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Tool/software:
Hi,
My customer is now evaluating the EtherCAT stack provided by TI, but DC synchronization error occurred.
- Where, what or how can they confirm that DC synchronization is working correctly with the source code on LP-AM243?
- The specifications of the EtherCAT Slave Stack provided by TI can be found at the following URL. How was the DC Synchronous 50us confirmed ?
https://dev.ti.com/tirex/explore/content/ind_comms_sdk_am243x_09_02_00_15/docs/am243x/ethercat_slave/ethercat_datasheet.html
- DC Sync Error doesn’t occur on the EtherCAT Slave Beckhoff SSC Demo. Is any setting required on TI EtherCAT stack ?
< Environment >
SDK : ind_comms_sdk_am243x_9_02_00_15
Program : ethercat_slave_demo (Default)
AM243x-lp ASSY: PROC109A(001)
Control period : 2ms
Connecting Servo Amp as the first slave and LP-AM243x as the second slave
< Phenomena >
DC Sync Error is shown on the following object dictionalies.
0x1C33:20, 0x1C32:20 Sync Error always becomes True.
0x1C33:0C, 0x1C32:0C Cycle Time Too Small always is incremented.
The above parameters on Servo Amp are correct.
Thanks and regards,
Hideaki
Hello Hideaki,
Please find our response below.
1. Where, what or how can they confirm that DC synchronization is working correctly with the source code on LP-AM243? and how was the DC Synchronous 50us confirmed?
Please refer the page for DC Synchronous Mode Testing.
The user application API EC_SLV_app_SS_applicationRun() is synchronized with the DC event. We can add a GPIO toggle code in this application API and check the toggle period against the DC cycle time configured in TwinCAT (see DC ---> Advanced Settings... ----> Distributed Clock ----> SYNC 0 Cycle Time).
We could toggle a GPIO pin from the application API EC_SLV_app_SS_applicationRun() and measure the toggled period. Refer the screenshot below.
Also, we could measure the SYNC 0 signal cycle time on J7.3 pin on AM243x Launchpad to validate the DC Synchron mode settings for 50us cycle time. Refer the screenshot below.
2.DC Sync Error doesn’t occur on the EtherCAT Slave Beckhoff SSC Demo. Is any setting required on TI EtherCAT stack?
We were able to reproduce this issue (Sync Error bit is set, Cycle Time Too Short counter is incremented), and we are working on it.
Kind Regards,
