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…”

   

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)”.

   

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

   Note

   Don’t forget to enable DC for the SubDevices.