[etherlab-users] Going to OP state takes tooo much time?

[Oguz Dilmac]

Hi,

I'm trying to use a servo motor controller from LT-i.

When I use DC (I used ecrt_slave_config_dc() during configuration) It
takes too much time for master to change state to OP. Around 5-6 second.

If I dont use DC (I comment out this function) It doesn't take that much
time. Around 900 ms.

Why does it take so much time?
When I'm using DC, can I be sure that if the state is OP, then it means
the synchronisation is OK? The warning stating the "Slave did not sync
after 5000ms" makes me feel uncomfortable.

Here is output of dmesg:
[ 1964.433201] EtherCAT 0: Domain0: Logical address 0x00000000, 0 byte, expected working counter 0.
[ 1964.433209] EtherCAT 0: Domain1: Logical address 0x00000000, 0 byte, expected working counter 0.
[ 1964.433220] EtherCAT 0: Domain2: Logical address 0x00000000, 7 byte, expected working counter 2.
[ 1964.433228] EtherCAT 0:   Datagram domain2-0: Logical offset 0x00000000, 7 byte, type LWR.
[ 1964.433237] EtherCAT 0: Domain3: Logical address 0x00000007, 6 byte, expected working counter 1.
[ 1964.433244] EtherCAT 0:   Datagram domain3-7: Logical offset 0x00000007, 6 byte, type LRD.
[ 1964.433364] EtherCAT 0: Master thread exited.
[ 1964.433372] EtherCAT 0: Starting EtherCAT-OP thread.
[ 1964.447373] eCatUtil: 3 slave(s).
[ 1964.447377] eCatUtil: AL states: 0x02.
[ 1964.447386] eCatUtil: Link is up.
[ 1964.450785] EtherCAT WARNING 0: No app_time received up to now, but master already active.
[ 1970.055356] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[ 1970.095365] EtherCAT 0: Domain 2: Working counter changed to 1/2.
[ 1970.095371] EtherCAT 0: Domain 3: Working counter changed to 1/1.
[ 1970.095377] eCatUtil: DomainWrite: WC 1.
[ 1970.095381] eCatUtil: DomainWrite: State 1.
[ 1970.095385] eCatUtil: domainRead: WC 1.
[ 1970.095389] eCatUtil: domainRead: State 2.
[ 1970.355359] eCatUtil: DomainWrite: WC 2.
[ 1970.355365] eCatUtil: DomainWrite: State 2.
[ 1970.396492] EtherCAT 0: Slave states: OP.
[ 1970.397353] eCatUtil: AL states: 0x08.
[ 1971.097368] EtherCAT 0: Domain 2: Working counter changed to 2/2.

Not: I wraped some of the functionalities in the example files and added "eCatUtil" prefix to some messages.
The context and the text written with printk is the same as the examples.

Best regards,
Oguz.