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  • papagno-source
  • papagno-source
Today 14:41
Replied by papagno-source on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Because dcRefClock="true" only for drive 1 and not for all drive ?
  • papagno-source
  • papagno-source
Today 14:37
Replied by papagno-source on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

I don't understand how can attachment file.
This test, are without your last fix.
I have executed N°3 test for refClockSyncCycles="1" and refClockSyncCycles="-1"


1° power on with <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">

Master0
Phase: Operation
Active: yes
Slaves: 4
Ethernet devices:
Main: 68:ed:a4:79:15:bb (attached)
Link: UP
Tx frames: 105648
Tx bytes: 22401382
Rx frames: 105647
Rx bytes: 22401017
Tx errors: 0
Tx frame rate [1/s]: 1053 1050 752
Tx rate [KByte/s]: 360.7 359.5 216.8
Rx frame rate [1/s]: 1053 1050 752
Rx rate [KByte/s]: 360.7 359.5 216.8
Common:
Tx frames: 105648
Tx bytes: 22401382
Rx frames: 105647
Rx bytes: 22401017
Lost frames: 0
Tx frame rate [1/s]: 1053 1050 752
Tx rate [KByte/s]: 360.7 359.5 216.8
Rx frame rate [1/s]: 1053 1050 752
Rx rate [KByte/s]: 360.7 359.5 216.8
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 829434877492390059
Application time: 829434927369399203
2026-04-13 22:35:27.369399203


2° power on with <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">

Master0
Phase: Operation
Active: yes
Slaves: 4
Ethernet devices:
Main: 68:ed:a4:79:15:bb (attached)
Link: UP
Tx frames: 201920
Tx bytes: 55838998
Rx frames: 201919
Rx bytes: 55838617
Tx errors: 0
Tx frame rate [1/s]: 1055 732 844
Tx rate [KByte/s]: 376.3 246.9 277.6
Rx frame rate [1/s]: 1055 732 844
Rx rate [KByte/s]: 376.3 246.9 277.6
Common:
Tx frames: 201920
Tx bytes: 55838998
Rx frames: 201919
Rx bytes: 55838617
Lost frames: 0
Tx frame rate [1/s]: 1055 732 844
Tx rate [KByte/s]: 376.3 246.9 277.6
Rx frame rate [1/s]: 1055 732 844
Rx rate [KByte/s]: 376.3 246.9 277.6
Loss rate [1/s]: 0 -0 0
Frame loss [%]: 0.0 -0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 829435021988989029
Application time: 829435029703007959
2026-04-13 22:37:09.703007959

3° power on with <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">

Master0
Phase: Operation
Active: yes
Slaves: 4
Ethernet devices:
Main: 68:ed:a4:79:15:bb (attached)
Link: UP
Tx frames: 335803
Tx bytes: 102363460
Rx frames: 335802
Rx bytes: 102363095
Tx errors: 0
Tx frame rate [1/s]: 1062 800 845
Tx rate [KByte/s]: 375.7 272.1 283.3
Rx frame rate [1/s]: 1062 800 845
Rx rate [KByte/s]: 375.7 272.1 283.3
Common:
Tx frames: 335803
Tx bytes: 102363460
Rx frames: 335802
Rx bytes: 102363095
Lost frames: 0
Tx frame rate [1/s]: 1062 800 845
Tx rate [KByte/s]: 375.7 272.1 283.3
Rx frame rate [1/s]: 1062 800 845
Rx rate [KByte/s]: 375.7 272.1 283.3
Loss rate [1/s]: 0 -0 0
Frame loss [%]: 0.0 -0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 829435160651165030
Application time: 829435171294192841
2026-04-13 22:39:31.294192841

