[etherlab-users] Slave did not sync after 5000 ms
Jun Yuan
j.yuan at rtleaders.com
Mon Dec 12 12:51:18 CET 2011
Hi,
I'm having problem with DC synchron. Sometimes it works, the slave is
in sync. And sometimes it doesn't, there comes the warning in the
master log: Slave did not sync after 5000 ms. What should I do to
improve the stability of the DC Sync?
in the slave configuration, I did
// configure SYNC signals for this slave
ecrt_slave_config_dc(sc_lti, 0x0300, 4000000, 0, 0, 0);
$ ethercat slaves -v
=== Master 0, Slave 0 ===
State: PREOP
Flag: +
Identity:
Vendor Id: 0x00000016
Product code: 0x00020004
Revision number: 0x00010000
Serial number: 0x00000000
DL information:
FMMU bit operation: no
Distributed clocks: yes, 64 bit
DC system time transmission delay: 0 ns
Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns]
NextDc [ns]
0 MII up open yes - 2936198434 0 0
1 MII down closed no - - - -
2 N/A down closed no - - - -
3 N/A down closed no - - - -
Mailboxes:
Bootstrap RX: 0x0000/0, TX: 0x0000/0
Standard RX: 0x1800/512, TX: 0x1a2e/512
Supported protocols: CoE
General:
Group:
Image name:
Order number:
Device name:
CoE details:
Enable SDO: yes
Enable SDO Info: yes
Enable PDO Assign: yes
Enable PDO Configuration: yes
Enable Upload at startup: no
Enable SDO complete access: no
Flags:
Enable SafeOp: no
Enable notLRW: no
Current consumption: 0 mA
The XML Description of its DC:
<Dc Unknown64Bit="1" UnknownFRMW="1">
<OpMode>
<Name>DcSync</Name>
<Desc>DC for synchronization</Desc>
<AssignActivate>#x0300</AssignActivate>
<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
<ShiftTimeSync0>0</ShiftTimeSync0>
</OpMode>
<OpMode>
<Name>DcOff</Name>
<Desc>DC unused</Desc>
<AssignActivate>#x0000</AssignActivate>
</OpMode>
</Dc>
[ 9766.872630] EtherCAT DEBUG 0: Master IDLE thread exiting...
[ 9766.872646] EtherCAT 0: Master thread exited.
[ 9766.872649] EtherCAT DEBUG 0: FSM datagram is f60f4bf4.
[ 9766.872651] EtherCAT 0: Starting EtherCAT-OP thread.
[ 9766.872729] EtherCAT DEBUG 0: Operation thread running with fsm
interval = 1000 us, max data size=11250
[ 9766.872731] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[ 9766.872733] EtherCAT DEBUG 0: mmap()
[ 9766.872738] EtherCAT DEBUG 0: Vma fault, virtual_address =
b78d6000, offset = 0, page = c276b9a0
[ 9766.876765] EtherCAT DEBUG 0: Set application start time = 9766876764399
[ 9766.877265] EtherCAT DEBUG 0: Configuration changed.
[ 9766.877276] EtherCAT DEBUG 0: Writing system time offsets...
[ 9766.885265] EtherCAT DEBUG 0-0: DC system time offset calculation:
system_time=9766879549706 (corrected with 4000000),
app_start_time=9766876764399, diff=-2785307
[ 9766.885268] EtherCAT DEBUG 0-0: Not touching time offset.
[ 9766.893263] EtherCAT DEBUG 0: Writing system time offsets...
[ 9766.893265] EtherCAT DEBUG 0: Requesting OP...
[ 9766.909264] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.
[ 9766.909282] EtherCAT DEBUG 0-0: Configuring...
[ 9766.920758] EtherCAT DEBUG 0-0: Now in INIT.
[ 9766.920759] EtherCAT DEBUG 0-0: Clearing FMMU configurations...
[ 9766.924758] EtherCAT DEBUG 0-0: Clearing sync manager configurations...
[ 9766.928758] EtherCAT DEBUG 0-0: Clearing DC assignment...
[ 9766.932758] EtherCAT DEBUG 0-0: Configuring mailbox sync managers...
