[etherlab-users] Beckhoff Serial-port module EL6002 reading slow

[Jason Xu]

Hi Florian and support team :

I've got a Beckhoff Serial-port module EL6002, and want to use it under CoE
protocol with 1000hz scan rate in RTAI (Master: ethercat-1.4.0-rc3).

I manage to write a simple c program by the following logic:

(1) Check 6000:02 to see if "Receive request" is true.
(2) if true, get data_length
(3) Read data from 6000:17 to 6000:data_length
(4) Set 7000:02 (Receive accepted) to 1,
(5) continue to read until "receive request" is false
(6) Set "receive accepted" to 0.

I found out it takes about 2 ms to read one character. For a simple
8-character barcode, the module does not transfer all the characters in one
go, it takes a few round to transfer all the characters. Why is that? The
module has 22 data-in. Did I do something wrong? Any other flag need to
check or assign to make it reading faster? The module is generally in
default settings (Baud rate 9600, 1N8). Module serial number: 1610 0101

Thanks in advance.

Jason Xu
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