Emerson 0471-0128-02 manual Advanced features, Distributed clocks, SM-EtherCAT protocol support

8 Advanced features

8.1Distributed clocks

		SM-EtherCAT supports Distributed clocks. This is the scheme used by EtherCAT to
		accurately time synchronize slave devices. Position, speed and current control loops
		can all be synchronized.
		When the option module is connected to a drive which can take a time synchronization
		signal (e.g. a Unidrive SP or Digitax ST), the EtherCAT distributed clocks facility can be
		used to provide this signal so the drive speed and current tasks are synchronized to the
		network. The position controller, and appropriate motion features will also be
		synchronized to the drive speed task.
		In CoE interpolated position mode the position command provided by the master every
	NOTE
		interpolation cycle time is used to generate a position command for the drive every
		250µs.
8.2		SM-EtherCAT protocol support
		The following are supported:

•Four Sync Managers. Two are used for the Mailbox Protocol (non-cyclic data) and two are used for process data (cyclic data)

•Distributed Clocks

•CANopen over EtherCAT (CoE)

•CMP protocol through Modbus RTU (only on the Unidrive SP, Digitax ST, Mentor MP and Affinity)

Information	Safety
Introduction
Installation	Mechanical
Installation	Electrical
Started	Getting
Protocols
support	Drive profile (DSP-402)
features	Advanced
Diagnostics
Reference	Quick
Terms	Glossary
	Of
Index

SM-EtherCAT User Guide	55
Issue Number: 2	www.controltechniques.com