The fast startup is done with ETHERCAT(0,0,5). It means the master does not wait for the drives to be in sync before going operational. The drives will still take the same amount of time to get in sync so you should delay doing any actual moves until the 30 to 40 seconds is up.
Function $00: EC_INIT_PROTOCOL:
Syntax: ETHERCAT(0, slot [,option_flags [,mac_retries]])
Description
Initialize EtherCAT network, and raise into operational mode.
Parameters:
Slot: Slot number of EtherCAT port
option_flags:
Bit 0 - display
0 = off, don't print progress information.
1 = on, print out progress information (default)
Bit 1 - re-scan
0 = normal state change. (default)
1 = Force a re-scan of the network.
Bit 2 - express startup
0 = off (default)
1 = on, do not wait for PLL to lock between state changes.
MAC_retries: set the number of times the master attempts to restart the Ethernet auto-negotiation. Default = 2.
Returned Value:
-1 : successful
0 : failed
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