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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Hi,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">1) If your cycle time is 4ms, I think it should instead be:<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">0x60C2, 0x01 = 4<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">0x60C2, 0x02 = -3<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Eg:<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New""> ecrt_slave_config_sdo8(dev->slaveConfig, 0x60C2, 0x01, (uint8_t)4);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New""> ecrt_slave_config_sdo8(dev->slaveConfig, 0x60C2, 0x02, (int8_t)(-3));<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Where the first parameter is the significand and the second parameter is the exponent. So:<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">(0x60C2, 0x01) * 10 ^ (0x60C2, 0x02) = 4 * 10 ^ -3 = 0.004 seconds = 4 ms<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">2) I’m currently patching against 1.5.2 (2526). Yes it is still quite old but I haven’t needed to (or had the time) to move on. I don’t think any of my patches
have made it into the master. My current DC patch is: etherlabmaster-1.5.2-2526-c_dc_helpers.patch (attached). There is still the odd issue with some of the slaves taking a while to sync on startup. This has been solved by other people but I haven’t had
a chance to add it in myself yet.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">I don’t think the EK1100, EL1008 and EL2008 modules are able to be set up as DC slaves, but they can be used as the reference clock slave.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Before starting realtime polling I set the reference clock slave using (where refSlaveConfig is the slaveConfig of the module I select via a config file):<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New""> ecrt_master_select_reference_clock(ecMod->master, refSlaveConfig);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">This is after
</span><span style="font-size:11.0pt;font-family:"Courier New"">ecrt_master_application_time()</span><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> and before
</span><span style="font-size:11.0pt;font-family:"Courier New"">ecrt_master_activate()</span><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">My realtime loop is:<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // receive process data<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecrt_master_receive(ecMod->master);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // process domain data<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black">
</span><span style="font-size:11.0pt;font-family:"Courier New";color:blue">for</span><span style="font-size:11.0pt;font-family:"Courier New";color:black"> (i = 0; i < EC_DOMAIN_COUNT; i++)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> {<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecrt_domain_process(ecMod->domains[i].domain);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> }<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // check domain state, check master state<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ...<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // prepare pdo data<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ...<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // send process data<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black">
</span><span style="font-size:11.0pt;font-family:"Courier New";color:blue">for</span><span style="font-size:11.0pt;font-family:"Courier New";color:black"> (i = 0; i < EC_DOMAIN_COUNT; i++)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> {<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecrt_domain_queue(ecMod->domains[i].domain);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> }<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // always sync distributed clock (just before master_send)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecMod_syncDistClock(ecMod);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black">
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // do the send<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecrt_master_send(ecMod->master);
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> <o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // update the master clock (if this module provides the ref slave)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // Note: called after ecrt_master_send to reduce time jitter<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecMod_updateMasterClock(ecMod);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">My syncDistClock function gets the current ref slave time and requests the slaves to sync to the ref slave:<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // cache prev master time and get now<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> masterTime = (uint32_t)ecMod->m_dcTime;<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecMod->m_dcTime = filterTime( rt_get_time_ns() );<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // get lower 32 bit of clock time from reference slave (after first scan)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black">
