[etherlab-users] Sync problems and DC mode

[Boris Skegin]

Hello.

> With this version
> <https://github.com/narogon/linuxcnc-ethercat/commit/e4ab86ba6167ced532e49904059df580062b2d97#diff-059a684a933530837771b5a249433ff3>
> (also as attachment lcec_main.c) I get the servos sync and OP but it seems
> that the PDO doesn't arrive for some of the slaves (no idea why).

master->app_time += master->app_time_period;  means that you just sum
up constant cycle times of  the LinuxCNC thread. So any latency
information gets lost here.

Rather  make  master->app_time  be equal to something like
rt_get_time() transferred to EtherCAT time.

I also think that a proper value for sync0Shift  can help a lot.

If however nothing of that helps, then proceed  to  Graeme Foot's option b) .

BTW, what exactly is your kernel and network card and do you really
use an adopted ( non-generic) network driver?

Regards,
boris