Lenze 931K - Manual (Page 41)

CANopen over EtherCAT (CoE)
Synchronisation with "Distributed clocks" (DC)
Initialisation commands via the Mailbox node
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41 KHB 13.0005−EN 1.0
8.9 Synchronisation with "Distributed clocks" (DC)
The time synchronisation in the case of EtherCAT is implemented via so−called "Distributed
Clocks". For this each EtherCAT slave contains a real−time clock which is synchronised in all
slaves by the master during the initialisation phase. Then the clocks are reset in all slaves
during operation.
This provides a uniform time base in the entire system, to which the individual slaves can
synchronise. The sync telegrams provided for this purpose under CANopen are dispensed
with under CoE.
Since the FPGA ESC10 used in the 931K servo position controller does not support
distributed clocks, no time synchronisation can be carried out. Therefore the "on sync"
transmission type is not available for the transmit and receive PDOs under CoE.
)
Note!
The 931K servo position controller with the EtherCAT technology module does
not support any synchronisation functions.