From david.albert.breunig at ipa.fraunhofer.de Mon Oct 13 21:12:38 2025 From: david.albert.breunig at ipa.fraunhofer.de (Breunig, David Albert) Date: Mon, 13 Oct 2025 19:12:38 +0000 Subject: [Etherlab-users] DC oversampling: EL2262 not using OS values In-Reply-To: References: Message-ID: Hello everyone, I am working on a setup with an EL2262 terminal. I already found the previous thread from March about the EL2262, which helped me clarify some uncertainties and find errors. Thank you for that. Now I'm facing another problem: my EL2262 always uses only the first value (0x7000:1 and 0x7000:2) for both channels and ignores all others. I only have a TRUE at the output for one subcycle; for the remaining subcycles, it is always FALSE, even if I set the bits in the domain correctly. I am working on Ubuntu with an RT kernel, isolated RT CPU, and fixed clock. My setup is EK1100, EL1008, EL2008, EL2262, EK1110. For example, 10x oversampling with a 5 ms application cycle: I set my times as follows: cycleTimeNsSync0 = cycleTimeNanoseconds / 10; cycleTimeNsSync1 = cycleTimeNanoseconds - cycleTimeNsSync0; shiftTimeNsSync0 = (int)cycleTimeNanoseconds / 2; shiftTimeNsSync1 = 0; I set the SM settings and addresses for the new PDO just as in Beckhoff Twincat (PDO index +1 and entry index +8). ethercat config -p 3 -v then displays: Alias: 0 Position: 3 Vendor Id: 0x00000002 Product code: 0x08d63052 Attached slave: 3 (OP) Watchdog divider: (Default) Watchdog intervals: (Default) SM0, Dir: Output, Watchdog: Default PDO 0x1700 PDO entry 0x7800:01, 16 bit PDO 0x1600 PDO entry 0x7000:01, 1 bit PDO 0x1800 PDO entry 0x7200:01, 8 bit PDO 0x1601 PDO entry 0x7008:01, 1 bit PDO 0x1602 PDO entry 0x7010:01, 1 bit PDO 0x1603 PDO entry 0x7018:01, 1 bit PDO 0x1604 PDO entry 0x7020:01, 1 bit PDO 0x1605 PDO entry 0x7028:01, 1 bit PDO 0x1606 PDO entry 0x7030:01, 1 bit PDO 0x1607 PDO entry 0x7038:01, 1 bit PDO 0x1608 PDO entry 0x7040:01, 1 bit PDO 0x1609 PDO entry 0x7048:01, 1 bit SM1, Dir: Output, Watchdog: Default PDO 0x1701 PDO entry 0x7800:02, 16 bit PDO 0x1680 PDO entry 0x7000:02, 1 bit PDO 0x1880 PDO entry 0x7200:02, 8 bit PDO 0x1681 PDO entry 0x7008:02, 1 bit PDO 0x1682 PDO entry 0x7010:02, 1 bit PDO 0x1683 PDO entry 0x7018:02, 1 bit PDO 0x1684 PDO entry 0x7020:02, 1 bit PDO 0x1685 PDO entry 0x7028:02, 1 bit PDO 0x1686 PDO entry 0x7030:02, 1 bit PDO 0x1687 PDO entry 0x7038:02, 1 bit PDO 0x1688 PDO entry 0x7040:02, 1 bit PDO 0x1689 PDO entry 0x7048:02, 1 bit SM2, Dir: Input, Watchdog: Default PDO 0x1702 PDO entry 0x1d09:98, 32 bit SDO configuration: None. IDN configuration: None. Feature flags: None. DC configuration: AssignActivate: 0x0730 Cycle [ns] Shift [ns] SYNC0 500000 2500000 SYNC1 4500000 0 My own debug output shows: [20:40:50 VRB] Rx PDO entry registered: Index=0x7000, Subindex=0x01, Offset=3, BitPos=0 [20:40:50 VRB] Rx PDO entry registered: Index=0x7000, Subindex=0x02, Offset=8, BitPos=0 [20:40:50 VRB] Rx PDO entry registered: Index=0x7008, Subindex=0x01, Offset=4, BitPos=1 [20:40:50 VRB] Rx PDO entry registered: Index=0x7008, Subindex=0x02, Offset=9, BitPos=1 [20:40:50 VRB] Rx PDO entry registered: Index=0x7010, Subindex=0x01, Offset=4, BitPos=2 [20:40:50 VRB] Rx PDO entry registered: Index=0x7010, Subindex=0x02, Offset=9, BitPos=2 [20:40:50 VRB] Rx PDO entry registered: