User Manual CANopen/EtherCAT
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[Chapter 7]
Distributed clocks
Synchronization in the case of EtherCAT is implemented on the basis of distributed clo-
cks. Each slave has its own clock, which is synchronized with the others using a synchro-
nisation pulse. The reference clock with which users are synchronized is accommodated
in a slave.
Notes on ServoOne:
The complete configuration of distributed clocks takes place in the controller.
Multiples of 125µs (time basis of the control) must always be used as cycle
times.
XML file
The XML file helps to integrate an EtherCAT slave into an EtherCAT master (control).
It includes the configuration (mapping etc.) for the respective operation modes.
Notes on ServoOne:
The XML file is provided with the firmware.
The integration of this file is control-specific....
NMT (Network Management)
The Network Management is essentially based on the network management of CANo-
pen. The Stopped (CANopen) state was replaced by the Safe Operational (EtherCAT)
state however.
Depending on the scope of functions of the control software, individual state transitions
can be executed automatically or via the PLC.
Figure EtherCAT state machine
State Description
Init Initialisation, the device starts up.
Pre-Operational
The device is ready to be configured.
Mailbox communication is possible.
Safe-Operational
PDO input data (TxPDO device) can be read.
PDO output data (RxPDO device is ignored.
Operational
Cyclic I/O communication
PDO output data (RxPDO device) is processed.
Transitions Actions
IP Start Mailbox Communication
PI Stop Mailbox Communication
PS Start Input Update
SP Stop Input Update
Table State transitions
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