Why Does My Tuned EtherCAT AKD Operating in Fieldbus Mode Move Unstably?

Updated Aug 27, 2019

Issue Details

Why is my tuned EtherCAT AKD operating in Fieldbus Mode exhibiting jerky movements or other unstable behavior?


The most common cause of this behavior is due to incompatibilities with older versions of the AKD firmware and the LabVIEW SoftMotion Module. Ensure that you have the latest version of the AKD firmware on your AKD and that you are working with the latest version of the Getting Started Guide. To account for the aforementioned incompatibilities, older versions of the Getting Started Guide directed users to enable the Enable distributed clock option from the AKD properties in the LabVIEW Project Explorer. The latest versions of the firmware no longer require this option to be checked and will result in unstable motion if enabled. 

Verify that the EtherCAT distributed clock is disabled by following the process described below:

  1. Right click on the EtherCAT Slave in the LabVIEW Project and select Properties.
  2. Click on the EtherCAT:Advanced:Distributed Clock tab.
  3. Ensure that the Enable distributed clock setting is unchecked.