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Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
| Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
| embedded_systems:ethercat:understanding_ethercat [2019-01-08 16:16] – mgehrig2 | embedded_systems:ethercat:understanding_ethercat [2021-09-30 07:33] (aktuell) – Urs Graf | ||
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| Zeile 1: | Zeile 1: | ||
| ====== 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 "// | ||
| - | EC = EtherCAT | ||
| ===== ENI and ESI files ===== | ===== ENI and ESI files ===== | ||
| Zeile 11: | 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 20: | 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 | ||