BECKHOFF EtherCAT Technology Section I - Manual (Page 72)

Distributed Clocks
I-52 Slave Controller – Technology
S
la
v
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D
S
la
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F
S
la
v
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A
S
la
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E
S
la
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C
S
la
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B
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th
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A
T
P
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in
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it
t W
A
B
t P
A
t W
A
B
Po rt 0
Po rt 0
Po rt 1
Po rt 1
E
th
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rC
A
T
P
ro
c
e
s
s
in
g
U
n
it
t W
C
D
t F
C
t P
C
t W
C
D
Po rt 0
Po rt 1
E
th
e
rC
A
T
P
ro
c
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s
s
in
g
U
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it
t P
D
Po rt 0
E
th
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A
T
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in
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it
t W
E
F
t F
E t P
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t W
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Po rt 0
Po rt 1
t W
B
C
t W
B
C
t P
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th
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A
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P
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t P
F
Po rt 0
t W
B
E
t W
B
E
P
o
rt
2
t F
B
t F
B
t A
0
t A
1
t C
0
t C
1
t D
0
t E
0
t E
1
t F
0
t B
0
t B
1
R
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t C
D
t B
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t A
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t D
C
t C
B
t E
B
t F
E
t E
F
t B
E
t B
A
t B
2
Figure 28: Propagation Delay Calculation