Synchronization With Distributed Clocks - Omron R88D-KN series User Manual

5-6 Synchronization with Distributed
Clocks
A mechanism called a distributed clock (DC) is used to synchronize EtherCAT communications.
The DC mode is used for G5-series Servo Drives to perform highly accurate control in a
multi-axis system.
In DC mode, the master and slaves are synchronized by sharing the same clock.
Interruptions (Sync0) are generated in the slaves at precise intervals based on this clock.
Servo Drive control is carried out at this precise timing.
 Communications Cycle (DC Cycle)
The communications cycle is determined by setting the Sync0 signal output cycle.
Setting range: 250 s/500 s/1 ms/2 ms/4 ms
Precautions for Correct Use Precautions for Correct Use
• Set 6091 hex (Gear ratio) to 1:1 for 250 µs or 500 µs.
If it is not set to 1:1, a Function Setting Error (Error 93.4) will occur.
• The communications cycle you can set varies depending on conditions such as the Servo
Drive unit version or the modes of operation in use. For details on the communications cycle
you can set, refer to A-1-3 Communications Cycles and Corresponding Modes of Operation on
page A-5
• The setting range for the communications cycle varies depending on the master. For example,
Machine Automation Controllers NJ-series (Model: NJ501-100) do not provide the setting of
250 µs.
In addition, Position Control Unit (Model: CJ1W-NC8) do not provide the setting of 4 ms.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
5 EtherCAT Communications
5
5-13