https://forge.codesys.com/forge/talk/Motion/thread/b1fec54c82/2020-02-27T18:40:13.986000ZRecent posts to Softmotion RTE EtherCAT2020-02-27T18:40:13.986000Z2020-02-27T18:40:13.986000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.coma8e0ce7b65e0de3843722029b533174f27e55611

<div class="markdown_content"><p>Hi,<br/> yes should work with <br/> CmpRTL8169driver...</p> <p>BR<br/> Edwin</p></div>

2020-02-27T18:40:12.855000Z2020-02-27T18:40:12.855000Zkumareasuhttps://forge.codesys.com/u/kumareasu/https://forge.codesys.com9980197f4aaad4244dcd7c25552e6481a7b629c2

<div class="markdown_content"><p>Will realtek 8111G work with CoDeSys.</p></div>

2020-02-27T18:40:09.473000Z2020-02-27T18:40:09.473000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.comf8bb38e2784e0dac2cadfab24b6fb67867a50ec9

<div class="markdown_content"><p>Hi,<br/> reset by righclick to the line the jitter measurement.<br/> Are you now on BeagleBone or is this SoftMotion RTE?<br/> I want to see &lt;+/-100us here for BBB with attached rt_preemt patch which is mandatory... to have applied (and disabled governer)<br/> For RTE on Windows it is +/-50us with proper bios settings (Speedstep off, C-States off - checked by CPUZ - Google it)<br/> For both platforms a mandatory requirement is a stable CPU Clock</p> <p>BR<br/> Edwin</p> <p><img alt="IMG: Jitter.jpg" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=2500"/></p></div>

2020-02-27T18:40:08.356000Z2020-02-27T18:40:08.356000Ztiminio99https://forge.codesys.com/u/timinio99/https://forge.codesys.com576cf4988c15a782097ab7b77c718f32b8c7c80e

<div class="markdown_content"><p>Most of the Jitter values are between -15 and 35.</p> <p>I put the C6 in the main task, because if i put it in the task below, the axis disconnect when the first move function block is enabled.</p> <p>I just recognized that, - as you can see in the picture at the top- codesys says, that the Ethercat is running, but in the online configuration interface of the motor control there is displayed : "No Sync" and distributed Clocks is not running:</p> <p><img alt="IMG: Jitter.JPG" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=2489"/></p> <p><img alt="IMG: online interface.JPG" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=2490"/></p></div>

2020-02-27T18:40:05.163000Z2020-02-27T18:40:05.163000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.com4c6e87633c535872ffc9d9930cd9f0b625fd2dac

<div class="markdown_content"><p>Hi,<br/> did you check your RTE realtime capabilities?<br/> If you are online with CODESYS in the Task configuration you see this jitter measurements.<br/> Is this in a good shape? (Usually you should see 30-40us jitter on the Ethercat/MotionTask after doing a reset by righclick on this line)</p> <p>BR<br/> Edwin</p></div>

2020-02-27T18:40:04.030000Z2020-02-27T18:40:04.030000Ztiminio99https://forge.codesys.com/u/timinio99/https://forge.codesys.com78d43b931034fd66cc404ec15416cda1ba9eaf20

<div class="markdown_content"><p>I had this problem before, when I just tested the soft motion blocks without anything else. The tcp stuff wasn't even part of the program at this time.</p></div>

2020-02-27T18:40:00.831000Z2020-02-27T18:40:00.831000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.comf9cf1d578bef5ebb5781a1f87b030839e59935ec

<div class="markdown_content"><p>Hi,<br/> you need to use an own low priority task which calls the TCP server stuff beside your Ethercat/Motion Task.<br/> This will solve the problem/noise on the motor.</p> <p>BR<br/> Edwin</p></div>

2020-02-27T18:39:59.708000Z2020-02-27T18:39:59.708000Ztiminio99https://forge.codesys.com/u/timinio99/https://forge.codesys.com7b8412648d8476817500397c479ecf8bae26daf4

<div class="markdown_content"><p>ok i uploaded the archive to my dropbox</p></div>

2020-02-27T18:39:58.365000Z2020-02-27T18:39:58.365000Zeschwellingerhttps://forge.codesys.com/u/eschwellinger/https://forge.codesys.comb65ab5b3e80fc7055d6dee6d6c0950b1b1e79dcf

<div class="markdown_content"><p>Hi,</p> <p>Need the projectarchive to check...<br/> BR<br/> Edwin</p></div>

2020-02-27T18:39:55.169000Z2020-02-27T18:39:55.169000Ztiminio99https://forge.codesys.com/u/timinio99/https://forge.codesys.com609b1ab3dd1a960efbf12a10af72abe48a8563ca

<div class="markdown_content"><p>Hi, <br/> i finally solved the problem by resetting the Motor Controls. After that, the EtherCAT autoconfig worked and i can control the motors with the function blocks MC_POWER and MC_MoveAbsolute.</p> <p>When i do this, the motors start to move, but they are shaking unusually. I uploaded a video of this behavior in my dropbox:</p> <p><a class="" href="https://www.dropbox.com/sh/gx9sg0buwafauuf/AABQ8_LINKJYaKnDdO_OZwmqa?dl=0" rel="nofollow">https://www.dropbox.com/sh/gx9sg0buwafa ... Zwmqa?dl=0</a></p> <p>When i did the Auto-Setup in the Web Interface of the Motor Controls, they were moving "normally" (not shaking). So i guess the error is in the codesys settings.</p></div>