DaveBarnett Posted March 21, 2018 Share Posted March 21, 2018 I am commissioning a new system which is exhibiting a slight cyclic error...easily observable by running at a constant velocity. (see plot) CPU: CK3E Drive: Ingenia Neputune (EtherCAT) 1Khz Cycle freq. The disturbance is occurs at a very regular 9.1 seconds. So, I suspect beat frequencies. How can I determine if this is related to distributed clocks not working properly on the slave ?? Link to comment Share on other sites More sharing options...
steve.milici Posted March 23, 2018 Share Posted March 23, 2018 If this is in Cyclic Position Mode I would suspect this to be a drive issue or possibly incorrect distributed clock settings. Link to comment Share on other sites More sharing options...
Clopedandle Posted March 30, 2018 Share Posted March 30, 2018 If you are not already, I suggest setting your drive to torque mode and letting the CK3E govern the control loop. It will likely be much easier to troubleshoot that way as you would then not have any of the drive's gains polluting your servo effort. I also remember in the past that there was a way to check if the distributed clocks were working by monitoring ECAT[n].DCClockDiff - see attached from the IDE manual, page 67. I am not sure if this still applies, however. Link to comment Share on other sites More sharing options...
DaveBarnett Posted April 2, 2018 Author Share Posted April 2, 2018 Thanks, Charles. 'Problem was indeed a missing distributed clocks setting. Using the diagnostics you suggested (ECAT[0].DCClockDiff) made it obvious. Re-ran the EC Engineer setup, and now all is smooth. Link to comment Share on other sites More sharing options...
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