1° power on with <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">


Master0
Phase: Operation
Active: yes
Slaves: 4
Ethernet devices:
Main: 68:ed:a4:79:15:bb (attached)
Link: UP
Tx frames: 394894
Tx bytes: 122081343
Rx frames: 394893
Rx bytes: 122080980
Tx errors: 0
Tx frame rate [1/s]: 1056 1001 811
Tx rate [KByte/s]: 345.4 327.0 265.2
Rx frame rate [1/s]: 1056 1001 811
Rx rate [KByte/s]: 345.4 327.0 265.2
Common:
Tx frames: 394894
Tx bytes: 122081343
Rx frames: 394893
Rx bytes: 122080980
Lost frames: 0
Tx frame rate [1/s]: 1056 1001 811
Tx rate [KByte/s]: 345.4 327.0 265.2
Rx frame rate [1/s]: 1056 1001 811
Rx rate [KByte/s]: 345.4 327.0 265.2
Loss rate [1/s]: 0 -0 0
Frame loss [%]: 0.0 -0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 829435219977025031
Application time: 829435246614056284
2026-04-13 22:40:46.614056284

2° power on with <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">

Master0
Phase: Operation
Active: yes
Slaves: 4
Ethernet devices:
Main: 68:ed:a4:79:15:bb (attached)
Link: UP
Tx frames: 466209
Tx bytes: 145310656
Rx frames: 466208
Rx bytes: 145310307
Tx errors: 0
Tx frame rate [1/s]: 1055 865 766
Tx rate [KByte/s]: 345.2 278.2 243.7
Rx frame rate [1/s]: 1056 865 766
Rx rate [KByte/s]: 345.5 278.2 243.7
Common:
Tx frames: 466209
Tx bytes: 145310656
Rx frames: 466208
Rx bytes: 145310307
Lost frames: 0
Tx frame rate [1/s]: 1055 865 766
Tx rate [KByte/s]: 345.2 278.2 243.7
Rx frame rate [1/s]: 1056 865 766
Rx rate [KByte/s]: 345.5 278.2 243.7
Loss rate [1/s]: -1 -0 0
Frame loss [%]: -0.1 -0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 829435319890377036
Application time: 829435334302407866
2026-04-13 22:42:14.302407866

3° power on with <master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1">

aster0
Phase: Operation
Active: yes
Slaves: 4
Ethernet devices:
Main: 68:ed:a4:79:15:bb (attached)
Link: UP
Tx frames: 555839
Tx bytes: 174885365
Rx frames: 555839
Rx bytes: 174885365
Tx errors: 0
Tx frame rate [1/s]: 1054 901 812
Tx rate [KByte/s]: 345.2 292.8 259.7
Rx frame rate [1/s]: 1054 901 812
Rx rate [KByte/s]: 345.2 292.8 259.7
Common:
Tx frames: 555839
Tx bytes: 174885365
Rx frames: 555839
Rx bytes: 174885365
Lost frames: 0
Tx frame rate [1/s]: 1054 901 812
Tx rate [KByte/s]: 345.2 292.8 259.7
Rx frame rate [1/s]: 1054 901 812
Rx rate [KByte/s]: 345.2 292.8 259.7
Loss rate [1/s]: 0 -0 0
Frame loss [%]: 0.0 -0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 829435419653140029
Application time: 829435435462157958
2026-04-13 22:43:55.462157958
  • MaHa
  • MaHa
Today 12:58

Wiederholungen, Schlaufen im manuell geschriebnen G Code Programm

Category: Deutsch

Die Widerholungen können mit repeat gelöst werden. Beim inkremental verfahren muss halt darauf geachtet werden, das auch nach einem Abbruch die empfohlene Grundeinstellung G90 wieder aktiv ist.
;inkremental

#<anzahl_n> = 5
G91

o111 repeat [#<anzahl_n>]
     G1 X-100
     X100
o111 endrepeat
G90

oder
;Start an aktueller Position im aktiven Koordinatensystem

#<anzahl_n> = 5
#<actual_xpos> = #<_x>

o111 repeat [#<anzahl_n>]
     G1 X[#<actual_xpos> + 100]
     X[#<actual_xpos>]
o111 endrepeat
 
