EtherCAT SSC 5.01 DC Hot Connect Behavior

PeterN

Other Parts Discussed in Thread: AM3359

Hi, I am using two AM3359 ICE boards running the stock 5.01 SSC 'app' file from the SD card, using TwinCat, and enabling the DC distributed clock in default automatic mode with 4 ms cyclic.

They boot up and go to OP ok, but when I disconnect the second slave in the daisy chain and reconnect it, TwinCat cannot restore the slave to OP mode, either automatically or manually, I have to power cycle the boards to get back to OP mode. If I disconnect the first slave in the daisy chain from the master, then Twincat can restore OP mode when reconnected.

If I try this with two Beckhoff EL9800.4 demo boards running 5.01 SSC on the PIC cpu with the ET1100 ESC, I can disconnect reconnect either slave while the boards are in OP state and they will recover to OP state once reconnected.

Should the hot connect work while DC is enabled?

There is no hot connect issue when DC is off.

over 12 years ago

0 Jonathan Marrs over 12 years ago

Intellectual 555 points

This is likely an issue with the AM335x PRU-ICSS EtherCAT Slave Controller (ESC) firmware , since you experience the issue with this ESC but not with the Beckhoff ET1100 ESC.

I also experience this issue while in DC mode, but with only one board connected to the master. I plug and unplug the slave a few times (it goes back to Op mode the first couple iterations of plugging and unplugging) but eventually it does not go back to Op mode when reconnected. The red EtherCAT Err led blinks, and I am unable to re-establish communication, even by changing the EtherCAT SM operational state (Init -> Preop -> Safeop -> Op, etc.). The only solution is to reset the slave.

I tested this issue using the full-feature EtherCAT application from the Industrial SDK 1.0.0.7, but it probably exists in previous versions of the SDK too.

0 PratheeshGangadhar over 12 years ago in reply to Jonathan Marrs

TI__Mastermind 47541 points

Hi,

Thanks for reporting this. Will investigate further and get back

0 PratheeshGangadhar over 12 years ago in reply to PratheeshGangadhar

TI__Mastermind 47541 points

Hi,

This issue is addressed in 1.0.0.9 release - http://processors.wiki.ti.com/index.php/AM335x_SYSBIOS_Industrial_SDK_01.00.00.09_Release_Notes#Fixed_In_This_Release

SDOCM00101828, SDOCM00100692

The release can be accessed here, : http://downloads.ti.com/sitara_indus/esd/AM335x_SYSBIOS_Industrial_SDK/latest/index_FDS.html

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EtherCAT SSC 5.01 DC Hot Connect Behavior