[etherlab-dev] buffered mode and triple-buffer

[Koch Daniel]

-----Ursprüngliche Nachricht-----
Von: Koch Daniel Im Auftrag von PAUL-SOFTWARE
Gesendet: Donnerstag, 21. November 2013 08:06
An: etherlab-dev at etherlab.org
Betreff: buffered mode and triple-buffer

Hello list, 

Does anybody know how to copy the twincat-behaviour using triple-buffers?

My Problem is s long as i want to integrate the ability controlling a servo controller in our machines directly via the Ethercat-Master (1.5.2) in a rtai-module, I have been stuck giving the opportunity running the servo-controller in free-run-mode without any errors (seeing it on unexpected working-counter-changes in the messages-log on ethercat master). For several reasons, i want to have it working without distributed clocks!

I am NOT a twincat-professional, but if I run this configured twincat-project (see screenshot_drive_tlgs.png & screenshot_master_tlgs.png).Depending on analysing the ethercat-configurations runs fine with just the expected working counter changes with twincat. It does some (IMHO) weird sync-management with triple-buffers (see screen_shot_drive_tripple_buffer.png in the attachments). Is there a way to copy this behaviour with our Ethercat-Master?

When I have a look in the source-code of the master, in theory, I could change the fmmu-configuration to ask these logical-adresses as the twincat-project does, but this is not the exact point. I do not see how I could copy the behaviour having the slave ordered using "triple-buffers" (what ever this exactly means). 

Btw: Ethercat itself seperates it's sync-management into buffer- and mailbox-mode right? Am I right, If I say, the default behaviour configuring a syncmanager for, -let's say -just exchanging pdo's, is buffer mode?

Has anybody else experienced this problem or does anybody have a idea what I could do?

Mit freundlichen Grüßen / Best regards

Daniel Koch

 
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