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<p class="MsoNormal"><font size="3" face="Times New Roman"><span style="font-size:
12.0pt"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font size="2" face="Arial"><span style="font-size:10.0pt;
font-family:Arial">Hi<font color="navy"><span style="color:navy">,</span></font><o:p></o:p></span></font></p>
<p class="MsoNormal"><font size="2" face="Arial"><span style="font-size:10.0pt;
font-family:Arial">EtherCAT master performs DC synchronization as below:<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.25in;mso-list:l0 level1 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">1)<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Initially EtherCAT master calculates Propagation delay time between slaves.<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.25in;mso-list:l0 level1 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">2)<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Time Delay calculated (actual frame send from Master state machine - application start time) and deducted from System Time read from slave.
New Offset time (new offset = old offset from slave + time difference between Master Application Start Time and Slave System Time) is send to slaves.<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.25in;mso-list:l0 level1 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">3)<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">After this, Master sends synchronization datagram (with command FRMW-First READ MULTIPLE WRITE) to reference clock slave as well as to
other EtherCAT slaves on network.<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.25in;mso-list:l0 level1 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">4)<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">FRMW command reads reference clock slave system time (lower 32 bit) (0x0910 to 0x0927) and writes to lower 32 bit of other EtherCAT slave
system time register (0x0910 to 0x0927).<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.25in;mso-list:l0 level1 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">5)<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Activity number 2 to 4 happens at every 10ms in user application.<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.25in;mso-list:l0 level1 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">6)<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Our observation is difference between master time and slave system time is around 16-20 seconds after step 2.<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.25in;mso-list:l0 level1 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">7)<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Slave System Time is not accessible to us for checking whether Slave System Time synchronized with Master Application Time.
<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><o:p> </o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><o:p> </o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Our query is:<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:1.5in;text-indent:-.25in;mso-list:l0 level3 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">1.<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">How can we reduce difference between Master Application Time and Slave System Time in step 2?<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:1.5in;text-indent:-.25in;mso-list:l0 level3 lfo2">
<![if !supportLists]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><span style="mso-list:Ignore">2.<font size="1" face="Times New Roman"><span style="font:7.0pt "Times New Roman"">
</span></font></span></span></font><![endif]><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">How to check System Time register of BECKHOFF slave after step 4?<o:p></o:p></span></font></p>
<p class="MsoNormal"><font size="2" face="Arial"><span style="font-size:10.0pt;
font-family:Arial"><o:p> </o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Please let us know your valuable inputs regarding synchronization of Distributed clocks of EtherCAT slaves.<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><o:p> </o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Please find attached DC synchronization process. Rename file to .png type.<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial"><o:p> </o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Regards,<o:p></o:p></span></font></p>
<p class="MsoNormal" style="margin-left:.25in"><font size="2" face="Arial"><span style="font-size:10.0pt;font-family:Arial">Yogesh<o:p></o:p></span></font></p>
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