Hi Steffen, what host-OS do you use? I tried the same with Linux-VM (with RT-Preempt kernel) and Windows-host, got the same result. You may try following: * Use a RT-Preempt kernel in the VM * Use ethercat-capable network-drivers in the VM (e1000 or maybe e1000e should work with Oracle VM Virtualbox) * Use a Linux Host with RT-Preempt kernel and set the VM to realtime priority (98) I've never tried this before, but this might reduce issues.
Regards Jürgen Am 30.04.2013 10:22, schrieb Steffen Dalgard: > Hi, > I am setting up a environment for development an test. > In order to make it easy to replicate at different sites it is running > in a virtual machine inside Oracle VM VirtualBox Manager. > The EtherCAT slaves are connected to a dedicated bridged interface > using the generic Ethernet driver. > As you understand this is not a high performance system. > > Before activating the master it takes below 1 sec for scanning the bus > with 5 slaves. > When starting the userspace application and activating the master for > cyclic operation the rescan take very long time. It seems that the > rescan gets slower when cycle time are long. In my application I am > using 10HZ cycle time. > In the attached logs the time for scanning is about 3 minutes. > During the rescan period the processor load increase significantly (* > 20) but the packets on the bus stays constant at 10 packets pr. sec. > > Anyone having experience how to reduce time for scanning? > > I can reduce the cycle time downto 100HZ but the scan time is still long. > A downside is that I get more timeout / unmatched packets. > > Anyone having ideas what causing packet loss? > > The virtual machine is running > Linux 10.04 LTS > gcc (Ubuntu 4.4.3-4ubuntu5.1) 4.4.3 is used for compilation > I have attached three logs showing syslog output > > More details and examples can be added if needed. > > Any comments welcome. > > Best regards > Steffen Dalgard > SINTEF ICT > Norway > > > "SYSLOG messages when starting up Master" > Apr 30 09:29:09 ecmaster-vm kernel: [86526.177110] EtherCAT: Master > driver 1.5.1 41dc9a4a0f76 > Apr 30 09:29:09 ecmaster-vm kernel: [86526.178626] EtherCAT: 1 master > waiting for devices. > Apr 30 09:29:09 ecmaster-vm kernel: [86526.184362] ec_generic: > EtherCAT master generic Ethernet device module 1.5.1 41dc9a4a0f76 > Apr 30 09:29:09 ecmaster-vm kernel: [86526.184375] EtherCAT: Accepting > 08:00:27:BF:57:AC as main device for master 0. > Apr 30 09:29:09 ecmaster-vm kernel: [86526.184391] EtherCAT 0: > Starting EtherCAT-IDLE thread. > Apr 30 09:29:09 ecmaster-vm kernel: [86526.184423] EtherCAT 0: Link > state of ecm0 changed to UP. > Apr 30 09:29:09 ecmaster-vm kernel: [86526.188311] EtherCAT 0: 5 > slave(s) responding on main device. > Apr 30 09:29:09 ecmaster-vm kernel: [86526.188315] EtherCAT 0: Slave > states on main device: PREOP. > Apr 30 09:29:09 ecmaster-vm kernel: [86526.193124] EtherCAT 0: > Scanning bus. > Apr 30 09:29:10 ecmaster-vm kernel: [86526.774874] EtherCAT 0: Bus > scanning completed in 580 ms. > Apr 30 09:29:10 ecmaster-vm kernel: [86526.774879] EtherCAT 0: Using > slave 0 as DC reference clock. > Apr 30 09:31:20 ecmaster-vm kernel: [86656.548051] EtherCAT WARNING 0: > 1 datagram TIMED OUT! > Apr 30 09:35:17 ecmaster-vm kernel: [86894.412791] EtherCAT WARNING 0: > 1 datagram TIMED OUT! > Apr 30 09:35:17 ecmaster-vm kernel: [86894.412811] EtherCAT