Coupling Distributed Clocks - Ethercat Master; Fig. 10 Settings For Ethercat Master In Master Or Slave Mode; Fig. 11 Example Configuration With Coupled Ethercat Masters - Beckhoff FC1028 Manual

TwinCAT configuration
4.5 Coupling distributed clocks – EtherCAT master
This chapter shows how two or more EtherCAT masters can be coupled and synchronized. Thereby the first
EtherCAT master is changed to master mode in the DC settings. The first DC-capable EtherCAT slave
connected to this EtherCAT master continues to set the reference clock. The TwinCAT real-time of this clock
is synchronized based on frequency.
Fig. 10: Settings for EtherCAT master in master or slave mode.
The other EtherCAT masters are synchronized with the first master and are switched to slave mode for this.
These EtherCAT masters still keep their local reference clock for synchronization of the subsequent devices.
During the EtherCAT startup and continuously afterwards, this reference clock is itself synchronized based
on the TwinCAT time and is referred to as "tracking reference clock".
Fig. 11: Example configuration with coupled EtherCAT masters.
For more information, please visit: https://download.beckhoff.com/download/Document/io/ethercat-
terminals/ethercatsystem_en.pdf
Proceed as follows:
22 Version: 1.0 FC1028