7 | Commissioning
STOBER
40
02/2020 | ID 443025.06
7.3.4
Configuring synchronization using distributed clocks
ü
You have fully configured the associated axis model in DriveControlSuite. As the more precise of the two sync
methods, synchronization using distributed clocks (DC-Sync) is pre-configured in the EtherCAT master and slaves.
1.
Navigate to the EtherCAT master in the solution explorer.
2.
In the main window, switch to the
EtherCAT
tab and click
Advanced Settings
.
ð
The
Advanced Settings
dialog box opens.
3.
In the tree view, select
Distributed Clocks
.
4.
Automatic DC Mode Selection
:
This option must be activated.
5.
Close the dialog box.
6.
In the tree view, navigate to the first EtherCAT slave.
7.
In the main window, switch to the
DC
tab and click
Advanced Settings
.
ð
The
Advanced Settings
dialog box opens.
8.
Enable
:
This option must be activated.
9.
DC enabled (multiplier = 1)
:
This list entry must be selected.
10.
Sync Unit Cycle (µs)
:
Check the default value for the cycle time of the controller and change it if necessary.
11.
Enable SYNC 0
:
This option must be activated.
12. Close the dialog box.
13. Repeat steps 7 – 12 for each additional slave in your EtherCAT network.
ð
The EtherCAT master and slaves will now be synchronized with the first EtherCAT slave that has the distributed clocks
option enabled.
7.3.5
Parameterizing an axis
1.
In the solution explorer, navigate to
Motion
>
NC-Task 1 SAF
>
Axes
>
Axis 1
.
2.
In the main window, switch to the
Settings
tab.
3.
Unit
:
Select degrees (°) as the unit.
4.
Switch to the
Parameters
tab.
5.
Open the parameter list
Maximum Dynamics
:
Parameterize associated limit values for velocity, acceleration and deceleration.
6.
Open the parameter list
Limit Switches
:
Soft Position Limit Minimum Monitoring
: If you want to put a limit on position values with a lower negative limit,
select the list entry
True
and enter the associated value in
Minimum Position
.
Soft Position Limit Maximum Monitoring
: If you want to put a limit on position values with an upper positive limit,
select the list entry
True
and enter the associated value in
Maximum Position
.
7.
In the solution explorer, navigate to
Axis
>
Enc
.
8.
In the main window, switch to the
Parameters
tab.
