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S724 drive lags | 22 Jul 2023 | |

S724 drive lags


We have in a machine 2 drives of S724 type drive wich are controlled on CAN-BUS network.

Suddunly cycle time of the machine was increased by aprox 5 seconds, and the lags are identified when these drives are in action.

No comunication faults are present. Bus parameters are checked and are correct. Cable is checked, terminal resistors checked.

These 5 seconds lag is not repeated in the same step of a cycle, and is moving randomly between the drives into another steps.

Can a drive receive the CAN-BUS command from PLC, and because of an internal drive issue to move the motor after a 5 seconds delay?

Thank you in advance!


Comments & Answers

jcoleman02 | Mon, 07/24/2023 - 12:33

It is not likely that the S700 drive is delaying 5 seconds between receiving a motion command via CANopen and executing that motion.  However, it depends on how the command is sent over CANopen.  SDO's have lower priority than PDO's.  If you are sending the command over SDO, then it can have some delay.  I would not expect a delay as long as 5 seconds.  It would be in the range of less than 1 second, and usually in the millisecond range.

You can use the Heartbeat and/or Nodeguard to make sure the drive is alive and communication is not lost.

If you are sending the motion command over PDO, the motion will execute within the PDO update rate based on the CAN baud rate, or at the next SYNC command, if a SYNC is used.  There are numerous ways to issue commands, so without knowing the details, I can't say exactly when it will happen.

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