70 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors
3.5 CiA® DSP-402 drive profile
The default in TwinCAT is 30%, meaning that the cyclic EtherCAT frames are sent 30%
of the cycle time before the sync0 pulse activates. If for example the cycle time is 1ms
then the frames are sent 300μs before the sync0. This is of course nominal and will vary
a lot because of timing issues in the EtherCAT master. It is also possible to add a device
specific shift time, but then the sync0 pulse of the devices on the network will not be ac
-
tivated simultaneously, unless the same shift time is added to all devices.
Changing general shift time.
As written above changing this setting will affect all devices on the network. So proceed
with care !
Step 1-3.
Select the EtherCAT device, select the “EtherCAT” tab and press the “Advanced Set-
tings” button.
Step 4-6.
Select “Distributed Clocks”, change the “Percent of cycle time” to the needed setting
(10% - 40%) and press the “OK” button.
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