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Nächste Überarbeitung | Vorhergehende Überarbeitung | ||
embedded_systems:ethercat:understanding_ethercat [2018-12-14 13:11] – angelegt mgehrig2 | embedded_systems:ethercat:understanding_ethercat [2021-09-30 07:33] (aktuell) – Urs Graf | ||
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====== Understanding EtherCAT ====== | ====== Understanding EtherCAT ====== | ||
+ | ===== Synchronisation and Timing ===== | ||
+ | === Official Documentation === | ||
+ | [[https:// | ||
+ | |||
+ | === Distributed Clock (DC) === | ||
+ | The DC is an option on some slaves. | ||
+ | The Class B EtherCAT stack of Acontis does not suport DCs, but the Class A addon does ("// | ||
+ | DCs allow synchronized reading of inputs and synchronized setting of outputs in the nanosecond range. | ||
+ | |||
+ | [[embedded_systems: | ||
+ | |||
+ | === Synchronous with SM event === | ||
+ | Without DC a synchronization of approximately some 10 to 100 microseconds is possible ("// | ||
+ | |||
+ | === Free Run === | ||
+ | In "// | ||
+ | |||
===== ENI and ESI files ===== | ===== ENI and ESI files ===== | ||
Zeile 9: | Zeile 26: | ||
* Elmo: | * Elmo: | ||
* Are installed with the 'EAS II' software from Elmo in '' | * Are installed with the 'EAS II' software from Elmo in '' | ||
- | * Can be dwonloaded | + | * Can be downloaded {{: |
==== ENI ==== | ==== ENI ==== | ||
Zeile 18: | Zeile 35: | ||
* Cycle time | * Cycle time | ||
* Which PDOs are transmitted in which order | * Which PDOs are transmitted in which order | ||
- | * Created with software EC-Engineer (one license is availabel | + | * Created with software EC-Engineer (one license is available at OST/Buchs-> Einar Nielsen) |
- | * {{:movingchair: | + | * {{:embedded_systems: |
- | * After every change in the network (new slave or different connection sequence, different PDOs, different cycle time) the file has to generated again. | + | * After every change in the network (new slave or different connection sequence, different PDOs, different cycle time) the file has to be generated again. |
* An application which uses EtherCAT requres an eni-file for the current network | * An application which uses EtherCAT requres an eni-file for the current network | ||