LP-AM243: Reproducing the interrupt processing time benchmark in EtherCAT Slave Datasheet

Hi Hang Yang,

The query has been assigned to the expert but please expect a delayed response since the experts are out of office.

Regards,

Shaunak

Hi Yang,
I'll look into this and get back to you by mid next week.

Regards,

Aaron

Hi Aaron,

My customer has the same question. 

Do we have some suggestions?

Thanks
Regards
Shine

Hi Aaron，

Is there any update？

Thanks，

Hang

Hi,

Following is the procedure to obtain the Interrupt Processing Time ( software-dl.ti.com/.../EXAMPLES_INDUSTRIAL_COMMS_ETHERCAT_SLAVE_BECKHOFF_SSC_DEMO.html )

1. Enable PROFILE_ECAT_STACK in "<SDK_INSTALL_DIRECTORY>\examples\industrial_comms\ethercat_slave_beckhoff_ssc_demo\tiescutils.c"
2. Add mainloop_delta, pdi_delta and sync_delta in CCS "expressions" to get the values (in nanoseconds).
3. Enable DC mode in TwinCAT (with the required cycle time).

To attain 50us cycle time, we use Beckhoff PLC (C6015-0020) with TwinCAT 3.

Do let me know if this helps or if you're facing any issues.

Regards,

Aaron

Hi Aaron,

Thank you very much.

1.If both master and slave are AM2434, can the 50us communication cycle be achieved?

2.What specific configuration needs to be made on the master TwinCAT?

3. Customer writes the master stack and it can only achieve160us now, can you give some suggestions for improving the speed? 

Thanks
Regards
Shine

Hi Shine,

Shine said:

1.If both master and slave are AM2434, can the 50us communication cycle be achieved?

• I'm not sure if the cycle time of 50us can be achieved by an EtherCAT master running on AM2434. Will look into that and get back to you.

Shine said:

2.What specific configuration needs to be made on the master TwinCAT?

• Refer this page for the procedure and configuration: https://software-dl.ti.com/processor-industrial-sw/esd/ind_comms_sdk/am243x/09_01_00_03/docs/api_guide_am243x/ETHERCAT_SUBDEVICE_DEMO_TWINCAT.html#:~:text=Synchronization%20mode%20section.-,Testing%20DC%20Synchronization%20mode,-Launch%20TwinCAT%20XAE
  
  
• Choose 50us in SYSTEM -> Real-Time -> Base Time. With a proper PLC, enabling DC mode at 50us shouldn't throw an error/warning.
• Also keep the cycle ticks for I/O Idle Task and for the newly created task to 1.

Shine said:

3. Customer writes the master stack and it can only achieve160us now, can you give some suggestions for improving the speed? 

• I'll look into this and get back to you by end of tomorrow.

Thanks and Regards,

Aaron 

Shine said:

1.If both master and slave are AM2434, can the 50us communication cycle be achieved?

Can we get more details on how EtherCAT master is implemented on AM2434.

Hello Aaron,

Thank you very much.

1.The master waits for the time stamp of the slave + DC cycle calculation, the total time is 60us, which is the main reason for the limited communication speed.

2. When the DC cycle is below 160us, the master stops in PREOP mode and cannot proceed to the next step 

Thanks
Regards
Shine

Hi Shine,

Can I get more details on the application, stack and it's version and the SDK version which the customer is trying on ? Also details on what all changes are done in order to run EtherCAT master on AM2434.

Regards,
Aaron

Hi Aaron,

Customer is using Beckhoff master stack. He wants to know how to modify the master stack.

Thanks
Regards
Shine

Thanks. I will look into this and get back to you by EOD tomorrow.

Regards,

Aaron