Beckhoff EtherCAT Registers Section II Manual do Utilizador descarregar pdf (Página 78)

Distributed Clocks (0x0900:0x09FF)

II-66 Slave Controller – Register Description

Table 108: Register Receive Time Latch Mode (0x0936)

ESC20

ET1100

ET1200

IP Core

Bit

Description

ECAT

PDI

Reset Value

Receive Time Latch Mode:

0: Forwarding mode (used if frames are

entering the ESC at port 0 first):

Receive time stamps of ports 1-3 are

enabled after the write access to

0x0900, so the following frame at ports

1-3 will be time stamped (this is typically

the write frame to 0x0900 coming back

from the network behind the ESC).

1: Reverse mode (used if frames are

entering ESC at port 1-3 first):

Receive time stamps of ports 1-3 are

immediately taken over from the internal

hidden time stamp registers, so the

previous frame entering the ESC at

ports 1-3 will be time stamped when the

write frame to 0x0900 enters port 0 (the

previous frame at ports 1-3 is typically

the write frame to 0x0900 coming from

the master, which will enable time

stamping at the ESC once it enters port

0).

r/w

r/-

7:1

Reserved

r/-

NOTE: There should not be frames traveling around the network before and after the time stamps are taken,

otherwise these frames might get time stamped, and not the write frame to 0x0900.

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Beckhoff EtherCAT Registers Section II Manual do Utilizador Página 78