CK3E NX-ECC203 Coupler RxPDO Problem

Hi All,

 

I have one problem about coupler. I add one NX-ECC203 Coupler Unit my system, but I can not activate ethercat. My coupler was detected "An error was detected in the RxPDO settings. (AL-Status Code: 001D hex)" in Sysmac Studio Troubleshooter.

What is the EtherCAT master?

Hi Steve,

 

My CK3E use Acontis master and I find my mistake. I can not properly configured SL-3300 Safety Cpu and CK3E.

I believe there is an app note for the ECC203 & SL-3300 that was written by Mike Esposito. There was a lot of time and effort utilized to get that working properly and consistently, but it has been stable ever since. They are running together on about 25 machines at OEM and more added every week.

We cannot activate the EtherCat with the SL3300 safety CPU on the NX-ECC203 coupler, with the error shown (see Activation fail ECC203-SL3300.png). The SL3300 Safety CPU has been loaded and partially tested with a validated program that uses the safety IO shown on the two couplers.

 

However, the CK3E activates EtherCat without the SL3300 on the coupler (see Activation OK no SL3300.png).In this case, using a blank project, the Power PMAC variables load and appear to be monitored correctly, indicating changing encoder positions, digital and analog IO.

 

What's the trick to getting the safety CPU operational on the coupler? We have heard of an app note for this (Mike Esposito?) but can't find it anywhere.

We would appreciate any ideas.

 

Thanks.

 

Our environment is:

CK3E-1310, arm LS1021A, firmware 2.5.1.7

PMAC IDE 4.3.2.19 (Acontis)

Sysmac Studio Standard Edition 1.40, Module version 1.40.0.6

NX-ECC203 unit version 1.6

NX-SL3300 unit version 1.1

NX-SIH400 unit version 1.1

NX-SOD400 unit version 1.0

Windows 10 Pro version 1909

Can you try changing the order of the devices (by moving cables) so the ECC-203 is no longer first?

Are you sure you downloaded the mapping to Power PMAC after making all changes?

Does ECAT[0].DCClockDiff change in value when you try to enable? (Add it to the watch window)

Hi Eric,

Thanks for your interest. Here are some background details which may prove helpful for the ECC203 as slave 1001 and no SL3300. Then the results of your suggestions.

 

Topography and noise: the system is housed in 2 steel cabinets - the CK3E and slaves 1001-1004 in one, slaves 1005-1007 in the other. Filtered power (120VAC) supplies 24VDC power (Omron S8VKs) individually to controller, drive and field IO modules in each cabinet. EtherCat cables (Omron XS6W-6LSZH) 0.2m and 0.5m connect modules within the cabinet. A 5m EtherCat cable is used between cabinets.

Grounding: All modules are safety grounded to DIN-mounted ground terminal blocks. DC power supplies are single-point grounded in the cabinets. A 14AWG ground wire connects the two cabinets in case there is poor grounding between power lines for the cabinets. (Not the case in our test environment.)

 

Commissioning motors: Going directly from the IDE EtherCat type motor “Commission” box to “Motor Jog” does not activate the servo functions correctly, evidenced by the command and position not matched in the watched variables for the slave. The axis trips immediately on a following error when the loop is closed. We rebuild, download and reset the CK3E to get the axis servo going and that works OK. We see the position following the jog command nicely.

 

Startup: Activating ECat communications on the CK3E can cause Er 62.00 (Control Right Release Error) on all three R88D-1SN drives. This does not prevent a motor from jogging on the configuration menu. Occasionally, there are errors (flashing red) on the NX-ECC203-PC0030 or other coupler modules. They will appear often after a few seconds or minutes.

 

DCClockDiff: The time difference is at 0 when EtherCat communications are deactivated. Typical values while EtherCat is activated are -15521, 2039, 4379, -14630, 1120… (DCRefBand = 10000)

 

Repositioning the ECC203 as slave 1004: After EtherCat activation, the Er 62.00 occurs on all R88D-1SN slaves, a flashing red error is on ECC203 slave 1004-PC0030 and ECC203 slave 1007–OD4256. See the attached screenshot “Repo ECC203.png” for activation details in IDE messages.

 

Rebuilding the ECC203 slave with SL3300: In the EtherCat list in Sysmac Studio project: I repositioned the ECC203 slave and did the “Transfer to Coupler” to update the Config info, Unit op settings and Unit app data. (The node label “Node1” stays the same even though it is repositioned…? No hardware bus addresses were changed.) In PowerPMAC IDE project: I scanned the EtherCAT network, loaded mapping variables to PMAC, rebuilt and downloaded this empty project, entered “ecat reset” on PMAC terminal, then activated Ethercat. See the resulting errors on the PowerPMAC Messages screenshot “Reinstall SL3300.png”. The indicators on the ECC203 slave with the SL3300 show: TS red FS(1 s), UNIT POWER Lit, RUN Not Lit, ERR Not Lit, L/A IN Lit, L/A OUT Lit. I can’t find this exact code combination in the manual.

Any ideas?

Regards, Geoff.

Hi Geoff,

 

I fixed "Control Right Release Error" by changing the DC shift time to half of the cycle time.

Hi Geoff,

 

I fixed "Control Right Release Error" by changing the DC shift time to half of the cycle time.

Hi Tony,

In this Acontis system, all the ECAT[0].DC... settings are at the defaults and the time is in frequency control units. It's not clear what I should change.

- Geoff

I believe Tony is talking about the shift time setting circled in my attachment. It is typically set to half of the cycle time to ensure the master is done writing new values before the slave tries to use them and vice versa.

Hi Tony and Eric,

I guess it would help if I sign in so I could see the attachments. Thanks for the tips.

I think this has solved more than one problem. With the Sync unit cycle at 1000 us and the shift time at 500 us, the ECAT activates and, without the SL3300 in the loop:

1) Error 62 on the three 1S drives disappeared

2) The Flashing red TS disappeared on the first ECC203, and

3) The flashing red error on the second ECC203 coupler's PC0030 power supply distribution module disappeared.

 

However, even with a careful SL3300 reinstall and rebuild of the safety program, it fails reactivation with the errors shown in previous postings. I shall pursue this further because I'm probably missing some trick in the configuration.

Regards,

Geoff.

The configuration was missing a slave to slave association necessary to make the SL3300 work properly. Readers may find the following articles useful in setting up their FSoE system:

 

"acontis stack procedure v1.8 - Mike Sayre - March 3, 2018.pdf", and

 

"CK3E-SL3500 setup O025-E1-01.pdf"