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<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Hi,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">This piece of code is getting a start time that is in sync with the initial app time from a multiple of the sync0/sync1 cycle times, adjusted by the sync0 shift time.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><a href="https://download.beckhoff.com/download/Document/io/ethercat-development-products/ethercat_esc_datasheet_sec2_registers_2i7.pdf">https://download.beckhoff.com/download/Document/io/ethercat-development-products/ethercat_esc_datasheet_sec2_registers_2i7.pdf</a>
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">says the sync1 cycle time is the "</span>Time between SYNC1 pulses and SYNC0 pulse in ns".
<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">However <a href="https://infosys.beckhoff.com/english.php?content=../content/1033/tcsystemmanager/reference/ethercat/html/EtherCAT_DistributedClocks.htm&id">
https://infosys.beckhoff.com/english.php?content=../content/1033/tcsystemmanager/reference/ethercat/html/EtherCAT_DistributedClocks.htm&id</a>= (Twincat DC settings) and the information for my yaskawa drives are saying that the sync1 cycle time should be a
multiple of the sync0 cycle time, and the sync1 offset is the offset between the sync0 and sync1 interrupts.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">The master code doesn’t even look like it uses the sync1 shift time, and information from my Yaskawa slave says it's sync1 cycle time is readonly and matches the sync0 cycle time.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">So:<o:p></o:p></p>
<p class="MsoNormal">- It looks like the first documents registers 0x09A4:0x09A7 should actually be called sync1 shift time.<o:p></o:p></p>
<p class="MsoNormal">- It does not look like there is currently any slave support for a different (from sync0) sync1 cycle time.<o:p></o:p></p>
<p class="MsoNormal"> (anyone got a slave out there that does?)<o:p></o:p></p>
<p class="MsoNormal">- The EtherLab master should not be using sync1 cycle time in the calculation you mention below.<o:p></o:p></p>
<p class="MsoNormal">- The EtherLab master should be sending sync1 shift time to 0x09A4:0x09A7 instead of the sync1 cycle time.<o:p></o:p></p>
<p class="MsoNormal">- TwinCAT is probably using its cycle time "multiple" parameters to figure out how often to send the PDO requests for each slave (just a guess).<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">In your case, set the second to last parameter to zero, i.e.:<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;color:black">ecrt_slave_config_dc(sc, 0x0700, 500000, 250000, 0, 0);<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;color:black">You have already adjusted the sync0 shift time (third to last parameter) anyway.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;color:black">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;color:black">Graeme.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> etherlab-users [mailto:etherlab-users-bounces@etherlab.org]
<b>On Behalf Of </b>Philippe Leuba<br>
<b>Sent:</b> Friday, 18 May 2018 7:11 AM<br>
<b>To:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> Re: [etherlab-users] Slave DC start time calculation<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">Hi,<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">I have changed how to calculate the slave start time by taking only the sync0->cycle_time as cycle time.<o:p></o:p></p>
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<p class="MsoNormal">The results is good and I can see in the log that the 'remainder' is almost the same for all slaves. <o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">@Florian: Why did you did this change on 2016-09-16 ?<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">Best regards<br>
<br>
Philippe <o:p></o:p></p>
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<p class="MsoNormal" style="margin-bottom:12.0pt"><br>
On May 16, 2018, at 6:22 PM, Philippe Leuba <<a href="mailto:pleuba@swissonline.ch">pleuba@swissonline.ch</a>> wrote:<o:p></o:p></p>
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<p class="MsoNormal"><span style="font-size:10.5pt">Hi All,</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">I can not understand how to configure correctly my slaves with the ecrt_slave_config_dc() function.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">I use nine EL7211-9014 servo controllers and the XML declarations is:<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><Dc></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><OpMode></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><Name>DC</Name></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><Desc>DC-Synchron</Desc></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><AssignActivate>#x700</AssignActivate></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><CycleTimeSync0 Factor="1">0</CycleTimeSync0></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><ShiftTimeSync0 Input="0">30000</ShiftTimeSync0></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><CycleTimeSync1 Factor="-1">0</CycleTimeSync1></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"><ShiftTimeSync1>1000</ShiftTimeSync1></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"></OpMode></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black"></Dc></span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">SYNC0 and SYNC1 should be fired at each cycle.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">My realtime cycle is at 500us, so initially I used:<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"> ecrt_slave_config_dc(sc, 0x0700, 500000, 30000, 1000, 0);<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">but I sometimes faced some hiccup on some motor movements (almost always on the same motor, but sometimes not), most probably due to frames late regarding SYNC events, so I increased the sync1_shift
to half of the cycle time:<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"> ecrt_slave_config_dc(sc, 0x0700, 500000, 250000, 1000, 0);<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">This help, but I’m still not convinced that it is correct.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">How can I debug this, I did not see any error on slaves COEs 1c32 or 1c33 ?<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">Startup debug messages are the followings:<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: Checking for synchrony.</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: 19 ns difference after 1 ms.</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: app_start_time=64456682505935</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: app_time=64460192975876</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: start_time=64460292975876</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: cycle=501000</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: shift_time=250000</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: remainder=263941</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: start=64460293462935</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: Setting DC cyclic operation start time to 64460293462935.</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-12: Setting DC AssignActivate to 0x0700.</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">-</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">-</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">-</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: Checking for synchrony.</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: 9 ns difference after 1 ms.</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: app_start_time=64456682505935</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: app_time=64460854977928</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: start_time=64460954977928</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: cycle=501000</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: shift_time=250000</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: remainder=444993</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: start=64460955283935</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: Setting DC cyclic operation start time to 64460955283935.</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;color:black">EtherCAT DEBUG 0-13: Setting DC AssignActivate to 0x0700.</span><span style="font-size:10.5pt;color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">I’m really surprised that the remainder can be so different, so I looked in the source code and can not understand the logic:<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> // set DC start time</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> start_time = master->app_time + EC_DC_START_OFFSET; // now + X ns (X being 100000000 = 100 ms)</span><o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> if (sync0->cycle_time) {</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> // find correct phase</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> if (master->has_app_time) {</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> u64 diff, start;</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> u32 remainder, cycle;</span><o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> diff = start_time - master->app_start_time;</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> <span style="color:red">
cycle = sync0->cycle_time + sync1->cycle_time;</span></span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> remainder = do_div(diff, cycle);</span><o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><span style="font-family:Consolas"> start = start_time + cycle - remainder + sync0->shift_time;</span><o:p></o:p></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">Why the cycle is the sum of the two sync->cycle_time, in my case 501000, should not it be: sync0->cycle_time (500000) ?<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">This was changed on 2016-09-16, but It seems it was right before.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">I can see that sync0->cycle_time is written to register 9A0 (500000)<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">and sync1->cycle_time is written to register 9A4 (1000), this is correct.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">It seems to me that the sync1_cycle parameter of the ecrt_slave_config_dc() is handled as as sync1_shift, this is really confusing.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">Is it normal, can someone explain this ?<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.5pt;color:black">Philippe<o:p></o:p></span></p>
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<p class="MsoNormal">_______________________________________________<br>
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