Tuning Controller Performance for EtherCAT Communication Latency
The response time for reading axis demand position data varies between different drive models. The response times also vary in reporting back TxPDO data such as actual position and time-based capture values. These different response times can lead to different lag in applications which use camming, gearing, and registration features. The KAS IDE"Integrated development environment" An integrated development environment is a type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger has several configuration parameters which allow you to tune your system to work best.
For example, Drive A has a 1 cycle latency for TxPDO data, and Drive B has 2 cycles latency. The MC_AXIS_PARAM_VELCOMP_FACTOR
parameter can be used to specify 1 (for Drive A), and 2 (for Drive B) cycles.
The features and corresponding parameters are listed below.
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- If the drives in an existing system are being changed, such as during an upgrade from AKD to AKD2G drives, then the parameters will need to be retuned to maintain optimal performance.
Feature | Parameters | Read Me For More Information |
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PLCopen Gearing |
Axis parameters MC_AXIS_PARAM_VELCOMP_FACTOR, MC_AXIS_PARAM_VELCOMP_FILTER |
Axis Parameters |
PLCopen TouchProbe PLCopen Registration |
Axis parameter MC_AXIS_PARAM_SENSOR_DELAY | |
PipeNetwork External Feedback | Use a Phaser block to compensate for the delay | Motion Library - Phaser |
PipeNetwork Trigger Block | Trigger Delay | MLTrigReadDelay |
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- The AKD drive supports an object to configure the EtherCAT***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs input data for immediate or 1 cycle delay (default for backwards compatibility). For more details see ___.