  • grandixximo
  • grandixximo's Avatar
Today 12:18 - Today 12:21
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

I have commit a small change to enable you to set drive 1 as the reference clock please update the code from 

github.com/grandixximo/linuxcnc-ethercat

and run with this xml 

File Attachment:

File Name: deb13_2026...13-2.xml
File Size:17 KB


and confirm that DC reference clock is slave 1 and not 0 by running

ethercat master

in a terminal, I expect

Reference clock: Slave 1
  • grandixximo
  • grandixximo's Avatar
Today 11:50 - Today 11:53
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

Sorry, not a pin

it is the output to the terminal when you send this command
ethercat master
in a terminal window

it will list various things, I am interested in DC reference, and APP time, they are near the end

ethercat master command outputs
Master0
Phase: Operation
Active: yes
Slaves: 20
Ethernet devices:
Main: 00:e0:b4:68:34:0a (attached)
....
...
...
Distributed clocks:
Reference clock: Slave 0
DC reference time: 829391683702736097
Application time: 829391693979787340


the above is what I'd like to see, thank you
 
  • papagno-source
  • papagno-source
Today 11:44 - Today 11:45
Replied by papagno-source on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

What parameters should I check?

the name the pin
  • stonebite
  • stonebite
Today 11:44

Wiederholungen, Schlaufen im manuell geschriebnen G Code Programm

Category: Deutsch

salue zusammen,
ich habe ein wenig wegen dieser Thematik recheriert, nur komme ich nicht für Linux CNC auf Antworten wie ich sie verstehe und oder benötige.
Mir ist G Code zum fräsen noch nicht so geläufig. Bedeutet, ich möchte ein kleines G Code Programm schreiben welches mir mit der X Achse ein Verfahrweg von 100mm ins plus und wieder 100mm ins minus verfährt und zwar mit X anzahl Wiederholungen bis ich unterbreche oder bsi diese abgelaufen sind?
G 25 und G 26 scheint nicht verwendbar zu sein. Wie sehen G code Zeilen für Linux CNC aus die mir die Bewegung in der X Achse mit Wiederholungen, Schlaufe und oder Loop ausführt? 

lieben Dank schon mal im voraus
Claude
  • grandixximo
  • grandixximo's Avatar
Today 11:27
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

can you run ethercat master a few times consecutively while running with

refClockSyncCycles="-1"

and paste here the DC reference and the App time values?

at least 3~4 consecutive times please

do the same for 

refClockSyncCycles="1"
  • papagno-source
  • papagno-source
Today 11:05 - Today 11:19
Replied by papagno-source on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

With refClockSyncCycles="-1" the value of the ecat.0.pll_reset_cnt pin is continuously increasing, it never stops, it increases in a positive direction more and more, in a short time it was already at 20,000

with  refClockSyncCycles="1" the pin ecat.0.pll_reset_cn remain stable = 0
  • grandixximo
  • grandixximo's Avatar
Today 10:56
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

please check hal pin
ecat.0.pll_reset_cnt

with refClockSyncCycles="-1"
 
  • papagno-source
  • papagno-source
Today 10:52 - Today 10:53
Replied by papagno-source on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

As mentioned, with only the refClockSyncCycles="-1" parameter, the axis makes noise, but it's only for reconfirmation.
Parameter values ​​are with refClockSyncCycles="-1"
ethercat upload -p 0 -t uint32 0x1C32 0x06 return 0x00000000 0
ethercat upload -p 0 -t uint32 0x1C33 0x06 return 0x00000000 0
ethercat upload -p 1 -t uint32 0x1C32 0x06 return 0x00000000 0
ethercat upload -p 1 -t uint32 0x1C33 0x06 return 0x00000000 0
ethercat upload -p 0 -t uint32 0x1C33 0x03 return Failed to upload SDO: Input/output error
ethercat upload -p 1 -t uint32 0x1C33 0x03 return SDO transfer aborted with code 0x06010001: Attempt to read a write-only object
ethercat upload -p 0 -t uint32 0x1C32 0x09 return 0x00030d40 200000
ethercat upload -p 1 -t uint32 0x1C32 0x09 return 0x00000000 0

