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Yes, I thought so too. <br>
<br>
We contacted to Beckhoff to understand the problem. We checked the
exceptions you mentioned. <br>
Also calculated the current consumption. Beside EL1008, we use
EL2008, EL3064, EL4004, EL3041 and EL2502 modules. According to data
sheets on beckhoff web page, It's 1730mA. Beckhoff said, it is OK.<br>
They also connected via twinCAT and checked the modules. Everything
looked fine. <br>
Finally they suggested to try to group the same modules together and
it worked :)<br>
<br>
Best regards,<br>
Oguz.<br>
<br>
<div class="moz-cite-prefix">8.2.2016 23:28 tarihinde Graeme Foot
yazdı:<br>
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<div class="WordSection1">
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Interesting,
it shouldn’t matter which order the modules are in, but for
a few exceptions.<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">Some
of those exceptions being:<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)
You can’t have more than two Passive Terminals grouped
together (see Mounting of Passive Terminals in any of the
Beckhoff documents)<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)
Some modules such at the relay output module EL2612 don’t
have power contacts, so need to be placed at the end of the
terminal group<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">3)
Make sure you don’t exceed the power capabilities of the
EK1100 module. This can provide 2000mA. Each active
terminal consumes some of that power. This can be
calculated by using the `ethercat slaves -v` command and
checking each modules “Current consumption” value. The
EL1008 modules use 90mA each, so 17 of these would be fine,
but it sounds like you have other modules which may use more
(eg: an EL2008 uses 110mA, an EL5101 uses 130mA, an EL2612
uses 150mA etc).<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:
you can also use the command `ethercat slaves -v | grep
“Current consumption”` for a quick summary. The EK1100
module reports -2000mA because it is supplying rather than
consuming.<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">If
you have gone over the available current then you will need
to insert an EL9410 power module (or similar).<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">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>
<div>
<div style="border:none;border-top:solid #B5C4DF
1.0pt;padding:3.0pt 0cm 0cm 0cm">
<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"> Bilko AS, Oguz Dilmac
[<a class="moz-txt-link-freetext" href="mailto:odilmac@bilko-automation.com">mailto:odilmac@bilko-automation.com</a>]
<br>
<b>Sent:</b> Saturday, 6 February 2016 1:42 a.m.<br>
<b>To:</b> Graeme Foot; <a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> Re: [etherlab-users] rtai_rtdm_dc
example, "error: system_time_base less than system time"
message<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="margin-bottom:12.0pt">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.<o:p></o:p></p>
<div>
<p class="MsoNormal">26.1.2016 01:49 tarihinde Graeme Foot
yazdı:<o:p></o:p></p>
</div>
<blockquote style="margin-top:5.0pt;margin-bottom:5.0pt">
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Hi,</span><o:p></o:p></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><o:p></o:p></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.</span><o:p></o:p></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><o:p></o:p></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.</span><o:p></o:p></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><o:p></o:p></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.</span><o:p></o:p></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Regards,</span><o:p></o:p></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D">Graeme.</span><o:p></o:p></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri","sans-serif";color:#1F497D"> </span><o:p></o:p></p>
<div>
<div style="border:none;border-top:solid #B5C4DF
1.0pt;padding:3.0pt 0cm 0cm 0cm">
<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"><a class="moz-txt-link-freetext" href="mailto:etherlab-users-bounces@etherlab.org">mailto:etherlab-users-bounces@etherlab.org</a></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</span><o:p></o:p></p>
</div>
</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>
<div>
<p class="MsoNormal" style="margin-bottom:12.0pt">-- <br>
<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>
</div>
<p class="MsoNormal"><br>
<br>
<br>
<o:p></o:p></p>
<pre>_______________________________________________<o:p></o:p></pre>
<pre>etherlab-users mailing list<o:p></o:p></pre>
<pre><a moz-do-not-send="true" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><o:p></o:p></pre>
<pre><a moz-do-not-send="true" href="http://lists.etherlab.org/mailman/listinfo/etherlab-users">http://lists.etherlab.org/mailman/listinfo/etherlab-users</a><o:p></o:p></pre>
</blockquote>
<p class="MsoNormal"><o:p> </o:p></p>
<div>
<p class="MsoNormal">-- <br>
<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>
</div>
</div>
</blockquote>
<br>
<div class="moz-signature">-- <br>
<meta http-equiv="content-type" content="text/html; charset=utf-8">
<title></title>
<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>
</pre>
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