4.9 Synchronisation
Synchronous time
Ethernet-based fieldbus types such as EtherCAT support the synchronous (cyclic
synchronous) operating modes.
This means, each inverter has a PLL which automatically synchronizes with the
fieldbus master. As soon as the sync interval is set by the master, all control algo-
rithms synchronize to the sync signal via the PLL.
As soon as the sync interval of the master is adjusted in fb10 after power-on, all
controller algorithms also synchronize to this PLL.
If the synchronization has been carried out, bit 8 (synchronous) is set in the status
word (after power-on the synchronous operating mode is initially deactivated).
All inverters on an EtherCAT master can be operated synchronously at about +/-
100ns.
Alternatively, it is also possible to parameterize the sync interval in object 0x60C2
Interpolation time period.
If it is written subsequently via bus to 0x2B0A fb10 or 0x60C2 Interpolation time
period, the value must be suitable to the value of the EtherCAT register. Otherwise
the drive will not be synchronous.
Activation of the synchronous operating modes
Definition of the level for the synchronous bit
Measured value of actual syncs
The default values for fb11 and fb12 are optimized for EtherCAT. The internal be-
haviour of the PLL can be adapted to other fielbus master with fb11 and fb12.
If bit 8 (synchronous) should not be set, the sync level or the Kp can be increased
to achieve the synchronization.
The changed value of fb12 has only an effect when fb10 is written again.
Independent on the adjustments of fb10 – fb12, the distance between two syncs
signals is measured and displayed in fb19. With the first valid measured value after
power-on, fb10 is automatically parameterized.
Depending on is22, fb10 is set to the valid value which is nearest to the measured
value fb19. => Table for is22.
The minimum (one "mid irq") and maximum (absolute upper limit 16ms) cycle time
depends on is22.
➢ The resolution of fb19 is different for the different control card types. Observe
scaling factor.
➢ The behavior of the synchronization differs depending on the active fieldbus
system. Detailed information can be found in the Programming Manual |
Fieldbus Systems.
➢ The Programming manual | Fieldbus systems can be downloaded from the
KEB website. Registration is required.
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