I see the FBUS.SAMPLEPERIOD parameter is set to 128. The unit is labeled "*62.5us", which would make the period 8000us? Yikes! The manual describes the default value of 32 as equal to a 2ms sample period. 32 * 62.5us = 2000us
It seems I've had the sample period set to 8ms this whole time, I must have just been lucky that it worked at all up to this point. Thanks! Alyssa > On Aug 22, 2016, at 2:30 PM, Dusty Clark <[email protected]> wrote: > > There is an AKD parameter, FBUS.SAMPLETIME that sets the internal packet > sampling rate on the EtherCAT connection. If you are also getting a random > Error 125 (fieldbus sync lost) when the feedback freezes, there's a good > chance you need to tweak the setting. It's unclear that you have the PDO > mapped to read the position with your faster version? > > Good luck! > > Dusty > >> On Mon, Aug 22, 2016 at 12:15 PM, Alyssa Wells <[email protected]> >> wrote: >> Just wondering if anyone else has had an experience with EtherCAT >> communications where sending command positions works fine, the drive >> responds and goes to the position, but the drive does not send back feedback >> on its current position. >> >> Using 1.5.2 on RT Debian system, talking to Kollmorgen AKD drives CoE >> >> Communications are good both ways at loop speeds of ~2ms, lowering the speed >> of the loop to ~1ms causes the feedback to freeze. >> >> >> Thanks, >> Alyssa >> >> >> >> >> _______________________________________________ >> etherlab-users mailing list >> [email protected] >> http://lists.etherlab.org/mailman/listinfo/etherlab-users >> >
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