<html xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=us-ascii">
<meta name="Generator" content="Microsoft Word 15 (filtered medium)">
<style><!--
/* Font Definitions */
@font-face
{font-family:SimSun;
panose-1:2 1 6 0 3 1 1 1 1 1;}
@font-face
{font-family:"Cambria Math";
panose-1:2 4 5 3 5 4 6 3 2 4;}
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
@font-face
{font-family:Consolas;
panose-1:2 11 6 9 2 2 4 3 2 4;}
@font-face
{font-family:"Microsoft YaHei";
panose-1:2 11 5 3 2 2 4 2 2 4;}
@font-face
{font-family:"\@SimSun";
panose-1:2 1 6 0 3 1 1 1 1 1;}
@font-face
{font-family:"\@Microsoft YaHei";}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:SimSun;
mso-fareast-language:ZH-CN;}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:#0563C1;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:#954F72;
text-decoration:underline;}
pre
{mso-style-priority:99;
mso-style-link:"HTML Preformatted Char";
margin:0cm;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:SimSun;
mso-fareast-language:ZH-CN;}
p.msonormal0, li.msonormal0, div.msonormal0
{mso-style-name:msonormal;
mso-margin-top-alt:auto;
margin-right:0cm;
mso-margin-bottom-alt:auto;
margin-left:0cm;
font-size:12.0pt;
font-family:SimSun;
mso-fareast-language:ZH-CN;}
span.HTMLPreformattedChar
{mso-style-name:"HTML Preformatted Char";
mso-style-priority:99;
mso-style-link:"HTML Preformatted";
font-family:Consolas;
mso-fareast-language:ZH-CN;}
span.EmailStyle20
{mso-style-type:personal-reply;
font-family:"Calibri",sans-serif;
color:windowtext;}
.MsoChpDefault
{mso-style-type:export-only;
font-size:10.0pt;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:72.0pt 72.0pt 72.0pt 72.0pt;}
div.WordSection1
{page:WordSection1;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
</head>
<body lang="EN-NZ" link="#0563C1" vlink="#954F72">
<div class="WordSection1">
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">It's toggling between 13 and 21 slave responding. Maybe check the Ethernet cable / connection between them.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">Also try the crc and diag commands to check for communication errors.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US">Graeme.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<div>
<div style="border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">From:</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif"> etherlab-users <etherlab-users-bounces@etherlab.org>
<b>On Behalf Of </b>law_hit@aliyun.com<br>
<b>Sent:</b> Sunday, 18 November 2018 2:01 AM<br>
<b>To:</b> etherlab-users <etherlab-users@etherlab.org><br>
<b>Subject:</b> [etherlab-users] Regular "working counter changes" error<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">Dear all, <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"> I am running Etherlab master with Gavin's patches to drive some IO modules and servo drivers. <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">All the slaves are successfully configured and switched to OP. But I got a lot of working counter <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">warnings begin from it is started. Part of the dmesg log is shown below: <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<div id="LC10">
<pre style="line-height:15.0pt"><span style="font-family:Consolas;color:#333333">[ 4764.420650] EtherCAT 0: Domain 0: 670 working counter changes - now 13/21.<o:p></o:p></span></pre>
</div>
<div id="LC11">
<pre style="line-height:15.0pt"><span style="font-family:Consolas;color:#333333">[ 4765.424640] EtherCAT 0: Domain 0: 669 working counter changes - now 21/21.<o:p></o:p></span></pre>
</div>
<div id="LC12">
<pre style="line-height:15.0pt"><span style="font-family:Consolas;color:#333333">[ 4766.428629] EtherCAT 0: Domain 0: 669 working counter changes - now 13/21.<o:p></o:p></span></pre>
</div>
<div id="LC13">
<pre style="line-height:15.0pt"><span style="font-family:Consolas;color:#333333">[ 4767.432619] EtherCAT 0: Domain 0: 670 working counter changes - now 13/21.<o:p></o:p></span></pre>
</div>
<div id="LC14">
<pre style="line-height:15.0pt"><span style="font-family:Consolas;color:#333333">[ 4768.436609] EtherCAT 0: Domain 0: 669 working counter changes - now 21/21.<o:p></o:p></span></pre>
</div>
<div id="LC15">
<pre style="line-height:15.0pt"><span style="font-family:Consolas;color:#333333">[ 4769.440597] EtherCAT 0: Domain 0: 669 working counter changes - now 13/21.<o:p></o:p></span></pre>
</div>
<div id="LC16">
