Synchronization with other Devices

EtherCAT provides various synchronization options. There are three different types of synchronization methods available.

• Freerun

The slave device application runs independently of the EtherCAT cycle and is triggered by a local timer in the ESC.

• Synchronous with frame reception (Synchronization with SyncManager event)

The slave device application is triggered when new process data is received. The synchronization accuracy depends on the jitter of the message reception and the delay between the other network nodes.

• Distributed Clocks (DC, Synchronization with SYNC0/SYNC1 event)
The ESCs contain a nanosecond based timer (DC timer) to provide precise synchronization and time stamping. The slave device application is triggered with an additional interrupt signal, which is based on the DC time and is produced by the ESC. Every DC timer in the network is aligned to a master DC clock and provides a high precise synchronization.