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Hi,<br>
<br>
We solved the problem last week. <br>
It turned out we have to place the same kind of bechoff IO modules
next to each other.<br>
<br>
In the group of modules which connected to a EK1100 we had 17
modules. In this group, we had four EL1008 one after the other; Then
a few other modules; Then one EL1008; again afew more modules and
finally two more EL1008. When we group all the EL1008 modules in a
row, the problem disappeared.<br>
<br>
Best regards,<br>
Oguz.<br>
<br>
<div class="moz-cite-prefix">26.1.2016 01:49 tarihinde Graeme Foot
yazdı:<br>
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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">The
“system_time_base less than system time” is from the
rtai_rtdm_dc example code.<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">In
the example it looks like system_time_base is initialised to
zero and adjusted by a maximum of +-1001 each cycle. A
value of -58905492552780 indicates that system_time_base is
not being correctly initialised or is being corrupted with
any other values.<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">As
to the motor “knock” every now and then, this is due to the
motors dc clock not being correctly synchronized with the
masters cycle time. It is due to the master either missing
or sending two messages to the amps in one cycle every now
and then. Sort out your dc timing and the knock will go
away.<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">Regards,<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>
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<p class="MsoNormal"><b><span
style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:windowtext"
lang="EN-US">From:</span></b><span
style="font-size:10.0pt;font-family:"Tahoma","sans-serif";color:windowtext"
lang="EN-US"> etherlab-users [<a moz-do-not-send="true"
href="mailto:etherlab-users-bounces@etherlab.org">mailto:etherlab-users-bounces@etherlab.org</a>]
<b>On Behalf Of </b>Bilko AS, Oguz Dilmac<br>
<b>Sent:</b> Tuesday, 26 January 2016 4:37 a.m.<br>
<b>To:</b> <a moz-do-not-send="true"
href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] rtai_rtdm_dc example,
"error: system_time_base less than system time" message<o:p></o:p></span></p>
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</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="margin-bottom:12.0pt">Hi,<br>
<br>
We have been using EtherCAT master 1.5.2 for about two years.
We have successfully implemented 4 machines. Each has 5
Kollmorgen AKD servo drives and some Beckhoff IO modules.<br>
Now we are implementing a new machine. On this machine we
usually get the following messages:
<br>
...<br>
"system2count() error: system_time_base less than system time
(system_time_base: -58905492552780, time:680659495658"<br>
"system2count() error: system_time_base less than system time
(system_time_base: -58905492552858, time:680660495658"<br>
"system2count() error: system_time_base less than system time
(system_time_base: -58905492552936, time:680661495658"<br>
"system2count() error: system_time_base less than system time
(system_time_base: -58905492553014, time:680662495658"<br>
...<br>
<br>
We implemented our system based on the <b>rtai_rtdm_dc</b>
example. Only main difference is, we use kernel modules with
RTAI instead of LXRT user mod.<br>
We are using "cyclic positon" (8) mode with distributed clock.
<br>
We choose the first DC capable device as the reference clock
by calling <b>ecrt_master_select_reference_clock(master, 0);<br>
</b>The first node on the bus is a AKD servo drive.<br>
<br>
The error occurs from the startup and not disappear until we
reboot the PC and the drives.
<br>
When the error occurs, it seems sometimes drives can't update
the new position reference. Therefore, if it is moving, it
tries to stop for one sample and continues to the new
reference at the next sample.
<br>
This causes a loud "knock" sound on the machine.<br>
<br>
We didn't get this message with previous 4 machines. <br>
We tried different FW versions of the AKD drives. Also tried
to change the bus node order of the drives. But nothing
changed.<br>
Do you know what can be the cause for this message? How can we
fix the problem?<br>
<br>
Best regards,<br>
Oguz.<o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt">-- <br>
<br>
<o:p></o:p></p>
<pre>Oguz Dilmac<o:p></o:p></pre>
<pre>ARGE Bolumu<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>Bilko AS, R&D Department<o:p></o:p></pre>
<pre>====================================<o:p></o:p></pre>
<pre>Perpa Ticaret Merkezi B Blok Kat 13 Nr. 2568<o:p></o:p></pre>
<pre>TR-34384 Okmeydani Istanbul Turkey<o:p></o:p></pre>
<pre>Tel : +90 212 220 07 40 Fax : +90 212 210 47 01<o:p></o:p></pre>
<pre>e-mail : <a moz-do-not-send="true" href="mailto:odilmac@bilko-automation.com">odilmac@bilko-automation.com</a><o:p></o:p></pre>
<pre>web site : <a moz-do-not-send="true" href="http://www.bilko-automation.com">http://www.bilko-automation.com</a><o:p></o:p></pre>
<pre> <o:p></o:p></pre>
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<br>
<pre class="moz-signature" cols="72">Oguz Dilmac
ARGE Bolumu
Bilko AS, R&D Department
====================================
Perpa Ticaret Merkezi B Blok Kat 13 Nr. 2568
TR-34384 Okmeydani Istanbul Turkey
Tel : +90 212 220 07 40 Fax : +90 212 210 47 01
e-mail : <a class="moz-txt-link-abbreviated" href="mailto:odilmac@bilko-automation.com">odilmac@bilko-automation.com</a>
web site : <a class="moz-txt-link-freetext" href="http://www.bilko-automation.com">http://www.bilko-automation.com</a>
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