Stober EtherCAT SD6 Series User Manual

10 | Looking for more information about EtherCAT? STOBER
72
02/2020 | ID 442516.07
10.5.2.2.2 Optimize values and correct problems
You have commissioned your EtherCAT network. If you need to optimize synchronization using distributed clocks after the
fact due to insufficient EtherCAT communication quality, we recommend the following measures.
10.5.2.2.2.1 EtherCAT master: DC-Sync configured for EtherCAT slaves?
Check whether DC-Sync is configured for all EtherCAT slaves on the master's end; see the commissioning chapter
Configuring synchronization using distributed clocks [}41].
10.5.2.2.2.2 EtherCAT slave: Check PLL control
Check the status of PLL control for all EtherCAT slaves and take one of the described measures if necessary.
ü You are in DriveControlSuite.
1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu >
Wizard area.
2. Select the PLL synchronization wizard.
ð A298 shows the status of the synchronization between the controller and the drive controller in question.
3. Bit 0 – 1: PLL engaged
If one or both of the two associated LEDs lights up, the control range is working at ≥ 50% capacity (frequency too high
or too low).
In this case, adjust the cycle time of the Sync 0 signal on the master's end. Note that the cycle time of the Sync 0 signal
must be a whole-number multiple of the cycle time A150.
4. Bit 2: Cycle time extended
If the associated LED lights up, the PLL has performed an extending control intervention on the task system.
5. Bit 3: Maximum control range reached
If the associated LED lights up, check whether the cycle times of the master and drive controller agree. Realign these
to each other if necessary.
6. Bit 4: Cycle time for the synchronization signals is greater than the specification (A296 > A291)
If the associated LED lights up, check whether the cycle times of the master and drive controller agree. Realign these
to each other if necessary.
7. Bit 5: Control/synchronization deactivated
If the associated LED lights up, set A290 to 1: Active.
10.5.2.2.2.3 EtherCAT slave: Synchronization – Read out diagnostic parameter
You can get information about the status of the EtherCAT synchronization using the A261 diagnostic parameter. It checks
whether a frame arrives at an EtherCAT slave within a certain time period based on the Sync 0 signal.
ü You are in DriveControlSuite.
1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu >
Wizard area.
2. Select the EtherCAT wizard > Diagnostics.
ð A261[0] – [3] shows the state of the EtherCAT synchronization.
3. A261[0]:
Specifies the number of the error code.
4. A261[1]:
Specifies the time difference between the data provision and the Sync 0 signal in µs.
5. A261[2]:
If the process data from the master arrived at the slave after the Sync0 signal in the slave, or if the time difference
between process data receipt and Sync0 signal is greater than half of A150, A261[2] is incremented.

Stober EtherCAT SD6 Series Specifications

General

Brand	Stober
Model	EtherCAT SD6 Series
Category	Controller
Language	English