Ethercat master app delay

[arizhih]

Hi everyone,

I'm working on NC realtime app and found 1 cycle delay between writing data to ethercat master and actual data send. I understand the reason, scheduler process ethercat callback (read/write data to the bus) and after that process NC callcbak (read feedback, write new setpoint) and data will be sent only on next scheduler call.

I tried to add another ethercat callback to the scheduler rigth after NC and delay is gone, but I'm not sure is the right way. Also I saw additional arguments to ethercat callback, some of them with rx and tx prefixes.

So my question is it possible to configure ethercat callback to proceed all read operations at the beginning of the ctrlXAutomation task and all write at the end?

Best regards,
Andrey

[nickH · Accepted solution]

Hello Andrey

Thanks for your interesting question. 

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@arizhih wrote:

So my question is it possible to configure ethercat callback to proceed all read operations at the beginning of the ctrlXAutomation task and all write at the end?

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At the moment this configuration is not possible. But we are already aware of this topic and have a solution strategy in mind. This is in our backlog for future releases, but due to other priorities this will take some time.  

Best regards, 

Nick

[arizhih]

Hello Nick

Glad to hear. Looking forward to check it out.

Best regards,

Andrey