[etherlab-users] Distributed Clock with Yaskawa SGDV drives

[Henry Bausley]

Graeme,

  I have always called ecrt_master_activate in my xenomai kernel driver.
That same xenomai kernel driver has its cyclic loop running all the time
but waits for a flag indicating whether to start ethercat activity.

  I trigger the kernel driver call to ecrt_master_activate with a user
space application that makes an ioctl call to the xenomai kernel
driver. 

  Using this methodology I don't have the "soft" to "hard" delay you
describe and have not ever seen the errors you described with the SGDV.
Also I always enable the drive when in cyclic mode ie. index 6040  =
0x80 -> 6 -> 7 -> 15 . 

 
  


On Thu, 2012-03-08 at 17:01 +0100, Florian Pose wrote:
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> Hi,
> 
> Am 23.02.2012 23:58, schrieb Graeme Foot:
> > I configure my amps to use cyclic position mode which requires the
> > pdo data to arrive consistently.  In the time it takes to go from
> > soft to hard rt the amps often miss too many pdo datagrams and they
> > were raising the alarm A12 (Sync Error).
> 
> ecrt_master_activate() is intended to be called when no slaves are
> operational and there is no necessarity to have any meaningful
> operation anyway. Why are your slaves complaining when they are not in
> operation yet? They should checks for sync errors earliest when in
> SAFEOP state.
> 
> - --
> Regards,
> Florian
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