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 EC-Master or not.

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

  1. Scan the EtherCAT® Bus

  2. Select the EtherCAT® network adapter and press the button “Advanced Settings…”

    ET9000 EtherCAT Configurator showing the Advanced Settings button for the selected EtherCAT network adapter

  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 (SubDevice Mode)”.

    ET9000 Distributed Clocks Advanced Settings dialog with Automatic DC Mode Selection disabled and DC Time controlled by TwinCAT Time selected

  4. Now the DC time can be controlled by the EC-Master.

    Note

    Don’t forget to enable DC for the SubDevices.