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manual_ect_clu_e

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 Each SDO information can be selected by “Left Mouse Double Click” on the corresponding line. When the SDO is selected it can be sent to the device. When all SDO information is sent, configuration task is fulfilled. This configuration task uses the Library function(s), defined in ECATCOREDEF.H, ECATSDODEF.H and SHAECATCORE.H: ULONG Result = EcatPdoAssignment (); Note: After configuring the PDO Assignment all required configuration tasks within the PREOP State are fulfilled. The next states SAFEOP and OP are now required: ULONG Result = EcatChangeAllStates(AL_STATE_PRE_OP); ULONG Result = EcatChangeAllStates(AL_STATE_OP); SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 76

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 8.2.5 Device Operational When changing the state to operational, device is updated by realtime cycles. Each update cycle sets and gets the station telegrams TxTel and RxTel: __pSystemList[StationIndex].TxTel.s.data[DataOffset] = OutputValue; InputValue = __pSystemList[StationIndex].RxTel.s.data[DataOffset]; Since many devices support Distributed Clock management, the local system time of the device allows exact jitter and drift measurement. Note: Not each sampling cycle updates the device, since the realtime cycle is typically much faster than the synchronisation cycle. This is why the realtime cycle counter differs to the update counter. SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 77

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