Tool/software:
Hi,
We are trying to implement a EtherCAT slave with 6SyncManager on the AM243x.
The Implementation is generally working. But we have a Problem with the Conformance Test.
As in the EtherCAT Slave Errata for PRU-ICSS-EtherCAT 01.00.10 (Firmware build x.4.243 (0x4f3)) mentioned:
Issue/ Failure Description:SDOCM00092510/PINDSW-47:
Single datagram accessing multiple FMMU mapped areas in a single slave will only update the data corresponding to first FMMU in datagram
This Issue leads to the Problem, that single Datagramms can't access to multiple SyncManagers(FMMUs).
For the most EtherCAT Master there is a solution to the problem:
The entry <Su SeparateSu = "true"/> solves the Problem by forcing the EtherCAT Master to split the PDOs in two different Datagrams.
But the Conformance Test Tool (CTT) of the EtherCAT Technology Group (ETG) doesn't split the Datagramms for the Conformance Test.
Therefor the Communication fails in the Test. The EtherCAT slave can not be certified.
Because of use of FSoE we are forced to certify our EtherCAT Slave in the Test facility of the ETG.
My Question:
Is there a Solution for my Problem?
Has the PRU-ICSS EtherCAT Firmware ever been tested with the CTT? (with more than 4 SyncManager?)