3a26aea082
- ticker: --spin mode polls FPRD until payload changes (phase-locks processing to TwinCAT frame arrival instead of free-running ticker), timeout at 1.5 periods keeps loop alive on master stop - verified: 238k cycles, 0 errors, exec=245us (FPWR-bound), TwinCAT PLC task confirmed at 2000.8 Hz (all three tasks 0.5ms; base tick was already 50us - no base-time change needed) - docs: 500us latency plan; scripts: task-rate ADS probe, 2kHz deploy, UI automation experiments (pywinauto) for task cycle inspection
32 lines
1.6 KiB
PowerShell
32 lines
1.6 KiB
PowerShell
#Requires -RunAsAdministrator
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#Requires -Version 5.1
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$ErrorActionPreference = 'Continue'
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$adsDll = 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
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Add-Type -Path $adsDll -ErrorAction Stop
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$c = New-Object TwinCAT.Ads.TcAdsClient
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$c.Connect('169.254.176.217.1.1', 851)
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function ReadSym($name, $type) {
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try {
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$h = $c.CreateVariableHandle($name)
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$v = $c.ReadAny($h, $type)
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$c.DeleteVariableHandle($h)
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return $v
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} catch { return "ERR" }
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}
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Write-Host "nCycles = $(ReadSym 'GVL_Sync.nCycles' ([uint64]))"
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Write-Host "bSync = $(ReadSym 'GVL_Sync.bSync' ([bool]))"
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Write-Host "nMatchLag = $(ReadSym 'GVL_Sync.nMatchLag' ([int])) (bridge round-trip, PLC cycles)"
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Write-Host "nMismatch = $(ReadSym 'GVL_Sync.nMismatch' ([int]))"
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Write-Host "--- RTT (PLC cycles, 1 cycle = 1 ms) ---"
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Write-Host "nRttCycles = $(ReadSym 'GVL_Sync.nRttCycles' ([int]))"
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Write-Host "nRttMin = $(ReadSym 'GVL_Sync.nRttMin' ([int]))"
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Write-Host "nRttMax = $(ReadSym 'GVL_Sync.nRttMax' ([int]))"
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Write-Host "nRttSum = $(ReadSym 'GVL_Sync.nRttSum' ([int64]))"
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Write-Host "nRttCount = $(ReadSym 'GVL_Sync.nRttCount' ([uint64]))"
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Write-Host "--- EL1252 DC latch path delay ---"
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Write-Host "nLatchCount = $(ReadSym 'GVL_Sync.nLatchCount' ([uint64]))"
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Write-Host "nLatchDelayMin = $(ReadSym 'GVL_Sync.nLatchDelayMin' ([int])) us"
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Write-Host "nLatchDelayMax = $(ReadSym 'GVL_Sync.nLatchDelayMax' ([int])) us"
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Write-Host "nLatchDelaySum = $(ReadSym 'GVL_Sync.nLatchDelaySum' ([int64])) ns"
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$c.Dispose()
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