EtherCAT in Run mode (Synchronous)

Hi,

We are working on AM3359 ICE Board,

 SDK 1.1.0.3 / EtherCAT Application in Full feature using SSC

While Executing Ethercat app in Synchronous mode, Using TWINCAT Master on Windows XP

We found the Register 1C33 : 01 being fluctuating between 0x01 and 0x22 instead 0x22

Why is the above behavior, Because of the above behavior we are not able to communicate in synchronous mode

Regards,

Bindu

Register 0x1c33 must be a process data register? What sync manager configuration / input-output data are you using? Please tell the size, direction (read/write) and location of your SMs.

Regards,

Srikant

Hi ,

We are using ecat_appl example provided in SDK 1.1.0.3 on ICE Board

ecat_appl (Full feature with SSC).

1)Do we need to change any macro setting in Firmware, to Run in Synchronous mode?

2) Is the above mentioned scenario due to master (TWINCAT Running on Windows XP)?

Regards,

Bindu

Hi,

We can't seem to reproduce this issue with the latest SDK 1.1.0.4. You are checking from TwinCAT CoE online tab after selecting the slave. Correct? Also please make sure to use online Object Dictionary (OD) by selecting advanced option.

Synchronization type is set to 1 as expected. Please refer to Beckhoff SSC appnote , section 9.1 for the details on synchronization modes supported by stack and expected values in 0x1C32/1C33. If AL_EVENT_ENABLED and DC is disabled, SSC will select SM_SYNC mode.

Hi Prathessh,

We are using SDK 1.1.0.3 (full feature SSC 5.10)

Yes we are checking from TwinCAT CoE online tab after selecting the slave. Also used online Object Dictionary (OD) by selecting advanced option (Same observation)

Al_EVENT_ENABLED 1

DC_SUPPORTED 1 // If disabled to 0, we are not able to build the project ecat_appl

As mentioned in ETG1020 about synchronous mode (below is the snap for your reference)

0x1C33 :01 (RW) we can change type to 0x22 and 0x01

DC_SUPPORTED == 1 is ok as long as you disable DC at slave from master. i..e select SM sync / FreeRun.

I am not sure SSC is up to date with ETG1020 (EtherCAT Protocol Enhancements). It does not seem to be the case from SSC appnote which I mentioned above and stack source code. 

Suggest to post in EtherCAT forum for stack feature related queries. There is no dependency on the firmware for the behavior you are seeing with Object Dictionary structures...

Hi Pratheesh,

One of the observation :

At Random times we were able to change type 1C33:01 to 0x01 and 0x22.

We are not sure whether the above behaviour is because , we are using  TWINCAT Master with Windows XP.

Can you kindly check from your side for below observation:

1)In SYNC Mode 1C33 : 01 as default is 0x22

2)If it is not 0x22,but 0x01 can it be writable to 0x22 (If not writable does it pop up any message in TWINCAT)

Regards,

Bindu

Hi Pratheesh,

We tried with different SDK Releases, Below are our observation about SYNC type 1C33 : 01 writiable to 0x01 and 0x22

Regards,

Bindu