STOBER 7 | Commissioning
02/2020 | ID 443025.06
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Limiting torque/force (optional)
The specified default values take into account the rated operation together with the overload reserves.
1. Select the Axis model wizard > Limit: Torque/force.
2. If the motor force must be limited, adapt the saved values.
7.1.5 Synchronizing EtherCAT nodes
Precise synchronisation of the EtherCAT nodes is absolutely required for spatially distributed processes that require
simultaneous actions (path interpolation). EtherCAT provides the distributed clocks (DC-Sync) method for this.
Synchronization using distributed clocks is more precise when compared to the SyncManager event synchronization
(SM-Sync) because it is subject to fewer fluctuations. For this reason, DC-Sync is pre-configured in EtherCAT masters and
slaves.
PLL synchronization wizard
Leave the default settings in the first step and optimize them if necessary once you have started up the EtherCAT network
and can assess and evaluate the quality of communication.
More detailed information on synchronization and how you can adjust it after the fact can be found in the chapter
Synchronization [}58].
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