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EtherCAT Mode

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ASDA-A3

13.2.2 Synchronization mode

13.2.2.1 Synchronization modes of the servo drive

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The servo drive supports two synchronization modes: Free Run mode and DC-Synchronous

mode. Note that the Free Run mode is defined as a synchronous mode in the EtherCAT

specification established by the EtherCAT Technology Group (ETG).

Free Run mode (Asynchronous)

Actually, the master and slave stations run asynchronously in the Free Run mode. The clock of

the slave runs independently of the clock of the master. In other words, the clocks are not

synchronized. The command and feedback transmissions between the master and slave are

based on a sequential order instead of a precise time synchronization. For example, the master

sends a PDO at the time T1, and the slave receives the PDO at the time T2 after the SM2 event.

Controller

(master)

Master application task

Master application task

Master application task

Network

Slave T2

Local

timer

Cycle time = 1 ms

Slave App Task

Master user shift time

T1

Frame U

Master user shift time

T1

Frame U

T2

SM2 event T2

Cycle time = 1 ms

Cycle time = 1 ms

T2 SM2 event

Cycle time = 1 ms

Slave App Task

Slave App Task

Slave App Task

T1

Frame U

T2

SM2 event

Cycle time = 1 ms

Slave App Task

DC-Synchronous mode (SYNC0 synchronization)

There is precise time synchronization between the master and slave stations in the

DC-Synchronous mode. The master periodically executes the control program and sends PDO

packets at a fixed time according to the distributed clocks (DC), and then transmits the

command to the slave and receives the feedback from the slave. The slave receives and

updates the PDO data at a fixed time according to the distributed clocks.

Controller

(master)

Master application task

Master application task

Master application task

Network

Slave

Sync0

Master user shift time

Frame U Sync0

Master user shift time

Frame U Sync0

Frame

Delay

Cycle time (T) SM2 event

Slave App

Delay

Cycle time (T) SM2 event

Cycle time (T)

Slave App

Delay

Slave App

Note: Delay = P3.009.Z * (T/10) (µs)

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