<pre style="line-height:15.0pt"><span style="font-family:Consolas;color:#333333">[ 4770.444586] EtherCAT 0: Domain 0: 670 working counter changes - now 13/21.<o:p></o:p></span></pre>
</div>
<div id="LC17">
<pre style="line-height:15.0pt"><span style="font-family:Consolas;color:#333333">[ 4771.448576] EtherCAT 0: Domain 0: 669 working counter changes - now 21/21.<o:p></o:p></span></pre>
</div>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"> Some information of my system: CPU: AMD ryzen5 1600x, Intel I211 network card, LMDE2(Debian8),<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">Kernel: 4.9.0-0.bpo.8-rt-amd64 (rt-preempt), IgH EtherCAT master 1.5.2 d5f6daedadc3+, <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">I am using the generic driver. <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"> I believe this is not a timing problem of the realtime master thread. Because I have isolated serval cores (6-11)<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">for realtime tasks, and the max jitter of realtime thread is no more than 5us. <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> mint@lmde ~ $ sudo cyclictest -p80 --smp</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> [sudo] password for mint: </span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> # /dev/cpu_dma_latency set to 0us</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> WARN: Running on unknown kernel version...YMMV</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> policy: fifo: loadavg: 0.32 0.09 0.03 1/872 17643 </span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 0 (17345) P:80 I:1000 C: 58319 Min: 1 Act: 2 Avg: 3 Max: 34</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 1 (17346) P:80 I:1500 C: 38879 Min: 1 Act: 5 Avg: 4 Max: 113</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 2 (17347) P:80 I:2000 C: 29159 Min: 1 Act: 3 Avg: 4 Max: 42</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 3 (17348) P:80 I:2500 C: 23327 Min: 1 Act: 3 Avg: 4 Max: 43</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 4 (17349) P:80 I:3000 C: 19439 Min: 1 Act: 3 Avg: 5 Max: 32</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 5 (17350) P:80 I:3500 C: 16662 Min: 1 Act: 3 Avg: 4 Max: 27</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 6 (17351) P:80 I:4000 C: 14579 Min: 2 Act: 3 Avg: 3 Max: 4</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 7 (17352) P:80 I:4500 C: 12959 Min: 2 Act: 3 Avg: 3 Max: 5</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 8 (17353) P:80 I:5000 C: 11663 Min: 2 Act: 3 Avg: 3 Max: 5</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T: 9 (17354) P:80 I:5500 C: 10603 Min: 2 Act: 3 Avg: 3 Max: 5</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T:10 (17355) P:80 I:6000 C: 9719 Min: 2 Act: 4 Avg: 3 Max: 4</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> T:11 (17356) P:80 I:6500 C: 8972 Min: 2 Act: 3 Avg: 3 Max: 4</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"> I have tried to use DC but the errors still happen. Related codes:<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> ecrt_domain_queue(domain1);</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:9.0pt;font-family:"Microsoft YaHei",sans-serif;color:black"> clock_gettime(CLOCK_TO_USE, &time);<br>
ecrt_master_application_time(master, TIMESPEC2NS(time));<br>
ecrt_master_sync_reference_clock(master);<br>
ecrt_master_sync_slave_clocks(master);<br>
ecrt_master_send(master);</span><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"> The sync functions are called after ecrt_domain_queue() as suggested in other mail threads. <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><br>
<br>
<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"> I have also tried the igb driver instead of generic, but the problem still. <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><br>
<br>
<o:p></o:p></span></p>
</div>
<div>
<pre style="font-variant-ligatures: normal;orphans: 2;widows: 2"><span style="font-family:"Microsoft YaHei",sans-serif;color:black">Can anyone help explain what is happening and what should I do to get rid of these errors please?</span><span style="color:black"><o:p></o:p></span></pre>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">Thanks in advance,<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">Yours,<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black">Jancon<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:"Microsoft YaHei",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
</div>
</body>
</html>