2 interruption of internal communication, 3 frame failure detection through the application, 4 ethercat synchronisation loss – Lenze E94AYCET User Manual
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10
Monitoring
10.2
Interruption of internal communication
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Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
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10.2
Interruption of internal communication
The response in the case of a communication error between the communication module and the
standard device can be set via codes
(module in slot
MXI2).
An externally supplied communication module reports a connection abort to the standard device
via an emergency telegram to the master and changes to the "Safe-operational" state.
10.3
Frame failure detection through the application
During the
Synchronisation with "Distributed Clocks" (DC)
, this monitoring checks whether an
EtherCAT PDO telegram (sync manager 2 event) has arrived between two sync0 signals.
A frame failure can be detected by evaluating the signals SYNC_bProcessDataExpected and
SYNC_bProcessDataInvalid of the LS_SyncInput system block.
This monitoring can be used, for instance, for extrapolating the setpoints (position, speed and
torque).
Tip!
The function blocks L_SdInterExtrapolatePosition or L_SdInterExtrapolateAny are
available as extrapolation blocks.
The frame failure detection is implemented by default in the "CiA402" technology
application.
10.4
EtherCAT synchronisation loss
The "Sync0" synchronisation signal serves to synchronise the start of the drive application with the
application of the master.
This synchronisation is monitored by the drive in a permanent time slot.
If impermissible deviations of the synchronisation cycle time are detected within four successive
cycles, the drive generates the error message "
EtherCAT: Sync loss detected with standard device
The permissible jitter of the synchronisation cycle time is 10 μs.
Code
/
displays whether the Servo Drive 9400 is synchronised.
Tip!
The synchronisation can be monitored in the application by the LS_SyncInput system block.