2.2. Configuration with ET9000

Since version 2.11.0 of the EtherCAT Configurator from Beckhoff explicitly setup whether the DC time shall be controlled by the EtherCAT master or not.

To create a DCM capable configuration, please accomplish the following steps.

1. Scan the EtherCAT Bus

2. Select the EtherCAT device and press the button “Advanced Settings…”

   

3. In the open dialog please select “Distributed Clocks” on the left column. Then de-select “Automatic DC Mode Selection” and select the option “DC Time controlled by TwinCAT Time (Slave Mode)”.

   

4. Now the DC time can be controlled by the EtherCAT master. Don’t forget to enable DC for the slaves.

   Note

   Don’t forget to enable DC for the slaves.