SIZE=2 FACE="Arial">My app is an X windows program, and by chance I noticed that if I perfomed a Window manager function, i.e. move a terminal window on top of my app, it kick started new data to be retrieved from the bus!?</FONT></P>
<P><FONT SIZE=2 FACE="Arial">The code driving the bus has a heartbeat, which never misses a beat, even when returned data is not changing, so I'm happy the ecrt routines are being called continuously.</FONT></P>
<P><FONT SIZE=2 FACE="Arial">I use ecrt_master_state and ecrt_domain_state to look for errors but get none.</FONT>
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<P><FONT SIZE=2 FACE="Arial">So I'm wondering how the master can return the same data to me when it is clearly changing at the device. After all, with no errors, it must think data has been exchanged.</FONT></P>
<P><FONT SIZE=2 FACE="Arial">And, why does an X window manager kick a transfer off? How can it be linked to the network?</FONT>
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<P><FONT SIZE=2 FACE="Arial">Anyone had similar issues?</FONT>
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<P><FONT SIZE=2 FACE="Arial">regards</FONT>
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<P><FONT SIZE=2 FACE="Arial">Ian R.K. Norton</FONT>
<BR><FONT SIZE=2 FACE="Arial">System Support Engineer</FONT>
<BR><FONT SIZE=2 FACE="Arial">Aircraft Engineering</FONT>
<BR><FONT SIZE=2 FACE="Arial">Cranfield Aerospace Ltd</FONT>
<BR><FONT SIZE=2 FACE="Arial">Cranfield</FONT>
<BR><FONT SIZE=2 FACE="Arial">Bedford MK43 0AL</FONT>
<BR><FONT SIZE=2 FACE="Arial">UK</FONT>
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<P><FONT SIZE=2 FACE="Arial">Tel - +44 (0) 1234 754926</FONT>
<BR><FONT SIZE=2 FACE="Arial">Fax - +44 (0) 1234 752375</FONT>
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