Index=0x7018, Subindex=0x01, Offset=4, BitPos=3 [20:40:50 VRB] Rx PDO entry registered: Index=0x7018, Subindex=0x02, Offset=9, BitPos=3 [20:40:50 VRB] Rx PDO entry registered: Index=0x7020, Subindex=0x01, Offset=4, BitPos=4 [20:40:50 VRB] Rx PDO entry registered: Index=0x7020, Subindex=0x02, Offset=9, BitPos=4 [20:40:50 VRB] Rx PDO entry registered: Index=0x7028, Subindex=0x01, Offset=4, BitPos=5 [20:40:50 VRB] Rx PDO entry registered: Index=0x7028, Subindex=0x02, Offset=9, BitPos=5 [20:40:50 VRB] Rx PDO entry registered: Index=0x7030, Subindex=0x01, Offset=4, BitPos=6 [20:40:50 VRB] Rx PDO entry registered: Index=0x7030, Subindex=0x02, Offset=9, BitPos=6 [20:40:50 VRB] Rx PDO entry registered: Index=0x7038, Subindex=0x01, Offset=4, BitPos=7 [20:40:50 VRB] Rx PDO entry registered: Index=0x7038, Subindex=0x02, Offset=9, BitPos=7 [20:40:50 VRB] Rx PDO entry registered: Index=0x7040, Subindex=0x01, Offset=5, BitPos=0 [20:40:50 VRB] Rx PDO entry registered: Index=0x7040, Subindex=0x02, Offset=10, BitPos=0 [20:40:50 VRB] Rx PDO entry registered: Index=0x7048, Subindex=0x01, Offset=5, BitPos=1 [20:40:50 VRB] Rx PDO entry registered: Index=0x7048, Subindex=0x02, Offset=10, BitPos=1 [20:40:50 VRB] Rx PDO entry registered: Index=0x7200, Subindex=0x01, Offset=3, BitPos=1 [20:40:50 VRB] Rx PDO entry registered: Index=0x7200, Subindex=0x02, Offset=8, BitPos=1 [20:40:50 VRB] Rx PDO entry registered: Index=0x7800, Subindex=0x01, Offset=1, BitPos=0 [20:40:50 VRB] Rx PDO entry registered: Index=0x7800, Subindex=0x02, Offset=6, BitPos=0 [20:40:50 INF] Successfully configured slave at position 3 And ethercat domain -v after setting values: Domain0: LogBaseAddr 0x00000000, Size 11, WorkingCounter 2/2 SlaveConfig 0:2, SM0 (Output), LogAddr 0x00000000, Size 1 01 SlaveConfig 0:3, SM0 (Output), LogAddr 0x00000001, Size 5 00 00 01 04 00 SlaveConfig 0:3, SM1 (Output), LogAddr 0x00000006, Size 5 00 00 00 00 00 You can see that Slave3 is set to SM0 3.0 and 4.2, with addresses matching the debug output. Nevertheless, the terminal only outputs TRUE for bit 3.0; all other nine subcycles are FALSE (measured with an oscilloscope). I have already manually changed other bits than those returned during registration in order to perhaps find an incorrect address, but that did not help either. I don't understand why the terminal ignores the transmitted values. Am I overlooking a setting that is necessary for DC? The values are visibly sent in Wireshark as in "ethercat domain -v". I am grateful for any advice, as I have been struggling with this for a few days now. My cycle is always - Receive - Process - Set Application Data (e.g. writing bits 3.0 and 4.2) - Queue - Sync Slave Clocks every ten cycles - Send Thank you very much! Regards David Breunig -- Dr.-Ing. David A. Breunig Projektleiter Fraunhofer-Institut f?r Produktionstechnik und Automatisierung IPA IT-Architekturen f?r die Produktion Nobelstra?e 12 ? 70569 Stuttgart Telefon +49 711 970-1375 david.albert.breunig at ipa.fraunhofer.de www.ipa.fraunhofer.de www.retavi.de [cid:image001.png at 01DC3C85.15046A00] -------------- next part -------------- An HTML attachment was scrubbed... URL: -------------- next part -------------- A non-text attachment was scrubbed... Name: image001.png Type: image/png Size: 13844 bytes Desc: image001.png URL: