System Settings; Synchronous Mode - Delta CMC-EC01 Operation Manual

EtherCAT Option Card CMC-EC01

4. System Settings

4.1

Synchronous Mode

The drive supports two synchronization modes: Free Run Mode and DC-Synchronous Mode. Note
that free-running mode is still defined as "synchronous mode" in the EtherCAT specification by the
EtherCAT Technology Group (ETG).
Free Run Mode (Asynchronous)
There is an asynchronous relationship between master station and the slave station, and both have
independent clocks for calculating time, that is, the clocks of the master station and the slave station
are not synchronized. The commands transmitted and replied between the master station and the
slave station are only sequential command exchanges without precise synchronization. For example,
the master sends a PDO at time T1 and the slave receives the PDO at T2 after the SM2 event.
DC-Synchronous Mode (SYNC0)
There is precise time synchronization between the master station and the slave station. The master
station will periodically execute the control program at a fixed time point according to the synchronous
clock and send PDO packets to transmit the command to the slave station and get feedback data
from the slave station, the slave station will obtain and update the PDO data at a fixed time according
to the synchronous clock.
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