Graeme, I have always called ecrt_master_activate in my xenomai kernel driver. That same xenomai kernel driver has its cyclic loop running all the time but waits for a flag indicating whether to start ethercat activity.
I trigger the kernel driver call to ecrt_master_activate with a user space application that makes an ioctl call to the xenomai kernel driver. Using this methodology I don't have the "soft" to "hard" delay you describe and have not ever seen the errors you described with the SGDV. Also I always enable the drive when in cyclic mode ie. index 6040 = 0x80 -> 6 -> 7 -> 15 . On Thu, 2012-03-08 at 17:01 +0100, Florian Pose wrote: > -----BEGIN PGP SIGNED MESSAGE----- > Hash: SHA1 > > Hi, > > Am 23.02.2012 23:58, schrieb Graeme Foot: > > 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). > > ecrt_master_activate() is intended to be called when no slaves are > operational and there is no necessarity to have any meaningful > operation anyway. Why are your slaves complaining when they are not in > operation yet? They should checks for sync errors earliest when in > SAFEOP state. > > - -- > Regards, > Florian > -----BEGIN PGP SIGNATURE----- > Comment: Using GnuPG with Mozilla - http://enigmail.mozdev.org/ > > iEYEARECAAYFAk9Y19YACgkQABFOIMygR8yOUgCfQFmLKM4LByWMzPrpiAmMoW3F > gu0An06I0j0Y+satXo9OAVmby5aamLnD > =WxIg > -----END PGP SIGNATURE----- > _______________________________________________ > etherlab-users mailing list > etherlab-users@etherlab.org > http://lists.etherlab.org/mailman/listinfo/etherlab-users Outbound scan for Spam or Virus by Barracuda at Delta Tau _______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users