Beckhoff EtherCAT Technology Section I Bedienungsanleitung PDF herunterladen (Seite 77)

Distributed Clocks

Slave Controller – Technology I-57

The System Time Difference Filter Depth register (0x0934) and the Speed Counter Filter Depth

calculated clock period deviations.

Registers used for Control Loop/Drift Compensation are listed in Table 29.

Table 29: Registers for Drift Compensation

Name

Description

0x0900:0x090F

Receive Time Port n

Local time when receiving frame on Port n

0x0918:0x091F

Receive Time ECAT

Processing Unit

Local time when receiving frame for ECAT

Processing Unit

0x0910:0x0917

System Time

Local copy of System Time (read from PDI)

(local time if System Time Offset=0)

0x0920:0x0927

System Time Offset

Time difference between System Time and

local time

0x0928:0x092B

System Time Delay

Delay between Reference Clock and the

ESC

0x092C:0x092F

System Time Difference

Mean difference between local copy of

System Time and received System Time

values

0x0930:0x0931

Speed Counter Start

Bandwidth for adjustment of local copy of

System Time

0x0932:0x0933

Speed Counter Diff

Deviation between local clock period and

Reference Clock’s clock period

0x0934

System Time Difference Filter

Depth

Filter depth for averaging the received

System Time deviation

0x0935

Speed Counter Filter Depth

Filter depth for averaging the clock period

deviation

1 2 ... 72 73 74 75 76 77 78 79 80 81 82 ... 115 116

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