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11.10.10
More EtherCAT
®
timing aspects
Certain types of RT
-
FDB formulas are “special” in the sense that they come
with an additional
Latency Increase
. The reason is that some formulas only
can start processing all received samples upon receiving a new zero crossing.
Perception indicates if/when this applies for a formula. Figure 11.71 shows an
example, where @CycleFundamentalPhase() causes an additional latency
increase of 60 us.
Figure 11.71:
EtherCAT
®
timing aspects
A
Additional latency increase by formula @CycleFundamentalPhase()
B
Latency increase value
A mainframe has a
System latency
. This is the sum of all formula latencies
plus the offset of 1 ms. This
System latency
is available as a read
-
only
mainframe setting (see Figure 11.72).
Figure 11.72:
System latency
A
System latency value
Note
All EtherCAT
®
channels are always published with the exact same “System
latency”. This ensures that all data is published against the same clock.
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