Ethercat HAL driver

Hello Sirop,
Thank you very much, I tried with the configuration that you tell me but I was still in PREOP E state, I think that something I do not have well configured, I will continue reading the manual, thanks.
Chimeno

hello Sirop again, I can finally control it in DC mode, this is my configuration:
EL3773
cycle time 1000000
I enable 8 Sudindex = 125000 * 8 sudindex (Samples) = 1000000


sync0Cycle = 125000
sync0Shift = 0
sync1Cycle = sync0Cycle * 7 = 875000 <cycle time
sync1Shift = 0

<master idx = "0" appTimePeriod = "1000000" refClockSyncCycles = "125">
<slave idx = "0" type = "EK1100" name = "EK1100" />
                 <slave idx = "1" type = "EL3773" name = "EL3773">
                     <dcConf assignActivate = "730" sync0Cycle = "125000" sync0Shift = "0" sync1Cycle = "875000" sync1Shift = "0 />
                 </ slave>
I attached the halscope image reading alternating current.

I have a question, reading the manuals would have to be the sync1Cycle = cycle time? Do you know something about it?
  Thank you
chimeno

Sorry for a late answer.

As I said somewhere above, I would only experiment with cycle0Shift.
I never used sync1Cycle .

Maybe, lectoraatmechatronica.wikispaces.com/fil...AT+communication.pdf P. 83 can help you.

hi Sirop,
tried with this configuration:

eL3773 configuration
subindex (samples) = 1 sample = according to manual 1000us

1C33: 02 Cycle time Cycle time (in ns):
• Free Run: Cycle time of the local timer
• Synchronous with SM 2 event: Master cycle
time
• DC-Mode: SYNC0 / SYNC1 Cycle Time

cycleTime = f4240 (10000000)


1C33: 01 Sync mode Current synchronization mode:
• Bit 0 = 0: Free Run
• Bit 0 = 1: Synchron with SM 2 Event
• Bit 0-1 = 11: DC with SYNC1 event
• Bit 15 = 1: Fast Mode

Sync mode 0x0002 (2)

<slave idx = "1" type = "EL3773" name = "EL3773">
<dcConf assignActivate = "730" sync0Cycle = "* 1" sync0Shift = "25000" />
</ slave>

the state stays in PREOP E,

is it necessary in "DC MODE" to have sync1 activated? any solution?
if I do not activate the sync1 it gives me sync error.

Tested with the TWINCAT3 application
Synchronism errors until reaching 0x8140 sync Error


I'm looking at the manual that you've given me, thank you very much.
Chimeno

First of all and again, I have never solved the DC problem at my site as I did not have to yet,
but I'll have to so somewhere in spring and therefore I am interested in this discussion.

<dcConf assignActivate = "730" sync0Cycle = "* 1" sync0Shift = "25000" />

So does TWINCAT3 application still yields any sync errors after your increasing sync0Shift to 500000?

Maybe, you should also ask your question on this thread lists.etherlab.org/pipermail/etherlab-users/2018/003281.html .

Hello Sirop,
if it is a good idea to try to work in DC mode, for the AX5000 servos I sometimes get synchronization problems because of the SYNC1 because the event is not completed.

EL3773 I can not make it work only with sync0, I guess I must do something wrong in the configuration, I'll keep looking and trying different configurations, I'll look at the link that you give me if I get some solution.

Thank you
Chimeno