CoE name
Type
Description
AcquistionState.Value USINT
Value=0; mainframe in “Idle” mode
Value=1, mainframe in “Recording”
mode
AcquisitionTime.Value LREAL
Indicates the exact mainframe time in
seconds. Upon boot and when the
mainframe enters “Recording” mode
this value is reset to 0 sec.
Latency.Status
USINT
Status=0; Latency.Value is invalid and
should be ignored
Status=1; Latency.Value is valid
Latency.Value
REAL
All published RT
-
FDB channels are
posted with the same fixed delay as
indicated by this value. Units are in
seconds.
11.10.9
EtherCAT
®
timing aspects
A Genesis EtherCAT
®
slave is designed to allow massive amounts of
calculations (e.g., having 100 calculations running in parallel) while still keeping
latency for all these results to a minimum. A Genesis EtherCAT
®
slave by
default delivers all results to the bus with a fixed 1 millisecond (ms) latency. In
different words: all results on the EtherCAT
®
bus represent the situation of
exactly 1 ms ago. The reference for this depends on the applicable
synchronization mode:
EtherCAT master sync mode
Latency is relative to…
Distributed Clocks
DC Sync0 signal
Sync manager Synchronized
SyncManager event signal
Note
Genesis EtherCAT
®
slaves do not support “Free running” mode.
GEN3t
240
I3995-3.1 en HBM: public
