4. Configuration
140
If enabled, this option
allows monitoring the
Slave synchronization.
Time for the Sync
Window Monitoring.
Use LRW instead of
LWR/LRD
Enabling of the combined
read and write
commands.
If enabled, the read and
write commands that are
dealing with input and
output messages can be
done in different tasks.
Restart the devices when
the communication is
aborted.
Number of Devices
Read per Cycle
Sets the number of
Slaves that are read per
cycle to fill the diagnostic
variables. The value '0'
means that no Slave
diagnostic will be
updated.
First input address of the
first Slave.
First output logic address
for the first Slave.
Table 4-96. EtherCAT Master Configuration
Notes:
Autoconfig Master/Slaves: If this option is enabled, most of Master and Slave configuration will be
made automatically, based on the description files and implicit calculations. In this case, the FMMU /
Sync dialog will not be available. If it’s unchecked the Image In Address and Image Out Address
options will be available to the user.
ATTENTION:
The Autoconfig mode is enabled by default and usually enough and highly recommended for
standard applications. If it’s disabled, all configuration definitions will have to be made manually,
and thus, some specialized knowledge is required. To configure a Slave-to-Slave communication,
the Autoconfiguration option must be disabled.
Cycletime: Time period after which, a new data telegram must be sent to the bus. If Distributed
Clock functionality is enabled, the value of this parameter will be transferred to the Slaves clocks.
This way, a precise data exchange synchronization can be achieved, which is especially important in
cases where the distributed process demands simultaneous actions. So, a very precise time base, with
a jitter significantly smaller than a microsecond, for all the network can be achieved.
Sync Offset: This value allows the adjustment of the offset of the EtherCAT Slave synchronization
interrupt to the PLC cycle. Normally, the PLC task cycle begins 20% later than the Slaves
synchronization interruption. This means that the PLC task can be delayed by 80% of the cycletime
and no message will be lost.
Sync Window: If the synchronization of all Slaves are inside this time window, the EtherCAT
Master bDistributedClockInSync diagnostic will be set to TRUE, otherwise it will be set to FALSE.
When Distributed Clock is used, it’s highly recommended to use a dedicated task with high priority
as the Bus Cycle Task of the EtherCAT Master. To do this, it’s necessary to use Project Profiles that
allows the creation of new tasks, then create a cyclic task with priority 0 (real time task) and link it to
the master Bus Cycle Task on the EtherCAT I/O Mapping tab of the EtherCAT Master. The user can
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General