Help

Softmotion RTE x64 Servo On Sync signal problem...

We are trying to using Codesys softmotion rte to control delta CIA402 compatible drive. 
The Codesys setting as below shows EtherCAT task/ EtherCAT master/ drive and system error/alarm log. 

The initializing of the slave seems OK but when we using PLCOpen MC_POWER function block to servo on the drive, there are alarms in Codesys system log and there is an error show on the drive.  The drive says "sync.  signal transmit too fast".  BTW, we have monitor the system jitter, it is below 50us(+-25us). 
Is there expert from Codesys softmotion side could give us some parameter adjust recommendation/ direction?  For sure, we would also ask support from Delta for this.  We think it would be better to have some advice from both sides. 
Any comment is appreciated and thanks in advance. 

OS environment: Win7 SP1 + Softmotion RTE V3 X64(3.5.12.40)

James

If you would like to refer to this comment somewhere else in this project, copy and paste the following link:

Thanks for your advice and I also got some recommendation from delta automation.  After doing some trial, finally...we could servo on the drive and move with simple postion command but the Sync 0 cycle was set up to 40ms(please check attached picture) => a crazy number, isn't it???  If we are running position cam or position gearing in this cycle setting, is that means every 40ms the slave driver could get the updated master driver position information and do the response?  And if that is true, we could have 40ms position error depends on previous command speed.  Please correct me if I'm wrong. 
Please advice. 

James

If you would like to refer to this comment somewhere else in this project, copy and paste the following link:

CODESYS Group | We software Automation. 
The CODESYS Group is the manufacturer of CODESYS, the leading hardware-independent IEC 61131-3 automation software for developing and engineering controller applications. 
3S-Smart Software Solutions GmbH
A member of the CODESYS Group
Memminger Straße 151, 87439 Kempten
Germany
Tel.:  +49-831-54031-0
info@codesys.com