the choices of NIC for 6 DOF robot with linuxcnc

chuchengbing wrote: I also think about it, when I don't use the DC,it is OK. So, is there a possibility that there is something wrong in the EtherCAT master? The master I am using now comes from the system and is embedded into the Linux kernel, when the system is on, the master run automatically.
Does someone know the version of ethercat master which can configure the DC correctly?
Thanks again!!!!!!!!!!!!!!!!!!!

I guess you use github.com/sirop/ec-debianize by S. Ittner, the etherlab master version used there is
github.com/sittner/ec-debianize/blob/mas...herlabmaster.tar.bz2 .
If you really think that some more recent patches to etherlab master could solve your problem,
try to use the source code from sourceforge.net/p/etherlabmaster/code/ci/default/tree/ .
But before doing this check some other options.

1. As said before, SII EEPROM maybe partially invalid.
2. The AssignActivate (0x0300) word in your slave manual maybe wrong or not apply for all cases.
3. Your slave seems to support 64 bit timestamps? But your master runs on 32 bit?
Mixing 32 and 64 bit timestamps can also be a problem.
See this example:
lists.etherlab.org/pipermail/etherlab-users/2012/001693.html

If you tried out everything of the above mentioned, but this "PLL" problem is still there,
you might need a more fine grained DC control. For this you'll have to edit
either at least github.com/sittner/linuxcnc-ethercat/blo...c_main.c#L1114-L1128
or code your own component following this example wiki.linuxcnc.org/cgi-bin/wiki.pl?Etherlab .

BTW, what is 3.4.9-rtai-686-pse? I thought there is only 3.4.9-rtai-686-pae in the LinixCNC world.

Hello sirop, thank you very much.
I will try the measures as you said on the top and I will tell you the results.

One more addition.

Are you sure your hardware is fast enough for the cycle period you use?

Does the PLL error disappear if you use only one or only two slaves?

Thanks sirop, the communication cycle is 2ms which I read from the Twincat.
When I just use only one slave, it is also has the PLL error.
Also another question is I don't know how to set the tool coordinate system. When is robot is ready and the reference point is at the wrist of robot, not at the position of tool's origin point.
I am very sorry to disturb you.
Thanks again.

chuchengbing wrote: Thanks sirop, the communication cycle is 2ms which I read from the Twincat.
When I just use only one slave, it is also has the PLL error.
Also another question is I don't know how to set the tool coordinate system. When is robot is ready and the reference point is at the wrist of robot, not at the position of tool's origin point.
I am very sorry to disturb you.
Thanks again.

Maybe, you should worry less about the PLL error as it happens at the very end when you exit linuxcnc.
Do you stop and maybe delete the thread of your Etherlab master component before?

Anyway...
These errors should be investigated:

[ 25.363120] EtherCAT ERROR 0-5: Reception of CoE upload response failed: No response.
[ 25.363122] EtherCAT ERROR 0-5: Failed to read mapped PDO entry.
[ 25.363124] EtherCAT ERROR 0-5: Failed to read mapped PDO entries for PDO 0x1A00.

So you do some "exchange" between CNC and EtherCAT.
As for CNC (coordinate systems, G Code): there are more experienced people on this forum for these subjects.

Hello sirop:
BTW, what is 3.4.9-rtai-686-pse? I thought there is only 3.4.9-rtai-686-pae in the LinixCNC world.[/quote]
I am sorry that the system is 3.4.9-rtai-686-pae and it is a misspell.
3. Your slave seems to support 64 bit timestamps? But your master runs on 32 bit?
Mixing 32 and 64 bit timestamps can also be a problem.
See this example:
lists.etherlab.org/pipermail/etherlab-users/2012/001693.html
Yes, you are right, the system is really on 32 bit and the DC is 64 bit too. When I run the command of ethercat salve -v in the terminal, it shows: Distributed clocks: yes, 64 bit.
Now are there any methods to make the DC run on 32 bit or should I change my system to run on 64 bit?
Thank you