Beckhoff EtherCAT Technology Section I Uživatelský manuál stáhnout pdf (Strana 71)

Distributed Clocks

Slave Controller – Technology I-51

9.1.2.2 Propagation Delay Measurement Example

The propagation delay between the local device and the Reference Clock device is calculated for the

network example shown in Figure 28. The example assumes that slave A is the Reference Clock. The

loops of slave D and F are closed internally. The wire delays are assumed to be symmetrical, and the

processing and forwarding delays are assumed to be identical for all ESCs.

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Beckhoff EtherCAT Technology Section I Uživatelský manuál Strana 71