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Original question:

IND-COMMS-SDK: EtherCAT cyclic input data triple-buffering appears to be broken

IND-COMMS-SDK: EtherCAT cyclic process data buffer inconsistent

Jonas Ens
Prodigy 140 points

Part Number: IND-COMMS-SDK

Tool/software:

Dear TI Team,

I have observed a faulty behavior. It seems to be similar to the issue described in the related question, but compared to that, I am running in SM2-synchronous mode (instead of Freerun mode).

  • Running ethercat slave simple demo of industrial communications sdk 09.01.00.03 on AM64x
    • I have modified the stack to send received process data back to the master
    • running in SyncManager2 synchronous mode (but also in Distributed Clocks mode with certain settings)
  • PLC running Codesys as master 
    • increments process data by 1 on each EtherCAT cycle
    • determines the difference between sent and received process data
  • Tested with EtherCAT cycle time of 100µs and 1000µs; does not appear to occur at cycle times higher than 1000µs

In most EtherCAT cycles the determined difference is 1, just as I would have expected. But in quite a few cycles the difference is bigger than 1. From this I conclude that the process data in the slave is not always up to date.

I would be happy to receive the provided fix so that I can determine if my problem is also related to the firmware bug.

Thanks for your help,
Jonas