Hello. > With this version > <https://github.com/narogon/linuxcnc-ethercat/commit/e4ab86ba6167ced532e49904059df580062b2d97#diff-059a684a933530837771b5a249433ff3> > (also as attachment lcec_main.c) I get the servos sync and OP but it seems > that the PDO doesn't arrive for some of the slaves (no idea why).
master->app_time += master->app_time_period; means that you just sum up constant cycle times of the LinuxCNC thread. So any latency information gets lost here. Rather make master->app_time be equal to something like rt_get_time() transferred to EtherCAT time. I also think that a proper value for sync0Shift can help a lot. If however nothing of that helps, then proceed to Graeme Foot's option b) . BTW, what exactly is your kernel and network card and do you really use an adopted ( non-generic) network driver? Regards, boris _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
