Hello
I have a problem with EtherCAT DC synchronization
A problem is that our EtherCAT master can’t DC sync with slave device
Our test program only executes PDO communication with a slave device using DC
sync
Period of DC sync is 1ms
But, it is not operated successfully because a value of the time differential
register is increase infinitely (I checked value every 0.1S using watch command)
I tested latency and clock drift of our xenomai environment. But, results of
test are normal
So, I don’t know why this result is occur
I guess that cause is about linux xenomai build configuration, So I changed
several build option of linux kernel with ipipe patch
But, all of results are same as my problem
Please help me and tell us about your opinion of this problem
last, Below contents are our system specification and results of test
Out system specification is same below
- ipipe patched linux kernel 3.14.44 (Ubuntu 14.04)
- Xenomai 2.6.4 (./configure --enable-x86-sep)
- Etherlab 1.5 stable newest version (./configure
--prefix=/usr/local/etherlab --disable-8139too --enable-r8169 --enable-rtdm
--with-xenomai-dir=/usr/xenomai --enable-debug-if)
- CPU: Bay-trail N2930, Lan: Realtek 8111 (R8169)
Result of Latency test (average is about 6us, maximum is about 25us)
- RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat
best|--lat worst
RTD| -0.998| 6.094| 20.072| 0| 0| -0.998| 20.072
RTD| -0.782| 5.635| 18.281| 0| 0| -0.998| 20.072
RTD| -0.638| 5.868| 19.675| 0| 0| -0.998| 20.072
RTD| -0.613| 5.375| 17.536| 0| 0| -0.998| 20.072
Result of Clock test
- CPU ToD offset [us] Tod drift [us/s] wrps max delta [us]
---- ----------------------- ------------------ -----------
-----------------
0 -1165172.1 0.026 0 0.0
1 -1165172.0 0.040 0 0.0
2 -1165172.0 0.014 0 0.0
3 -1165172.4 -0.075 0 0.0
Value of Time differential register (Increase infinitely)
- watch n0 ethercat reg_read -p0 -tsm32 0x92c (Execute read register
every 0.1S)
0x02f8e929 49867049
Thank you for your attention and have a nice day
Best regards,
Myungjin Kim
김명진 주임연구원 (Myungjin Kim)
Assistant Research Engineer / R&D 2 team
DRA Inc, a Doosan Company
9F, Aprosquare, 55 Seocho-daero 77-gil, Seocho-gu, Seoul, 06611, Korea
Phone +82 2 3479 0062
Mobile +82 10 9938 1321
Fax +82 2 3479 7398
E-mail myungjin....@doosan.com<mailto:myungjin....@doosan.com>
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