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Why the EtherCat Network can't restart itself after a "lost connection" (E30-E33). Is any manner to recover from that issue? IS there any interrupt/command to reboot or restart the Motion?
Thanks
Comments & Answers
Joe Parks said ...
I see your comments on the
I see your comments on the other thread. I will enter the issue to our software development team. Can you confirm that you do not see E21 faults on release 2.10 but do after multiple restarts with the 2,11 release?
Honestly with 2.10 I was
Honestly with 2.10 I was testing the routine just for a couple of times (loop was working ok) and after I had to upgrade to 2.11. So I can't say, 2.10 has not that behavior.
The multiple tests/times were made only with 2.11 in order to be sure that everything was OK.
I cannot reproduce the E21
I cannot reproduce the E21 error on my system running the project attached to the page you referenced, http://kdn.kollmorgen.com/content/restarting-pxmm-motion-engine-when-et…
I ran this project and 10 times over a 45 minute period I unplugged an Ethernet cable to cause an E33 error, and was able to restart the EtherCAT network, enable motors, and run motion commands. I never once got an E21 error.
What specific version of 2.11 software and firmware are you using? (for example I am using 2.11.1.70245) What devices do you have on the EtherCAT network? (I have two AKD drives and a bus coupler with a digital input and digital output slice)
I was running with KAS
I was running with KAS revision 2.11.1.69816
EtherCat Network is in the attach.
When I was doing my tests, STO is active. I don't know if that can generate any influence in the loops.
Regards
Dome said ...
I was running with KAS revision 2.11.1.69816
EtherCat Network is in the attach.
When I was doing my tests, STO is active. I don't know if that can generate any influence in the loops.
Regards
I had a coworker run the test
I had a coworker run the test program contained in http://kdn.kollmorgen.com/content/restarting-pxmm-motion-engine-when-et… with a system with AKD-N drives and 2.11 KAS firmware on the controller and still cannot reproduce your issue. If you are using this test code, can you let us know when you get the E21 error if the code in the ReStartSystem program (the state of the StepCounter variable)?
If you are using your own code to recover from the EtherCAT error, can you share it with us to see if anything is different then our sample program? What step in the recovery process are you getting stuck at in your own code when the E21 occurs?
There are instructions on a
There are instructions on a KDN page at http://kdn.kollmorgen.com/content/recovery-after-ethercat-error on how to recover from an EtherCAT error to restart the network without having to stop and start your KAS project
Thank you Joe for your fast
Thank you Joe for your fast answer.
Regarding of the topic, In the past, I was using a routine suggested on the Kollmorgen Knowledgebase. I was making some tests (get fault-recover cable connection-start the routine and waiting motion starts), but after some trials PCMM gave me back E21 fault. The E21 fault was generate always after a 4th time test... I suppose that this event (E21) is generate randombly, so I was looking about something sure and safe. Do you have any idea about this behavior.
Routine and topic in Knowledge Base:
Restarting the PxMM Motion Engine when Ethercat Fault occurs
(There are also my comments there).
Thanks a lot for any indication.