Multi-axis synchronisation via CAN - Torque peaks and noise (eliminated as of Drive PLC, ECS OPERATING SYSTEM V8.3, SPLC as of V8.0)

Eliminated as of:
ECS Application OPERATING SYSTEM  as of V8.3
EVS93xx-EI (Servo PLC) as of V8.0
EVS93xx-ET (Servo PLC with technology function)  as of V8.0
EPL-10200 EI (Drive PLC) as of V8.3
EPL-10200 ET (Drive PLC with technology function) as of V8.3

Behaviour of the new version?
The sync-controlled acceptance of process data now takes place securely in every cycle.
Step changes in torque and noise during CAN-synchronised operation (multi-axis synchronisation) no longer occur if the parameters are set accordingly for synchronisation. The following condition must be met:
     Sync phase (C1122)  <  Sync cycle time (C1121) – 350μs

If SDO telegrams are sent on the CAN bus in parallel with PDO data exchange for multi-axis synchronisation, set the sync window as follows:
     Sync window (C1123)  =   10μs (default)  +  240μs  (SDO runtime 8 bytes at 500 kbps)

Under certain circumstances, synchronisation may be absent when actual values are sent to the master control. This is dependent upon the number of axes in the interconnection, the sync cycle time (C1121) and the runtime of the PLC task calculating the actual value.
Tip: You might need to configure the sync phase (C1122) = 0.

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Which products are affected?
ECS Application OPERATING SYSTEM  <= V8.0
EVS93xx-EI  (Servo PLC)  <= V7.x
EVS93xx-ET (Servo PLC with technology function) <= V7.x  
EPL-10200 EI (Drive PLC) <= V8.2
EPL-10200 ET (Drive PLC with technology function) <= V8.2

What happens?
Step changes in torque and knocking noises occur.

When does the problem occur?
During operation with multi-axis synchronisation with CAN-sync.

Diagnostics options?
Step changes in torque and knocking noises occur.
Short-term measures/recommendations?
None.

Evaluation:
Although step changes in torque and knocking noises occur, the actual drive function remains intact.

CR Id: LDS00025063
Published with Service Message No. 2010/32 and 2011/31

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