Hi,
I'm having a problem with my Yaskawa SGCV drives. I am using them with Cyclic Synchronous Position Mode. The problems is that while moving they frequently get an unstable position error. The unstable position errors last for about ΒΌ of a second and occur regularly every 4 (approx) seconds. The position error is always less than the cycle delta position. I am setting up the drives to use the distributed clock but I am suspecting that something is not set up correctly and the position error is occurring due to a drift in cycle relative to the master. The "DC system time transmission delay" (from the "ethercat slaves -v" command) for the drives are: drive 1 (slave 9): 2147486148 ns drive 2 (slave 10): 2147487218 ns They are being reported as 32bit distributed clocks. When doing the "ethercat reg_read -p<slave> -tint32 0x092C" command on each of the slaves then the slaves prior to the yaskawa drives get numbers such as: 0x00000010 16 0x00000024 36 0x80000011 -2147483631 0x80000004 -2147483644 Where the low order bytes contain low numbers but the sign bit may be on or off. However, the yaskawa slaves are more like: 0x66a32ed9 1721970393 0x669f8483 1721730179 0x669d0223 1721565731 0x669b553f 1721455935 If I disconnect the drives then the rest of the slaves still behave the same (where the sign bit may be on or off). Does anyone have any ideas what I should be looking at next? Regards, Graeme Foot
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