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 IDEClosed "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.


  • 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

PLCopenClosed A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML Camming

PLCopen Gearing

Axis parameters MC_AXIS_PARAM_VELCOMP_FACTOR, MC_AXIS_PARAM_VELCOMP_FILTER

 Axis Parameters

Velocity Compensation

PLCopen TouchProbe

PLCopen Registration

 Axis parameter MC_AXIS_PARAM_SENSOR_DELAY

MC_TouchProbe and Time-Based Capture (KDN Article)

PLCopen Registration

PipeNetwork External Feedback Use a Phaser block to compensate for the delay Motion Library - Phaser
PipeNetwork Trigger Block Trigger Delay MLTrigReadDelay

MLTrigWriteDelay