[etherlab-users] Beckhoff 4102 ecrt_slave_config_dc

[james.rowland at diamond.ac.uk]

Hi

I found more documentation in the EtherCAT Knowledge Base in the
members' area of ethercat.org:

The second parameter of ecrt_slave_config_dc is written to register
0x0980

The bits are:

0x0981.0 Activate Cyclic Operation
0x0981.1 Activate SYNC0
0x0981.2 Activate SYNC1

So the magic number 0x0700 written to 0x980 means cyclic + sync0 +
sync1, 0x0100 would mean cyclic operation but don't generate sync
signals? 

There is a DC tab in TwinCAT but that doesn't seem to do anything. I've
tried to capture the
startup sequence with Wireshark but I can't see any writes to these
registers.

I was hoping that this would allow for reduced jitter analogue out as
that is alluded to in the documentation but I'm not sure if it is
supported for this particular module. Really I'm preparing to use an
oversampling module where it will be essential, if anyone has been able
to set up the distributed clocks and sync with one of those I would love
to hear about it.

James




> -----Original Message-----
> From: etherlab-users-bounces at etherlab.org 
> [mailto:etherlab-users-bounces at etherlab.org] On Behalf Of Len 
> Remmerswaal
> Sent: 04 November 2010 15:30
> To: etherlab-users at etherlab.org
> Subject: Re: [etherlab-users] Beckhoff 4102 ecrt_slave_config_dc
> 
> 
>   Hi,
> I seem to have a similar problem. This line:
> 
>       ecrt_slave_config_dc(sc, 0x0700, (uint32_t)interval, 
> 400000, (uint32_t)interval, 100000);
> 
> (interval is 1000000 for 1 ms).
> puts off my EL4102: it stops responding at all.
> I know that some modules don't like zeroes for the last three 
> values, so you may want to experiment there. But there is 
> little documentation available. Anyone out there that has 
> info about this?
> A value of 0x0100 in the line above instead of 0x0700 keeps 
> my EL4102 happy, but I am not sure how to test that this 
> gives me what I want.
> Len.
> 
> > -----Original Message-----
> > From: james.rowland at diamond.ac.uk 
> [mailto:james.rowland at diamond.ac.uk]
> > Sent: dinsdag 2 november 2010 18:52
> > To: etherlab-users at etherlab.org
> > Subject: [etherlab-users] Beckhoff 4102 ecrt_slave_config_dc
> >
> > Hello
> >
> > Using master 1.5 from hg:
> >
> > I can't configure the SYNC signals for this slave, the 
> AssignActivate 
> > value is 0x700 from the Beckhoff XML.
> >
> > ecrt_slave_config_dc(sc, 0x700, PERIOD_NS, 0, 0, 0);
> >
> > dmesg:
> > EtherCAT ERROR 0-10: Failed to set OP state, slave refused state 
> > change (SAFEOP + ERROR).
> > EtherCAT ERROR 0-10: AL status message 0x0032: "PLL error".
> >
> > I can't find any documentation on how to configure these registers 
> > from Beckhoff or the Ethercat standards, has anyone been 
> able to use 
> > the DC sync on these devices from Linux?
> >
> > James
> 
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> 

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