[etherlab-users] How to verify that my distributed clock setup correctly?

[Louie Lu]

Hi all,

How do I verify that my distributed clock setup in EtherCAT is correct?

I use SDO 0x1C32/0x1C33 check that the slaves are in DC mode, and use
0x92C reg check the system time difference, here is the result of two
slaves connected:

# ethercat -p0 -tuint16 upload 0x1C32 1; ethercat -p0 -tuint16 upload
0x1C33 1; ethercat -p0 reg_read 0x92C -t int32; ethercat -p1 reg_read
0x92C -t int32
0x0002 2
0x0002 2
0x007051ea 7361002
0x80000002 -2147483646

The second slave seems to work well, only have 2ns difference, but why
does the first slave always report with a large number of the time
difference? Is that correct?


Thanks,
Louie.