Hello everyone:
First, thanks for browsing.Now, we use open-source EtherCAT master to
control my robot which is a 6 DOF arms.Everything is ok except the DC
synchronous question, while the DC is essential to run in cycle synchronization
position mode and I also really don't know the real reason about this and how
to handle that question.
Then,I will depict my question in detials. When run in profile position
mode, everything is ok and when it changes to cycle synchronization position
mode, I found that it can't to synchronize DC with the errors listing in below:
[ 1518.043620] EtherCAT ERROR 0-2: AL status message 0x0032: "PLL error".
[ 1518.043735] EtherCAT 0-2: Acknowledged state SAFEOP.
[ 1518.055581] EtherCAT ERROR 0-3: AL status message 0x0032: "PLL error".
[ 1518.055752] EtherCAT 0-3: Acknowledged state SAFEOP.
[ 1518.059595] EtherCAT ERROR 0-4: AL status message 0x0032: "PLL error" .
[ 1518.067537] EtherCAT 0-4: Acknowledged state SAFEOP.
[ 1518.071643] EtherCAT ERROR 0-5: AL status message 0x0032: "PLL error".
[ 1518.071862] EtherCAT 0-5: Acknowledged state SAFEOP. When this
errors occurs, the servo drivers change the states from OP state to SAFEOP
state. I also ask for this question to beckhoff??s staff. He said the reason of
this question is caused by the CPU jitter and the master of beckhoff
corporation could handle this question very well. I really don't understand
this meaning very well.
It is very grateful that if some experts know the ways to handle with this
question.Thanks very much!!!!!!!!!_______________________________________________
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