i950 with linear motor P5-350HS: Occurring vibrations in the range around 160 Hz (fixed from V01.11.00)
Lifted from:
Servo-Inverter i950 FW: from V01.11.00
Behaviour of the new version: Synchronization processes on the EtherCat or CAN system buses will no longer have any effect on speed determination in future.
Description of the behaviour: Synchronization processes via the EtherCAT bus or the CAN bus have an effect on the duration of the individual cycles of the internal control task. These changes must be taken into account and compensated for when determining the speed values . So far, this has been done with an inappropriate factor, so that fluctuations in the actual speed value can occur as a result, which then become noticeable through an interference frequency of approx. 160Hz on the speed.
Under what conditions does the behavior occur?
EtherCAT bus in the operating mode "DC-Sync" or
CAN bus with synchronization and
feedback system SinCos encoder, Hiperface absolute encoder, etc. must be active. be active. Only with feedback system "TTL encoder" the described behavior does not occur.
Affected products:
Servo-Inverter i950 FW
Short-term measures / Evaluation / recommendations: If possible, operate without synchronization or use TTL encoder as feedback system. Reducing the speed controller gain (0x2900:1) can reduce the effects on the speed behavior.