</span><span style="font-size:11.0pt;font-family:"Courier New";color:blue">if</span><span style="font-size:11.0pt;font-family:"Courier New";color:black"> (ecMod->m_getDCDiff)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> {<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> int res;<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> uint32_t slaveTime;<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> res = ecrt_master_reference_clock_time(ecMod->master, &slaveTime);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black">
</span><span style="font-size:11.0pt;font-family:"Courier New";color:blue">switch</span><span style="font-size:11.0pt;font-family:"Courier New";color:black"> (res)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> {<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black">
</span><span style="font-size:11.0pt;font-family:"Courier New";color:blue">case</span><span style="font-size:11.0pt;font-family:"Courier New";color:black"> 0 :<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> {<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // calc time diff<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecMod->m_dcDiff = masterTime - slaveTime;<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> } break;<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black">
</span><span style="font-size:11.0pt;font-family:"Courier New";color:blue">default</span><span style="font-size:11.0pt;font-family:"Courier New";color:black"> :<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> {<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // no ref clock found or datagram failure<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecMod->m_dcDiff = 0;<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> }<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> }<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> }<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black">
</span><span style="font-size:11.0pt;font-family:"Courier New";color:blue">else<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> {<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecMod->m_dcDiff = 0;<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecMod->m_getDCDiff = true;<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> }<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // call to sync slaves to ref slave
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // (which is used for ecrt_master_reference_clock_time)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecrt_master_sync_slave_clocks(ecMod->master);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // update the master time for the next cycle (in nano-seconds)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // (this is required for the master to figure out the modules initial<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:#006800"> // dc time)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";color:black"> ecrt_master_application_time(ecMod->master, ecMod->m_dcTime + g_app.scanTimeNS);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">My updateMasterClock function is responsible for tracking and filtering the master time drift. This drift is added to the rtai time. So whenever I need to
get an rtai time I need to wrap it in the </span><span style="font-size:11.0pt;font-family:"Courier New"">filterTime()</span><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> function. When I need the realtime cycle to sleep
for the next period (using </span><span style="font-size:11.0pt;font-family:"Courier New"">rt_sleep_until(wakeTime)</span><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">) the wake time is adjusted by the filtered time.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">(Note: error checking removed to hopefully make clearer)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">I hope this helps,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Graeme.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"><o:p> </o:p></span></p>
<div style="border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif"">From:</span></b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif"">
</span><span style="font-size:10.0pt;font-family:"Microsoft JhengHei","sans-serif"">陈成细</span><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif""> [mailto:crazyintermilan@gmail.com]
<br>
<b>Sent:</b> Friday, 29 May 2015 2:19 p.m.<br>
<b>To:</b> Graeme Foot<br>
<b>Subject:</b> Re: Twincat communicate with yaskawa SGDV alarm A12 (Sync Error)<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">Dear Graeme Foot,<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">Thanks for your kindly guide in the mailing list and private email. In the recently half year, I do on the track and make in progress to drive my yaskawa servopack and servo motor via etherlab master.<o:p></o:p></p>
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<p class="MsoNormal">First of all, I would like update my status to you. <o:p></o:p></p>
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<p class="MsoNormal">1. I create three domain, readdomain, write domain for yaskawa, another domain for others.<o:p></o:p></p>