I can't reverse I/O with the drive. I/O is always 0, the drives follow. I would have to change everything hal, but this configuration works fine with Debian 10 and now also with Trixie, but with refClockSyncCycles="1"

The pin pll , oscillation value about 1 second value 0 after 4210619, after 1 second restar with 0
  • Hakan
  • Hakan
Today 10:50
Replied by Hakan on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

@rodw

grandixximo's linuxcnc-ethercat repo, right?
That pll-err value shows it's not the linuxcnc standard code. That oscillates around zero.
 
Please expand on what you mean here.

This is a standard RIP install of Debian 2.10 except its in a folder under /usr/lib, grandixximos driver built from source, Ethercat from repos. That should make no difference. For me, latency etc is fine on my hardware which makes it weird.

 

In Scott's linuxcnc-ethercat repo pll-err oscillates around 0.
In grandixximo's repo pll-err oscillates around that number 992000 something.
It's not necessarily wrong, it was just how I could tell.
  • grandixximo
  • grandixximo's Avatar
Today 10:31
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

sorry, I got messed up, should test the ethercat upload commands with 
refClockSyncCycles="-1"

If you could also do some more testing, I'd really like to get to the bottom of this

also with refClockSyncCycles="-1" (don't move just start)

Check pll_reset_cnt, does it increment every ~1/sec?

Also could you move the first servo drive as the first slave, and try with refClockSyncCycles="-1"?




 
  • papagno-source
  • papagno-source
Today 10:19
Replied by papagno-source on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

I only tested refClockSyncCycles="1" without writing syncToRefClock, and the machine worked flawlessly.

The lcec.0.pll-err pin in this case reported a value oscillating from approximately 991902 to 994498.

The rest remained the same:
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>

The result is :

ethercat upload -p 0 -t uint32 0x1C32 0x06 return Failed to upload SDO: Input/output error
ethercat upload -p 0 -t uint32 0x1C33 0x06 return Failed to upload SDO: Input/output error
ethercat upload -p 1 -t uint32 0x1C32 0x06 return 0x00000000 0
ethercat upload -p 1 -t uint32 0x1C33 0x06 return 0x00000000 0
ethercat upload -p 0 -t uint32 0x1C33 0x03 return SDO transfer aborted with code 0x06010000: Unsupported access to an object
ethercat upload -p 1 -t uint32 0x1C33 0x03 return SDO transfer aborted with code 0x06010001: Attempt to read a write-only object
ethercat upload -p 0 -t uint32 0x1C32 0x09 return 0x00030d40 200000
ethercat upload -p 1 -t uint32 0x1C32 0x09 return 0x00000000 0
  • grandixximo
  • grandixximo's Avatar
Today 09:58 - Today 10:03
Replied by grandixximo on topic Ethercat random jitter fix

Ethercat random jitter fix

Category: EtherCAT

then it should also work with 

refClockSyncCycles="1"

just the above don't add

syncToRefClock="false" or syncToRefClock="true"

your assumption is correct in the case you are testing.
refClockSyncCycles="-1"
will force syncToRefClock="true" because that is expected to respect old behavior

so your problem is PLL is causing the vibrations

Please run my commands again with only

refClockSyncCycles="1"

then run

ethercat upload -p 0 -t uint32 0x1C32 0x06
ethercat upload -p 0 -t uint32 0x1C33 0x06
ethercat upload -p 1 -t uint32 0x1C32 0x06
ethercat upload -p 1 -t uint32 0x1C33 0x06
ethercat upload -p 0 -t uint32 0x1C33 0x03
ethercat upload -p 1 -t uint32 0x1C33 0x03
ethercat upload -p 0 -t uint32 0x1C32 0x09
ethercat upload -p 1 -t uint32 0x1C32 0x09
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