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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">Hi Circle,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">m_dcDiff should jitter around zero. The previous slave time to current slave time should jitter around your period (e.g. 1ms). The PC clock total
adjustment should drift by an approximate constant amount over time. It can drift at slightly slower or faster rates over time due to electronics issues (such as thermal changes etc.)
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">The master needs to account for the time drift between the ref slave and PC clock so that it interacts with the fieldbus in the fieldbuses timeframe.
Looking at 0x92C of subsequent slaves won’t help as that is their syncing to the ref slave. We are dealing with the master syncing to the ref slave.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">If you enable “ethercat debug 1” and start your app you should see in the logging (where main-1 is the ref slave number):<o:p></o:p></span></p>
<ul style="margin-top:0cm" type="disc">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">Using slave main-1 as DC reference clock<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">DEBUG 0-main-1: Checking system time offset.<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">DEBUG 0-main-1: DC 64 bit system time offset calculation: system_time=50278625750, app_time=42973023400,
diff=-7305602350<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">DEBUG 0-main-1: Setting time offset to 18446744066403949266 (was 0)<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">first master diff: -609.<o:p></o:p></span></li></ul>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">The first master diff should be quite small (within the jitter range).<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">You shouldn’t be getting any "Failed to get reference clock time" messages. What is the error number that is output with it?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">I’m starting to think you may be getting comms errors or something. Can you send the kernel log messages (e.g. dmesg / journalctrl -k) (with “ethercat
debug 1” set before startup) and maybe the wireshark logs.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">Check for comms error using the “ethercat crc” command, check for unmatched datagram errors in the system logs and potentially check the wireshark
logs for mismatched frames around the time of your errors.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">Also check that you have the CPU speed stepping (dynamic frequency scaling) turned off in the kernel configuration options. That can cause problems
with the timestamp clock.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">If you have an intel CPU you may need to disable the SMI interrupt.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">Also, what are the Yaskawa sync errors you are getting? Are the A12 errors? If so these generally only occur (by default) after three missed PDO’s
in a row. You don’t generally get those alarms when you are just having drifting errors. Check the wireshark logs around the time of the error and check the reference clock times to see when the master is sending the frames.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">Under RTAI you need to have the RTDM interface enabled to allow realtime calls from the user space into the masters kernel space. RTAI will allow
you to make non-realtime syscalls, but you will lose hard realtime while the syscall is occurring. You can check for any lost hard realtime events using the “/cat /proc/rtai/scheduler” command. I don’t know what the equivalent in Xenomi is.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US">Graeme.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Aptos",sans-serif;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<div style="border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> </span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">From:</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif"> Circle
Fang </span><a href="mailto:circlefang@live.com"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">circlefang@live.com</span></a><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">
<br>
</span><span style="font-family:"Calibri",sans-serif">> </span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">Sent:</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif"> Friday, 2 May 2025 05:33<br>
</span><span style="font-family:"Calibri",sans-serif">> </span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">To:</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif"> Graeme Foot
</span><a href="mailto:Graeme.Foot@touchcut.com"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">Graeme.Foot@touchcut.com</span></a><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif"><br>
</span><span style="font-family:"Calibri",sans-serif">> </span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">Cc:</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">
</span><a href="mailto:etherlab-users@etherlab.org"><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">etherlab-users@etherlab.org</span></a><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif"><br>
</span><span style="font-family:"Calibri",sans-serif">> </span><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">Subject:</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">
</span><span lang="ZH-CN" style="font-size:11.0pt">回复</span><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">: DC synchronization demo about etherlab master<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">></span><o:p> </o:p></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Hi Graeme,<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
I think I was wrong about option a and b. I should compare reference clock time "<i>slaveTime</i>" with ideal values( i.e., initial slaveTime + cycle_counters*cycle_ns); And if that difference soon converges to 0, rather than some big weird values for several
consecutive cycles (bigger than "<i>sync error limit"</i> threshold in slave) occasionaly . that will prove master is well synced to reference, right?<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
I should continue on this bug.<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
How do u_appTimeBase and m_dcDiff change in your app? is there any patterns? <o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Many thanks again for your help.<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Best Regards,<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Circle<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> </span><o:p></o:p></p>
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<hr size="2" width="98%" align="center">
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<div id="divRplyFwdMsg">
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">></span><b><span lang="ZH-CN" style="font-size:11.0pt;color:black">发件人</span></b><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> Circle
Fang <</span><a href="mailto:circlefang@live.com"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif">circlefang@live.com</span></a><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">><br>
</span><span style="font-family:"Calibri",sans-serif">></span><b><span lang="ZH-CN" style="font-size:11.0pt;color:black">发送时间</span></b><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> 2025</span><span lang="ZH-CN" style="font-size:11.0pt;color:black">年</span><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">5</span><span lang="ZH-CN" style="font-size:11.0pt;color:black">月</span><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">1</span><span lang="ZH-CN" style="font-size:11.0pt;color:black">日</span><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">
16:22<br>
</span><span style="font-family:"Calibri",sans-serif">></span><b><span lang="ZH-CN" style="font-size:11.0pt;color:black">收件人</span></b><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> Graeme
Foot <</span><a href="mailto:Graeme.Foot@touchcut.com"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif">Graeme.Foot@touchcut.com</span></a><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">><br>
</span><span style="font-family:"Calibri",sans-serif">></span><b><span lang="ZH-CN" style="font-size:11.0pt;color:black">抄送</span></b><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> </span><a href="mailto:etherlab-users@etherlab.org"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif">etherlab-users@etherlab.org</span></a><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">
<</span><a href="mailto:etherlab-users@etherlab.org"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif">etherlab-users@etherlab.org</span></a><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">><br>
</span><span style="font-family:"Calibri",sans-serif">></span><b><span lang="ZH-CN" style="font-size:11.0pt;color:black">主题</span></b><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> </span><span lang="ZH-CN" style="font-size:11.0pt;color:black">回复</span><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">:
DC synchronization demo about etherlab master</span> <o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">></span> <o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Hi Graeme,<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Where and what value should I monitor if I want to check if my master is well synchronized to reference slave or not? I think that value should eventually converges to 0 soon (or maybe some constant value). I used the following 2 options:<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Option a: Initially, I monitor the reference's slaveTime - prev_slaveTime, and it converges to 1000000, meanwhile the jitter of this value is about +- 20 us. I thought this should prove that the master is well synced to reference, since it implies that time
of ecrt_master_send is well aligned, but dc sync error still occurs occasionally when app running for several hours.<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Option b: Then I start to monitor m_dcDiff in ecMaster_syncDistClock(since first m_dcDiff is probably several milliseconds which i don't know why, marked as "fixed", so my m_dcDiff formula is m_dcDiff = (uint32_t)ecMaster->m_dcTime - slaveTime - fixed), and
soon eventually it also converges to 0, meanwhile the jitter of m_dcDiff is about several microseconds.<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
And I think Option a and b is essentially same. Can I use these values to check synchronization, like 0x92c in other slaves(BTW, 0x92x is no more than 30 nanoseconds usually).<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Sometimes I got error from master, "Failed to get reference clock time", even no dc sync error occurs meanwhile.<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
At last, when I monitor u_appTimeBase, I can see it's increasing(or decreasing) monotonically, like, eventually 1 second per day. Is this normal? ( J1900 cpu and xenomai).<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">><span style="color:black"><o:p> </o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Any ideas/advices are highly appreciated.<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Best Regards,<o:p></o:p></span></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif">> <span style="color:black">
Circle<o:p></o:p></span></span></p>
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