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<p class="MsoNormal">2. I can make motor rotate in free run mode without setup DC<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">3. Two times success to drive motor with DC, others 5000ms sync error<o:p></o:p></p>
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<p class="MsoNormal">My setup:<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">ubuntu 14.04, xenomai real time kernel, etherlab1.52 stable
<o:p></o:p></p>
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<p class="MsoNormal">I do my homework already, and I think the answer already in the mailing list, so I have several point need to make clear.<br>
<br>
1. <<u><span style="color:blue"><a href="http://lists.etherlab.org/pipermail/etherlab-users/2012/001562.html">http://lists.etherlab.org/pipermail/etherlab-users/2012/001562.html</a></span></u>> post you mention
<br>
<o:p></o:p></p>
<pre>Hi,<br><br>Yes I have thanks. My cycle time is 1ms. I have set:<o:p></o:p></pre>
<pre>0x60C2, 0x01 = 1<o:p></o:p></pre>
<pre>0x60C2, 0x02 = -3 <o:p></o:p></pre>
<blockquote style="border:none;border-left:solid #CCCCCC 1.0pt;padding:0cm 0cm 0cm 6.0pt;margin-left:4.8pt;margin-right:0cm">
<pre>Graeme.<o:p></o:p></pre>
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<p class="MsoNormal">My cycle time use 4ms, I set <o:p></o:p></p>
<pre>0x60C2, 0x01 = 01<o:p></o:p></pre>
<pre>0x60C2, 0x02 = FD<o:p></o:p></pre>
<p class="MsoNormal">refer to<br>
<img border="0" width="406" height="471" id="_x0000_i1061" src="cid:image003.jpg@01D09D26.65122370" alt="Inline image 1"><o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">2. Regarding DC patch <<u><span style="color:blue"><a href="http://thread.gmane.org/gmane.network.etherlab.user/1421">http://thread.gmane.org/gmane.network.etherlab.user/1421</a></span></u>>, do you have latest patch for etherlab1.52 stable,
since it is years ago, or already merged into 1.52?<o:p></o:p></p>
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<p class="MsoNormal">I understand that 5000ms sync error caused by DC time offset calculation inaccurate. First of all, I select yaskawa slave as reference clock, then sync master to reference clock? If I add EK1100, EL1008, and EL2008, also I have to sync
these slaves to reference clock?<o:p></o:p></p>
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<p class="MsoNormal">As now my implement in my loop as follow:<o:p></o:p></p>
<p class="MsoNormal"><span style="color:green">//</span><span style="color:silver">
</span><span style="color:green">send</span><span style="color:silver"> </span><span style="color:green">process</span><span style="color:silver">
</span><span style="color:green">data</span> <o:p></o:p></p>
<pre><span style="color:silver"> </span><span style="color:green">//</span><span style="color:silver"> </span><span style="color:green">update</span><span style="color:silver"> </span><span style="color:green">application</span><span style="color:silver"> </span><span style="color:green">time</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:black">master-></span><span style="color:maroon">app_time</span><span style="color:silver"> </span><span style="color:black">+=</span><span style="color:silver"> </span><span style="color:black">master-></span><span style="color:maroon">app_time_period</span><span style="color:black">;</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span>ecrt_master_application_time<span style="color:black">(master-></span><span style="color:maroon">master</span><span style="color:black">,</span><span style="color:silver"> </span><span style="color:black">master-></span><span style="color:maroon">app_time</span><span style="color:black">);</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:green">//</span><span style="color:silver"> </span><span style="color:green">sync</span><span style="color:silver"> </span><span style="color:green">ref</span><span style="color:silver"> </span><span style="color:green">clock</span><span style="color:silver"> </span><span style="color:green">to</span><span style="color:silver"> </span><span style="color:green">master</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:olive">if</span><span style="color:silver"> </span><span style="color:black">(master-></span><span style="color:maroon">sync_ref_cycles</span><span style="color:silver"> </span><span style="color:black">></span><span style="color:silver"> </span><span style="color:navy">0</span><span style="color:black">)</span><span style="color:silver"> </span><span style="color:black">{</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:olive">if</span><span style="color:silver"> </span><span style="color:black">(master-></span><span style="color:maroon">sync_ref_cnt</span><span style="color:silver"> </span><span style="color:black">==</span><span style="color:silver"> </span><span style="color:navy">0</span><span style="color:black">)</span><span style="color:silver"> </span><span style="color:black">{</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:black">master-></span><span style="color:maroon">sync_ref_cnt</span><span style="color:silver"> </span><span style="color:black">=</span><span style="color:silver"> </span><span style="color:black">master-></span><span style="color:maroon">sync_ref_cycles</span><span style="color:black">;</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span>ecrt_master_sync_reference_clock<span style="color:black">(master-></span><span style="color:maroon">master</span><span style="color:black">);</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:black">}</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:black">master-></span><span style="color:maroon">sync_ref_cnt</span><span style="color:black">--;</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:black">}</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:green">//</span><span style="color:silver"> </span><span style="color:green">sync</span><span style="color:silver"> </span><span style="color:green">slaves</span><span style="color:silver"> </span><span style="color:green">to</span><span style="color:silver"> </span><span style="color:green">ref</span><span style="color:silver"> </span><span style="color:green">clock</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span>ecrt_master_sync_slave_clocks<span style="color:black">(master-></span><span style="color:maroon">master</span><span style="color:black">);</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><span style="color:green">//</span><span style="color:silver"> </span><span style="color:green">send</span><span style="color:silver"> </span><span style="color:green">domain</span><span style="color:silver"> </span><span style="color:green">data</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span>ecrt_domain_queue<span style="color:black">(master-></span><span style="color:maroon">domain</span><span style="color:black">);</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span>ecrt_master_send<span style="color:black">(master-></span><span style="color:maroon">master</span><span style="color:black">);</span><o:p></o:p></pre>
<pre><span style="color:silver"> </span><o:p></o:p></pre>
<p class="MsoNormal">As follow <<u><span style="color:blue"><a href="http://lists.etherlab.org/pipermail/etherlab-users/2014/002461.html">http://lists.etherlab.org/pipermail/etherlab-users/2014/002461.html</a></span></u>>, I have to use
<o:p></o:p></p>
<pre style="margin-bottom:12.0pt">ecrt_master_reference_clock_time()instead of ecrt_master_sync_reference_clock<span style="color:black">(master-></span><span style="color:maroon">master</span><span style="color:black">).</span><o:p></o:p></pre>
<pre style="margin-bottom:12.0pt"><span style="color:black">Sorry, I am totally lost here. And should select slave as reference clock outside loop?</span><o:p></o:p></pre>
<pre><span style="color:black">Thanks!</span><o:p></o:p></pre>
<pre><span style="color:black">-chengxi</span><o:p></o:p></pre>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">On Fri, Aug 29, 2014 at 11:52 AM, <span style="font-family:MingLiU">
陈成细</span> <<a href="mailto:crazyintermilan@gmail.com" target="_blank">crazyintermilan@gmail.com</a>> wrote:<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">Dear Graeme,<o:p></o:p></p>
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<p class="MsoNormal">Thank you for your reply, it is really helpful.<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">My whole system only one set yaskawa servopack and motor, maybe i have to read out cycle time of servopack , and set twincat the same cycle time.<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">Since i bought second hand yaskawa SGDV servopack, i just want use twincat to confirm that my servopack can work well and to configure .xml.<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">It seems quite headache, i will try to fix it anyway.<o:p></o:p></p>
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<p class="MsoNormal">Best regards!<o:p></o:p></p>
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<p class="MsoNormal">Chengxi<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><o:p> </o:p></p>
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<p class="MsoNormal">On Fri, Aug 29, 2014 at 8:25 AM, Graeme Foot <<a href="mailto:Graeme.Foot@touchcut.com" target="_blank">Graeme.Foot@touchcut.com</a>> wrote:<o:p></o:p></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy">Hi,</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy">I've never tried using TwinCAT with the SGDV drives. The drives are quite unforgiving if
your master cycle is a bit out of sync or has reasonable jitter, so the only way I got mine to be happy was to use a slave as the distributed clock master and I sync the EtherCAT master to that. I believe this is also the default method for TwinCAT but there
is possibly some setup required to tell it which slave should be the DC master and also which slave should then also be running in DC mode.</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy">My DC clock master slave is generally an EL1008 module, but only because this is the first
slave we have that supports it. From memory we used to use a EK1100 coupler but I think I recall having some issues where it wasn't stable enough for some reason.</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy">The main thing is to always maintain consistent and as much as possible jitter free communications.
