4.3 Synchronization modes
There are 3 modes of synchronization available to transfer the process data in EtherCAT:
n
Synchron with SyncManager event (default)
n
Free Run
n
Synchron with distributed clocks (DC)
The configuration tools usually include the synchronization modes
Free Run
and
Syn-
chron with SyncManager event
as the operating mode
‘Free Run / SM Synchron’
.
By default, the IM 053EC works with the synchronization mode
Synchron with SyncMan-
ager event
.
With this mode of synchronization, a SyncManager event (interrupt) is triggered when an
EtherCAT frame is received. This interrupt then triggers the processing of the process
data.
1
EtherCAT frame
2
Jitter, depends on the master implementation
To use the
Free Run
synchronization mode, in your configuration tool, you must set the
synchronization mode to
Free Run / SM-Synchron
and write 0 to the objects 0x1C32:01
and 0x1C33:01 in the
PreOp
state. The object can also be written by an Init command.
More may be found in the manual of your configuration tool.
In the synchronization mode
Free Run
, the processing of the process data is controlled
by an internal slave timer.
1
EtherCAT frame
2
Local timer event (main loop), depending on the slave implementation
3
Jitter, depends on the master implementation
Overview
Synchron with
SyncManager event (default)
Free Run
VIPA System SLIO
Deployment
Synchronization modes
HB300 | IM | 053-1EC01 | en | 18-49
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