7 | Commissioning STOBER
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02/2020 | ID 443025.06
7.2.2 Adding a drive controller
1. In the device tree, navigate to the module EtherCAT_Master (EtherCAT Master) > Context menu Add Device.
ð The Add Device dialog box opens.
2. Device area > Vendor:
Select STOBER Antriebstechnik GmbH + Co. KG – Drives and open the folder with the same name.
ð All drive controllers that can be mapped are displayed.
3. Highlight the desired drive controller in the SoftMotion_HiRes version and confirm with Add Device.
4. Repeat step 3 for all of the drive controllers in your EtherCAT system.
ð The selected drive controllers are added in the device tree under the EtherCAT_Master (EtherCAT Master) motion
controller.
7.2.3 Configuring synchronization using distributed clocks
ü
As the more precise of the two sync methods, synchronization using distributed clocks (DC-Sync) is pre-configured in
the EtherCAT master.
In order to reduce jitter in general, we recommend setting data transmission (I/O) of the controller to task begin in the
EtherCAT configuration.
1. In the device tree, navigate to the module EtherCAT_Master (EtherCAT Master) and double-click to open it.
ð EtherCAT_Master tab > General opens in the editor window.
2. Distributed Clock:
Cycle Time and Sync Offset: Check the default values and change them if necessary.
3. In order to set I/O to task begin, select the menu Tools > Options > Device editor, enable the Show generic device
configuration views option and confirm with OK.
4. On the EtherCAT_Master tab, change to the EtherCAT Parameters vertical tab that is now visible.
5. Navigate to the FrameAtTaskStart parameter and set the Value of the parameter to True.
ð From now on, controller data transmission will take place at the start of the task.
6. In the device tree, double-click on the first of the added drive controllers.
ð SI6_SC6_Single(Double)Ax_SoftMotion_HiRes tab > General opens in the editor window.
7. Distributed Clock area:
Select DC: DC enabled (multiplier = 1) and Sync 0 as sync event are enabled by default.
8. If you want to change the default settings, enable the Additional > Enable Expert Settings option and change the
default settings.
9. Repeat steps 7 and 8 for each additional drive controller in your EtherCAT network.
ð The EtherCAT master and slaves will now be synchronized with the first EtherCAT slave that has the distributed clocks
option enabled.
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