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CK3E RTI Performance


warrenlee
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Hello,

 

We recently have random Coordinate RunTimeError happens on our system when using CK3E as main controller and 5 ethercat axis. We did some observation on the realTime performance and compared with a CK3M module, below are some result.

 

When use CK3E1210, the Sys.RtIntTime is about 50 on average without ethercat activated, once the ethercat is activated, it increases to a 100. Peak RT can log (Sys.MaxRTIntTime) up to 350.

 

When use CK3MCPU121, the Sys.RtIntTime is about 20 on average without ethercat activated, once the ethercat is activated, it stay about 22-23. Peak RT now only reach up to 75.

 

The firmware version for CK3E is 2.6.0.1 and the version for CK3M is 2.6.0.0. Both system runs very similar PLCs.

 

I start to wondering if the RunTimeError can be related to the low performance from CK3E.

 

Few things we have tried to tackle the RunTimeError on the coordinate system:

 

Change Sys.PreCal to 5 , 10 , 15, no luck, coordinate system still fault out after few hours

 

Change Sys.RtIntPeriod, increase this number cause a huge delay between command J/ and read ampEnabled status from motor. When this number set to 15 or more, the watchdog is triggered.

 

Change Sys.MaxMotorsPerCycle will also cause a huge delay between command J/ and ampEnabled Status. Have to leave at 0 to have reasonable response time.

 

The test is conducted through a repeat coordinate move, which only contains 2 ethercat axis in the coordinate system 1. The Servo Frequency is 2Khz and RTI frequency is 1khz.

 

Any insights on the issue would be much appreciated. Thanks!

 

Warren

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My educated guess would be something in the project is placing a greater burden on the RTI process in the CK3E project. Check the CK3E project for this.

 

Contact ODT Technical support for further troubleshooting: ODT-Support@Omron.com.

 

You mention the projects are “similar”. What are the project differences?

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