EtherCAT bus cycle time and use of a TA (0x4000>0): EtherCAT cycle time must be at least 1ms (corrected from V01.06.04)
Corrected from:
Servo-Inverter i950 from V01.06.04.2154
Response of the new version:
Depending on the TA setting under 0x4000, the cycle time is now limited to the corresponding minimum value under 0x1C31:5 and 0x1C32:5:
0x4000:0 = 0: 250.000 ns (= 0,25 ms)
0x4000:0 > 0: 1,000,000 ns (= 1 ms)
When changing the state of the EtherCAT after SafeOp, the Sync0 cycle time transmitted by the controller during bus initialisation is now compared with the minimum possible cycle time. If this is undershot, a rejection now takes place.
What happens?
When using TAs (0x4000 > 0) in the i950, the settings of the minimum supported cycle time are specified in the objects 0x1C31:5 and 0x1C32:5 of the sync master.
Within the i950 Base-FW, the bus cycle time set by the master is erroneously not checked for compliance with the minimum values. Accordingly, there is no rejection if the value falls below the minimum value.
When does the behaviour occur?
TA setting 0x4000 > 0: Use of a technology application (TA) and very small sync cycle times.
