科尔摩根 AKD2G EtherCAT 故障排除列表.pdf

AKD2G EtherCAT Troubleshooting List Todd Evans, Jimmy Coleman Rev. A | 8/12/2022 This list is provided to expedite the troubleshooting process by efficiently gathering system data required to troubleshoot common EtherCAT issues such as scaling, PDO mapping, SDO errors, and cycle timing. 1. What is the ECAT master? 2. DRV.INFO (for each drive on the network)  Includes: Drive model number  Includes: Drive Firmware version 3. Revision of ESI file currently being used.  ESI file name, as provided by Kollmorgen,-  Or revision number listed in the xml file under Descriptions / Devices / Device / Type / RevisionNo 4. Revision of Workbench 5. Does the issue occur when running the same profile with Workbench (without EtherCAT control)?  Unplug EtherCAT cable and reboot the drive. 6. Master startup script and PDO mappings 7. Mode of Operation used (object 6060h)  If object 6060h is not set, it will use the default value of 8 – Cyclic Synchronous Position Mode.  Or read object 6061h 8. Object numbers related to the problem  Are they used over SDO or PDO? 9. EtherCAT master’s ECAT update rate. 10. Is Distributed Clocks (DC) enabled in master? 11. Save new *.akd parameter files. 12. Read-only para