Axis sync between two separate devices

Ask Questions Controls & Vision
1

Hello！

We have two separate pieces of equipment on site that need to be synchronized (by position). Therefore, a X20IF2181 module has been added to the CPU of one machine to serve as the PLK iCN. The CPU of the slave machine (Device A) uses the PLK clock from the 2181 as its system tick. Meanwhile, the built‑in PLK of the slave CPU (Device A) is connected to several servos, and the built‑in PLK of the master CPU (Device B), which also drives several servos, is connected together with the slave’s 2181 module. This configuration is considered to establish synchronization between the two machines.

image
image1109×640 23.1 KB

At the same time, since they are two independent devices, they can also operate separately. Both need to be powered on together to produce the product. However, during debugging or maintenance, it is possible to run only one machine while the other is powered off. If the master (Device B) is turned off, the slave (Device A) can still operate normally.
But if the master is started again while the slave is running, the servos on the slave will report error 6002. This appears to be caused by a large time deviation after re‑synchronization when the master is powered on. We noticed that SYNC_SYS_TIME_DIFF is read‑only and cannot be modified.

image
image1150×371 67.6 KB

Is there any other method or parameter adjustment that would allow both devices to run and be debugged independently, while still being able to establish synchronization (i.e., starting the second machine at any time without triggering error 6002)?

Thanks!

2

Hello,

i did some tests with ICN Synchronisations but i never had this issue as no ACOPOS were connected. As far as i understood the Automation Studio Help, the ACOPOS handles the Time-Jump as a Network Issue , similar to a Cable-Disconnect.

I currently do not have a suggestion for you, but some questions which might come up also for others…

  1. Can you reset the error and then operate the Machine or is this a re-occuring error
  2. Do you use MappMotion or ACP10
  3. Do you have to supress the error completly or would it be acceptable if it occurs and is resetable.

I currently found no hints in Automation Studio Help if there is any possible influence to the network initialisation/connection.

I only know that for ACP10 it was possible to restart the initialisation manualy. For MappMotion there is as far as i know only an automatic mechanism for re-initialisation after disconnection of cable.

Greetings
Michael

3

Hello Michael,

Thanks for your advice!

  1. Yes we can reset the error, whether it is re-occurring we should have a check for that.
  2. We use ACP10
  3. I have just give this idea to the site, let us evaluate if it is acceptable in this case.
4

Hello,

Thanks for the Feedback.

Just in case you want to do some tests with it, here the Command for Restarting the ACOPOS in ACP10. This ncaction can be used in parallel to the PLCopen Functionblocks as the Disconnection/Reconnection is also reseting the PLCopen internal Structures.

NcActionStatus := ncaction(AxisObjAdr, ncNETWORK,ncINIT+ncRESET)

image
image1261×560 61.2 KB

Greetings
Michael