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On a gantry system with 2 axis i am getting the following error: SMC_DI_FIELDBUS_LOST_SYNCRONICITY
This happens random, sometimes it happens every 5 minutes and sometimes no error for 2 hours...
The Setup:
- Using codesys 3.5 SP20 with all latest libs...
- Kontron AL Pi-Tron CM4 with Preempt realtime patch (Raspberry Pi 4)
- Codesys runtime 4.11.0.0 (single core)
- CODESYS Control for Raspberry Pi SL licensed
- Softmotion + CNC + Robotics licensed
- 2x Leadshine EL8-EC400 servo drives
- Axis group for a 2-axis T-Gantry
a few suggestions on how to tackle the problem:
- it might help to increase the cycle time of the ethercat task
- increase the value of the ethercat parameter DCInSyncWindow (https://content.helpme-codesys.com/en/libs/IODrvEtherCATDriver/Current/pou-IoDrvEtherCAT/DCInSyncWindow.html) (see attached image)
- enable FrameAtTaskStart (https://content.helpme-codesys.com/en/libs/IODrvEtherCATDriver/Current/pou-IoDrvEtherCAT/FrameAtTaskStart.html) in the ethercat master (see attached image)
- if the drives can handle the synchronization problems, checking of the synchronization can be deactivated using SMC_Set_ETC_DCSyncSupervision (https://content.helpme-codesys.com/en/libs/SM3_Drive_ETC/Current/SMC_Set_ETC_DCSyncSupervision.html).
Hi,
On a gantry system with 2 axis i am getting the following error: SMC_DI_FIELDBUS_LOST_SYNCRONICITY
This happens random, sometimes it happens every 5 minutes and sometimes no error for 2 hours...
The Setup:
- Using codesys 3.5 SP20 with all latest libs...
- Kontron AL Pi-Tron CM4 with Preempt realtime patch (Raspberry Pi 4)
- Codesys runtime 4.11.0.0 (single core)
- CODESYS Control for Raspberry Pi SL licensed
- Softmotion + CNC + Robotics licensed
- 2x Leadshine EL8-EC400 servo drives
- Axis group for a 2-axis T-Gantry
Ethercat network wiring:
Ethercat master softmotion -> Beckhoff EK1100 -> Servo drive #1 -> Servo drive #2
Ethercat Cycle time = 4ms
Max Jitter = 140~150
What i have tried so far:
- changed the sync offset from 20% to 30%
- changed ethercat task priority from 1 to 0
Running tasks:
- Ethercat tast: Prio = 0, Interval = 4ms
- Main task: Prio = 1, Interval = 8ms
- Visu task: Prio = 31, Interval = 100ms
- Softmotion planning task: Prio = 15, Freewheeling
- 3 other default tasks that were created by AC_Persist
Motion fb's are called in the ethercat task...
Does anyone have an idea how to fix this? Any help is greatly appreciated!
Hi,
a few suggestions on how to tackle the problem:
- it might help to increase the cycle time of the ethercat task
- increase the value of the ethercat parameter DCInSyncWindow (https://content.helpme-codesys.com/en/libs/IODrvEtherCATDriver/Current/pou-IoDrvEtherCAT/DCInSyncWindow.html) (see attached image)
- enable FrameAtTaskStart (https://content.helpme-codesys.com/en/libs/IODrvEtherCATDriver/Current/pou-IoDrvEtherCAT/FrameAtTaskStart.html) in the ethercat master (see attached image)
- if the drives can handle the synchronization problems, checking of the synchronization can be deactivated using SMC_Set_ETC_DCSyncSupervision (https://content.helpme-codesys.com/en/libs/SM3_Drive_ETC/Current/SMC_Set_ETC_DCSyncSupervision.html).
Thanks for the suggestions!
It seems that increasing the value DCInSyncWindow helped,
running without error for 1/2 day now.