AM2432: DC Sync Error Occurred on TI EtherCAT Stack

Hideaki Matsumoto

Genius 9230 points

Part Number: AM2432
Other Parts Discussed in Thread: LP-AM243

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

10 months ago

0 Harsha Begihally Shanmukhaswamy 10 months ago

TI__Expert 3020 points

Hello Hideaki,

We are currently looking into this issue and will get back to you as soon as possible.

Kind Regards,

0 Hideaki Matsumoto 10 months ago in reply to Harsha Begihally Shanmukhaswamy

TI__Genius 9230 points

Hi Harsha,

Thank you for looking into this issue. Please let us know as soon as possible once you got any update.

Thanks and regards,
Hideaki

0 Harsha Begihally Shanmukhaswamy 10 months ago in reply to Hideaki Matsumoto

TI__Expert 3020 points

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,

0 Hideaki Matsumoto 10 months ago in reply to Harsha Begihally Shanmukhaswamy

TI__Genius 9230 points

Hi Harsha,

Thank you so much for your answer. Please let us know once you got any update.

Thanks and regards,

Hideaki

0 Hideaki Matsumoto 10 months ago in reply to Hideaki Matsumoto

TI__Genius 9230 points

Hi Harsha,

Did you get any update ? Could you please share it if you got.

Harsha Begihally Shanmukhaswamy said:
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.

Regards,

Hideaki

0 Harsha Begihally Shanmukhaswamy 10 months ago in reply to Hideaki Matsumoto

TI__Expert 3020 points

Hello Hideaki,

Yes. We fixed this issue in TI stack.

Kind Regards,

0 Hideaki Matsumoto 10 months ago in reply to Harsha Begihally Shanmukhaswamy

TI__Genius 9230 points

Hi Harsha,

Thank you for sharing the good information. When will the fixed stack be available ?

Thanks and regards,
Hideaki

+1 Harsha Begihally Shanmukhaswamy 10 months ago in reply to Hideaki Matsumoto

TI__Expert 3020 points

Hello Hideaki,

This issue has been resolved after the recent SDK 10.0 release. The next SDK release should include this fix and will be after couple of months.

If the customer cannot wait until the next release, we can provide a patch with this fix.

Kind Regards,

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AM2432: DC Sync Error Occurred on TI EtherCAT Stack