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paulscherrerinstitute / ecmccfg

Module to handle configuration scripts for EtherCATMotion Controller (ECMC)
GNU General Public License v3.0
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EL6688 #130

Open kivel opened 3 years ago

kivel commented 3 years ago

EL6688

kivel commented 3 years ago

@anderssandstrom How do you operate the EL6688 at ESS? static IP and PTPv1?

kivel commented 3 years ago

The issue with this slave is that certain SDOs need to be set at the state machine transition I->P. @anderssandstrom do you know whether the IgH master has this feature? The current workaround is is to set the respective SDOs and write the current settings to the EEPROM of the slave, followed by a power cycle. With this procedure, DHCP and PTPv2 work as intended.

anderssandstrom commented 3 years ago

@kivel, no I don't think you can add any settings automatically at I->P but I will investigate a bit. Have only tested without ptp master so my knowledge is rather limited on this slave. So, is the timeDc01 and timePtp01 giving correct values for you? Next step is to sync the clocks I guess. Can we do that with some setup of chrony you think?! Or handle in ecmc would also be possible.

kivel commented 3 years ago

@anderssandstrom, So far I only checked that something arrives in the respective time registers. Whether those numbers make sense is a different story. How to proceed with synchronization is a completely different topic. But, currently, I'd focus on the motion part of ECMC. For the EL6688, I'd go on with the procedure of setting up the SDOs manually and burn them to the EEPROM. It only has to be done once, and nothing should change later.

kivel commented 2 years ago