Edwin Schwellinger wrote:
are you using SoftMotion RTE as plc with enabled distributed clocks on the SoftMotion Ethercat Master?
This is mandatory to have for this.
How is the jitter on the ethercat Task ( = Motion Task)? -> check with the task monitor when you are online
Hi Mr. Edwin,
I set EtherCAT task is cyclic with 5 ms interval, it's the same time with distributed clock of EtherCAT master SoftMotion.
In EtherCAT task, I call Motion Task (MAIN in attached picture), which implements motion blocks such as: MoveAbsolute, SMC_FollowPosition.
I set priority "0" for EtherCAT task, and the jitter time of this task is 13500 us.
Please kindly help me if you see any problems in my configuration or hardware (I use IndraDrive of Bosch Rexroth)