Problem with DC-Sync Mode

[hallychou]

The mcx::ecat::Module seems to work in SM-Sync mode by default. I also found a private struct “DistributedClockSync” in the class of mcx::ecat::Module, but no member function referenced. Is it possibe to support DC-Sync mode?

[vtretyakov]

@hallychou yes, I would like to add DC-Sync support in the future. Which devices are you using? This implementation is based on Synapticon SOMANET controllers that at the time of creating this package have not yet supported DC-Sync but will add it in the future.

[hallychou]

@vtretyakov Thank you.
I'm using an x86 PC with a custom servo driver in DC-Sync mode. Indeed, DC-Sync is required by most motion controllers, so it would be nice if you add DC-Sync mode.
Just now, I got help from Alexey Zakharov at Vectioneer. He gave me a template as follows:







and it works fine. I'll do further testing. Thank Alexey for help, too.

[vtretyakov]

@hallychou could you please share one more time what solved the issue so I can close it. The code you wanted to share in the previous comment is not displayed.

[hallychou]

@vtretyakov sorry, here is the code:

<!--********************SYNC********************-->
        <Dc>
            <AssignActivate>#x0300</AssignActivate>
            <CycleTimeSync0>1000000</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1>1000000</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
        </Dc>

[dbdxnuliba]

hello could you share DC mode related code to us

[dbdxnuliba]

@hallychou

[zhijunlian]

hello could you share DC mode related code to us

[vtretyakov]

@zhijunlian please add the following tag

        <Dc>
            <AssignActivate>#x0300</AssignActivate>
            <CycleTimeSync0>1000000</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1>1000000</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
        </Dc>

inside of your each <Device> tags in the pdo.xml, e.g.,

<Device Id="0" Name="axis1">
    <!--********************SYNC********************-->
        <Dc>
            <AssignActivate>#x0300</AssignActivate>
            <CycleTimeSync0>1000000</CycleTimeSync0>
            <ShiftTimeSync0>0</ShiftTimeSync0>
            <CycleTimeSync1>1000000</CycleTimeSync1>
            <ShiftTimeSync1>0</ShiftTimeSync1>
        </Dc>
        <!--********************PDOs********************-->
        <!-- Tx PDO Mapping -->
        <Pdo Entry="20f0:0" Group="In" Name="Timestamp">
            <DataType>UINT32</DataType>
            <Link>root/Control/axis1/slaveTimestamp</Link>
        </Pdo>
...
...
...
</Device>

Please adjust the timer parameters for your device based on the documentation or look up in esi file. I hope it helps.