Eliminated from:
9400 HighLine SW V7.1
Behaviour of the new version?
9400 drive axes whose control programs use an external sync telegram with a transmission interval greater than 1[ms] for synchronisation do not suffer from a short-time control program synchronisation failure anymore after operating times of 18.6[h] = 2^26[ms].
What happens?
9400 drive axes whose control programs use an external CAN sync telegram with a transmission interval greater than 1[ms] for synchronisation suffer from a short-time control program synchronisation failure after operating times of 18.6[h] = 2^26[ms].
Especially applications which use the CAN bus as a transmission medium for electrical shafts or other position setpoints (e.g. TA CiA 402) may suffer from corresponding irregular running if the drive is in motion at the time of the short-time synchronisation failure.
When does the problem occur?
The behaviour occurs with drive axes whose control programs use an external CAN sync telegram with a transmission interval greater than 1[ms] for synchronisation after operating times of 18.6[h] = 2^26[ms].
Which products are affected?
9400 HighLine SW ≤ V7.0
Possible diagnostics?
It is hard to diagnose this behaviour because the function restriction does not occur before 18.6[h] = 2^26[ms]. The SYNC_bSyncInsideWindow status signal can be monitored if required: The status of the signal changes to a FALSE level for a short time when the function restriction occurs.
Short-term measures/recommendations?
To avoid this behaviour in case of longer operating times > 18.6[h], the transmission cycle of the sync telegram on the CAN bus can be set to 1[ms]. In this case, the behaviour will not occur.
Evaluation:
The function restriction mainly affects controllers which are clocked to a sync telegram as a slave drive with control program synchronisation and which evaluate other PDO telegrams synchronously. Especially slave drives which evaluate position setpoints transmitted via CAN bus (e.g. slave drives in electrical shafts, TA CiA 402) lose synchronicity to the sync telegram for a short time after operating times of 18.6[h], and corresponding irregular running of the drive may be the result.
Since synchronicity for the slave drive can be reached very quickly again (a sync telegram is only failed to be detected once), the behaviour usually has no effect.
Published with Service Message No. 09/2010
