ECAT.PLLOFFSETNODC
Description
This parameter applies an offset to the Phase-Locked Loop (PLL) before triggering the position loop.
This value is used when ECAT.USEPLL is set and Distributed Clocks (DC) is not used.
This value only needs to be changed if there is an issue with where the SyncManager 2 (SM2) event happens in relation to the position loop. The goal is to have the SM2 event happen before the position loop so the position loop runs with the latest controller data. If there is a lot of jitter in SM2, or it occurs too close to Sync0 such that the position loop runs prior to the SM2 event completing, the position loop runs with old controller data.
By default, this value is set to 125uS to allow for some packet jitter. By nature, the SM2 event has more jitter than DC mode.
-
- New values will not take affect until the next PREOP to SAFEOP transition due to having to resynchronize the PLL.
Context
For more information, see Synchronization.
See ECAT.PLLOFFSET for setting the offset when using DC.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-06-02-000 |
|
General Information
|
Type |
Read/Write |
|
Units |
ns |
|
Range |
0-250000ns |
|
Default Value |
125500ns |
|
Data Type |
Integer |
| See Also | ECAT.USEPLL, ECAT.PLLOFFSET |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
EtherCAT variants: AKD2G-SPE
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
ECAT.PLLOFFSETNODC |
4300h |
05h |
Unsigned32 |
- |
- |
Read/Write |
No |
