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<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy">Another thing you can look at is the "ethercat slaves -v" command.<o:p></o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy">If you have a linear topology then the last slaves "DC system time transmission delay" value tells you how long it takes for a frame
to get sent to it, so if you double the value you get the approximate round trip time.<o:p></o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy">If you have a start topology (or various mixtures) then the round trip time will be less than double this value.<o:p></o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy">Then its down to allowing for your realtime jitter and EtherCAT master processing overhead etc.<o:p></o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy">G.<o:p></o:p></span></font></p>
<p class="MsoNormal"><font size="2" color="navy" face="Arial"><span style="font-size:
10.0pt;font-family:Arial;color:navy"><o:p> </o:p></span></font></p>
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<p class="MsoNormal"><b><font size="2" face="Tahoma"><span lang="EN-US" style="font-size:10.0pt;font-family:Tahoma;font-weight:bold">From:</span></font></b><font size="2" face="Tahoma"><span lang="EN-US" style="font-size:10.0pt;font-family:Tahoma"> etherlab-users-bounces@etherlab.org
[mailto:etherlab-users-bounces@etherlab.org] <b><span style="font-weight:bold">On Behalf Of
</span></b>Jeroen Van den Keybus<br>
<b><span style="font-weight:bold">Sent:</span></b> Thursday, 21 November 2013 05:34<br>
<b><span style="font-weight:bold">To:</span></b> Curt<br>
<b><span style="font-weight:bold">Cc:</span></b> etherlab-users@etherlab.org<br>
<b><span style="font-weight:bold">Subject:</span></b> Re: [etherlab-users] example code</span></font><span lang="EN-US"><o:p></o:p></span></p>
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt"><o:p> </o:p></span></font></p>
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt">Using Xenomai and the specific patched drivers, I could easily go beyond 10 kHz with an EK1100 and 2 EL2008 on a Core 2 Duo 2.2 Ghz with e1000. I also did extensive
measurement of delays and came up with about 6.5 us for the IgH master and something in the order of 10 us for the NIC from transmit start to first symbol on wire and back (last symbol on wire to receive start). So the NIC delays are certainly appreciable
as well.<o:p></o:p></span></font></p>
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt"><o:p> </o:p></span></font></p>
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt">Are you running stock Linux (e.g. no RTAI, Xenomai or RT-PREEMPT) ?<o:p></o:p></span></font></p>
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt"><o:p> </o:p></span></font></p>
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt">J.<o:p></o:p></span></font></p>
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt"><o:p> </o:p></span></font></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><font size="3" face="Times New Roman"><span style="font-size:12.0pt"><o:p> </o:p></span></font></p>
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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt">2013/11/19 Curt <<a href="mailto:cfiene@cybermetrix.com" target="_blank">cfiene@cybermetrix.com</a>><o:p></o:p></span></font></p>
<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt">Sorry for the newbie questions.<br>
<br>
I've downloaded built and installed the ethercat master 1.5.2.<br>
<br>
Used the generic driver to communicated with an Beckhoff EK1101 hub, EL1034<br>
digital input and EL2034 digital output.<br>
<br>
I then modified the ./example/user/main.c code to work with these modules.<br>
Seems to work OK. I then looped the digital out to a digital in to some<br>
basic performance testing.<br>
<br>
At a update rate of 1kHz (1 millisecond), it can detect a change on average of<br>
about 2 ms. I increased the rate to 2kHz, it can detect a change on<br>
average of 1ms, BUT, I see an occasional, "EtherCAT WARNING: Datagram da69fecc<br>
(domain0-0-main) was SKIPPED 1 time". I don't see this warning at a 1kHz<br>
update rate.<br>
<br>
Are these reasonable results, and does this imply that the fastest rate I can<br>
expect without errors/warnings is 1 kHz?<br>
<br>
Would I get significantly better results using the Ethercat kernel module for<br>
my chipset?<br>
<br>
<br>
Thanks,<br>
<br>
Curt Fiene<br>
Cybermetrix<br>
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