Hi, ecrt_master_activate is not available from a realtime context, so there are two options:
1) call ecrt_master_activate just before starting hard realtime. 2) start hard realtime and call ecrt_master_activate in a non-realtime helper thread The problem I was having with option one is that after calling ecrt_master_activate it takes a couple of milliseconds to go from soft to hard realtime (in my case I'm starting the first realtime cycle to be approx 10ms after the call to go hard). I configure my amps to use cyclic position mode which requires the pdo data to arrive consistently. In the time it takes to go from soft to hard rt the amps often miss too many pdo datagrams and they were raising the alarm A12 (Sync Error). So I'm using option two, where ecrt_master_activate is called after the pdo datagrams have been started. Note: I also deactivate the master in the helper thread, but continue to send the distributed clock messages in the hard realtime cycle for a bit to avoid some errors I was getting on shutting down the system. Regards, Graeme. -----Original Message----- From: [email protected] [mailto:[email protected]] On Behalf Of Florian Pose Sent: Thursday, 23 February 2012 21:11 To: [email protected] Subject: Re: [etherlab-users] Distributed Clock with Yaskawa SGDV drives -----BEGIN PGP SIGNED MESSAGE----- Hash: SHA1 Hello Graeme, Am 07.02.2012 04:45, schrieb Graeme Foot: > create master_activate thread -------+ | start realtime > | request master_activate --> | ecrt_master_activate > ecrt_rtdm_master_recieve | (after first sync dc) sync dc > | ecrt_rtdm_master_send | <-- | master activated I do not understand why it is necessary to call ecrt_master_activate() from realtime context. If you call it and right after it start to send() and receive() (including process data), the slaves already have the possibility to "see" the process data during configuration (once the FMMUs are configured). - -- Best regards, Florian -----BEGIN PGP SIGNATURE----- Comment: Using GnuPG with Mozilla - http://enigmail.mozdev.org/ iEYEARECAAYFAk9F9I0ACgkQABFOIMygR8z9GwCeIinIwYf9bB1rzbBthxTPB7iA Q64An3jZpwNyc935ORX5SFsDyzXcq19b =3W8y -----END PGP SIGNATURE----- _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
