Ethercat random jitter fix

@Hakan @papagno-source
I get worse OP times with 1.5.2
Is that the case for you as well?
Do you have a kernel + linuxcnc + linuxcnc-ethercat + ethercat
versions combination that gets everything ready sub 1 sec?
Before axis opens or just as axis UI opens up?

Syste is debian 10 buster x86_64
Kernel: 4.19.0-27-rt-amd64 #1 SMP PREEEMPT RT Debian 4.19.316-1 (2024-06-25) x86_64 GNU/Linux
Ethercat : IgH ETHERCAT master 1.5.2 unknow
Etherlabmaster-1.5.2+20190904hg33b922p8ea394
LINUXCNC 2.9.0-pre0


When axis opens the gui, the axis dimensions are already present. From tests done, when I had the same problem with debian 12, as soon as it reads the loadrt lcec command, the dimensions appear on the pins in hal, relating to the individual axes.

I have installed linuxcnc-ethercat...0.9.5-retro1.5.2-rc1, without error, but if coomand ethercat version have reult 1.6.9
But I think, this is not the Igh part, but the lcec driver, right?
I have a version running in place in another directory, do I need to copy or link something to test?
On Debian 10 , in direcory bin the linuxcnc , i have only lcec_conf and not have lcec_coffingen

Tested a bit.
I get fairly consistent loading times of lcec's rt_app_main() function of 1.85-1.90 seconds.
But but. In syslog I can see that the initial sync of slaves takes anywhere between zero and
say 3,4,5 seconds. 
To check
ethercat debug 1
start linuxcnc
exit or leave running, doesn't matter.
sudo journalctl --since "2 minutes ago" | grep "Sync after"
and see where it stops for every slave.
I reckon this is the problematic delay time.
Seldom, but it happens, I get "Checking for synchrony" and then it is satisfied directly and moves on.

It seems measuring the time of lcec's rt_app_main is not a good indicator.
Is there a good way of measuring time to OP?

trixie, 
Linux plasma 6.12.69+deb13-rt-amd64 #1 SMP PREEMPT_RT Debian 6.12.69-1 (2026-02-08) x86_64 GNU/Linux
IgH EtherCAT master 1.6.8 1.6.8.g2543cc5-1+27.3  (via apt)
linuxcnc-ethercat, a slightly modified version of commit bf13577ec7b1b54844e07a80d949232e71776b32
linuxcnc 2.9.4 (via apt)

 

papagno-source wrote:

Syste is debian 10 buster x86_64
Kernel: 4.19.0-27-rt-amd64 #1 SMP PREEEMPT RT Debian 4.19.316-1 (2024-06-25) x86_64 GNU/Linux
Ethercat : IgH ETHERCAT master 1.5.2 unknow
Etherlabmaster-1.5.2+20190904hg33b922p8ea394
LINUXCNC 2.9.0-pre0


When axis opens the gui, the axis dimensions are already present. From tests done, when I had the same problem with debian 12, as soon as it reads the loadrt lcec command, the dimensions appear on the pins in hal, relating to the individual axes.

 
linuxcnc-ethercat version?  

papagno-source wrote:

I have installed linuxcnc-ethercat...0.9.5-retro1.5.2-rc1, without error, but if coomand ethercat version have reult 1.6.9
But I think, this is not the Igh part, but the lcec driver, right?
I have a version running in place in another directory, do I need to copy or link something to test?
On Debian 10 , in direcory bin the linuxcnc , i have only lcec_conf and not have lcec_coffingen
 

gitlab.com/grandixximo/ethercat/-/jobs/1...ad?file_type=archive
This is the igh ethercat, you need to uninstall your current ethercat master to get this to work, also ethercat-dkms and libethercat.
You might have to run or restart the ethercat service after installing the deb packages in the artifact.zip
 
for the linuxcnc-ehercat remove your current version
and install this
github.com/grandixximo/linuxcnc-ethercat...0.9.5-retro1.5.2-rc1
this is the lcec part, and it has both lcec_conf and lcec_coffingen
I cannot fathom why you would have one and not the other if you installed my packages.

I saw you tried to come to the discord, but you did not give a thumbs up to the rules message, so you were not allowed in.

I'm on +08:00 time. not in Italy. So mind the time difference. I'll only probably be available in the morning Italy time.