WARNING 0: > 1 datagram UNMATCHED! > Apr 30 09:36:04 ecmaster-vm kernel: [86940.780824] EtherCAT WARNING 0: > 2 datagrams TIMED OUT! > Apr 30 09:36:04 ecmaster-vm kernel: [86940.780842] EtherCAT WARNING 0: > 2 datagrams UNMATCHED! > > "SYSLOG messages when starting application" > Apr 30 09:38:49 ecmaster-vm kernel: [87106.284019] EtherCAT: > Requesting master 0... > Apr 30 09:38:49 ecmaster-vm kernel: [87106.284231] EtherCAT: > Successfully requested master 0. > Apr 30 09:38:49 ecmaster-vm kernel: [87106.284279] EtherCAT 0: > Domain0: Logical address 0x00000000, 2 byte, expected working counter 3. > Apr 30 09:38:49 ecmaster-vm kernel: [87106.284284] EtherCAT 0: > Datagram domain0-0-main: Logical offset 0x00000000, 2 byte, type LRW. > Apr 30 09:38:49 ecmaster-vm kernel: [87106.284287] EtherCAT 0: > Domain1: Logical address 0x00000002, 0 byte, expected working counter 0. > Apr 30 09:38:49 ecmaster-vm kernel: [87106.284668] EtherCAT 0: Master > thread exited. > Apr 30 09:38:49 ecmaster-vm kernel: [87106.284671] EtherCAT 0: > Starting EtherCAT-OP thread. > Apr 30 09:38:49 ecmaster-vm kernel: [87106.285073] EtherCAT WARNING 0: > 1 datagram UNMATCHED! > Apr 30 09:38:56 ecmaster-vm kernel: [87113.384968] EtherCAT 0: Domain > 0: Working counter changed to 2/3 (2+0). > Apr 30 09:38:59 ecmaster-vm kernel: [87116.386563] EtherCAT 0: Domain > 0: Working counter changed to 3/3 (3+0). > Apr 30 09:39:00 ecmaster-vm kernel: [87117.288055] EtherCAT 0: Slave > states on main device: PREOP, OP. > > > "SYSLOG messages when forcing bus rescan by extracting and inserting > one of the slaves" > Apr 30 09:41:25 ecmaster-vm kernel: [87261.585150] EtherCAT 0: Domain > 0: Working counter changed to 2/3 (2+0). > Apr 30 09:41:25 ecmaster-vm kernel: [87261.585644] EtherCAT 0: 4 > slave(s) responding on main device. > Apr 30 09:41:25 ecmaster-vm kernel: [87262.085167] EtherCAT 0: > Scanning bus. > Apr 30 09:44:02 ecmaster-vm kernel: [87418.885938] EtherCAT 0: Bus > scanning completed in 157196 ms. > Apr 30 09:44:02 ecmaster-vm kernel: [87418.885953] EtherCAT 0: Using > slave 0 as DC reference clock. > Apr 30 09:44:04 ecmaster-vm kernel: [87420.685695] EtherCAT 0: 5 > slave(s) responding on main device. > Apr 30 09:44:04 ecmaster-vm kernel: [87420.685710] EtherCAT 0: Slave > states on main device: INIT, PREOP, OP. > Apr 30 09:44:04 ecmaster-vm kernel: [87421.185114] EtherCAT 0: > Scanning bus. > Apr 30 09:47:25 ecmaster-vm kernel: [87621.985808] EtherCAT 0: Bus > scanning completed in 201196 ms. > Apr 30 09:47:25 ecmaster-vm kernel: [87621.985825] EtherCAT 0: Using > slave 0 as DC reference clock. > Apr 30 09:47:30 ecmaster-vm kernel: [87627.184968] EtherCAT 0: Domain > 0: Working counter changed to 3/3 (3+0). > Apr 30 09:47:31 ecmaster-vm kernel: [87628.088202] EtherCAT 0: Slave > states on main device: PREOP, OP. > > > > > _______________________________________________ > etherlab-dev mailing list > etherlab-dev@etherlab.org > http://lists.etherlab.org/mailman/listinfo/etherlab-dev -- Dipl.-Inform. Jürgen Kunz Technische Universität Darmstadt <http://www.tu-darmstadt.de> FG Simulation, Systemoptimierung und Robotik <http://www.sim.tu-darmstadt.de> Hochschulstr. 10 64289 Darmstadt Tel.: ++49 (0) 6151-16-70383 Fax: ++49 (0) 6151-16-6648 E-Mail: kunz(at)sim.tu-darmstadt.de Homepage: http://www.sim.tu-darmstadt.de
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