I'm not sure how to do that with TwinCAT.</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy"> </span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy">Regards,</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy">Graeme.</span><span lang="EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:10.0pt;font-family:"Arial","sans-serif";color:navy"> </span><span lang="EN-GB"><o:p></o:p></span></p>
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<div class="MsoNormal" align="center" style="text-align:center"><span lang="EN-US">
<hr size="2" width="100%" align="center">
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif"">From:</span></b><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif"">
</span><span style="font-size:10.0pt;font-family:MingLiU">陈成细</span><span lang="EN-US" style="font-size:10.0pt;font-family:"Tahoma","sans-serif""> [mailto:<a href="mailto:crazyintermilan@gmail.com" target="_blank">crazyintermilan@gmail.com</a>]
<br>
<b>Sent:</b> Thursday, 28 August 2014 14:07<br>
<b>To:</b> Graeme Foot<br>
<b>Subject:</b> Twincat communicate with yaskawa SGDV alarm A12 (Sync Error)</span><span lang="EN-GB"><o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB"> <o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">Dear Graeme,<br>
<br>
Currently i am trying to connect twincat with yaskawa SGDV driver, I meet CoE- Emergency then synchronization error. After I search from website, luckily i read your posts (<a href="http://article.gmane.org/gmane.network.etherlab.user/1378/match=" target="_blank">http://article.gmane.org/gmane.network.etherlab.user/1378/match=</a>
). <o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;margin-bottom:12.0pt"><span lang="EN-GB"><br>
Since i am just start to learn ethercat as a hobby, first step i use tool TwinCat to communicate with SGDV driver follow the manual(<a href="https://www.google.com.sg/url?sa=t&rct=j&q=&esrc=s&source=web&cd=2&cad=rja&uact=8&ved=0CCMQFjAB&url=https%3A%2F%2Fwww.yaskawa.com%2Fpycprd%2Flookup%2Fgetdocument%2FjvgyvE5ZTUY_5CC1znzBof23DM0-2qtf20mzhvc2NVVttd_tKgqgkH4jzlPaKN9jwUZxdmOOXgfix7X3yhLYM72qJQdo3XppBhywnUPr1Oy7mtRZ76i_VGFJpKtk9N9SimCMNzyqbNZCaOJGSoV4BG4Gs6GA9Tys&ei=JY3-U9rQJI6UauyUgJAO&usg=AFQjCNHSkmEEGvsiw09L8yuCE1L46XrLEQ&bvm=bv.74035653,d.d2s" target="_blank">https://www.google.com.sg/url?sa=t&rct=j&q=&esrc=s&source=web&cd=2&cad=rja&uact=8&ved=0CCMQFjAB&url=https%3A%2F%2Fwww.yaskawa.com%2Fpycprd%2Flookup%2Fgetdocument%2FjvgyvE5ZTUY_5CC1znzBof23DM0-2qtf20mzhvc2NVVttd_tKgqgkH4jzlPaKN9jwUZxdmOOXgfix7X3yhLYM72qJQdo3XppBhywnUPr1Oy7mtRZ76i_VGFJpKtk9N9SimCMNzyqbNZCaOJGSoV4BG4Gs6GA9Tys&ei=JY3-U9rQJI6UauyUgJAO&usg=AFQjCNHSkmEEGvsiw09L8yuCE1L46XrLEQ&bvm=bv.74035653,d.d2s</a>)<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">After i read your posts, i think maybe the problems are as follow:<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">1. SGDV parameter setting( since i reset all parameter to factory setting)?<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">2. Sync mode slection?<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">3. Twincat cycle time setting?<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;margin-bottom:12.0pt"><span lang="EN-GB">4. Laptop CPU calibrate?<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;margin-bottom:12.0pt"><span lang="EN-GB">I am appreciated if you can give any hint to help me solve this error. Next step i would like build the communicate by etherlab master under linux xenomai. There still
quite a long way to go.<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">Thanks!<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">--
<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB">Best regards!<br>
</span><span style="font-family:MingLiU">陈成细</span><span lang="EN-GB"><br>
R&D Engineer<o:p></o:p></span></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span lang="EN-GB" style="font-size:13.5pt;font-family:"Helvetica","sans-serif"">(\__/)<br>
(='.'=) This is Bunny. Copy and paste bunny into your<br>
(")_(") signature to help him gain world domination.</span><span lang="EN-GB"><o:p></o:p></span></p>
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-- <o:p></o:p></p>
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<p class="MsoNormal">Best regards!<br>
<span style="font-family:MingLiU">陈成细</span><br>
R&D Engineer<o:p></o:p></p>
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<p class="MsoNormal"><span style="font-size:13.5pt;font-family:"Helvetica","sans-serif"">(\__/)<br>
(='.'=) This is Bunny. Copy and paste bunny into your<br>
(")_(") signature to help him gain world domination.</span><o:p></o:p></p>
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<p class="MsoNormal"><br>
<br clear="all">
<br>
-- <o:p></o:p></p>
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<p class="MsoNormal">Best regards!<br>
<span style="font-family:MingLiU">陈成细</span><br>
R&D Engineer<o:p></o:p></p>
<div>
<p class="MsoNormal"><span style="font-size:13.5pt;font-family:"Helvetica","sans-serif"">(\__/)<br>
(='.'=) This is Bunny. Copy and paste bunny into your<br>
(")_(") signature to help him gain world domination.</span><o:p></o:p></p>
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