Tony Cao
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aabfe31526
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Enable EL6695 DC-Synchron mode (AssignActivate 0x320)
- DC selection must use the structured <Dc><Data AssignActivate/> XSD
element; legacy DcData hex writes get normalized to zeros by TwinCAT
- TwinCAT converts it to DcData '2003...' (0x0320) on save: SYNC0/SYNC1
cyclic + SYNC0 activate for the bridge
- Verified: clean activation, ticker OP, bSync=True, 90k cycles 0 errors,
timing unchanged (jitter 7.3us mean)
- docs: pitfall #10 (DC selection method)
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2026-08-09 15:32:56 +08:00 |
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Tony Cao
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f0163d8d70
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800B PDO variant + long-term stability evidence + analysis docs
- twin_layout_blob_sized generalized: multi-entry TwinCAT line format
(1 real @240bit + N continuation + remainder entry); 1024B path kept
byte-identical; 800B = 27 entries verified on hardware
- 800B constants (PAYLOAD/SM 800), deployed as el6695_rt_800b
- 10-min + 5h stability runs: 18M cycles, zero errors, zero mismatches,
PLC nMismatch frozen over the whole run (monitor_5h.csv evidence)
- docs: 800B plan/design/verification/test-report chapters,
jitter analysis (NFS rootfs stall primary cause), D2000 dev plan
- scripts: 800B deploy/relink/verify, mismatch-delta, 5h monitor
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2026-08-06 01:10:50 +08:00 |
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Tony Cao
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309aaba342
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EL6695 8-byte bidirectional exchange with per-byte verification
- 8B PDO config: ULINT-sized payload, no 0x1A01 diag PDO on SM3
(device rejected SM3=8 with diag assigned: 'size not allowed, min/max 0xa')
- twin_layout_blob_sized(): single 64-bit mapping entry for 8B payloads
- Ticker: per-byte XOR 0x5A transform in 8B mode so TwinCAT can verify
every byte individually (1KB path unchanged, const-guarded)
- TwinCAT automation scripts: deploy with RPC retry, LinkVariables-based
whole-array relink (element links only carry 1 byte), ADS watch, diag
- Docs: 8B design, verification methodology, test report
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2026-07-27 19:01:05 +08:00 |
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