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The EtherCAT realtime library system of SYBERA enables a custom ethernet adapter under Windows as an EtherCAT Master

EtherCAT Realtime Master

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 6.6 EtherCAT LowLevel Distributed Clock Functions The EtherCAT realtime library provides functions for propagation delay compensation, sytem time offset compensation and drift compensation. Additionaly DC sync control can be managed. Therefore several functions are exported as low level functions. The distributed clock functions are to be used directly after change ti PRE-OPERATIONAL state. 6.6.1 DC Local Time This function latches out the local time of all stations. ULONG Result = Ecat(32/64)ReadDcLocalTime(VOID); 6.6.2 DC Propagation Delay Compensation This function compensates the propagation delay for the stations relations ULONG Result = Ecat(32/64)CompDcPropDelay(VOID); 6.6.3 DC Offset Compensation This function compensates the offset of station local time and the reference local time (first DC slave) ULONG Result = Ecat(32/64)CompDcOffset(VOID); 6.6.4 DC Drift Compensation This function compensates the drift of the DC station clock by writing ARMW commands at least 3 seconds. ULONG Result = Ecat(32/64)CompDcDrift(ULONG InitTime); 6.6.5 DC Quality Check This function checks the quality of DC synchronisation. It returns the max. system time difference in [nsec] among all stations. Additionally the individual system time difference is written to DC_LOCAL_TIME structure of each station. ULONG Result = Ecat(32/64)CheckDcQuality(PULONG pMaxSysTimeDiff); SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 54

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 6.6.6 Read DC Synchronisation Information This function reads the complete DC_SYNC_INFO structure for further DC processing ULONG Result = Ecat(32/64)ReadDcSyncInfo(VOID); 6.6.7 DC Sync Control (indirect) This function enables the synchronisation output signal, due to the DC configuration in ECATDEVICE.PAR. ULONG Result = Ecat64DcControl(VOID); 6.6.8 DC Sync Control (direct) This function enables the synchronisation output signal, due to the DC settings. ULONG SHAAPI Ecat(32/64)SyncControl( PSTATION_INFO pStation, ULONG Sync0CycleTime, ULONG Sync1CycleTime, ULONG Sync0CycleShift, ULONG Sync1CycleShift, BOOLEAN bSync0Pulse, BOOLEAN bSync1Pulse, BOOLEAN bSyncPdiCtrl) Sample: Ecat(32/64)SyncControl( &__pUserList[i], Period * SyncCycles * 1000, //Sync0 cycle time [nsec] 0, //Sync1 cycle time [nsec] 20*1000, //Sync0 cycle shift [nsec] 0, //Sync1 cycle shift [nsec] TRUE, //Sync0 pulse flag FALSE, //Sync1 pulse flag FALSE); //Sync PDI control Note: The first DC slave in the network line serves as reference clock. SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 55

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