Dear Champs,
My customer connected Endat encoder in the rotor position of motor to PRU0 of PRU-ICSS0 and Endat encoder in the mechanic postion to PRU1 of PRU-ICSS0 as below.
< PRU-ICSS0>
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PRU0 Clock out pin CTRL_PIN_N24 Data out pin CTRL_PIN_N22 Data Req pin CTRL_PIN_H23 Data in pin CTRL_PIN_B2
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Endat Encoder : Rotor position of motor |
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PRU1 Clock out pin CTRL_PIN_B23 Data out pin CTRL_PIN_A23 Data Req pin CTRL_PIN_A22 Data in pin CTRL_PIN_AE22
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Endat Encoder : Mechanical position |
They find big difference in the propagation delay values of PRU0 and PRU1 and the propagation delay of PRU1 is 10 times bigger than PRU0's as below. Do you think is this is normal situation?
- delay value on the PRU0 : 200
- delay value on the PRU1 : 2773
- propagation delay value is returned from endat_get_prop_delay function.
- trace and cable length shorter than 30cm.
When propagation delay value is checked and calculated in the PRU? Could you please provide a guidance how to check it using oscilloscope at that time and measure delay time manually?
Thanks and Best Regards,
SI.