[ 9766.932761] EtherCAT DEBUG 0-0: SM0: Addr 0x1800, Size 512, Ctrl 0x26, En 1
[ 9766.932763] EtherCAT DEBUG 0-0: SM1: Addr 0x1A2E, Size 512, Ctrl 0x22, En 1
[ 9766.944758] EtherCAT DEBUG 0-0: Now in PREOP.
[ 9767.280771] EtherCAT DEBUG 0-0: SM2: Addr 0x1200, Size 14, Ctrl 0x24, En 1
[ 9767.280773] EtherCAT DEBUG 0-0: SM3: Addr 0x1260, Size 14, Ctrl 0x00, En 1
[ 9767.284759] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x00000000, DomAddr
0x00000000, Size 14, Tx 14 PhysAddr 0x1200, SM2, Dir out
[ 9767.284762] EtherCAT DEBUG 0 0:0: FMMU: LogAddr 0x0000000E, DomAddr
0x0000000E, Size 14, Tx 14 PhysAddr 0x1260, SM3, Dir in
[ 9767.288758] EtherCAT DEBUG 0-0: Setting DC cycle times to 4000000 / 0.
[ 9767.292758] EtherCAT DEBUG 0-0: Checking for synchrony.
[ 9767.296758] EtherCAT DEBUG 0-0: Sync after 4 ms: 2779416 ns
[ 9767.300758] EtherCAT DEBUG 0-0: Sync after 8 ms: 2779382 ns
[ 9767.304758] EtherCAT DEBUG 0-0: Sync after 12 ms: 2779345 ns
[ 9767.308758] EtherCAT DEBUG 0-0: Sync after 16 ms: 2779298 ns
[ 9767.312758] EtherCAT DEBUG 0-0: Sync after 20 ms: 2779242 ns
[ 9767.316758] EtherCAT DEBUG 0-0: Sync after 24 ms: 2779181 ns
[ 9767.320758] EtherCAT DEBUG 0-0: Sync after 28 ms: 2779113 ns
[ 9767.324758] EtherCAT DEBUG 0-0: Sync after 32 ms: 2779036 ns
...
[ 9772.256758] EtherCAT DEBUG 0-0: Sync after 4964 ms: 362619 ns
[ 9772.260758] EtherCAT DEBUG 0-0: Sync after 4968 ms: 360183 ns
[ 9772.264758] EtherCAT DEBUG 0-0: Sync after 4972 ms: 357743 ns
[ 9772.268758] EtherCAT DEBUG 0-0: Sync after 4976 ms: 355303 ns
[ 9772.272758] EtherCAT DEBUG 0-0: Sync after 4980 ms: 352863 ns
[ 9772.276758] EtherCAT DEBUG 0-0: Sync after 4984 ms: 350425 ns
[ 9772.280758] EtherCAT DEBUG 0-0: Sync after 4988 ms: 347988 ns
[ 9772.284758] EtherCAT DEBUG 0-0: Sync after 4992 ms: 345551 ns
[ 9772.288758] EtherCAT DEBUG 0-0: Sync after 4996 ms: 343112 ns
[ 9772.292758] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 9772.292760] EtherCAT DEBUG 0-0: app_start_time=9766876764399
[ 9772.292762] EtherCAT DEBUG 0-0: start_time=9772388764430
[ 9772.292763] EtherCAT DEBUG 0-0: cycle_time=4000000
[ 9772.292765] EtherCAT DEBUG 0-0: shift_time=0
[ 9772.292766] EtherCAT DEBUG 0-0: remainder=31
[ 9772.292768] EtherCAT DEBUG 0-0: start=9772392764399
[ 9772.292769] EtherCAT DEBUG 0-0: Setting DC cyclic operation start
time to 9772392764399.
[ 9772.296758] EtherCAT DEBUG 0-0: Setting DC AssignActivate to 0x0300.
[ 9772.308758] EtherCAT DEBUG 0-0: Now in SAFEOP.
[ 9772.308764] EtherCAT 0: Domain 0: Working counter changed to 3/3.
[ 9772.316758] EtherCAT DEBUG 0-0: Now in OP. Finished configuration.
[ 9772.321262] EtherCAT 0: Slave states: OP.
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