EtherCAT: Sporadically no state change possible after operational, mains switching required for error reset (fixed as of V01.05.06)
Lifted from:
Servo-Inverter i700 from V01.05.06
How does the new version behave? The EtherCAT state change between 'Init' and 'Operational' now works without any error states occurring. Even if the state change is triggered via control commands and not via mains switching
What does the reaction look like?
The EtherCAT bus cannot be sporadically transferred from the 'SafeOp' state to the 'Operational' state. The state change to 'Operational' is aborted with an error message . The AL status register of the EtherCAT device then contains the error code 0x32 (PLL sync error).
The affected EtherCAT device remains in the error state 'Err Pre-Op' or 'Err Safe-Op' and operation of the axis is no longer possible. To reset the error state, switching to the mains is required.
When does the problem occur?
The prerequisite is that the monitoring for detecting PDO telegram failures is activated (0x10F1:2 > 0). As of firmware V01.04.xx, this monitoring is set to active in the Lenze setting (0x10F1:2 = 20).
Systems with frequent EtherCAT state changes via control commands, without mains switching of the drive controller are particularly affected.
The probability of occurrence increases:
the smaller the threshold value in object 0x10F1:2 is set,
with the frequency of EtherCAT state changes without power switching of the drive controller,
if the Sync0 cycle time is set longer than the EtherCAT frame cycle time (process data is not transferred every EtherCAT cycle)
The cause of the behaviour is that during initialization (state 'Init') certain internal flags are not reset by mistake. This prevents resynchronization via distributed clocks and as a result the above-mentioned error state occurs.
Affects which products? Servo-Inverter i700
Short-term measure/recommendations:
Power up the drive controller to exit the error state and enable correct initialization of the EtherCAT. The probability of the sporadic occurrence of the error state is reduced if the object 0x10F1:2 is also written to 0 before the power is switched
.
Rating:
After the occurrence of the described problem machine operation is only possible after a mains switch
