1608

Category: Alarm

Cause

1. In position control mode, the EtherCAT communication cycle is shorter than the position control cycle
2. In speed control mode, the EtherCAT communication cycle is shorter than the speed control cycle
3. In torque control mode, the EtherCAT communication cycle is shorter than the torque control cycle
4. The EtherCAT communication cycle setting is not 250us multiplied by an integer power of 2

Corrective action

1. Ensure that, in position control mode, the EtherCAT communication cycle is longer than the position control cycle
2. Ensure that, in speed control mode, the EtherCAT communication cycle is longer than the speed control cycle
3. Ensure that, in torque control mode, the EtherCAT communication cycle is longer than the torque control cycle
4. Ensure that the EtherCAT communication cycle setting is 250us multiplied by an integer power of 2