[etherlab-users] Time issues with EtherCAT functions

[Carlos Jiménez Leal]

Hello,

I have some problems with the execution time of the EtherCAT functions 
in user space.
I'm using the version of the EtherLAB dated 06/11/2012, linux 2.6.29.5 
and RTAI 3.8.1 (with RTDM) for one cycle at 10kHz,
in a system with the following Beckohff modules: EK1100, EL2004, 
EL1004, EL4132, EL3102, 2xEL3356-0010, EL9510
on a 1.80GHz Intel Atom D525, with a Realtek 8139too

The cycle would be something like this:

cycle () {
	ecrt_master_receive ()
	ecrt_domain_process ()
	phases ()
	ecrt_domain_queue ()
	ecrt_master_send ()
	wait_next_cycle ()
}

I picked up the time it takes each and is far superior to that 
specified in the etherlab manual
(http://www.etherlab.org/download/ethercat/ethercat-1.5-6129a5f715fb.pdf)

			Retrieved 	Manual
Receive Master 		21micro-s 	2.2micro-s
Domain Process 	        11.5micro-s 	1micro-s
Domain Queue 		13.6micro-s 	1micro-s
Master Send 		14.3micro-s 	2.5micro-s

Besides occasionally one of them takes much longer, reaching 3_mili-s_ 
Master Receive
(attached compressed csv file data)

Anyone have any idea what could be happening?

Thank you in advance

-- 
Carlos Jiménez

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