OK, just figured it out myself. Indeed the slave using Sync Unit Cycle to detect the bus cycle. And I forgot to add the following line to active DC:
// configure SYNC signals for this slave ecrt_slave_config_dc(sc, 0x0300, 2000000, 0, 0, 0); I should have read the dc example more carefully On Wed, Dec 7, 2011 at 1:42 PM, Jun Yuan <j.y...@rtleaders.com> wrote: > Hi, > > there is a slave CoE device, which works with the TwinCAT. And now I am > trying to bring it work with the EtherLab-Master. > > When the EtherLab-Master goes into OP, the slave will also be in OP. > There's no error. The working counter is OK. The PDO communication should > be fine. > However, I found out actually, the CoE device does neither take any > command from the RxPdos, nor update its state in the TxPdos. Those data in > the input domain remain the same for that moment the slave turned into OP, > and don't change any more. But I can see those object have actually changed > via SDO access. > > Then I thought, there must be some configuration problems on the CoE > device, since it didn't act/react with the PDOs on the EtherCAT bus. So I > called the service & support of its manufacturer. They send an expert, and > he found out that their device complains that the cycle time is 0 ms when > turning into OP, and that I should set the EtherCAT cycle time. > > AFAIK, the EtherCAT cycle time in the Etherlab-Master is only in that > while loop with the clock_nanosleep(). How should I tell the slave about > this cycle time? Since there is no CoE object on that device for the cycle > time configuration, I kindly asked him, HOW? > > He said, he don't know about the EtherLab, but for the TwinCAT, he only > needs to set it in the "Freerun Cycle (ms)" under the Adapter option. Then > he showed me on my PC. Well, yes, the slave works. And I was speechless. > There must be some magic that I don't know yet. > > Now I've found out that it must have something to do with the "DC for > synchronization", since if I deactivate it in the slave configuration in > TwinCAT. The slave device will no longer know about the EtherCAT cycle time > of the TwinCAT. I think, the device learns about the cycle time through DC. > But what should I do on my etherlab-master? > > Can anybody help me out? > > > Best Wishes, > > Jun Yuan > > > >
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