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AKD Flying car | 13 May 2022 | |

AKD Flying car

I am Roger Wang from China AE team.
Now I use the OMRON(NJ501-1300) PLC to control AKD, there are one problem encountered in the process of use,the motor will flyig car .
AKD Setting:FBUS.SYNCDIST 100000
OMRON Setting:60C2:01 1 (1ms cycle)
First enable the driver to move for a certain distance, then turn it off, turn the motor by hand to move for a certain distance, and then enable it. It is easy to happen flying car at this time .
But if I change AKD Setting:FBUS.SYNCDIST 500000,The probability of flying car will be greatly reduced.
IF I change OMRON Setting:60C2:01 2(or bigger),The probability of flying car will be eliminated.
I use PDMM or Beckhoff PLC to control the AKD,this flying car phenomenon will not happen.

Finally,how to avoid this kind of flying car when OMRON(NJ501-1300) PLC control AKD using 1ms cycle?

Comments & Answers

Ann Pater | Mon, 05/16/2022 - 14:08

Can you email us the latest *.akd parameter file you are using?
What is the EtherCAT mode of operation 0x6060 ?
The AKD defaults to 2msec ECAT update rate but your master is 1 msec.
If you query FBUS.SAMPLEPERIOD in Workbench Terminal what is it set to after the Omron master starts up?
It is important the AKD’s ECAT update rate matches what the master is running and we need to be sure that is happening.
Also, what is mapped to your Tx and Rx PDOs in the Omron?

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