5 EtherCAT Communications
5 - 14
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
5-6 Synchronization Mode and Commu-
nications Cycle
1S-series Servo Drives support the following synchronization modes.
• Distributed Clock (DC) Mode
• Free-Run Mode
Note SM Event Mode is not supported.
A mechanism called distributed clock (DC) is used to synchronize EtherCAT communications.
The DC Mode is used for 1S-series Servo Drives to perform highly accurate control in a multi-axis sys-
tem.
In DC Mode, the master and slaves are synchronized by sharing the same clock.
Interruptions (Sync0) are generated in the slaves at precise intervals based on this clock.
Servo Drive control is executed at this precise timing.
The communications cycle is determined by setting the output cycle of Sync0 signal on the master side.
You can use the Free-Run Mode when synchronization such as the DC Mode is not required.
In Free-Run Mode, slaves perform I/O processing, i.e. refresh I/O data asynchronously with the com-
munications cycle of the master.
The communications cycle is determined by the cycle time of the master.
5-6-1 Distributed Clock (DC) Mode
Communications Cycle (DC Cycle)
Setting range : 125 µs/250 µs/500 µs/750 µs/1 to 10 ms (in 0.25 ms increments)
5-6-2 Free-Run Mode
Communications Cycle
Setting range : 125 µs to 100 ms
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