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- rodw
12 Apr 2025 07:38
I've been scouring eBay for various beckhoff modules and the price is not too bad but they are never in Australia so the wait time sucks!
But AUD $132 for above module landed was not bad v's a THCAD given our appalling exchange rate.
Replied by rodw on topic EtherCAT + 7i96s for encoder input and analog output
EtherCAT + 7i96s for encoder input and analog output
Category: EtherCAT
You need to consider this before selecting a control method.Well, the reason is very simple
I've been scouring eBay for various beckhoff modules and the price is not too bad but they are never in Australia so the wait time sucks!
But AUD $132 for above module landed was not bad v's a THCAD given our appalling exchange rate.
- Hakan
- Hakan
12 Apr 2025 07:12
Replied by Hakan on topic ETHERCAT WAIT SYNC
ETHERCAT WAIT SYNC
Category: EtherCAT
It can be the 4.19 kernel in debian 10 that perform must better than kernel 6.1 in debian 12.
When I was working on my own EtherCAT board a year ago I had some timing issues
and compared the network adapters and linux kernel version in the computers I had around.
linux 4.19 performed better especially with Intel adapters.
Often I had to go up to 2 millisecond servo loop to get acceptable performance.
This is just to show that there are several factors that influence the timing performance
and when you compare with debian 12 and 10, the kernel version is definitely a factor.
The network adapter is another. If you have a Realtek network adapter and have tried
all settings that rodw lay out in his document and you have a free PCI-e slot in the computer
you can try with a cheap Intel network adapter. I210, I225, I226 for example. I have had good luck with them.
Not sure how that comes in here, but you should nevertheless bring down the normal real-time jitter
to single digits, less than +- 10 microseconds, the one you check with latency-histogram.
The WARNING you get, and the delay, is a nuisance more than a real problem. The Ethercat master
will synchronize the time of clients, it just takes longer than 5 seconds. Googling around for this issue
one can see that this issue has been there for more than 10 years and one way to get rid of the warning
is to just increase the 5000 ms level when compiling the ethercat master yourself. You will get the delay though
Here is a short article on DC clock synchronization www.acontis.com/en/dcm.html
When I was working on my own EtherCAT board a year ago I had some timing issues
and compared the network adapters and linux kernel version in the computers I had around.
linux 4.19 performed better especially with Intel adapters.
Often I had to go up to 2 millisecond servo loop to get acceptable performance.
This is just to show that there are several factors that influence the timing performance
and when you compare with debian 12 and 10, the kernel version is definitely a factor.
The network adapter is another. If you have a Realtek network adapter and have tried
all settings that rodw lay out in his document and you have a free PCI-e slot in the computer
you can try with a cheap Intel network adapter. I210, I225, I226 for example. I have had good luck with them.
Not sure how that comes in here, but you should nevertheless bring down the normal real-time jitter
to single digits, less than +- 10 microseconds, the one you check with latency-histogram.
The WARNING you get, and the delay, is a nuisance more than a real problem. The Ethercat master
will synchronize the time of clients, it just takes longer than 5 seconds. Googling around for this issue
one can see that this issue has been there for more than 10 years and one way to get rid of the warning
is to just increase the 5000 ms level when compiling the ethercat master yourself. You will get the delay though
Here is a short article on DC clock synchronization www.acontis.com/en/dcm.html
- tommylight
12 Apr 2025 07:12
Replied by tommylight on topic A Big Thanks to PCW
A Big Thanks to PCW
Category: General LinuxCNC Questions
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