Hello,
please check a newer version of the stable branch.
Florian did some work on better syncing in DC mode.
Best regards
Andreas
Am 31.10.2011 16:10, schrieb Gianluca Medini:
Good morning, I'm using the Igh ethercat master to play motor drives
with DC.
What I see is a time to have a little difference in timing (registser
0x92c) that is very long (the first time I start the master is about
30 seconds, if I restart also much more).
Inspecting the 0x92c seems we have oscilation that need a long time
to end.
I don't know if this is normal since I've no experience with other
masters.
However I've seen an asimmetry in code for user and hard real time.
1) In user example
// write application time to master
clock_gettime(CLOCK_TO_USE, &time);
ecrt_master_application_time(master, TIMESPEC2NS(time));
2) In rtai example.
....
tv.tv_usec += 1000;
if (tv.tv_usec >= 1000000) {
tv.tv_usec -= 1000000;
tv.tv_sec++;
}
ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv));
In the RTai example the clock is taken a first time before the main
loop and after is calculated manually (incrementing 1000 mSec), in
these way (it seems to me) the time I give to master is always with
the (small enough) jitter of the RTai scheduler.
I'm wrong ?
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Mit freundlichem Gruß
Andreas Stewering-Bone
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Dipl.-Ing.(FH) Andreas Stewering-Bone
andreas.stewering-b...@igh-essen.com
Tel.: +49 201 / 36014-15
Ingenieurgemeinschaft IgH
Gesellschaft für Ingenieurleistungen mbH
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