[etherlab-users] How get datagram warning use 1.5.2 api?

[Zhiyong Weng]

Hi ALL,

    I use etherCAT Master 1.5.2 to control servo motors. the system works
perfect more than 6 months until last week.

    The data (motor position) read from "domain_input_pd" were wrong. It
made the system crazy.

    I manage to reproduce it and find out that other system ,in same
network, transfer huge amount data and almost block the band width.
    I also notice , when the issue happen, the syslog print a lot
warning: *UNMATCHED/SKIPPED
**datagrams*

    So I know the data ,I read from datagram, is not flesh. actually it is
old data from last cycle. (1.5.2 document ,page 74 ,8.0.2 Bus Cycle
Measuring).

     My question is how I can catch the PDO datagrams warning or error in
the code,rather than Syslog?

    Thank you.

Regards,
Zhiyong

bool fm_auto::DuetflEthercatController::cyclic_task()
{

        ecrt_master_receive(master);
        ecrt_domain_process(domain_input);

        // read PDO data , motor position
        position_actual_value_PDO_data_slave_zero =
EC_READ_S32(domain_input_pd + fm_auto::OFFSET_POSITION_ACTURAL_VALUE);

ecrt_domain_process(domain_output);

        // write PDO data, motor velocity
        ...
        EC_WRITE_U32(domain_output_pd + fm_auto::OFFSET_TARGET_VELOCITY,
value);

        ecrt_domain_queue(domain_output);

        // send process data
        ecrt_domain_queue(domain_input);
        ecrt_master_send(master);


        return true;
}
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