Servo Inverter i950 FW: from V01.06.04.2154
Response of the new version:
Response of the new version:
The factory setting for the delay until the EtherCAT communication monitoring responds has now been set much sharper (value 20 instead of 100). The new value corresponds to the default setting of the Servo Inverter i700. This reduces a response to PDO failures to 20/3 cycles.
An even sharper setting by the user is possible by setting the parameter 0x10f1:2 smaller, as described under short-term measures.
What happens?
EtherCAT:
When a communication interruption of the EtherCAT connection occurs, the process data for the drive will remain off. The time span until the communication monitoring responds can be parameterised via parameter 0x10f1:2.
In the factory setting, this parameter has so far been set to the value 100. Sometimes this results in a relatively long delay time (100/3 cycles) before a corresponding reaction of the drive to the communication interruption occurs.
Background:
This monitoring checks whether an EtherCAT PDO telegram (Sync Manager 2 Event) has arrived between two internal Sync0 signals if the "Distributed Clock Mode" (DC Mode) has been selected. For this purpose, the i950 Servo Inverter has an internal counter for telegram failures, which is incremented by the value "3" in the event of a telegram failure. For each correctly received PDO the error counter is in turn reduced by the value "1".
If the internal telegram failure counter reaches the value set under object 0x10F1:2, the i950 servo inverter switches to the "Safe Operational" state and triggers an error message (CiA402 error code 0x8700).
When does the behaviour occur?
- The i950 Servo Inverter is being operated as an EtherCAT slave and
- the parameter 0x10f1:2 of the EtherCAT communication monitoring is in factory setting.
Which products are affected?
Servo Inverter i950 FW
Short-term measures / Evaluation / recommendations::
In any case 0x605e:0 must be set to -2 (default) or 2 in order to trigger a QSP in the event of an EtherCAT interruption.
It makes sense to set a value = "4" under parameter 0x10F1:2 in order to tolerate one failed PDO telegram and only react to two PDO telegram failures in a row. The following table lists a few possible settings as an aid:
0x10F1 - ECAT: Behaviour in case of error
+-----------------------------------------------------------------------------+
| Permitted PDO failures in succession | Monitoring threshold (0x10F1:2) |
+-----------------------------------------------------------------------------+
| 0 | 1 ... 2 |
| 1 | 4 ... 5 |
| 2 | 7 ... 8 |
| 3 | 10 ... 11 |
+------------------------------------------------------------------------------+
As of software version V01.05.xx, the i950 Servo Inverter has an extrapolator for motor control which can extrapolate the setpoints for one cycle. If two PDO telegrams in succession fail, extrapolation will no longer take place. The last value is frozen.
Automatic Translation
