Corrected from:
TA i900: from V01.07.04
Response of the new version:
After a successful polling identification via mode 0x6060 = [-12], it is possible to select a cyclic operation mode again via 0x6060 and the drive follows the cyclically specified setpoints.
What happens?
In the i950 the pollage monitoring is activated (0x2C65:1 = 1) and the device is started with unknown pollage information.
The pollage identification is executed by the higher-level controller via the operating mode in object 0x6060 = [-12].
After successful pollage identification, the object 0x6060 is changed back to a cyclic operating mode.
The i950 axis ignores the cyclic setpoints sent by the controller and the drive stops/ does not follow.
When does the behaviour occur?
- Servo inverter i950 with TA Cia 402 Advanced (0x4000:0 = [1])
- Pollage monitoring is active in the device (0x2C65:1 = 1)
- Device starts with unknown pollage
- Pollage identification is instructed/executed via index 0x6060:0 = [-12]
Which products are affected?
TA i900
Short-term measures / Evaluation / recommendations:
Workaround 1:
- after successful pollage identification write index 0x2825/0 via CoE SDO in i950 to value 1. Afterwards write the value in 0x2825/0 back to the default value 0.
Workaround 2:
- restart/initialize the EtherCAT bus after successful pollage identification.
Automatic Translation
