Please tell me about the Distributed Clocks (DC) mode by the Sitara ESCs.
How is the clock synchronization achieved?
The Beckhoff EtherCAT Slave Controller (ESC) documentation describes how to achieve the clock synchronization for the Beckhoff ESCs.
EtherCAT Technology (Section I)
https://download.beckhoff.com/download/Document/io/ethercat-development-products/ethercat_esc_datasheet_sec1_technology_2i3.pdf
9 Distributed Clocks
Is the same process used for the Sitara ESCs?
In the Sitara ESCs, for 64 bits of the Local Clock, the lower 32 bits use the HW counter (one IEP timer), and the higher 32 bits use the SW counter. The calculation of the compensation value to the Reference Clock (the System Time) and adjusting the local clock are achieved by the software.
Can the Sitara ESCs achieve less than 1 microsecond sync delay?
Our customer is concerned that the Sitara ESCs are inferior to other vendors ESCs.
Best regards,
Daisuke
