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Sync0 ISR jitter issue in EC-1/RZ-T

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I use EC-1 to make a EtherCAT slave device, and indeed EC-1 is a function reduced version on RZ-T, so I post this question here.

Now , EtherCAT DC can work well in the DC mode , but I want to check Sync ISR jitter performance. So in the entry of Sync ISR, 0x910 is read  ,then be stored in PDO , to be read in the next cycle. Jitter is calculated by PLC (EtherCAT master equipped).

Mostly , the jietter < 1us , but about every 280 ms to 300ms , the Sync0 ISR jitter increase to more than 1 us , max value < 10 us. This is beyond the EtherCAT DC jitter.

I make the program to be simple , only ECAT(PDI) and Sync0 interrupt work, Sync0 ISR has the highest priority.

If there is any expert can give me some suggestions , or analysis this issue ?

 


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