EtherCAT Products family Master Synchronization with Distributed Clock
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چکیده
In both cases it is necessary to compensate delays in transporting the EtherCAT frames emerging between particular slaves, so as to keep up with the requested accuracy that may range even below 1us for the slaves clocks. It is provided in the following way: for each slave the time between the frame departure and frame arrival is measured at each connected port. Then the master computes the delays between the slaves and writes the corresponding compensation values into the appropriated register of the ESC.
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