Corrected from:
- i700 servo inverter V01.06.03.9953
Response of the new version:
The described time offset no longer occurs. Accordingly, the drive performance is no longer adversely affected by an increased following error.
What happens?
The following error (deviation between set and actual position) is larger than to be expected.
When does the problem occur?
The problem occurs with EtherCAT cycle times >= 2ms.
With cycle times >= 2ms, there occurs and additional time offset of 1ms. This time offset affects the interpolation of set and actual positions in the controller and thus leads to an increased following error in the position control loop.
With an EtherCAT cycle time of 1ms, the "turn-around time" is exactly three cycles:
- Set position generation in the controller and transfer to the i700 as process data object (PDO),
- Processing in the i700 controller,
- Retransfer of the resulting actual position and receipt in the controller.
Which products are affected?
- i700 servo inverter ≤ V01.05.06.9665
Short-term measures/recommendations:
None.
Evaluation:
In the case of applications with EtherCAT cycle times >= 2ms, the following error occurring during the motion process may be larger than expected and the dynamic performance may be slightly impaired by the described time characteristics.
Positioning accuracy: This does not affect the accuracy with which the target position is reached.
