AN-381 EtherCAT Drive SYNC0 Offset
EtherCAT uses a synchronization system with distributed clocks that keep all slaves very precisely in synchronization with the Distributed Clock (DC) master.
In a Trio EtherCAT network, the DC master is the Motion Coordinator. After initialization, each slave produces a synchronization pulse internally that keeps the drive’s servo loop in sync with the master. The precise phase timing of the slave’s sync pulse to the EtherCAT telegram sent from the master is set up during the Initial State of the network startup.
This document explain how to set the Sync0 offset for some EtherCAT drives
We found on some applications that the ABB drives work better when the first drive in the network is the Distributed Clocks master. Our default is that the controller is master. The ETHERCAT command function $93 is described thus: Function $93: ...
Question about Omron R88D and Trio Firmware 2.0296
The most likely issue is that the R88D cannot use the Trio as clock master in that Trio firmware version. You must add this command to force the first drive to be Distributed Clocks Master. Set the first drive with DC capability to be the Distributed ...
Using NODE_INDEX to offset VR's for multiple slaves on EtherCAT master
Use NODE_INDEX to set the pointer for block of VR's for multiple slaves on EtherCAT master. For example: NODE_INDEX(0,node) = 20 ' with node being node number of the drive & 20 will offset the VR's by 20
What does SERVO_OFFSET do?
SERVO_OFFSET is a system parameter that is usually set by the operating system. The value depends on the SERVO_PERIOD, the modules fitted (to a MC664X) and the model of Motion Coordinator. It should not be necessary to set this in a system. Only ...
AN-315 EtherCAT setup for Panasonic A5B Drive
The recommendations within this document applies to the Trio MC464+P876 EtherCAT master and the Trio MC4N-ECAT EtherCAT Master used with the Panasonic Minas A5B EtherCAT servo drive. When delivered, the Panasonic A5B has 2 features set; the Positive ...