A2 ve AL303 hatası

[Ahmet]

Merhabalar.
3 adet A2 servo ve 15MC cpu haberleştiriyorum.
Servo sürücüler bir müddet sonra AL303 hatası vermeye başlıyor.
Dökümandan gördüğüm kadarıyla CANopen senkron sinyalinin yavaş gönderildiği yazıyor. Çözüm olarakta sinyal gönderim süresinin CANopen SYNC süresinin içerisine alınmalı diyor.
Bu süre CANopen Builder ile nasıl ve nereden ayarlanır?
Çözüm önerileriniz nelerdir?
Teşekkür ederim.

[yasinakar]

How to set the synchronization cycle period for DVP-15MC Series Controller?

Answer:

The synchronization period is a very important parameter for the bus motion control. The improper synchronization cycle setting may lead to AL303/AL302/ AL301 alarm in the servo in the communication or some abnormal servo actions.

First of all, we introduce the composition of a synchronization cycle. At the beginning of each synchronization cycle, the motion control program is scanned first, and the control data obtained through the operation are sent to all axes after the scan is completed. Therefore, the synchronization cycle can be understood as motion control program execution time plus communication time between DVP-15MC series controller and all servos.

Motion control program execution time is the maximum execution time of motion event tasks with the unit: μs (microsecond) which can be viewed by double clicks on Task on the CANopen Builder software interface in the online state. 1000μs = 1ms (millisecond). In practical applications, it is recommended to round the value up to an integer. For example, if the maximum program execution time is 2567μs =2.5 ms, we can take 3 ms as program execution time.

说明: C:\Users\ella.wang\Documents\WinCHM Projects\Project14\Q3：How_to_set_the_synchronization_cycle_period_for_DVP15MC11T.files\image002.jpg

It is about 0.5ms for the communication between DVP-15MC series controller and a servo.

We recommend that the value is rounded up to an integer in application. For example, 5 servos are configured in an application. And the communication time is 5*0.5ms=2.5ms. In this case, we can regard 3ms as the time for communication.

Therefore, we can get the formula: a synchronization time (ms) = an integer obtained by rounding up the value of maximum program execution time (ms) + time for the communication between DVP-15MC series controller and all servos (ms) +1 (time reserved for a program change) (ms).

If the running time of the program is increased too much after the program changes, the preset synchronization time will not fit any more. So the reserved time should be set to 1~2ms.

For example, the maximum program execution time is 1634μs and there are totally 5 servos in the application. The reserved time for a program change is 1ms.

A synchronization cycle period= 2ms (obtained by rounding up the maximum program execution time, 1634μs) + 3ms (obtained by rounding up 5*0.5) +1ms (reserved for a program change)=6ms

Note:

The above method is used for getting an estimated time, which is suitable for most applications. If you need a more precise synchronization cycle period, the actual time can be recalculated by omitting the reserved time after the application development is completed.

The synchronization cycle period can be set in the following red box and the setting value will take effect after being downloaded.

[yasinakar]

sanırım buradan 4 ms

[Ahmet]

Teşekkür ederim @yasinakar ustam.
Şimdilik 5ms. yaptım hatayı kesene kadar yavaş yavaş arttıracağım.

[yasinakar]

CANopen Builder Help contents AL 303 Diye aratırsan orada detaylı bir şekilde görebilirsin .